CN104228994A - Wheel-leg-type transformation leg foot mechanism of robot - Google Patents
Wheel-leg-type transformation leg foot mechanism of robot Download PDFInfo
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- CN104228994A CN104228994A CN201310224739.6A CN201310224739A CN104228994A CN 104228994 A CN104228994 A CN 104228994A CN 201310224739 A CN201310224739 A CN 201310224739A CN 104228994 A CN104228994 A CN 104228994A
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- shank
- main leg
- leg
- servomotor
- wheel
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Abstract
The invention discloses a wheel-leg-type transformation leg foot mechanism of a robot. A body support piece comprises a body support piece servo motor which is in transmission connection with one end of a connection portion to drive a body to move up or down. The other end of the connection portion is fixedly connected onto a main leg. The main leg and the body are in transmission under traction of the connection portion. The main leg comprises a main leg servo motor which drives the main leg to operate relative to the connection portion. A shank comprises a shank servo motor, one end of the shank is hinged to the bottom of the main leg through a rotating shaft, the shank rotates around the rotating shaft with a 0-90-degree angle formed between the shank and the main leg, and the shank servo motor is in transmission connection with a wheel foot to achieve wheel movement. The mechanism further comprises a flexible traction part connected between the shank and the main leg. According to the leg structure, the shank servo motor is contracted in the main leg in the walking process, wheel-type walking can be achieved through structure transformation, and the mechanism is compact in integral structure, small in size, simple, not prone to be interfered with external objects, good in stability and high in maneuvering performance.
Description
Technical field
The present invention relates to a kind of wheel foot formula distortion Tui Zu mechanism of robot.
Background technology
Bio-robot has important and wide application prospect in a lot of field, Tui Zu mechanism is the actuating unit of multi-foot robot walking, it is the key link that multi-foot robot realizes multiple gait and do not interfere walking, the research and design of Tui Zu mechanism is significant, in the prior art, in the walking manner of bio-robot, mainly single wheel type movement mode, wheeled robot controllable velocity is fast, but the ability a bit deficient in of leaping over obstacles, adaptation different terrain and fuselage flexible motion; Or the sufficient formula mode of motion of biped or polypody, having the adaptable advantage of landform simultaneously, there is kinematic velocity slow in legged type robot, organism balance controls the deficiency of difficulty.
Wheel, sufficient function convolution robot leg foot mechanism is had in prior art, wheel portion mechanism and foot mechanism are provided separately as respective independent agency, shortcoming needs reserved wheel portion, foot structure two positions in running part body or needs manual switchover, not only takes up room but also complex operation; Wheel mechanism is directly the end of running part, can not be out of shape, shortcoming be foot wheel motor due to vertical with leg, protruding legs is a lot, is easy to and object is interfered during walking, maybe needs to use expensive special motor; Wheel mechanism is at foot mechanism end, and wheel foot switches distortion independently need perform switching by motor, and shortcoming needs to increase motor in wheel portion and leg, the stressed comparatively large easily damage of switch motor when walking.
Combining the demand of application in practice, not only structure is simple urgently to need one, and wheel, foot motion can be integrated in Tui Zu mechanism integrally mutually, the roadside of step or injustice uses sufficient formula move and can expand robot range of movement, changeable on smooth road surface is wheel type movement mode, require that robot operates steadily, running velocity is significantly improved simultaneously.
Summary of the invention
The shortcoming of prior art in view of the above, the object of the present invention is to provide a kind of robot to take turns the distortion of sufficient formula and switches Tui Zu mechanism and switch to realize the distortion of wheeled, sufficient formula, and the good characteristics such as structure is simple, stable that require this Tui Zu mechanism to possess.
