Frameless wheel leg telescopic robot

Abstract

The invention discloses a frameless wheel leg telescopic robot which comprises a wheel leg, the wheel leg comprises a telescopic leg outer frame and a telescopic leg, the telescopic leg can slide and stretch in the telescopic leg outer frame, and a spring is arranged between the telescopic leg and the telescopic leg outer frame, namely in the telescopic leg outer frame, so that the telescopic leg can be reset. The motion direction of the frameless wheel-legged robot is dynamically adjusted by adjusting the inclination angle between the center module and the ground, namely the numerical value of the inclination angle sensor and adjusting the rotation direction of the motor through the control panel.

Description

Technical Field

[0001] The invention belongs to the technical field of mobile robots, and in particular relates to a frameless wheel-leg telescopic robot. Background Art

[0002] The structure of a mobile robot determines the robot's motion performance. In the fields of military reconnaissance, disaster relief, and extraterrestrial exploration, there are high requirements for obstacle-crossing capabilities. At present, ground mobile platforms can be divided into wheeled, legged, and tracked types according to their motion modes. Among them, wheel-based motion is the simplest and most effective. Therefore, wheeled robots are widely used in the design of road-carrying robots (such as unmanned intelligent vehicles) and indoor robots. However, wheeled robots have poor obstacle-crossing capabilities. Therefore, the application of wheeled robots in complex terrain is subject to certain restrictions. Legged robots have good motion performance on uneven surfaces. However, due to the complexity of the legged mechanism control strategy and the need to predict terrain and collect information, their movement speed is much slower than that of wheeled robots.

[0003] Wheel-leg hybrid robots are another important research direction. Early wheel-leg hybrid structures were fixed. The frameless wheel of WHEGS has three spokes with hooks at the end of the spokes to mimic the barbs on insect legs, and climb rocks by hooking their edges. Rhex uses semicircular rims as legs to expand the range of motion. RoMiRAM uses a rotating wheel with six legs and adds a spine to lift or lower the body, allowing the robot to climb higher obstacles. This wheel-leg hybrid robot with a fixed structure sacrifices the ability to move quickly on flat ground in exchange for the ability to traverse complex terrain. Impass can switch between round wheels and spoke wheels. Quattroped's wheels can be divided into two semicircular legs, which have the ability to traverse obstacles. QuadRunner is a new type of deformable quasi-wheel-leg robot that combines quadruped and wheeled locomotion using a semicircular leg-wheel design and a trotting wheel gait. FUHAR drives the circular rim into six claws through a four-link linkage, which has a certain ability to cross obstacles. Ryu et al. proposed a deformable wheel for high-speed climbing of mobile robots, which uses centrifugal force to expand the wheel shape to overcome obstacles. Most of these wheel-leg hybrid robots use a claw-like structure to hook the edge of the obstacle and cross the obstacle, causing the center of mass of the mobile platform to fluctuate violently and destroy the stability of the load. At the same time, due to the asymmetry of the mechanism, most wheel-leg structures only have one-way obstacle crossing capabilities, limiting their application in complex terrain. Summary of the invention

[0004] The purpose of the present invention is to solve the above problems and provide a novel frameless wheel-leg telescopic robot, which utilizes the deflection direction control of the upper platform to enable it to have bidirectional obstacle-crossing capability.

[0005] In order to solve the above technical problems, the technical solution of the present invention is: a frameless wheel-leg telescopic robot, comprising wheel legs, the wheel legs comprising a telescopic leg outer frame and a telescopic leg, the telescopic leg can slide and telescope in the telescopic leg outer frame, and a spring is installed between the telescopic leg and the telescopic leg outer frame, that is, inside the telescopic leg outer frame, to ensure that the telescopic leg can be reset. By adjusting the inclination angle between the central module and the ground, that is, the value of the inclination sensor, and adjusting the rotation direction of the motor through the control panel, the movement direction of the frameless wheel-leg robot can be dynamically adjusted.

[0006] Preferably, the central module includes a support plate, a tilt sensor, a motor, a central shaft, a first gear, a second gear, a control board, a middle partition, and a power supply.

[0007] Preferably, a tilt sensor is installed on the upper part of the support plate, a control board and a power supply are installed on the middle partition plate, and a motor is installed under the support plate.

[0008] Preferably, the driving assembly includes a first gear and a second gear, the first gear and the second gear are meshed with each other, the motor drives the second gear to transmit with the first gear meshed with it, the first gear drives the central shaft to rotate, and the central shaft drives the wheel leg central frame fixed thereto to rotate.

