CN111267989A - Wheel-foot type mobile platform and wheel-foot type mobile robot - Google Patents
Wheel-foot type mobile platform and wheel-foot type mobile robot Download PDFInfo
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- CN111267989A CN111267989A CN202010190308.2A CN202010190308A CN111267989A CN 111267989 A CN111267989 A CN 111267989A CN 202010190308 A CN202010190308 A CN 202010190308A CN 111267989 A CN111267989 A CN 111267989A
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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
Provided are a wheel-foot type mobile platform and a wheel-foot type mobile robot. This wheel foot formula moving platform includes first parallel connection formula shank mechanism, and this first parallel connection formula shank mechanism includes: power take-off, link assembly and wheel. The wheel-foot type mobile platform has the combined mobile function of a wheel type robot and a foot type robot, can be suitable for complex terrains and discontinuous terrains, has high stability and high energy utilization rate, and has small impact force of the wheel foot part on the mobile platform body during movement. In addition, the first parallel leg mechanism of the wheel-foot type mobile platform has the advantages of compact structure, high bearing capacity, high flexibility and good dynamic performance.
Description
Technical Field
The embodiment of the disclosure relates to a wheel-foot type mobile platform and a wheel-foot type mobile robot.
Background
Mobile robots (Robot) are mechanical devices that can automatically perform work tasks. The system can receive human commands in real time, run pre-programmed programs and perform actions according to principles formulated by artificial intelligence technology. The task of which is to assist or replace parts of human work, for example in manufacturing, construction or some dangerous work. According to the different moving modes, the mobile robot is divided into: wheeled mobile robots, legged mobile robots, serpentine mobile robots, tracked mobile robots, crawling robots, and the like.
Disclosure of Invention
The embodiment of the disclosure provides a wheel-foot type mobile platform and a wheel-foot type mobile robot. This wheel foot formula moving platform includes first parallel connection formula shank mechanism, and this first parallel connection formula shank mechanism includes: power take-off, link assembly and wheel. The wheel-foot type mobile platform has the combined mobile function of a wheel type robot and a foot type robot, can be suitable for complex terrains and discontinuous terrains, has high stability and high energy utilization rate, and has small impact force of the wheel foot part on the mobile platform body during movement. In addition, the first parallel leg mechanism of the wheel-foot type mobile platform has the advantages of compact structure, high bearing capacity, high flexibility and good dynamic performance.
At least one embodiment of the present disclosure provides a wheeled-foot mobile platform comprising a first parallel leg mechanism, the first parallel leg mechanism comprising: a power output device including a first rotating shaft and a second rotating shaft arranged in parallel, at least one of the first rotating shaft and the second rotating shaft being configured to output power; the first end of the first connecting rod is fixedly connected with the first rotating shaft, the second end of the first connecting rod is hinged with the first end of the second connecting rod to form a first rotating pair, the second end of the second connecting rod is hinged with the first end of the third connecting rod to form a second rotating pair, the second end of the third connecting rod is hinged with the first end of the fourth connecting rod to form a third rotating pair, and the second end of the fourth connecting rod is fixedly connected with the second rotating shaft; and the wheel is hinged and coaxial with the second revolute pair.
In some examples, the power output apparatus includes a first motor including the first rotating shaft and a second motor including the second rotating shaft.
In some examples, the first parallel leg mechanism further includes a third motor including a third rotating shaft, the wheel being fixedly connected to the third rotating shaft, the third motor being configured to drive the wheel to rotate.
In some examples, the first link and the fourth link are located on the same plane perpendicular to the axis of the wheel, the second link is located between the first link and the wheel in a direction perpendicular to the axis of the wheel, the third link is located on a side of the second link away from the wheel, and the third motor is fixedly connected to the third link and located on a side of the third link away from the wheel.
In some examples, the first revolute pair further includes a first bearing, the first end of the second link has a first bearing hole, the first bearing is mounted in the first bearing hole, and the second end of the first link has a protruding shaft inserted into an inner race of the first bearing.
In some examples, the number of the first bearings is two, the two first bearings are arranged side by side along a common axis thereof, and the first revolute pair further comprises an inner ring spacer, located between the inner rings of the two first bearings, configured to space the inner rings of the two first bearings; the first bearing hole is internally provided with an outer ring spacer which is positioned between the outer rings of the two first bearings and is configured to separate the outer rings of the two first bearings.