For achieving the above object, a kind of wheel foot formula distortion Tui Zu mechanism of robot, this robot comprises body, described Tui Zu mechanism comprises: body supporting piece, connecting portion, main leg, shank and wheel foot, wherein, the top of described body supporting piece is fixedly connected on body, body supporting piece comprises a body supporting piece servomotor, described body supporting piece servomotor is provided with the power take-off shaft perpendicular to body supporting piece, described pto connects one end of connecting portion, to drive body lifting or decline; The other end of described connecting portion is connected and fixed on main leg, makes winner's leg and body interlock by the traction of connecting portion; Described main leg comprises a main leg servomotor, and described main leg servomotor is provided with the power take-off shaft perpendicular to main leg, and described pto drives main leg to operate relative to connecting portion; Described shank comprises a shank servomotor, one end of shank is connected to bottom main leg through shaft hinge, shank becomes 0 ° ~ 90 ° angles to rotate around described rotating shaft relative to main leg, and the pto fifth wheel foot of shank servomotor, to realize wheel type movement; Also comprise a flexible drawing part, be connected and fixed between shank and main leg.
Preferably, the right-hand member of described shank is provided with curved portions, is provided with one group of through hole in curved portions, and rotating shaft is inserted in through hole and makes shank and main leg pivot joint, and the left end of shank is provided with one group of tapped bore, and in tapped bore, rigging screw makes shank servomotor fixing in shank.
Preferably, described flexible traction member is spring or bungee.
As mentioned above, a kind of robot of the present invention is taken turns the distortion of sufficient formula and is switched Tui Zu mechanism, there is following beneficial effect: end wheel foot being located at Tui Zu mechanism, wheel foot is switched distortion and only just can mutually need be switched by the distortion of leg foot mechanism action, and shrink in main leg by shank servomotor in sufficient formula walking, structural distortion can become running on wheels, compact overall structure, volume are little, mechanism is simple, not easily interfere with exterior object during walking, good stability, maneuvering performance is strong.
Accompanying drawing explanation
Fig. 1 is a kind of robot wheel type movement leg structure schematic diagram in the present embodiment;
Fig. 2 is a kind of robot foot formula moving foot structural representation in the present embodiment;
Fig. 3, Fig. 4, Fig. 5 are leg mechanism transition state structural representation;
Wherein, in Fig. 1 to Fig. 3,
Body supporting piece 1, connecting portion 2, main leg 3, shank 4, wheel foot 5, flexible drawing part 6, rotating shaft 7.
Detailed description of the invention
Below by way of specific instantiation, embodiments of the present invention are described, those skilled in the art the content disclosed by this specification sheets can understand other advantages of the present invention and effect easily.The present invention can also be implemented or be applied by detailed description of the invention different in addition, and the every details in this specification sheets also can based on different viewpoints and application, carries out various modification or change not deviating under spirit of the present invention.
It should be noted that, the structure illustrated in this Figure of description, ratio, size etc., content all only in order to coordinate specification sheets to disclose, understand for person skilled in the art scholar and read, and be not used to limit the enforceable qualifications of the present invention, therefore the not technical essential meaning of tool, the adjustment of the modification of any structure, the change of proportionate relationship or size, do not affecting under effect that the present invention can produce and the object that can reach, all should still drop in scope that disclosed technology contents contains.Simultaneously, quote in this specification sheets as " on ", D score, "left", "right", " centre " and " one " etc. term, also only for ease of understanding of describing, and be not used to limit the enforceable scope of the present invention, the change of its relativeness or adjustment, under changing technology contents without essence, when being also considered as the enforceable category of the present invention.
Please refer to shown in Fig. 1 and Fig. 2, a kind of wheel foot formula distortion Tui Zu mechanism of robot, this robot comprises body, described Tui Zu mechanism comprises: body supporting piece 1, connecting portion 2, main leg 3, shank 4 and wheel foot 5, wherein, the top of described body supporting piece 1 is fixedly connected on body, body supporting piece 1 comprises a body supporting piece servomotor, described body supporting piece servomotor is provided with the power take-off shaft perpendicular to body supporting piece 1, described pto connects one end of connecting portion 2, to drive body lifting or decline, described connecting portion 2 other end is connected and fixed on main leg 3, winner's leg 3 and body interlock is made by the traction of connecting portion 2, described main leg 3 comprises a main leg servomotor, described main leg servomotor is provided with the power take-off shaft perpendicular to main leg 3, described pto drives main leg 3 to operate relative to connecting portion 2, described shank 4 comprises a shank servomotor, one end of shank 4 is hingedly coupled to bottom main leg 3 through rotating shaft 7, shank 4 rotates relative to main leg 3 one-tenth 0 ° ~ 90 ° angles around described rotating shaft 7, the pto fifth wheel foot 5 of shank servomotor, to realize wheel type movement, also comprise a flexible drawing part 6, be connected and fixed between shank 4 and main leg 3, described flexible traction member 6 is spring or bungee.
