CN110481671A - A robot wheel foot conversion device - Google Patents
A robot wheel foot conversion device Download PDFInfo
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- CN110481671A CN110481671A CN201910849651.0A CN201910849651A CN110481671A CN 110481671 A CN110481671 A CN 110481671A CN 201910849651 A CN201910849651 A CN 201910849651A CN 110481671 A CN110481671 A CN 110481671A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
本发明涉及机器人技术领域，具体公开了一种机器人轮足转换装置，该装置包括连接腿、驱动轮、液压缸和支撑板；所述连接腿的末端与驱动轮的轮轴连接；所述连接腿上设置有第一转动耳；所述连接腿的末端设置有凹槽；所述支撑板包括第一支撑板和第二支撑板，所述第二支撑板与第一支撑板倾斜连接；所述第一支撑板上设置有第二转动耳；所述第二支撑板的末端设置有第三转动耳；所述液压缸的缸体一端通过螺栓与第一转动耳转动连接，所述液压缸的活塞杆一端通过螺栓与第二转动耳转动连接；所述第三转动耳通过螺栓与凹槽转动连接。本发明方案的转换装置结构简单，且轮足切换快速，保证机器人的行动速度。
The invention relates to the technical field of robots, and specifically discloses a wheel-to-foot conversion device for a robot. The device includes a connecting leg, a driving wheel, a hydraulic cylinder and a support plate; A first rotating ear is provided on the top; a groove is provided at the end of the connecting leg; the support plate includes a first support plate and a second support plate, and the second support plate is obliquely connected with the first support plate; A second rotating lug is arranged on the first supporting plate; a third rotating lug is arranged at the end of the second supporting plate; one end of the cylinder body of the hydraulic cylinder is connected to the first rotating lug by bolts, and the hydraulic cylinder One end of the piston rod is rotatably connected to the second rotating lug through a bolt; the third rotating lug is rotatably connected to the groove through a bolt. The conversion device of the solution of the present invention has a simple structure, and the wheel feet can be switched quickly to ensure the moving speed of the robot.
Description
技术领域technical field
本发明涉及机器人技术领域，特别是涉及一种机器人轮足转换装置。The invention relates to the technical field of robots, in particular to a robot wheel-foot conversion device.
背景技术Background technique
目前已有的轮足机器人主要有两种形式，一种是轮足结合式，另一种是轮足分离式。采用驱动轮运动的机器人具有速度高、灵活性好的优点，但其跨越阶梯、深沟、水坑、乱石等的能力较弱；采用足部装置的步行机器人具有优秀的越障能力，然而其在平地上的运动效率不如轮式。Existing wheel-foot robots mainly have two forms at present, and one is the wheel-foot combination type, and the other is the wheel-foot separation type. The robot using the driving wheel movement has the advantages of high speed and good flexibility, but its ability to cross steps, deep ditches, puddles, rocks, etc. is weak; the walking robot using the foot device has excellent ability to overcome obstacles, but Its movement efficiency on flat ground is not as good as wheeled.
此外，目前现有的轮足机器人在进行行足部转换时，需要将驱动轮收起后将足部放下，完成转换，但是整个过程冗长，需要机器人原地等待，时间浪费，效率不高，而且整个控制系统复杂，装置结构笨重，给机器人腿部带来了巨大的负担，不仅降低行动效率，而且需要消耗大量的能源。In addition, the existing wheel-footed robots need to put away the driving wheels and put down the feet to complete the conversion when performing the foot conversion. However, the whole process is lengthy and requires the robot to wait in place, which wastes time and is not efficient. Moreover, the entire control system is complex and the device structure is heavy, which brings a huge burden to the robot legs, which not only reduces the action efficiency, but also consumes a large amount of energy.
发明内容Contents of the invention
本发明的目的是提供一种机器人轮足转换装置，解决了现有轮足转换结构复杂、灵活性低等问题。The object of the present invention is to provide a robot wheel-foot conversion device, which solves the problems of complex structure and low flexibility of the existing wheel-foot conversion.