In some examples, the first revolute pair further includes a first end cap located on a side of the first bearing remote from the first link, the first end cap being fixed to the protruding shaft and pressing against the first bearing, configured to define a mounting position of the first bearing.
In some examples, the second revolute pair further includes a second bearing, the second end of the second link having a second bearing hole, the second bearing being mounted within the second bearing hole.
In some examples, the second revolute pair further includes a second end cap fixed to the second link and pressing against the second bearing, configured to define a mounting position of the second bearing.
In some examples, the second revolute pair further includes a wheel connector, one end of which is fixed to the third rotary shaft of the third motor, and the other end of which passes through the inner race of the second bearing and is connected to the wheel on the side of the second link away from the third link.
In some examples, the second revolute pair further comprises a cap secured to an end of the wheel connection that extends beyond the wheel, the cap configured to define a position of the wheel.
In some examples, the first parallel leg mechanism further includes at least one extension spring, both ends of each of the at least one extension spring are connected to two of the first link, the second link, the third link, and the fourth link, respectively, and at least one end of each of the at least one extension spring is not connected to the first end of the first link or the second end of the fourth link.
In some examples, the first parallel leg mechanism further includes a first torsion spring mounted within the first revolute pair, a second torsion spring mounted within the second revolute pair, and a third torsion spring mounted within the third revolute pair.
In some examples, the wheeled foot mobile platform further comprises a frame, wherein the power take-off of the first parallel leg mechanism is fixedly connected to the frame.
In some examples, the wheel-foot mobile platform further includes a second parallel-type leg mechanism having a mirror-symmetrical structure with the first parallel-type leg mechanism, the power output device of the second parallel-type leg mechanism is also fixedly connected to the frame, and the first and second rotating shafts of the first parallel-type leg mechanism and the first and second rotating shafts of the second parallel-type leg mechanism are parallel to each other.
At least one embodiment of the present disclosure also provides a wheel-foot mobile robot comprising a wheel-foot mobile platform according to any one of the above.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description relate only to some embodiments of the present disclosure and are not limiting to the present disclosure.
Fig. 1 is a schematic three-dimensional structure of a wheeled mobile platform according to at least one embodiment of the present disclosure;
fig. 2A to 2C are schematic diagrams illustrating a motion principle of a first parallel leg mechanism of a wheel-foot mobile platform according to at least one embodiment of the disclosure;
fig. 3 is a schematic diagram of yet another three-dimensional structure of a wheel-foot mobile platform according to at least one embodiment of the present disclosure;
fig. 4 is a schematic three-dimensional exploded view of a first revolute pair of a first side-by-side leg mechanism according to at least one embodiment of the present disclosure;
fig. 5 is a schematic three-dimensional exploded view of a second revolute pair of the first side-by-side leg mechanism according to at least one embodiment of the present disclosure; and
fig. 6 is a schematic three-dimensional structure diagram of a wheel-foot mobile robot according to at least one embodiment of the present disclosure.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be described clearly and completely with reference to the drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
According to the different moving modes, the mobile robot is divided into: wheeled mobile robots, legged (walking) mobile robots, serpentine mobile robots, tracked mobile robots, crawling robots, and the like. The wheel type robot realizes movement by rolling wheels, is suitable for flat road surfaces, has good stability, but has insufficient obstacle crossing performance. The foot type robot moves by means of movement similar to feet of a human or an animal, has good obstacle crossing performance, can be suitable for complex terrains, discontinuous terrains and the like, but has poor stability and low energy utilization rate, and the robot body is large in impact force of the feet during movement.
The embodiment of the disclosure provides a wheel-foot type mobile platform and a wheel-foot type mobile robot. The wheel-foot type mobile platform comprises a first parallel leg mechanism, wherein the first parallel leg mechanism comprises a power output device, a connecting rod assembly and wheels. The power output device includes a first rotating shaft and a second rotating shaft that are arranged in parallel, at least one of the first rotating shaft and the second rotating shaft being configured to output power. The connecting rod assembly comprises a first connecting rod, a second connecting rod, a third connecting rod and a fourth connecting rod. The first end part of the first connecting rod is fixedly connected with the first rotating shaft, the second end part of the first connecting rod is hinged with the first end part of the second connecting rod to form a first rotating pair, the second end part of the second connecting rod is hinged with the first end part of the third connecting rod to form a second rotating pair, the second end part of the third connecting rod is hinged with the first end part of the fourth connecting rod to form a third rotating pair, and the second end part of the fourth connecting rod is fixedly connected with the second rotating shaft. The wheel is hinged and coaxial with the second revolute pair.
