Wheel-leg hybrid robot based on spatial single closed-chain Schatz mechanism

Abstract

A wheel-leg hybrid robot based on a spatial single-closed-chain Schatz mechanism includes a support, a first radial link, a first obstacle-crossing link, a first circumferential link, a first circumferential link, a central link, a second radial link, a second obstacle-crossing link, a second circumferential link, and a second circumferential link; as well as first and second motors. Controlled by the first and second motors, the robot can move forward, backward, laterally, and diagonally, and has excellent obstacle-crossing capabilities.

Description

Technical Field

[0001] The present invention relates to a mechanism-based robot, in particular to a wheel-leg compound robot based on a spatial single closed chain mechanism, which drives the mechanism forward, moves laterally and turns by driving the forward and reverse rotation of a motor. Background Art

[0002] Wheeled robots offer high stability, high speed, and excellent performance on structured terrain. Legged robots have strong obstacle-crossing capabilities and can adapt to complex terrain. (Wheel-legged robots can achieve high speeds while also climbing slopes and overcoming obstacles. Unlike conventional robots, which can only adjust their direction by turning, these robots can achieve both lateral and diagonal movement without changing their direction.) Combining the advantages of wheeled and legged robots, achieving both lateral and diagonal movement, would significantly improve the robot's terrain adaptability.

[0003] The Chinese patent discloses a "spatial single closed-chain mobile robot" that is based on the Schatz mechanism and achieves extremely high obstacle crossing performance by driving the deformation of the wheel-leg structure through a motor. Summary of the Invention

[0004] The present invention combines the deformation ability of the Schatz mechanism to design a wheel-leg composite mobile robot based on a spatial single closed chain, which can achieve lateral and oblique movement.

[0005] A wheel-leg compound robot based on a spatial single closed-chain Schatz mechanism includes a first circumferential link, a first circular link, a first obstacle-crossing link, a first radial link, a center link, a bracket, a second circumferential link, a second circular link, a second obstacle-crossing link, a second radial link; and a first motor and a second motor.

[0006] The structure of the parts that make up the mechanism:

[0007] The shape of the bracket is similar to the English letter Z, with a transmission shaft on one side of the symmetrical center and wheels on both sides being standard arcs. Two symmetrical shaft holes are provided on a straight rod passing through the center of the circle.

[0008] The first circumferential connecting rod (1) is provided with a transmission shaft and an axial hole, and has an arc-shaped structure on the outside. The second circumferential connecting rod (9) has the same structure as the first circumferential connecting rod (1).

[0009] The shaft hole of the first obstacle crossing link (3) is arranged in the middle of the cantilever beam, and the cantilever beam is the main obstacle crossing structure. The second obstacle crossing link (11) has the same structure as the first obstacle crossing link (3).

[0010] The first radial connecting rod (4) is provided with axial holes on both sides, one side is a larger square cross-section, and the other side is a smaller rectangular cross-section. The second radial connecting rod (12) has the same structure as the first radial connecting rod (4).

[0011] The center connecting rod (5) is a symmetrical structure, with a pair of square bosses, a rotating shaft in the center, and symmetrical shaft holes on both sides.

[0012] The specific connection method is:

[0013] The two symmetrical shaft holes on the bracket (8) are respectively connected to the first circumferential connecting rod (1) and the second circumferential connecting rod (9) through a revolute pair. The ends of the arc wheel on both sides are respectively in contact with the first radial connecting rod (4) and the second radial connecting rod (12). The symmetry center is connected to the central transmission shaft of the center connecting rod (5) through a revolute pair. The transmission shaft is driven by a motor to control deformation. The axle on the bracket (8) is driven by a motor and connected to the vehicle body.

[0014] The first radial connecting rod (4) and the second radial connecting rod (12) are connected to the center connecting rod (5) through a revolute pair on the shaft hole. The shaft holes at the other ends are respectively connected to the first obstacle crossing connecting rod (3) and the second obstacle crossing connecting rod (11) through a revolute pair. The first obstacle crossing connecting rod (3) and the second obstacle crossing connecting rod (11) are respectively connected to the first circumferential connecting rod (2) and the second circumferential connecting rod (10) through a revolute pair. The shaft holes of the first circumferential connecting rod (1) and the second circumferential connecting rod (9) are respectively connected to the shaft holes of the first circumferential connecting rod (2) and the second circumferential connecting rod (10) through a revolute pair, and their rotating axes are respectively connected to the shaft holes on the bracket (8) through a revolute pair.

[0015] The first motor (7) is mounted on the vehicle body, and the forward power is transmitted to the wheel through the axle on the bracket (8). The first motor (6) is mounted on the bracket (8), and the motor drives the center connecting rod (5) to rotate, thereby controlling the rotation of the radial connecting rod, the obstacle-crossing connecting rod, the circumferential connecting rod, and the circumferential connecting rod, thereby realizing the deformation of the wheel.

