CN111731405A - Robot - Google Patents
Robot Download PDFInfo
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- CN111731405A CN111731405A CN202010662698.9A CN202010662698A CN111731405A CN 111731405 A CN111731405 A CN 111731405A CN 202010662698 A CN202010662698 A CN 202010662698A CN 111731405 A CN111731405 A CN 111731405A
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- Prior art keywords
- wheel
- thigh
- lower leg
- unit
- rotating shaft
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 93
- 210000002414 leg Anatomy 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims description 33
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 10
- 229910052742 iron Inorganic materials 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 description 11
- 125000006850 spacer group Chemical group 0.000 description 6
- 244000309466 calf Species 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000003 hoof Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Images
Classifications
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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
Abstract
The application discloses robot relates to machinery. The robot includes: the mechanical leg comprises a trunk part and n mechanical legs connected with the trunk part; the mechanical leg comprises a thigh unit and a shank unit; the joint end of the thigh unit is hinged with the joint end of the shank unit through a rotating shaft, and a travelling wheel is fixed on the rotating shaft; under a foot type mode, the lower leg units in the n mechanical legs are fixedly connected with the rotating shaft; in the wheeled mode, the lower leg unit of at least two mechanical legs is rotatably connected with the rotating shaft. The robot can realize wheel type and foot type double modes.
Description
Technical Field
The embodiment of the application relates to the field of machinery, in particular to a robot.
Background
The robot has two forms of foot type motion and wheel type motion. Common robots are robots that employ two-legged, three-legged, four-legged, and six-legged mechanical legs.
The related art provides a four-footed robot mounted with four mechanical legs. The four-legged robot has two motion modes of wheel type and foot type at the same time.
The mechanical leg has a wheel-type structure at the end of the lower leg, so that the grip and balance of the end of the lower leg are poor.
Disclosure of Invention
The embodiment of the application provides a robot, which can realize wheel-foot dual-mode driving by depending on the traveling wheels at the joints of a thigh unit and a shank unit. The technical scheme is as follows:
according to an aspect of the present application, there is provided a robot including: the robot comprises a trunk part and n mechanical legs connected with the trunk part, wherein n is a positive integer not less than 2;
each mechanical leg comprises a thigh unit and a shank unit; one end of the thigh unit is hinged with one end of the shank unit through a rotating shaft, and a travelling wheel is fixed on the rotating shaft;
under the foot type mode, the shank units in the n mechanical legs are fixedly connected with the rotating shaft;
in the wheeled mode, the lower leg unit of at least two mechanical legs is rotatably connected with the rotating shaft.
In an optional embodiment of the present application, the proximal side of the lower leg unit is further provided with an auxiliary wheel;
under a first wheel type mode, the lower leg units in the n mechanical legs are rotatably connected with the rotating shaft;
under the second wheel mode, the lower leg units in m mechanical legs positioned at the same end of the trunk part are rotatably connected with the rotating shaft, the lower leg units in the rest n-m mechanical legs are fixedly connected with the rotating shaft, and m is a positive integer smaller than n.
In an optional embodiment of the present application, the mechanical leg further comprises: a first thigh drive device, a second thigh drive device, a shank drive device;
the first stator part of the first thigh driving device is connected with the trunk part, and the first rotor part of the first thigh driving device is connected with the side surface of the second stator part of the second thigh driving device;
the second rotor part of the second thigh driving device is connected with the third stator part of the shank driving device;
the third stator part of the shank driving device is connected with the root end of the thigh unit, and the third rotor part of the shank driving device is connected with the rotating shaft through a transmission device.
In an alternative embodiment of the present application, the lower leg unit has a locking member therein;
when the locking part is in a locking state, the shank unit is fixedly connected with the rotating shaft through the travelling wheel;
when the locking component is in an unlocked state, the lower leg unit is rotatably connected with the rotating shaft.
In an alternative embodiment of the present application, the traveling wheel has a pin slot thereon, and the locking member includes a linear motor and a flat pin fixed to an output end of the linear motor;
when the flat pin is inserted into the pin groove, the locking part is in the locking state;
when the flat pin leaves the pin slot, the locking component is in the unlocked state.
In an alternative embodiment of the present application, at least two of the pin grooves are radially distributed on the running wheel.
In an alternative embodiment of the present application, the lower leg unit has a motor holder therein, and the motor holder fixes the linear motor and the inner wall of the lower leg unit.
In an optional embodiment of the present application, a driving wheel is further fixedly connected to the rotating shaft; a driving wheel is fixed at the output end of the third rotor part;
the driving wheel is connected with the driving wheel through the transmission device.
In an alternative embodiment of the present application, the transmission comprises: a belt;
the driving wheel is connected with the driving wheel through the belt.
In an alternative embodiment of the present application, a belt pressing device is included in the thigh unit, the belt pressing device being in pressing contact with an outer surface of the belt.