The wheel-foot type mobile platform has the combined mobile function of a wheel type robot and a foot type robot, can be suitable for complex terrains and discontinuous terrains, has high stability and high energy utilization rate, and has small impact force of the wheel foot part on the mobile platform body during movement. In addition, the first parallel leg mechanism of the wheel-foot type mobile platform has the advantages of compact structure, high bearing capacity, high flexibility and good dynamic performance.
The following describes a wheel-foot type mobile platform provided by an embodiment of the present disclosure with reference to the accompanying drawings.
Fig. 1 is a schematic three-dimensional structure diagram of a wheeled and legged mobile platform according to at least one embodiment of the present disclosure. For example, as shown in fig. 1, a wheel-legged mobile platform according to at least one embodiment of the present disclosure includes a frame 10, a first parallel-type leg mechanism 20, and a second parallel-type leg mechanism 30.
For example, as shown in fig. 1, the movement plane of the first parallel-type leg mechanism 20 and the movement plane of the second parallel-type leg mechanism 30 are parallel to each other.
For example, as shown in fig. 1, the first parallel leg mechanism 20 and the second parallel leg mechanism 30 have a mirror-symmetrical structure.
It should be noted that, as those skilled in the art will appreciate, the first parallel leg mechanism 20 and the second parallel leg mechanism 30 have a mirror-image structure, which means that there is a plane about which the first parallel leg mechanism 20 and the second parallel leg mechanism 30 are symmetrical. In addition, since the first parallel-type leg mechanism 20 and the second parallel-type leg mechanism 30 are mechanisms having a certain degree of freedom, and their structural states may be changed, the embodiments of the present disclosure do not limit the structural states of the first parallel-type leg mechanism 20 and the second parallel-type leg mechanism 30 to be mirror-symmetrical at any time. For example, in the initial mounting state, the first parallel-type leg mechanism 20 and the second parallel-type leg mechanism 30 are mirror-symmetrical, but the first parallel-type leg mechanism 20 and the second parallel-type leg mechanism 30 may not be mirror-symmetrical as the first parallel-type leg mechanism 20 and the second parallel-type leg mechanism 30 perform asynchronous movements.
For example, the first parallel-type leg mechanism 20 and the second parallel-type leg mechanism 30 may have the same structure. Alternatively, the wheel-foot mobile platform provided in at least one embodiment of the present disclosure may further include a greater number of leg mechanisms, for example, four parallel leg mechanisms, and the remaining parallel leg mechanisms have the same or mirror-symmetrical structure as the first parallel leg mechanism 20 and the second parallel leg mechanism 30. Embodiments of the present disclosure do not limit the number of leg mechanisms.
For example, as shown in fig. 1, the first parallel-type leg mechanism 20 and the second parallel-type leg mechanism 30 are respectively mounted on both ends of the frame 10. Of course, the embodiments of the present disclosure do not limit the mounting positions of the first parallel-type leg mechanism 20 and the second parallel-type leg mechanism 30 on the frame 10.
The structure of the parallel-type leg mechanism of the wheeled mobile platform will be described below by taking the first parallel-type leg mechanism 20 as an example.
For example, as shown in fig. 1, the first parallel leg mechanism 20 includes a power take-off 21, a linkage assembly 22, and wheels 23.
For example, as shown in fig. 1, the power output device 21 includes a first motor 211 and a second motor 212, the first motor 211 includes a first rotating shaft 2110, the second motor 212 includes a second rotating shaft 2120, and the first rotating shaft 2110 and the second rotating shaft 2120 are arranged in parallel. The power take-off 21 is configured to drive the movement of the linkage assembly 22. The first and second rotational shafts 2110 and 2120 are arranged in parallel to allow the link assembly 22 to perform a planar motion. For example, the first motor 211 and the second motor 212 may be servo motors.