In shank 4 structure of the present invention, the right-hand member of shank 4 is provided with curved portions, one group of through hole is provided with in curved portions, rotating shaft 7 is inserted in through hole and makes shank 4 and the pivot joint of main leg 3,4 left ends of shank are provided with one group of tapped bore, in tapped bore, rigging screw makes shank servomotor fixing in shank, and size design makes the size of shank servomotor size and shank 4 match.
Robot is when running in sufficient formula mode, main leg 4 is driven to make the upper and lower motion of Tui Zu mechanism by main leg servomotor, now flexible drawing part 6 produces the pulling force of certain traction shank 4, in addition under the effect of shank servomotor self gravitation, make shank 7 rotations around the shaft to overlapping with main leg 4 structure, during walking, wheel foot 5 outside faces of robot contact with ground level, area of contact change makes greatly robot ambulation more stable, asks composition graphs 2 mesopodium formula moving foot structural representation simultaneously.
Robot is when wheeled mode is run, shank 47 is turned into and becomes 90 degree of angle structures between main leg around the shaft, the wheel week of taking turns foot 5 is contacted with ground level, when robot body center of gravity reduces and makes wheeled operation by himself gravity, robot is in stable sliding state, now flexible drawing part 6 is in tension, makes wheel type movement be more stablize; When main leg 2 lifts, flexible drawing part 6 shrinks, and shank 4 and shank servomotor tractive is wherein gone back to main leg 3 inside, wheel type movement is switched to sufficient formula to move, wheel type movement leg structure schematic diagram in composition graphs 1 while of asking.
It is specific as follows that the switching of foot formula is deformed into wheeled course of action: in the robot being designed to six supporting legs foot mechanisms, wherein robot body is propped up as supporting leg by three Zhi Tuizu mechanisms, other three Tiao Tuizu mechanism airbornes are conversion leg, three conversion legs aloft outwards launch, in the present invention, main leg servomotor and body supporting piece servomotor form two degree of freedom of walking in Tui Zu mechanism, shown in Fig. 3, body supporting piece servomotor rotates counterclockwise, driving through connecting portion 2 makes winner's leg 3 decline, main leg servomotor rotates clockwise and drives shank 4 to external expansion simultaneously, then incorporated by reference to shown in Fig. 4, the lifting of main leg 3, main leg servomotor clickwise makes shank 4 shrink, and make shank 4 end take turns foot 5 distortion by frictional ground force, afterwards, body supporting piece servomotor clickwise makes winner's leg 3 lifting through connecting portion 2, then shown in composition graphs 5, along with body supporting piece servomotor left-hand revolution, through connecting portion 2, winner's leg 3 is declined, along with main leg servomotor left-hand revolution, make winner's leg keep vertical state, shank servomotor rotating band driving wheel foot 5 rotates and makes robot switch to wheeled slide action.
As mentioned above, a kind of robot of the present invention is taken turns the distortion of sufficient formula and is switched Tui Zu mechanism, wheel foot 5 is located at the end of Tui Zu mechanism, wheel foot is switched distortion and only just can mutually need be switched by the distortion of leg foot mechanism action, and shunk in main leg 3 by shank servomotor in sufficient formula walking, structural distortion can become running on wheels, compact overall structure, volume are little, mechanism is simple, not easily interfere with exterior object during walking, good stability, maneuvering performance is strong.So the present invention effectively overcomes various shortcoming of the prior art and tool high industrial utilization.