In an alternative embodiment of the present application, the travel wheel comprises: a first travel wheel and a second travel wheel;
the pin slot is formed on a first wheel surface of the first travelling wheel facing the second travelling wheel, and the pin slot is formed on a second wheel surface of the second travelling wheel facing the first travelling wheel;
the number and the grooving positions of the pin grooves on the first wheel surface and the second wheel surface are the same.
In an alternative embodiment of the present application, the calf unit has a first magnetic feature thereon and the thigh unit has a second magnetic feature thereon; in the wheel mode, the first magnetic part and the second magnetic part attract each other;
wherein one of the first magnetic member and the second magnetic member is a magnet, and the other of the first magnetic member and the second magnetic member is a magnet or an iron block.
In an alternative embodiment of the present application, the thigh unit includes first and second detachably connectable thigh portions, and the shank unit includes first and second detachably connectable shank portions;
the first thigh portion and the first shank portion are located on a first side of the transmission device, and the second thigh portion and the second shank portion are located on a second side of the transmission device.
In an optional embodiment of the present application, the rotating shaft is further provided with a first shaft sleeve and a second shaft sleeve;
the first shaft sleeve is arranged between the first thigh part and the first shank part;
the second sleeve is mounted between the second thigh portion and the second calf portion.
In an alternative embodiment of the present application, the lower leg unit is terminated with a plantar portion.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
the walking wheels are arranged at the joints of the thigh unit and the shank unit, the shank unit is fixedly connected with the rotating shaft in a foot type mode, the shank unit is driven by the rotating shaft to realize foot type walking, and the walking wheels are positioned at the joints of the large shank and the small shank and do not contact the ground, so that the shank unit can keep better ground holding force and balance; under the wheel mode, all or part of the shank units are rotatably connected with the rotating shaft, the traveling wheels on the rotating shaft realize wheel type traveling, and the ground clearance of the trunk part can be ensured due to the length of the shank units, so that the trafficability of the robot under the wheel mode is improved. From the whole view, the robot has the characteristics of compact structure, high flexibility and light weight, and the environment adaptability of the robot can be enhanced to a greater extent through the flexible switching between the wheel mode and the foot mode.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a front view of a robot provided by an exemplary embodiment of the present application;
FIG. 2 is a schematic illustration of a robot in a legged mode provided by an exemplary embodiment of the present application;
FIG. 3 is a perspective view of a robotic leg provided in accordance with an exemplary embodiment of the present application;
FIG. 4 is a top view of a robot in a legged mode according to an exemplary embodiment of the present application;
FIG. 5 is a side view of a robot in a legged mode according to an exemplary embodiment of the present application;
FIG. 6 is a perspective view of a robot in a first wheeled modality provided by an exemplary embodiment of the present application;
FIG. 7 is a front view of a robot in a first wheeled modality provided by an exemplary embodiment of the present application;
FIG. 8 is a perspective view of a robot in a second wheeled modality provided by an exemplary embodiment of the present application;
FIG. 9 is a schematic view of a locking member provided in an exemplary embodiment of the present application;
FIG. 10 is an exploded perspective view of a robotic leg provided in accordance with an exemplary embodiment of the present application;
fig. 11 is an exploded top view of a robotic leg provided in an exemplary embodiment of the present application.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
Embodiments of the present application provide a robot that is capable of traveling in either a wheeled mode or a legged mode.
Fig. 1 shows a schematic view of a robot 10 provided in an exemplary embodiment of the present application. The robot 10 includes: a trunk portion 12, and n mechanical legs 14 connected to the trunk portion 12, n being a positive integer not less than 2.
The mechanical leg 14 includes: a thigh unit 1 and a shank unit 2; the joint end of the thigh unit 1 is hinged with the joint end of the shank unit 2 through a rotating shaft 3, and a travelling wheel 4 is fixed on the rotating shaft 3.
In the foot mode, the lower leg unit 2 and the rotating shaft 3 in the n mechanical legs 14 are fixedly connected. The robot 10 drives the travelling wheels 4 and the lower leg units 2 to travel in a foot type motion mode through the rotating shaft 3. When the rotating shaft 3 drives the travelling wheel 4 to rotate forwards, the shank unit 2 is also driven to rotate forwards; when the rotating shaft 3 drives the travelling wheel 4 to rotate backwards, the lower leg unit 2 is also driven to rotate backwards. The above processes are repeatedly executed, and foot type exercise can be realized.
In the wheeled mode, there is a rotational connection of the lower leg unit 2 and the spindle 3 in at least two mechanical legs 14. The rotating shaft 3 and the traveling wheels 4 can freely rotate relative to the lower leg unit 2. The rotating shaft 3 drives the traveling wheels 4 to rotate forwards, so that wheel type movement is realized.