Fig. 2A to 2C are schematic diagrams illustrating a motion principle of a first parallel leg mechanism of a wheel-foot mobile platform according to at least one embodiment of the disclosure.
For example, as shown in fig. 1, 2A to 2C, the link assembly 22 includes a first link 221, a second link 222, a third link 223, and a fourth link 224. The first end 2211 of the first link 221 is fixedly connected with the first rotating shaft 2110 of the first motor 211; the second end 2212 of the first link 221 is hinged with the first end 2221 of the second link 222 and has the same rotation axis to form a first rotation pair 241; the second end 2222 of the second link 222 is hinged to the first end 2231 of the third link 223 and has the same axis of rotation, so as to form a second revolute pair 242; the second end 2232 of the third link 223 is hinged to the first end 2241 of the fourth link 224 and has the same axis of rotation, so as to form a third revolute pair 243; the second end 2242 of the fourth link 224 is fixedly connected to the second rotational shaft 2120 of the second motor 212. In this manner, the power take-off 21 may control the position of the second revolute pair 242 by driving the linkage assembly 22 in motion.
For example, as shown in fig. 1, the first end 2211 of the first link 221 is flanged to the first rotating shaft 2110 of the first motor 211, and the second end 2242 of the fourth link 224 is flanged to the second rotating shaft 2120 of the second motor 212. In this way, the first motor 211 and the second motor 212 can drive the first link 221 and the fourth link 224 to rotate, respectively. Of course, the first connecting rod and the first motor or the fourth connecting rod and the second motor may also be connected by other means such as a coupling, which is not limited in this disclosure.
For example, as shown in fig. 1 and 2A to 2C, the wheel 23 is hinged to the second revolute pair 242 and has the same rotation axis.
The movement principle of the first parallel leg mechanism 20 will be described below with reference to fig. 2A to 2C. Fig. 2A to 2C show three states of motion of the first parallel leg mechanism 20. As shown in fig. 2A, in the wheel-foot type mobile platform provided in at least one embodiment of the present disclosure, the first link 221, the second link 222, the third link 223, the fourth link 224, and a central connecting line 225 (a dotted line in the figure, may also be referred to as a fifth link 225) between the first rotating shaft 2110 and the second rotating shaft 2120 jointly form a planar five-link mechanism. The first end 2211 (or the first rotating shaft 2110) of the first link 221 and the second end 2242 (or the second rotating shaft 2120) of the fourth link are fixed in position in the XY plane, and the first link 221 may be rotated about the first rotating shaft 2110 by the driving of the first rotating shaft 2110, and the fourth link 224 may be rotated about the second rotating shaft 2120 by the driving of the second rotating shaft 2120. Therefore, in the planar five-bar linkage, the first link 221 and the fourth link 224 are driving levers, the second link 222 and the third link 224 are driven levers, and the fifth link 225 (a center connecting line 225 between the first rotating shaft 2110 and the second rotating shaft 2120, a dotted line in the figure) is a fixed lever.
The planar five-bar linkage has 2 translational degrees of freedom in the X and Y directions. May be used to control the position of the wheel 23 in the XY plane. For example, as shown in fig. 2A, in the state of fig. 2A, the planar five-bar linkage can be brought to the motion state shown in fig. 2B by controlling the first rotating shaft 2110 of the first motor to rotate by a certain angle in the counterclockwise direction, and simultaneously controlling the second rotating shaft 2120 of the second motor to rotate by the same angle in the clockwise direction. From the movement state of the planar five-bar linkage shown in fig. 2A to 2B, the translational movement of the wheel 23 (or the second revolute pair 242) in the Y direction is realized. For another example, as shown in fig. 2A, in the state of fig. 2A, the planar five-bar linkage can be brought into the motion state shown in fig. 2C by controlling the first rotating shaft 2110 of the first motor to rotate a certain angle in the clockwise direction and controlling the second rotating shaft 2120 of the second motor to rotate another angle in the clockwise direction. From the movement state of the planar five-link mechanism shown in fig. 2A to 2C, the translational movement of the wheel 23 (or the second revolute pair 242) in the X direction and the Y direction is realized.