[0009] Preferably, the number of the telescopic leg outer frames is six and they are respectively fixedly connected to the wheel leg center frame, the number of telescopic legs is the same as the number of telescopic leg outer frames and they are respectively slidably and telescopically connected to the telescopic leg outer frames, and the number of internal springs is the same as the number of telescopic leg outer frames and they are respectively installed inside the telescopic leg outer frames, that is, between the telescopic legs and the telescopic leg outer frames.

[0010] Preferably, the center of gravity of the central module is calculated to obtain the inclination sensor angle that can make the wheel leg rotate, and the motor rotation speed, i.e., direction, is dynamically adjusted by reading the dynamic value of the inclination sensor. The motor drives the telescopic leg robot to rotate under the drive of the first gear and the second gear.

[0011] Preferably, the output value of the inclination sensor is the angle between the support plate and the horizontal plane, and the output of the inclination sensor is controlled to remain unchanged. When the output value of the inclination sensor is greater than the set value, the control board sends a forward rotation instruction to the motor, and the output value of the inclination sensor is adjusted by the motor rotation, so that the reading of the inclination sensor is adjusted to the given value; when the output value of the inclination sensor is greater than the set value, the control board sends a reverse rotation instruction to the motor, and the output value of the inclination sensor is adjusted by the motor rotation, so that the reading of the inclination sensor is adjusted to the given value.

[0012] The beneficial effects of the present invention are as follows: the frameless wheel-leg telescopic robot provided by the present invention has, on the one hand, a simple structure and the advantage of bidirectional obstacle crossing capability compared with other wheel-leg robot solutions. On the other hand, the spring structure installed on its legs can stably contact the surface of obstacles and reduce the fluctuation of the center of mass of the mobile platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 This is a schematic diagram of the principle of a frameless wheel-leg telescopic robot embodiment 1 of the present invention;

[0014] Explanation of the accompanying drawings: 1. Support plate; 2. Tilt sensor; 3. Telescopic leg; 4. Telescopic leg outer frame; 5. Wheel leg center frame; 6. Motor; 7. Center axis; 8. First gear; 9. Second gear; 10. Control board; 11. Middle partition; 12. Power supply. DETAILED DESCRIPTION

[0015] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0016] like Figure 1 As shown, a frameless wheel-leg telescopic robot provided by the present invention includes wheel legs, the wheel legs include a telescopic leg outer frame 4 and a telescopic leg 3, the telescopic leg 3 can slide and telescope in the telescopic leg outer frame 4, and a spring is installed between the telescopic leg 3 and the telescopic leg outer frame 4, that is, inside the telescopic leg outer frame 4, to ensure that the telescopic leg can be reset. By adjusting the inclination angle between the central module and the ground, that is, the value of the inclination sensor 2, and adjusting the rotation direction of the motor 6 through the control board 10, the movement direction of the frameless wheel-leg robot is dynamically adjusted.

[0017] The central module includes a support plate 1 , a tilt sensor 2 , a motor 6 , a central shaft 7 , a first gear 8 , a second gear 9 , a control board 10 , a middle partition 11 , and a power supply 12 .

[0018] The inclination sensor 2 is installed on the upper part of the support plate 1, the control board 10 and the power supply 12 are installed on the middle partition plate 11, and the motor 6 is installed under the support plate.

[0019] The driving assembly includes a first gear 8 and a second gear 9, which are meshed with each other. The motor 6 drives the second gear 9 to transmit the first gear 8 meshed with it. The first gear 8 drives the central shaft 7 to rotate, and the central shaft drives the wheel leg central frame 5 fixed thereto to rotate.

[0020] In this embodiment, the number of telescopic leg outer frames 4 is six and they are respectively fixedly connected to the wheel leg center frame 5, the number of telescopic legs 3 is the same as the number of telescopic leg outer frames 4 and they are respectively slidably and telescopically connected to the telescopic leg outer frames 4, and the number of internal springs is the same as the number of telescopic leg outer frames 4 and they are respectively installed inside the telescopic leg outer frames 4, that is, between the telescopic legs 3 and the telescopic leg outer frames 4.

[0021] The present invention determines the center of gravity of the central module by calculation, obtains the inclination sensor angle that can make the wheel leg rotate, and dynamically adjusts the rotation speed or direction of the motor 6 by reading the dynamic value of the inclination sensor 2. The motor 6 is driven by the first gear 8 and the second gear 9 to drive the telescopic leg robot to rotate.

