CN111361660B - Variable topology operation wheel leg type moving mechanism - Google Patents
Variable topology operation wheel leg type moving mechanism Download PDFInfo
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- CN111361660B CN111361660B CN202010191356.3A CN202010191356A CN111361660B CN 111361660 B CN111361660 B CN 111361660B CN 202010191356 A CN202010191356 A CN 202010191356A CN 111361660 B CN111361660 B CN 111361660B
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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
The utility model provides a become topology operation wheel leg formula moving mechanism by first motor, a machine support, first connecting rod, the second motor, the output pole, the second connecting rod, the push rod, push rod connecting block and crank wheel are constituteed, first motor passes through bolt fixed connection with the fixed orifices in the frame, the D type output shaft and the crank wheel center D type hole fixed connection of first motor, crank wheel and push rod connecting block realize rotating to be connected, the mounting groove of push rod connecting block one end realizes fixed connection through the bolt with the stiff end of push rod, the output of push rod realizes fixed connection with the last mounting groove of output pole, and realize rotating with the second connecting rod and be connected, the second motor passes through bolt fixed connection with the fixed orifices on the first connecting rod, the output shaft of second motor passes through jackscrew and second connecting rod fixed connection, first connecting rod (3) realize rotating with frame (2) and be connected. The invention has two working modes of wheel type and leg type, and has the characteristics of high speed and high adaptability.
Description
Technical Field
The invention relates to a walking robot technology, in particular to a variable topology operation wheel-leg type moving mechanism.
Background
Chinese patent CN108995728A discloses a "high-mobility wheel-foot composite robot", in which a moving wheel-foot module is formed by designing the shape of a shank rod of a leg structure into an arc shape, and adjusting the outer contour of the shank rod by a motor to form a circular wheel shape, and the motor is self-locked to form the switching of a foot-wheel mode. But the required leg structure of its constitution single round is more, requires the precision higher.
Disclosure of Invention
The invention aims at the problems that the existing foot type robot has strong terrain adaptability and obstacle crossing capability, but the movement speed is slow; the wheel type robot has high speed when running on a flat road surface, but has poor terrain adaptability and obstacle crossing performance, and provides a variable topology operation wheel leg type moving mechanism for combining the advantages of the wheel type robot and a foot type robot.
The technical scheme of the invention is as follows: a variable topology operation wheel leg type moving mechanism is designed, and is characterized in that the moving mechanism comprises a first motor, a frame, a first connecting rod, a second motor, an output rod, a second connecting rod, a push rod connecting block and a crank wheel; the first motor is fixedly connected with a fixed hole in the rack through a bolt, a D-shaped output shaft of the first motor is fixedly connected with a D-shaped hole in the center of the crank wheel, the crank wheel is rotatably connected with the push rod connecting block, a mounting groove at one end of the push rod connecting block is fixedly connected with a fixed end of the push rod through a bolt, an output end of the push rod is fixedly connected with a mounting groove in the output rod and rotatably connected with a second connecting rod, the second motor is fixedly connected with the fixed hole in the first connecting rod through a bolt, an output shaft of the second motor is fixedly connected with the second connecting rod through a jackscrew, and the first connecting rod is rotatably connected with the rack; the first motor, the second motor and the push rod are all connected with a control system.
The cross section of the rack is of an L-shaped structure, a fixing hole is formed in the large plane and used for mounting and fixing the first motor, and a through hole is formed in the left end and used for manual locking during mode switching;
one end of the first connecting rod is provided with a fixing hole for mounting and fixing a second motor, and a through hole is arranged at a position close to the center and used for manual locking during mode switching;
the section of the output rod is rectangular, and one end of the output rod is provided with an installation groove for connecting and fixing the output end of the push rod;
one end of the second connecting rod is provided with a through hole for manual locking during mode switching;
the section of the push rod connecting block is rectangular, and one end of the push rod connecting block is provided with a mounting groove for connecting and mounting a push rod fixing end;
the crank wheel is of a flat plate structure with a circular section, and a D-shaped hole is formed in the center and used for being connected with a first motor.