[0016] The beneficial effects of the present invention are as follows: The wheel-leg hybrid robot described herein can move forward and backward at the speed of a wheeled robot on roads under normal working conditions, while also exhibiting high obstacle-crossing capabilities and achieving lateral and diagonal movement without changing the robot's posture. The mechanism has a simple structure and a compact size, making it suitable for use in a variety of fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Assembly principle diagram of wheel-leg composite robot based on spatial single closed-chain Schatz mechanism

[0018] Figure 2 Bracket structure diagram

[0019] Figure 3 Center connecting rod structure diagram

[0020] Figure 4 Radial connecting rod structure diagram

[0021] Figure 5 Obstacle crossing connecting rod structure diagram

[0022] Figure 6 Circumferential connecting rod schematic

[0023] Figure 7 Schematic diagram of circular connecting rod

[0024] Figure 8 The forward deformation process of the motor of the wheel-leg hybrid robot based on the spatial single closed-chain Schatz mechanism

[0025] Figure 9 Motor reversal deformation process of wheel-leg hybrid robot based on spatial single closed-chain Schatz mechanism DETAILED DESCRIPTION

[0026] The following is further detailed description with reference to the accompanying drawings.

[0027] like Figure 1 As shown, a wheel-leg compound robot based on a spatial single closed-chain Schatz mechanism, the first circumferential link

[0028] (1), a first circumferential link (2), a first obstacle-crossing link (3), a first radial link (4), a center link (5), a bracket (8), a second circumferential link (9), a second circumferential link (10), a second obstacle-crossing link (11), a second radial link (12); and a first motor (7) and a second motor (6).

[0029] like Figure 2 As shown, the shape of the bracket (8) is similar to the English letter Z, one side of the symmetrical center is the transmission shaft, and the wheels on both sides of the symmetrical center are standard arcs. Two symmetrical shaft holes are provided on the straight rod passing through the center of the circle.

[0030] like Figure 3 As shown, the center connecting rod (5) is a symmetrical structure with a pair of square bosses, a rotating shaft in the center and symmetrical shaft holes on both sides.

[0031] like Figure 4 As shown, both sides of the first radial connecting rod (4) are provided with axial holes, one side is a larger square cross-section, and the other side is a smaller rectangular cross-section. The second radial connecting rod (12) has the same structure as the first radial connecting rod (4).

[0032] like Figure 5 As shown, the shaft hole of the first obstacle crossing link (3) is arranged in the middle of the cantilever beam, and the cantilever beam is the main obstacle crossing structure. The second obstacle crossing link (11) has the same structure as the first obstacle crossing link (3).

[0033] like Figure 6 As shown, the first circumferential connecting rod (1) is provided with a transmission shaft and an axis hole, and the outer side has an arc-shaped structure. The second circumferential connecting rod (9) has the same structure as the first circumferential connecting rod (1).

[0034] The specific connection method is:

[0035] The two symmetrical shaft holes on the bracket (8) are respectively connected to the first circumferential connecting rod (1) and the second circumferential connecting rod (9) through a revolute pair. The ends of the arc wheel on both sides are respectively in contact with the first radial connecting rod (4) and the second radial connecting rod (12). The symmetry center is connected to the central transmission shaft of the center connecting rod (5) through a revolute pair. The transmission shaft is driven by a motor to control deformation. The axle on the bracket (8) is driven by a motor and connected to the vehicle body.

[0036] The first radial connecting rod (4) and the second radial connecting rod (12) are connected to the center connecting rod (5) through a revolute pair on the shaft hole. The shaft holes at the other ends are respectively connected to the first obstacle crossing connecting rod (3) and the second obstacle crossing connecting rod (11) through a revolute pair. The first obstacle crossing connecting rod (3) and the second obstacle crossing connecting rod (11) are respectively connected to the first circumferential connecting rod (2) and the second circumferential connecting rod (10) through a revolute pair. The shaft holes of the first circumferential connecting rod (1) and the second circumferential connecting rod (9) are respectively connected to the shaft holes of the first circumferential connecting rod (2) and the second circumferential connecting rod (10) through a revolute pair, and their rotating axes are respectively connected to the shaft holes on the bracket (8) through a revolute pair.

[0037] The first motor (7) is mounted on the vehicle body, and the forward power is transmitted to the wheel through the axle on the bracket (8). The first motor (6) is mounted on the bracket (8), and the motor drives the center connecting rod (5) to rotate, thereby controlling the rotation of the radial connecting rod, the obstacle-crossing connecting rod, the circumferential connecting rod, and the circumferential connecting rod, thereby realizing the deformation of the wheel.

[0038] Specific usage:

[0039] The wheel-leg compound robot based on the spatial single closed chain Schatz mechanism can realize straight walking gait. In this state, it can be achieved by driving only the first motor (7) that controls the rotation of the bracket (8), and the first motor (6) remains locked. Figure 1 As shown, the wheel is circular in shape, and the robot is in the starting position of the straight gait. At this time, the order in which the components contact the ground is the second radial link (12), the bracket (8), the first circumferential link (1), the first circumferential link (2), the first obstacle-crossing link (3), the bracket (8), the second circumferential link (9), the second circumferential link (10), and the second obstacle-crossing link (11).