[0022] In this embodiment, when the output value of the inclination sensor 2 is the angle between the support plate 1 and the horizontal plane, the output of the inclination sensor is controlled to remain unchanged. When the output value of the inclination sensor 2 is greater than the set value, the control board 10 sends a forward rotation instruction to the motor 6, and the output value of the inclination sensor is adjusted by the rotation of the motor, so that the reading of the inclination sensor is adjusted to the given value; when the output value of the inclination sensor 2 is greater than the set value, the control board 10 sends a reverse rotation instruction to the motor 6, and the output value of the inclination sensor 2 is adjusted by the rotation of the motor 6, so that the reading of the inclination sensor 2 is adjusted to the given value.

[0023] Those skilled in the art will appreciate that the embodiments described herein are intended to help readers understand the principles of the present invention, and should be understood that the protection scope of the present invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific variations and combinations that do not deviate from the essence of the present invention based on the technical revelations disclosed by the present invention, and these variations and combinations are still within the protection scope of the present invention.

Claims

1. A frameless wheel-leg telescopic robot, characterized in that: As shown in FIG1 , the present invention provides a frameless wheel-leg telescopic robot, comprising wheel legs, wherein the wheel legs comprise a telescopic leg outer frame (4) and a telescopic leg (3), wherein the telescopic leg (4) can slide and telescope in the telescopic leg outer frame (4), and a spring is installed between the telescopic leg (3) and the telescopic leg outer frame (4), i.e., inside the telescopic leg outer frame (4), to ensure that the telescopic leg can be reset. By adjusting the inclination angle between the central module and the ground, i.e., the value of the inclination sensor (2), and adjusting the rotation direction of the motor (6) through the control panel (10), the movement direction of the frameless wheel-leg robot is dynamically adjusted.

2. The frameless wheel-leg telescopic robot according to claim 1, characterized in that: The central module comprises a support plate (1), an inclination sensor (2), a motor (6), a central shaft (7), a first gear (8), a second gear (9), a control board (10), a middle partition (11), and a power source (12).

3. The frameless wheel-leg telescopic robot according to claim 1, characterized in that: The tilt sensor (2) is installed on the upper part of the support plate (1), the control board (10) and the power supply (12) are installed on the middle partition (11), and the motor (6) is installed under the support plate.

4. The frameless wheel-leg telescopic robot according to claim 1, characterized in that: The driving assembly comprises a first gear (8) and a second gear (9), the first gear (8) and the second gear (9) are meshed with each other, the motor (6) drives the second gear (9) to transmit the first gear (8) meshed with the second gear (9), the first gear (8) drives the central shaft (7) to rotate, and the central shaft drives the wheel leg central frame (5) fixedly connected thereto to rotate.

5. The frameless wheel-leg telescopic robot according to claim 1, characterized in that: The number of the telescopic leg outer frames (4) is six and they are respectively fixedly connected to the wheel leg center frame (5); the number of the telescopic legs (3) is the same as the number of the telescopic leg outer frames (4) and they are respectively connected to the telescopic leg outer frames (4) in a sliding and telescopic manner; the number of the internal springs is the same as the number of the telescopic leg outer frames (4) and they are respectively installed inside the telescopic leg outer frames (4), that is, between the telescopic legs (3) and the telescopic leg outer frames (4).

6. The frameless wheel-leg telescopic robot according to claim 1, characterized in that: The center of gravity of the central module can be calculated to obtain the angle of the inclination sensor that can cause the wheel leg to rotate, and the rotation speed or direction of the motor (6) can be dynamically adjusted by reading the dynamic value of the inclination sensor (2). The motor (6) drives the telescopic leg robot to rotate under the drive of the first gear (8) and the second gear (9).

7. The frameless wheel-leg telescopic robot according to claim 1, characterized in that: The output value of the inclination sensor (2) is the angle between the support plate (1) and the horizontal plane, and the output of the inclination sensor is controlled to remain unchanged. When the output value of the inclination sensor (2) is greater than the set value, the control board (10) sends a forward rotation instruction to the motor (6), and the output value of the inclination sensor is adjusted by the rotation of the motor, so that the reading of the inclination sensor is adjusted to the given value; when the output value of the inclination sensor (2) is greater than the set value, the control board (10) sends a reverse rotation instruction to the motor (6), and the output value of the inclination sensor (2) is adjusted by the rotation of the motor (6), so that the reading of the inclination sensor (2) is adjusted to the given value.

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