Fig. 3 is a schematic three-dimensional structural diagram of a wheel-foot mobile platform according to at least one embodiment of the present disclosure, illustrating a further motion state of the wheel-foot mobile platform. As shown in fig. 3, the left parallel-type leg mechanism corresponds to the state shown in fig. 2A, and the right parallel-type leg mechanism corresponds to the state shown in fig. 2B. Therefore, the posture control of one high leg and one low leg can be realized.
In the first parallel leg mechanism provided in at least one embodiment of the present disclosure, the first motor and the second motor are controlled, so that the first parallel leg mechanism can achieve flexible and fast movement in a plane.
In addition, in the first parallel-connection leg mechanism provided in at least one embodiment of the present disclosure, since a parallel-connection support structure (a structure in which the first link 221 and the second link 222 connected in series are connected in parallel with the third link 223 and the fourth link 224 connected in series) is adopted, compared with a series-connection support structure (for example, a structure including only the first link 221 and the second link 222 connected in series), the first parallel-connection leg mechanism has advantages of compact structure, large load-bearing capacity, high dexterity, and good dynamic performance.
In addition, since the wheel 23 is hinged to the second revolute pair 242 and has the same axis of rotation, being able to rotate about the second revolute pair 242 or its own axis, the wheel 23 has 3 degrees of freedom, respectively a translational degree of freedom in the X and Y directions and a rotational degree of freedom about the second revolute pair 242 or its own axis.
It should be noted that the first parallel leg mechanism may be driven to perform planar motion by only one of the first motor and the second motor. The first motor and the second motor are jointly driven, so that the motion coordination of the first parallel leg mechanism is improved, and the first parallel leg mechanism has larger driving force.
For example, as shown in fig. 1, the first parallel leg mechanism 20 further includes a third motor 213. The third motor 213 includes a third rotation shaft 2130 (not shown in fig. 1, see fig. 4), the wheel 23 is fixedly connected to the third rotation shaft 2130, and the third motor 213 is configured to drive the wheel 23 to rotate. The third motor can enhance the terrain adaptability of the wheel-foot type mobile platform to a greater extent.
For example, as shown in fig. 1, in the wheel-foot type mobile platform provided in at least one embodiment of the present disclosure, the first link 221 and the fourth link 224 are located on the same plane perpendicular to the axis of the wheel 23. In the direction perpendicular to the axis of the wheel 23, the second link 222 is located between the first link 221 and the wheel 23, the third link 223 is located on the side of the second link 222 away from the wheel 23, and the third motor 213 is fixedly connected to the third link 223 and located on the side of the third link 223 away from the wheel 23.
It should be noted that the relative positions of the first link, the second link, the third link and the fourth link in the direction perpendicular to the axis of the wheel 23 may be interchanged, as long as the planar five-link mechanism can still be formed. For example, the third link 223 may be located on a side of the second link 222 close to the wheel 23, and in this case, the third motor 213 may be fixedly connected to the second link 222 and located on a side of the second link 222 away from the wheel 23.
For example, the third motor 213 is also a servo motor.
Fig. 4 is a three-dimensional exploded view of a first revolute pair of a first side-by-side leg mechanism according to at least one embodiment of the present disclosure. For example, as shown in fig. 4, in the wheel-foot mobile platform provided in at least one embodiment of the present disclosure, the first rotating pair 241 further includes a first bearing 2411. For example, the first bearing 2411 is a rolling bearing including an inner ring and an outer ring which are relatively rotatable. The first end 2221 of the second link 222 has a first bearing hole 2223, and the first bearing 2411 is mounted in the first bearing hole 2223. For example, the outer race of the first bearing 2411 has an interference fit with the inner wall of the first bearing bore 2223. The second end 2212 of the first link 221 has a protruding shaft 2213, and the protruding shaft 2213 is inserted into the inner ring of the first bearing 2411, and the protruding shaft is in interference fit with the inner ring of the first bearing. Therefore, the first connecting rod and the second connecting rod can realize relative rotation through the first bearing.