为了解决上述技术问题，本发明提供一种机器人轮足转换装置，包括连接腿、驱动轮、液压缸和支撑板；In order to solve the above technical problems, the present invention provides a robot wheel foot conversion device, including connecting legs, driving wheels, hydraulic cylinders and support plates;
所述连接腿的末端与驱动轮的轮轴连接；所述连接腿上设置有第一转动耳；所述连接腿的末端设置有凹槽；The end of the connecting leg is connected to the axle of the driving wheel; the connecting leg is provided with a first rotating ear; the end of the connecting leg is provided with a groove;
所述支撑板包括第一支撑板和第二支撑板，所述第二支撑板与第一支撑板倾斜连接；所述第一支撑板上设置有第二转动耳；所述第二支撑板的末端设置有第三转动耳；The support plate includes a first support plate and a second support plate, and the second support plate is obliquely connected to the first support plate; a second rotating ear is arranged on the first support plate; The end is provided with a third rotating ear;
所述液压缸的缸体一端通过螺栓与第一转动耳转动连接，所述液压缸的活塞杆一端通过螺栓与第二转动耳转动连接；One end of the cylinder body of the hydraulic cylinder is rotatably connected to the first rotating lug through a bolt, and one end of the piston rod of the hydraulic cylinder is rotatably connected to the second rotating lug through a bolt;
所述第三转动耳通过螺栓与凹槽转动连接。The third rotating lug is rotatably connected to the groove through a bolt.
作为优选方案，所述连接腿自上而下依次设置有连接大腿和连接小腿，所述连接大腿的直径大于连接小腿。As a preferred solution, the connecting legs are sequentially provided with connecting thighs and connecting shanks from top to bottom, and the diameter of the connecting thighs is larger than that of the connecting shanks.
作为优选方案，所述第二支撑板开设有与驱动轮相配的卡槽，所述驱动轮安装在卡槽内，实现第一支撑板延长度方向的中线与驱动轮的轮面中线重叠。As a preferred solution, the second support plate is provided with a slot matching the drive wheel, and the drive wheel is installed in the slot so that the centerline of the extension direction of the first support plate overlaps with the centerline of the wheel surface of the drive wheel.
作为优选方案，所述第二支撑板与第一支撑板一体成形As a preferred solution, the second support plate is integrally formed with the first support plate
作为优选方案，所述驱动轮为轮毂电机。As a preferred solution, the drive wheel is a hub motor.
作为优选方案，所述第一支撑板的末端为半圆形结构。As a preferred solution, the end of the first support plate is a semicircular structure.
作为优选方案，所述第一支撑板的宽度大于驱动轮的宽度。As a preferred solution, the width of the first support plate is greater than the width of the driving wheel.
作为优选方案，所述第一支撑板底面设置有防滑层。As a preferred solution, an anti-slip layer is provided on the bottom surface of the first support plate.
作为优选方案，所述第二转动耳位于第一支撑板中间位置。As a preferred solution, the second rotating lug is located in the middle of the first support plate.
作为优选方案，所述第一转动耳设置在连接大腿上。As a preferred solution, the first rotating ear is arranged on the connecting thigh.
本发明具有以下有益效果：The present invention has the following beneficial effects:
本发明的方案通过设置支撑板和驱动轮，并采用液压缸切换行动模式，整体结构简单，降低机器人的腿部负担，也降低了动能消耗，并且可以灵活转换驱动轮行驶或者支撑板行走，满足实际的需求。此外，机器人行走模式中，支撑板与驱动轮底部处于同一水平面上，保证支撑板和驱动轮同时支撑地面，为机器人提供了足够的支撑力，同时相对现有的轮足转换装置，本发明的方案减少了驱动轮收起步骤，使转换环节更加方便快捷。The solution of the present invention sets the supporting plate and the driving wheel, and adopts the hydraulic cylinder to switch the action mode. The overall structure is simple, the burden on the legs of the robot is reduced, and the kinetic energy consumption is also reduced, and the driving wheel can be flexibly switched to travel or the supporting plate to travel, satisfying actual needs. In addition, in the walking mode of the robot, the support plate and the bottom of the driving wheel are on the same level, ensuring that the support plate and the driving wheel support the ground at the same time, providing sufficient support for the robot. The scheme reduces the steps of retracting the drive wheel, making the conversion link more convenient and quick.
附图说明Description of drawings
图1是本发明实施例提供的机器人轮足转换装置的结构示意图；Fig. 1 is a schematic structural view of a robot wheel-foot conversion device provided by an embodiment of the present invention;
图2是本发明实施例提供的机器人轮足转换装置驱动轮行走模式的结构示意图。Fig. 2 is a schematic structural diagram of the driving wheel walking mode of the robot wheel-to-foot conversion device provided by the embodiment of the present invention.