[0040] The wheel-leg compound robot based on the spatial single closed chain Schatz mechanism can switch to the obstacle crossing mode when encountering complex terrain. In this state, it can be completed by driving only the first motor (6). First, the starting position of the mechanism is as follows Figure 1 As shown, the first motor (6) drives the center link (5) to rotate, thereby driving the first radial link (4), the second radial link (12), the first obstacle-crossing link (3), the second obstacle-crossing link (11), the first circumferential link (2), the second circumferential link (10), the first circumferential link (1), and the second circumferential link (9) to swing. When the center link (5) rotates 90°, as shown in FIG. Figure 8 As shown in FIG. 3 , the wheel switches to the obstacle crossing mode, at which time the first motor (6) is locked and the obstacle crossing can be achieved by driving the first motor (7). When the wheel rotates to 180°, the wheel switches from the obstacle crossing mode back to the straight-ahead mode. Figure 8 a, 8b, 8c, 8d, 8e, 8f, and 8g are schematic diagrams of the obstacle crossing process of the wheel-leg hybrid robot based on the spatial single closed-chain Schatz mechanism switching from straight-line movement.

[0041] The wheel-leg compound robot based on the spatial single closed-chain Schatz mechanism can realize lateral movement and oblique movement without changing the orientation of the body. The process of changing the state is similar to the process of switching the state described above. During the process of lateral movement and oblique movement, the first motor (6) drives the center connecting rod (5) to continuously rotate a full circle. By controlling the speed of the first motor (6), the robot can be controlled to move horizontally or obliquely to different angles. Figure 9 a, 9b, 9c, 9d, 9e, 9f, and 9g are the deformation processes of the wheels of the wheel-leg hybrid robot based on the spatial single closed-chain Schatz mechanism during lateral movement.

Claims

1. A wheel-leg compound robot based on a spatial single closed-chain Schatz mechanism, comprising a support (1), a first radial link (2), a first obstacle-crossing link (3), a first circumferential link (4), a first circumferential link (5), a center link (8), a second radial link (6), a second obstacle-crossing link (7), a second circumferential link (9), a second circumferential link; and a first motor and a second motor; the component structure of the mechanism is as follows: The bracket (1) is shaped like the English letter Z, with a transmission shaft on one side of the symmetrical center, and wheels on both sides of the symmetrical center being standard arcs, and two symmetrical shaft holes being provided on a straight rod passing through the center of the circle; The center connecting rod (8) is a symmetrical structure with a pair of square bosses, a rotating shaft in the center and symmetrical shaft holes on both sides; The first radial connecting rod (2) is provided with axial holes on both sides, one side has a larger square cross-section, and the other side has a smaller rectangular cross-section. The second radial connecting rod (6) has the same structure as the first radial connecting rod (2); The shaft hole of the first obstacle-crossing link (3) is arranged in the middle of the cantilever beam, the cantilever beam is the main obstacle-crossing structure, and the second obstacle-crossing link (7) has the same structure as the first obstacle-crossing link (3); The first circumferential connecting rod (5) is provided with a transmission shaft and an axial hole, and has an arc-shaped structure on the outer side. The second circumferential connecting rod (10) has the same structure as the first circumferential connecting rod (5); The specific connection method is: Two symmetrical shaft holes on the bracket (1) are respectively connected to the first circumferential connecting rod (5) and the second circumferential connecting rod (10) through a revolute pair. The ends of the arc wheel on both sides are respectively in contact with the first radial connecting rod (2) and the second radial connecting rod (6). The symmetry center is connected to the central transmission shaft of the center connecting rod (8) through a revolute pair. The transmission shaft is driven by a motor to control deformation. The axle on the bracket (1) is driven by the motor and connected to the vehicle body. The first radial connecting rod (2) and the second radial connecting rod (6) are connected to the center connecting rod (8) through a rotation pair on the shaft hole, and the shaft holes at the other ends are respectively connected to the first obstacle crossing connecting rod (3) and the second obstacle crossing connecting rod (7) through a rotation pair, and the first obstacle crossing connecting rod (3) and the second obstacle crossing connecting rod (7) are respectively connected to the first circumferential connecting rod (4) and the second circumferential connecting rod (9) through a rotation pair, and the shaft holes of the first circumferential connecting rod (5) and the second circumferential connecting rod (10) are respectively connected to the shaft holes of the first circumferential connecting rod (4) and the second circumferential connecting rod (9) through a rotation pair, and their rotation axes are respectively connected to the shaft holes on the bracket (1) through a rotation pair; The first motor is mounted on the vehicle body, and the forward power is transmitted to the wheels through the axle on the bracket (1); the second motor is mounted on the bracket (1), and the motor drives the center connecting rod (8) to rotate, thereby controlling the rotation of the radial connecting rod, the obstacle-crossing connecting rod, the circumferential connecting rod, and the circumferential connecting rod, thereby realizing the deformation of the wheel.

2. The wheel-leg compound robot based on the spatial single closed-chain Schatz mechanism according to claim 1 can move forward and backward at the speed of a wheeled robot on a road surface under normal working conditions, achieving lateral and oblique movement.

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