For example, as shown in fig. 4, in the wheel-foot type mobile platform provided in at least one embodiment of the present disclosure, the number of the first bearings 2411 is two, and the two first bearings 2411 are coaxially arranged side by side. For example, two first bearings 2411 are disposed side-by-side along their common axis. The first revolute pair 241 further comprises an inner ring spacer 2412 located between the inner rings of the two first bearings 2411 and configured to space the inner rings of the two first bearings 2411. The first end 2221 of the second link 222 also has an outer race spacer 2413 located within the first bearing bore 2223, the outer race spacer 2413 located between the outer races of the two first bearings 2411, the outer race spacer 2413 configured to space the outer races of the two first bearings 2411. For example, outer spacer 2413 is integrally formed with first end 2221 of second link 222, and inner spacer 2412 is a separate component. For example, outer race spacer 2413 is formed on the inner wall of bearing bore 2223. The two first bearings are used for supporting the first rotating pair, so that the bending resistance of the first rotating pair can be improved. Of course, three or more first bearings may be used to support the first rotating pair, and the number of the first bearings is not limited in the present disclosure.
For example, as shown in fig. 4, in the wheel-foot type mobile platform provided in at least one embodiment of the present disclosure, the first rotating pair 241 further includes a first end cover 2414 located on a side of the first bearing 2411 away from the first connecting rod 221. The first end cap 2414 is secured to the protruding shaft 2213 and presses against the first bearing 2411, configured to define a mounting position for the first bearing 2411. For example, the first end cap compresses both the outer race and the inner race of the first bearing.
In addition, the third rotating pair 243 has the same or similar structure and the same technical effect as the first rotating pair 241, and this is not described again in the embodiments of the present disclosure.
Fig. 5 is a schematic three-dimensional exploded view of a second revolute pair of the first side-by-side leg mechanism according to at least one embodiment of the present disclosure. For example, as shown in fig. 5, in the wheel-foot mobile platform provided in at least one embodiment of the present disclosure, the second revolute pair 242 further includes a second bearing 2421. For example, the second bearing is also a rolling bearing, which includes an inner ring and an outer ring that are relatively rotatable. The second end 2222 of the second link 222 has a second bearing hole 2224, and the outer race of the second bearing 2421 is fitted into the second bearing hole 2224. For example, the outer race of the second bearing is an interference fit with the inner wall of the second bearing bore.
For example, as shown in fig. 5, in the wheel-foot type mobile platform provided in at least one embodiment of the present disclosure, the second revolute pair 242 further includes a second end cap 2422 fixed on the second link 222 and pressing the second bearing 2421, and configured to define a mounting position of the second bearing 2421.
Like the first revolute pair, embodiments of the present disclosure do not limit the number of second bearings.
For example, as shown in fig. 5, in the wheel-foot type mobile platform provided in at least one embodiment of the present disclosure, the second revolute pair 242 further includes a wheel connector 2423. One end of the wheel connector 2423 is fixed on the third rotation shaft 2130 of the third motor 213, and the other end passes through the inner ring of the second bearing 2421 to be connected with the wheel on the side of the second link far away from the third link.
For example, as shown in fig. 5, wheel 23 includes a central aperture 231. The axis of the central bore 231 coincides with the axis of the wheel. The central hole is used for being matched with the wheel connecting piece so as to drive the wheel to rotate. For example, the central bore may be non-circular in cross-section. One end of the wheel connector 2423 is connected to the third motor 213 and the other end is fitted to the center hole 231 of the wheel 23. For example, as shown in fig. 5, the end connected to the third motor 213 includes a flange that mates with the third motor. For example, the cross-section of the central bore and the cross-section of the end of the wheel attachment fitting with it are both rounded with a portion cut off on both sides.
For example, the central bore 231 is a through bore through which the end of the wheel connector 2423 that mates with the central bore 231 passes and protrudes from.
For example, the wheel coupler may further include a cylindrical surface that engages the inner race of the second bearing and a step on a side of the cylindrical surface adjacent the third motor. For example, the outer race of the second bearing is compressed and retained by the second end cap, while the inner race of the second bearing is compressed and retained by the step on the wheel attachment member.
For example, as shown in fig. 5, in the wheel-foot mobile platform provided in at least one embodiment of the present disclosure, the second revolute pair 242 further includes a top cover 2424. Top cover 2424 is secured to the end of wheel connector 2423 extending beyond wheel 23 and is configured to define the position of wheel 23.