The control system can control the mechanism to realize the movement of two modes, the first mode is that the second motor is electrified, the included angle between the first connecting rod and the second connecting rod is changed, the push rod is in the original length, the through hole on the first connecting rod and the through hole on the second connecting rod are aligned and locked manually, the mechanism is in a closed chain leg type structure, and the first motor drives the crank wheel to rotate in the whole circle to realize the movement of the leg type mode; in the second mode, the second motor is electrified, the included angle between the first connecting rod and the second connecting rod is changed, the push rod extends to the maximum, the through hole in the first connecting rod and the through hole in the rack are aligned and locked manually, the mechanism is of a wheel type structure based on a parallelogram, the first motor drives the crank wheel to rotate in the whole circle, and the second motor drives the first connecting rod to rotate in the whole circle, so that the movement in the wheel type mode is realized.
The first motor is a direct current motor, and the second motor is a small servo motor.
The wheel-leg moving mechanism with variable topology operation is characterized in that the moving mechanism can be used as a modular moving unit for forming a wheel-leg moving platform.
The invention has the beneficial effects that: the variable topology operation wheel-leg type moving mechanism has two working modes of leg type and wheel type, wherein the leg type working mode has the characteristics of good obstacle crossing performance and capability of passing through uneven road surfaces, the wheel type mode can move on the flat road surfaces at high speed, and the two working modes can be switched according to different road surface conditions and working requirements.
Drawings
FIG. 1 is a three-dimensional diagram of a wheel-leg type moving mechanism with variable topology operation
FIG. 2 three-dimensional view of a frame
FIG. 3 three-dimensional view of the first link
FIG. 4 three-dimensional drawing of the output shaft
FIG. 5A three-dimensional view of a second link
FIG. 6 is a three-dimensional view of a push rod connection block
FIG. 7 three-dimensional drawing of a crank wheel
FIG. 8 three-dimensional view of the leg mode of operation of the mechanism
Figure 9 three-dimensional view of the mechanism in the wheel mode of operation
FIG. 10 is a schematic diagram of a hexapod robot composed of a variable topology operating wheel-leg type moving mechanism
Detailed Description
The invention will be further explained with reference to the drawings. The scope of the claims of the present application is not limited to the description of the embodiments.
As shown in fig. 1, the present invention provides a variable topology operating wheel leg type moving mechanism, which is characterized in that: a variable topology operation wheel leg type moving mechanism comprises: the device comprises a first motor (1), a frame (2), a first connecting rod (3), a second motor (4), an output rod (5), a second connecting rod (6), a push rod (7), a push rod connecting block (8) and a crank wheel (9); the first motor (1) is fixedly connected with a fixed hole (2-b) on the frame (2) through a bolt, a D-shaped output shaft of the first motor (1) is fixedly connected with a D-shaped hole at the center of a crank wheel (9), the crank wheel (9) is rotatably connected with a push rod connecting block (8), a mounting groove (8-a) at one end of the push rod connecting block (8) is fixedly connected with the fixed end of a push rod (7) through a bolt, the output end of the push rod (7) is fixedly connected with a mounting groove (5-a) on the output rod (5), the second motor (4) is fixedly connected with a fixing hole (3-a) on the first connecting rod (3) through a bolt, an output shaft of the second motor (4) is fixedly connected with the second connecting rod (6) through a jackscrew, and the first connecting rod (3) is rotatably connected with the rack (2); the first motor (1), the second motor (4) and the push rod (7) are connected with a control system.
As shown in figure 2, the section of the frame (2) is of an L-shaped structure, a fixing hole (2-b) is arranged on a large plane and used for installing and fixing the first motor (1), and a through hole (2-a) is arranged at the left end and used for manual locking during mode switching.
As shown in fig. 3, one end of the first connecting rod (3) is provided with a fixing hole (3-a) for mounting and fixing the second motor (4), and through holes (3-b, c) are provided near the center for manual locking during mode switching;
as shown in fig. 4, the section of the output rod (5) is rectangular, and one end of the output rod is provided with an installation groove (5-a) for connecting and fixing the output end of the push rod;
as shown in fig. 5, one end of the second connecting rod (6) is provided with a through hole (6-b) for manual locking during mode switching;
as shown in fig. 6, the section of the push rod connecting block (8) is rectangular, and one end of the push rod connecting block is provided with an installation groove (8-a) for connecting and installing the push rod fixing end;
as shown in fig. 7, the crank wheel (9) is a flat plate structure with a circular section, and a D-shaped hole is formed in the center of the crank wheel and used for connecting the first motor (1).