附图标记：1、驱动轮；2、连接小腿；3、连接大腿；4、液压缸；5、第一支撑板；6、第二支撑板；7、第一转动耳；8、第二转动耳；9、地面。Reference signs: 1. driving wheel; 2. connecting calf; 3. connecting thigh; 4. hydraulic cylinder; 5. first supporting plate; 6. second supporting plate; 7. first rotating ear; 8. second rotating ear; 9, the ground.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
参见图1和图2，本发明优选实施例提供一种机器人轮足转换装置，包括连接腿、驱动轮1、液压缸4和支撑板；Referring to Fig. 1 and Fig. 2, a preferred embodiment of the present invention provides a robot wheel-to-foot conversion device, including a connecting leg, a driving wheel 1, a hydraulic cylinder 4 and a support plate;
所述连接腿的末端与驱动轮1的轮轴连接；所述连接腿上设置有第一转动耳7；所述连接腿的末端设置有凹槽；The end of the connecting leg is connected to the axle of the driving wheel 1; the connecting leg is provided with a first rotating ear 7; the end of the connecting leg is provided with a groove;
所述支撑板包括第一支撑板5和第二支撑板6，所述第二支撑板6与第一支撑板5倾斜连接；所述第一支撑板5上设置有第二转动耳8；所述第二支撑板6的末端设置有第三转动耳；The support plate includes a first support plate 5 and a second support plate 6, the second support plate 6 is obliquely connected to the first support plate 5; the first support plate 5 is provided with a second rotating ear 8; The end of the second support plate 6 is provided with a third rotating ear;
所述液压缸4的缸体一端通过螺栓与第一转动耳7转动连接，所述液压缸4的活塞杆一端通过螺栓与第二转动耳8转动连接；One end of the cylinder body of the hydraulic cylinder 4 is rotatably connected to the first rotating ear 7 through a bolt, and one end of the piston rod of the hydraulic cylinder 4 is rotatably connected to the second rotating ear 8 through a bolt;
所述第三转动耳通过螺栓与凹槽转动连接。The third rotating lug is rotatably connected to the groove through a bolt.
本发明优选实施例中的方案通过设置支撑板和驱动轮1，并采用液压缸4切换行动模式，整体结构简单，降低机器人的腿部负担，也降低了动能消耗，并且可以灵活转换驱动轮1行驶或者支撑板行走，满足实际的需求。此外，机器人行走模式中，支撑板与驱动轮1底部处于同一水平面上，保证支撑板和驱动轮1同时支撑地面9，为机器人提供了足够的支撑力，同时相对现有的轮足转换装置，本发明的方案减少了驱动轮1收起步骤，使转换环节更加方便快捷。The scheme in the preferred embodiment of the present invention sets the support plate and the driving wheel 1, and uses the hydraulic cylinder 4 to switch the action mode. The overall structure is simple, which reduces the burden on the legs of the robot, and also reduces the kinetic energy consumption, and can flexibly switch the driving wheel 1. Driving or walking on the support board to meet actual needs. In addition, in the walking mode of the robot, the support plate and the bottom of the driving wheel 1 are on the same level to ensure that the support plate and the driving wheel 1 support the ground 9 at the same time, which provides sufficient support for the robot. Compared with the existing wheel foot conversion device, The scheme of the present invention reduces the steps of putting away the driving wheel 1, and makes the conversion link more convenient and quick.
在本发明优选实施例中，所述连接腿自上而下依次设置有连接大腿3和连接小腿2，所述连接大腿3的直径大于连接小腿2。In a preferred embodiment of the present invention, the connection leg is provided with a connection thigh 3 and a connection leg 2 sequentially from top to bottom, and the diameter of the connection thigh 3 is larger than that of the connection leg 2 .
具体的，采用连接小腿2与驱动轮1连接，这样可以减少与驱动轮1的接触面积，减少驱动轮1振动传导到机器人。Specifically, connecting the lower leg 2 to the driving wheel 1 can reduce the contact area with the driving wheel 1 and reduce the transmission of vibration from the driving wheel 1 to the robot.
在本发明优选实施例中，所述第二支撑板6开设有与驱动轮1相配的卡槽，所述驱动轮1安装在卡槽内，实现第一支撑板5延长度方向的中线与驱动轮1的轮面中线重叠。In a preferred embodiment of the present invention, the second support plate 6 is provided with a slot matching the drive wheel 1, and the drive wheel 1 is installed in the slot to realize the centerline and drive of the first support plate 5 in the elongation direction. The centerlines of the treads of wheel 1 overlap.