For example, fig. 2A also shows that the first side-by-side leg mechanism 20 includes an extension spring 25. As shown in fig. 2A, in the wheel-foot mobile platform provided in at least one embodiment of the present disclosure, the first parallel leg mechanism 20 further includes an extension spring 25. Both ends of the extension spring 25 are connected to the middle portions of the first link 221 and the fourth link 224, respectively. In this way, when the included angle between the first link and the fourth link is increased by the first motor and the second motor, the extension spring 25 is elongated to store energy. When the extension spring is released, the wheel can be accelerated to contract, so that the bouncing function of the wheel-foot type mobile platform is realized.
It should be noted that the number and the connection position of the extension springs are not limited in the present disclosure. For example, the number of the extension springs 25 may be plural. Both ends of each extension spring 25 are connected to two of the first link 221, the second link 222, the third link 223, and the fourth link 224, respectively, and at least one end of each of the plurality of extension springs 25 is not connected to the first end of the first link or the second end of the fourth link.
For example, in the wheel-foot mobile platform provided in at least one embodiment of the present disclosure, the first parallel leg mechanism 20 further includes a torsion spring. For example, the torsion springs include a first torsion spring, a second torsion spring, and a third torsion spring. The first torsion spring is arranged in the first rotating pair, and two force arms of the first torsion spring are respectively in contact connection with the second end part of the first connecting rod and the first end part of the second connecting rod; the second torsion spring is arranged in the second revolute pair, and two force arms of the second torsion spring are respectively in contact connection with the second end part of the second connecting rod and the first end part of the third connecting rod; the third torsional spring is installed in the third revolute pair, and two force arms of the third torsional spring are respectively in contact connection with the second end portion of the third connecting rod and the first end portion of the fourth connecting rod. For example, the second torsion spring is in the opposite direction of the first torsion spring. The torsion spring has the effect similar to that of an extension spring, can store energy, and can accelerate the rotation of the revolute pair when being released, so that the contraction of the wheel is accelerated, and the bouncing function of the wheel-foot type mobile platform is realized.
It should be noted that the mounting structure of the torsion spring is well known to those skilled in the art, and thus, embodiments of the present disclosure will not be described in detail.
For example, at least one embodiment of the present disclosure provides yet another wheeled-foot mobile platform including only a first side-by-side leg mechanism. Through a suitable motion control method, the wheel-foot type mobile platform can also move under the condition of keeping balance.
At least one embodiment of the present disclosure further provides a wheel-foot mobile robot, including one or more wheel-foot mobile platforms provided in any of the above embodiments. Fig. 6 is a schematic three-dimensional structure diagram of a wheel-foot mobile robot according to at least one embodiment of the present disclosure. For example, as shown in fig. 6, a wheel-foot mobile robot provided by at least one embodiment of the present disclosure includes a wheel-foot mobile platform. In addition, the wheel-foot type mobile robot further comprises a mechanical arm 40 and a camera 50, wherein the mechanical arm 40 and the camera 50 are both mounted on the frame 10. Of course, the robotic arm 40 and camera 50 may also be mounted on the first side-by-side leg mechanism. Embodiments of the present disclosure do not define the mounting locations of the robotic arm and the camera. For example, robotic arm 40 may be used to perform a variety of tasks such as grasping an item. For example, the camera 50 may be used to perform various tasks such as detecting obstacles or taking images.
At least one embodiment of the present disclosure provides a wheel-foot type mobile robot, which has a combined movement function of a wheel type robot and a foot type robot, and is suitable for complex terrains and discontinuous terrains, and has high stability and high energy utilization rate, and when the robot body is in motion, the impact force of the wheel foot part is small.
The following points need to be explained:
(1) the drawings of the embodiments of the disclosure only relate to the structures related to the embodiments of the disclosure, and other structures can refer to the common design.
(2) Without conflict, embodiments of the present disclosure and features of the embodiments may be combined with each other to arrive at new embodiments.