The first motor (1) is a direct current motor, and the second motor (4) is a small servo motor.
The wheel-leg moving mechanism with variable topology operation is characterized in that the moving mechanism can be used as a modular moving unit for forming a wheel-leg moving platform, and a schematic diagram of a hexapod robot formed by the wheel-leg moving mechanism is shown in fig. 10.
The working principle and the process of the invention are as follows: the variable topology operation wheel leg type moving mechanism realizes the movement of two modes, the first mode is that the second motor (4) is electrified, the included angle between the first connecting rod (3) and the second connecting rod (6) is changed, the push rod (7) is in the original length, when the through hole (3-b) on the first connecting rod (3) and the through hole (6-b) on the second connecting rod (6) are in alignment and manually locked, the mechanism is in a closed chain leg type structure, the first motor (1) drives the crank wheel (9) to rotate in the whole circle, the movement of the leg type mode is realized, and as shown in a three-dimensional drawing of the mechanism in the leg type working mode in figure 8; in the second mode, the second motor (4) is electrified, the included angle between the first connecting rod (3) and the second connecting rod (6) is changed, the push rod (7) extends to the maximum, so that the through hole (3-c) in the first connecting rod (3) and the through hole (2-a) in the rack (2) are aligned and locked manually, the mechanism is a wheel type structure based on a parallelogram, the first motor (1) drives the crank wheel (9) to rotate in the whole circle, the second motor (4) drives the first connecting rod (3) to rotate in the whole circle, and the movement in the wheel type mode is realized, and as shown in fig. 9, the mechanism is a three-dimensional diagram in the wheel type working mode.
Claims (5)
1. A topology-variable operating wheel-leg type moving mechanism is characterized in that: a variable topology operation wheel leg type moving mechanism comprises: the device comprises a first motor (1), a frame (2), a first connecting rod (3), a second motor (4), an output rod (5), a second connecting rod (6), a push rod (7), a push rod connecting block (8) and a crank wheel (9); the first motor (1) is fixedly connected with a fixed hole (2-b) on the frame (2) through a bolt, a D-shaped output shaft of the first motor (1) is fixedly connected with a D-shaped hole at the center of a crank wheel (9), the crank wheel (9) is rotatably connected with a push rod connecting block (8), a mounting groove (8-a) at one end of the push rod connecting block (8) is fixedly connected with the fixed end of a push rod (7) through a bolt, the output end of the push rod (7) is fixedly connected with a mounting groove (5-a) on the output rod (5), the second motor (4) is fixedly connected with a fixing hole (3-a) on the first connecting rod (3) through a bolt, an output shaft of the second motor (4) is fixedly connected with the second connecting rod (6) through a jackscrew, and the first connecting rod (3) is rotatably connected with the rack (2); the first motor (1), the second motor (4) and the push rod (7) are connected with a control system.
2. The variable topology operating wheel leg movement mechanism of claim 1, wherein:
the cross section of the rack (2) is of an L-shaped structure, a fixing hole (2-b) is formed in the large plane and used for installing and fixing the first motor (1), and a through hole (2-a) is formed in the left end and used for manual locking during mode switching;
one end of the first connecting rod (3) is provided with a fixing hole (3-a) for mounting and fixing the second motor (4), and through holes (3-b, c) are arranged at positions close to the center and used for manual locking during mode switching;
the section of the output rod (5) is rectangular, and one end of the output rod is provided with an installation groove (5-a) for connecting and fixing the output end of the push rod;
one end of the second connecting rod (6) is provided with a through hole (6-b) for manual locking during mode switching;
the section of the push rod connecting block (8) is rectangular, and one end of the push rod connecting block is provided with an installation groove (8-a) for connecting and installing a push rod fixing end;
the crank wheel (9) is of a flat plate structure with a circular section, and a D-shaped hole is formed in the center and used for being connected with the first motor (1).