Above-described embodiment is illustrative principle of the present invention and effect thereof only, but not for limiting the present invention.Any person skilled in the art scholar all without prejudice under spirit of the present invention and category, can modify above-described embodiment or changes.Therefore, such as have in art usually know the knowledgeable do not depart from complete under disclosed spirit and technological thought all equivalence modify or change, must be contained by claim of the present invention.
Claims (3)
1. a wheel foot formula distortion Tui Zu mechanism for robot, this robot comprises body, it is characterized in that, described Tui Zu mechanism comprises: body supporting piece, connecting portion, main leg, shank and wheel foot, wherein,
The top of described body supporting piece is fixedly connected on body, body supporting piece comprises a body supporting piece servomotor, described body supporting piece servomotor is provided with the power take-off shaft perpendicular to body supporting piece, described pto connects one end of connecting portion, to drive body lifting or decline;
The other end of described connecting portion is connected and fixed on main leg, makes winner's leg and body interlock by the traction of connecting portion;
Described main leg comprises a main leg servomotor, and described main leg servomotor is provided with the power take-off shaft perpendicular to main leg, and described pto drives main leg to operate relative to connecting portion;
Described shank comprises a shank servomotor, one end of shank is connected to bottom main leg through shaft hinge, shank becomes 0 ° ~ 90 ° angles to rotate around described rotating shaft relative to main leg, and the pto fifth wheel foot of shank servomotor, to realize wheel type movement;
Also comprise a flexible drawing part, be connected and fixed between shank and main leg.
2. the wheel foot formula distortion Tui Zu mechanism of robot according to claim 1, it is characterized in that, the right-hand member of described shank is provided with curved portions, one group of through hole is provided with in curved portions, rotating shaft is inserted in through hole and makes shank and main leg pivot joint, the left end of shank structure is provided with one group of tapped bore, and in tapped bore, rigging screw makes shank servomotor fixing in shank.
3. the wheel foot formula distortion Tui Zu mechanism of robot according to claim 1 and 2, it is characterized in that, described flexible drawing part is spring or bungee.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310224739.6A CN104228994A (en) | 2013-06-06 | 2013-06-06 | Wheel-leg-type transformation leg foot mechanism of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310224739.6A CN104228994A (en) | 2013-06-06 | 2013-06-06 | Wheel-leg-type transformation leg foot mechanism of robot |
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| Publication Number | Publication Date |
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| CN104228994A true CN104228994A (en) | 2014-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201310224739.6A Pending CN104228994A (en) | 2013-06-06 | 2013-06-06 | Wheel-leg-type transformation leg foot mechanism of robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106344314A (en) * | 2015-07-13 | 2017-01-25 | 松下知识产权经营株式会社 | Robot system, holding mechanism, control method of robot system |
| CN113581316A (en) * | 2021-07-26 | 2021-11-02 | 北京航空航天大学 | Compact passive foot with wheel foot capable of being switched rapidly |
| CN116215692A (en) * | 2023-03-28 | 2023-06-06 | 上海智元新创技术有限公司 | Leg structure of wheel foot robot and wheel foot robot |
-
2013
- 2013-06-06 CN CN201310224739.6A patent/CN104228994A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106344314A (en) * | 2015-07-13 | 2017-01-25 | 松下知识产权经营株式会社 | Robot system, holding mechanism, control method of robot system |
| CN106344314B (en) * | 2015-07-13 | 2021-01-01 | 松下知识产权经营株式会社 | Robot system, holding mechanism, and control method for robot system |
| CN113581316A (en) * | 2021-07-26 | 2021-11-02 | 北京航空航天大学 | Compact passive foot with wheel foot capable of being switched rapidly |
| CN116215692A (en) * | 2023-03-28 | 2023-06-06 | 上海智元新创技术有限公司 | Leg structure of wheel foot robot and wheel foot robot |
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Application publication date: 20141224 |