The above is only a specific embodiment of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of changes or substitutions within the technical scope of the present disclosure, and shall be covered by the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (15)
1. A wheeled, foot-propelled mobile platform comprising a first, parallel leg mechanism, the first, parallel leg mechanism comprising:
a power output device including a first rotating shaft and a second rotating shaft arranged in parallel, at least one of the first rotating shaft and the second rotating shaft being configured to output power;
the first end of the first connecting rod is fixedly connected with the first rotating shaft, the second end of the first connecting rod is hinged with the first end of the second connecting rod to form a first rotating pair, the second end of the second connecting rod is hinged with the first end of the third connecting rod to form a second rotating pair, the second end of the third connecting rod is hinged with the first end of the fourth connecting rod to form a third rotating pair, and the second end of the fourth connecting rod is fixedly connected with the second rotating shaft; and
and the wheel is hinged and coaxial with the second revolute pair.
2. The wheel-foot mobile platform according to claim 1, wherein the power take-off comprises a first motor comprising the first rotating shaft and a second motor comprising the second rotating shaft.
3. The wheel-foot mobile platform according to claim 1 or 2, wherein the first parallel leg mechanism further comprises a third motor, the third motor comprising a third rotating shaft, the wheel being fixedly connected with the third rotating shaft, the third motor being configured to drive the wheel to rotate.
4. The wheel-foot mobile platform according to claim 3, wherein the first link and the fourth link lie in a same plane perpendicular to an axis of the wheel,
in the perpendicular to the direction of the axis of wheel, the second connecting rod is located first connecting rod with between the wheel, the third connecting rod is located the second connecting rod is kept away from one side of wheel, the third motor with third connecting rod fixed connection just is located the third connecting rod is kept away from one side of wheel.
5. The wheel-foot mobile platform according to any one of claims 1-4, wherein the first revolute pair further comprises a first bearing, the first end of the second link has a first bearing hole, the first bearing is mounted in the first bearing hole, and the second end of the first link has a protruding shaft, the protruding shaft is inserted into an inner race of the first bearing.
6. The wheel-foot mobile platform according to claim 5, wherein the number of the first bearings is two, the two first bearings are arranged side by side along a common axis thereof, and the first revolute pair further comprises an inner ring spacer located between the inner rings of the two first bearings and configured to separate the inner rings of the two first bearings; the first bearing hole is internally provided with an outer ring spacer which is positioned between the outer rings of the two first bearings and is configured to separate the outer rings of the two first bearings.
7. The wheel-foot mobile platform according to claim 5 or 6, wherein the first revolute pair further comprises a first end cap located on a side of the first bearing remote from the first link, the first end cap being fixed to the protruding shaft and pressing against the first bearing, configured to define a mounting position of the first bearing.
8. The wheel-foot mobile platform according to any one of claims 4-7, wherein the second revolute pair further comprises a second bearing, the second end of the second link having a second bearing hole, and the second bearing being mounted in the second bearing hole.
9. The wheel-foot mobile platform according to claim 8, wherein the second revolute pair further comprises a second end cap fixed to the second link and pressing against the second bearing, configured to define a mounting position of the second bearing.
10. The wheel-foot type mobile platform according to claim 8 or 9, wherein the second revolute pair further comprises a wheel connector, one end of the wheel connector is fixed on the third rotating shaft of the third motor, and the other end of the wheel connector passes through the inner ring of the second bearing and is connected with the wheel on the side of the second connecting rod far away from the third connecting rod.
11. The wheel-foot mobile platform according to claim 10, wherein the second revolute pair further comprises a top cover secured to an end of the wheel connection that extends beyond the wheel, configured to define a position of the wheel.
12. The wheel-foot mobile platform according to any one of claims 1-11, wherein the first parallel leg mechanism further comprises at least one extension spring, wherein two ends of each of the at least one extension springs are connected to two of the first link, the second link, the third link, and the fourth link, respectively, and at least one end of each of the at least one extension springs is not connected to the first end of the first link or the second end of the fourth link.
13. The wheel-foot mobile platform according to any one of claims 1-12, further comprising a frame, wherein the power take-off of the first parallel leg mechanism is fixedly connected to the frame.
14. The wheel-foot mobile platform according to claim 13, further comprising a second parallel leg mechanism having a mirror-symmetrical structure with the first parallel leg mechanism, wherein the power output device of the second parallel leg mechanism is fixedly connected to the frame, and the first and second rotating shafts of the first parallel leg mechanism and the first and second rotating shafts of the second parallel leg mechanism are parallel to each other.
15. A wheeled legged mobile robot comprising a wheeled legged mobile platform according to any one of claims 1-14.
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