3. The variable topology operating wheel leg movement mechanism of claim 1, wherein:
the control system can control the mechanism to realize the movement of two modes, the first mode is that the second motor (4) is electrified, the included angle between the first connecting rod (3) and the second connecting rod (6) is changed, the push rod (7) is in the original length, when the through hole (3-b) on the first connecting rod (3) and the through hole (6-b) on the second connecting rod (6) are in alignment and manually locked, the mechanism is in a closed chain leg type structure, and the first motor (1) drives the crank wheel (9) to rotate in the whole circle to realize the movement of the leg type mode; the second mode is that the second motor (4) is electrified, the included angle between the first connecting rod (3) and the second connecting rod (6) is changed, the push rod (7) extends to the maximum, the through hole (3-c) in the first connecting rod (3) and the through hole (2-a) in the rack (2) are aligned and locked manually, the mechanism is a wheel type structure based on a parallelogram, the first motor (1) drives the crank wheel (9) to rotate in the whole circle, and the second motor (4) drives the first connecting rod (3) to rotate in the whole circle, so that the wheel type mode movement is realized.
4. A variable topology operation wheel leg moving mechanism as claimed in claim 3, wherein: the first motor (1) is a direct current motor, and the second motor (4) is a small servo motor.
5. The variable topology operation wheel leg movement mechanism of claim 1, wherein said movement mechanism is used as a modular movement unit constituting a wheel leg movement platform.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010191356.3A CN111361660B (en) | 2020-03-18 | 2020-03-18 | Variable topology operation wheel leg type moving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010191356.3A CN111361660B (en) | 2020-03-18 | 2020-03-18 | Variable topology operation wheel leg type moving mechanism |
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| Publication Number | Publication Date |
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| CN111361660A CN111361660A (en) | 2020-07-03 |
| CN111361660B true CN111361660B (en) | 2021-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010191356.3A Active CN111361660B (en) | 2020-03-18 | 2020-03-18 | Variable topology operation wheel leg type moving mechanism |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976860A (en) * | 2020-08-07 | 2020-11-24 | 北京交通大学 | Deformable wheel-leg robot |
| CN115674950A (en) * | 2022-11-24 | 2023-02-03 | 北京交通大学 | Deformation wheel mechanism based on Bricard mechanism |
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| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
| CN104443104A (en) * | 2014-12-10 | 2015-03-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
| CN205327215U (en) * | 2016-02-16 | 2016-06-22 | 秦广泉 | Walking device |
| CN105711675A (en) * | 2016-01-25 | 2016-06-29 | 东南大学 | Wheel and leg mechanism for wheel and leg compound type robot and control method |
| CN105752185A (en) * | 2016-03-03 | 2016-07-13 | 上海大学 | Hybrid robot capable of switching wheel leg gaits based on changes of gear train properties |
| CN206857673U (en) * | 2017-06-20 | 2018-01-09 | 常州机电职业技术学院 | Swing type carrying implement |
| CN210133204U (en) * | 2019-07-16 | 2020-03-10 | 深圳市爱因派科技有限公司 | Wheel-leg composite structure and wheel-leg composite four-foot bionic robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070257451A1 (en) * | 2006-05-08 | 2007-11-08 | Chiba Institute Of Technology | Car, walking apparatus, and method of determining shape of wheel |
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2020
- 2020-03-18 CN CN202010191356.3A patent/CN111361660B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395457A (en) * | 2013-07-01 | 2013-11-20 | 中国科学技术大学 | Multi-foot moving device based on combination driving mechanism |
| CN104443104A (en) * | 2014-12-10 | 2015-03-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
| CN105711675A (en) * | 2016-01-25 | 2016-06-29 | 东南大学 | Wheel and leg mechanism for wheel and leg compound type robot and control method |
| CN205327215U (en) * | 2016-02-16 | 2016-06-22 | 秦广泉 | Walking device |
| CN105752185A (en) * | 2016-03-03 | 2016-07-13 | 上海大学 | Hybrid robot capable of switching wheel leg gaits based on changes of gear train properties |
| CN206857673U (en) * | 2017-06-20 | 2018-01-09 | 常州机电职业技术学院 | Swing type carrying implement |
| CN210133204U (en) * | 2019-07-16 | 2020-03-10 | 深圳市爱因派科技有限公司 | Wheel-leg composite structure and wheel-leg composite four-foot bionic robot |
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