具体的，通过第二支撑板6设置卡槽，整个驱动轮1位于卡槽内，使第一支撑板5延长度方向的中线与驱动轮1延行驶方向上的中线重叠，这样保证机器人的重心同时落在支撑板和驱动轮1的中线上，保证整体结构的稳定性，并且这样可以减少整个装置的结构和质量，降低机器人的负担。Specifically, the second support plate 6 is provided with a draw-in slot, and the entire drive wheel 1 is located in the draw-in slot, so that the centerline of the extension direction of the first support plate 5 overlaps with the centerline of the drive wheel 1 along the traveling direction, thus ensuring the center of gravity of the robot. At the same time, it falls on the center line of the support plate and the driving wheel 1 to ensure the stability of the overall structure, and this can reduce the structure and quality of the entire device and reduce the burden on the robot.
在本发明优选实施例中，所述第二支撑板6与第一支撑板5一体成形。In a preferred embodiment of the present invention, the second support plate 6 is integrally formed with the first support plate 5 .
在本发明优选实施例中，所述驱动轮1为轮毂电机。In a preferred embodiment of the present invention, the driving wheel 1 is a hub motor.
具体的，采用轮毂电机，可以减少轮足转换装置的结构，使整个装置更加简单紧凑。Specifically, the use of the hub motor can reduce the structure of the wheel-foot conversion device, making the whole device simpler and more compact.
在本发明优选实施例中，所述第一支撑板5的末端为半圆形结构。In a preferred embodiment of the present invention, the end of the first support plate 5 is a semicircular structure.
具体的，半圆形结构可以避免刮蹭物品，造成损坏。Specifically, the semicircular structure can avoid scratching objects and causing damage.
在本发明优选实施例中，所述第一支撑板5的宽度大于驱动轮1的宽度。In a preferred embodiment of the present invention, the width of the first support plate 5 is greater than the width of the driving wheel 1 .
具体的，第一支撑板5的宽度大于驱动轮1宽度，可以使机器人行走时更稳定。Specifically, the width of the first supporting plate 5 is larger than that of the driving wheel 1, which can make the robot more stable when walking.
在本发明优选实施例中，所述第一支撑板5底面设置有防滑层。In a preferred embodiment of the present invention, an anti-slip layer is provided on the bottom surface of the first support plate 5 .
具体的，防滑层可以防止第一支撑板5滑动。Specifically, the anti-slip layer can prevent the first support plate 5 from sliding.
在本发明优选实施例中，所述第二转动耳8位于第一支撑板5中间位置。In a preferred embodiment of the present invention, the second rotating ear 8 is located in the middle of the first support plate 5 .
在本发明优选实施例中，所述第一转动耳7设置在连接大腿3上。In a preferred embodiment of the present invention, the first rotating ear 7 is arranged on the connecting thigh 3 .
在本发明优选实施例中，还包括有控制装置，控制装置与液压缸4连接，用于控制液压缸4的伸缩。In the preferred embodiment of the present invention, a control device is also included, and the control device is connected with the hydraulic cylinder 4 for controlling the expansion and contraction of the hydraulic cylinder 4 .
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和替换，这些改进和替换也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and replacements can also be made, these improvements and replacements It should also be regarded as the protection scope of the present invention.
Claims (10)
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| CN114987643A (en) * | 2022-06-21 | 2022-09-02 | 上海工程技术大学 | Bionic robot capable of realizing wheel-leg two-state switching and height-width change |
| CN114987642A (en) * | 2022-04-26 | 2022-09-02 | 中国北方车辆研究所 | Driven wheel self-locking anti-skidding foot capable of being switched actively |
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| CN109176475A (en) * | 2018-10-29 | 2019-01-11 | 北京机械设备研究所 | A kind of hydraulic passive power assisting device of knee joint |
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| CN110960178A (en) * | 2019-12-02 | 2020-04-07 | 南京航空航天大学 | Capsule type robot |
| CN114987642A (en) * | 2022-04-26 | 2022-09-02 | 中国北方车辆研究所 | Driven wheel self-locking anti-skidding foot capable of being switched actively |
| CN114987643A (en) * | 2022-06-21 | 2022-09-02 | 上海工程技术大学 | Bionic robot capable of realizing wheel-leg two-state switching and height-width change |
| CN114987643B (en) * | 2022-06-21 | 2023-08-08 | 上海工程技术大学 | A bionic robot that can realize two-state switching of wheels and legs and change of height, width, and width |
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