In summary, in the robot provided by this embodiment, the travel wheel is disposed at the joint between the thigh unit and the shank unit, the shank unit is fixedly connected to the rotating shaft in the foot-type mode, the rotating shaft drives the shank unit to realize foot-type travel, and the travel wheel is located at the joint of the thigh and the shank without contacting the ground, so that the shank unit can maintain good grip and balance; under the wheel mode, all or part of the shank units are rotatably connected with the rotating shaft, the traveling wheels on the rotating shaft realize wheel type traveling, and the ground clearance of the trunk part can be ensured due to the length of the shank units, so that the trafficability of the robot under the wheel mode is improved.
The number of the mechanical legs 14 of the robot 10 may be two, three, four, six, etc., and the number of the mechanical legs 14 is not limited in the present application. Taking the number of the mechanical legs 14 as 4 as an example, fig. 2 shows a perspective view of the robot 10 provided by another exemplary embodiment of the present application. The robot 10 includes: a torso portion 12, and 4 mechanical legs 14 connected to the torso portion 12.
With combined reference to fig. 3, for each mechanical leg 14, the mechanical leg 14 comprises: a first thigh drive 51, a second thigh drive 52, a lower leg drive 53, a thigh unit 1 and a lower leg unit 2.
The first thigh drive 51, the second thigh drive 52 and the lower leg drive 53 form a combined drive. The lower leg driving device 53 is also connected with the root end 11 of the thigh unit 1, the joint end 12 of the thigh unit 1 is connected with the joint end 21 of the lower leg unit 2, the side surface (short for being near the ground) of the lower leg unit 2 close to the ground is provided with an auxiliary wheel 6, and the tail end 22 of the lower leg unit 2 is provided with a foot bottom 8.
Illustratively, the first thigh drive 51, the second thigh drive 52, and the lower leg drive 53 are each motors. Each motor includes a stator portion and a rotor portion that is rotatable relative to the stator portion.
Referring to fig. 4 and 5 in combination, fig. 4 is a top view of the robot 10, and fig. 5 is a side view of the robot 10.
The first thigh drive means 51 is for driving the rotation of the thigh unit 1 along both sides of the trunk 12. The first stator portion of the first thigh drive device 51 is connected to the torso portion 12, and the first rotor portion of the first thigh drive device 51 is connected to a side surface of the second stator portion of the second thigh drive device 52. Optionally, the central axis of the first rotor portion is parallel to the central axis of the torso portion 12.
The second thigh drive device 52 is used to drive the swing of the thigh unit 1 along the front/rear of the trunk 12. The second rotor portion of the second thigh drive 52 is connected to the third stator portion of the lower leg drive 53. Alternatively, the second rotor portion faces the outside of the body portion 12, the second stator portion faces the inside of the body portion 12, and the central axis of the second rotor portion is perpendicular to the central axis of the body portion 12.
The third stator part of the lower leg drive device 53 is connected with the root end 11 of the thigh unit 1, and the third rotor part of the lower leg drive device 53 is connected with the rotating shaft 3 through a transmission device. Optionally, the central axis of the third rotor portion coincides with or is parallel to the central axis of the second rotor portion.
The robot 10 has at least three motion modalities: a foot mode, a first wheeled mode, and a second wheeled mode.
Foot mode:
in the foot mode shown in fig. 2, the lower leg unit 2 and the rotary shaft 3 in each mechanical leg 14 are fixedly connected. The second rotor portion of the second thigh drive device 52 drives the swing of the thigh unit 1 along the front/rear direction of the trunk portion 12. The third rotor part of the lower leg driving device 53 rotates, and the revolving shaft 3 drives the travelling wheel 4 and the lower leg unit 2 to travel in a foot type movement mode. When the lower leg driving device 53 drives the travelling wheel 4 to rotate forwards through the rotating shaft 3, the lower leg unit 2 is also driven to rotate forwards; when the lower leg driving device 53 drives the traveling wheels 4 to rotate backward through the rotating shaft 3, the lower leg unit 2 is also driven to rotate backward. The above processes are repeatedly executed, and foot type exercise can be realized.
A first wheeled modality:
in the first wheeled mode shown in fig. 6, the lower leg unit 2 and the spindle 3 in each mechanical leg 14 are rotatably connected. The lower leg driving device 53 rotates the traveling wheel 4 via the rotary shaft 3 without rotating the lower leg unit 2.
As shown in fig. 7, the lower leg unit 2 has a first magnetic member 91, and the upper leg unit 1 has a second magnetic member 92. One of the first magnetic member 91 and the second magnetic member 92 is a magnet, and the other of the first magnetic member 91 and the second magnetic member 92 is a magnet or an iron block.
In the first wheel mode, the first magnetic member 91 and the second magnetic member 92 attract each other. At this time, the lower leg unit 2 and the upper leg unit 1 are fixed by the magnetic force between the magnetic members, and the interference of the lower leg unit 2 with the first wheel mode is reduced. Since the lower leg unit 2 is in the stowed state and the distal end of the lower leg unit 2 faces upward, the trunk portion 12 has a suitable ground clearance, and is low in wind resistance and has good passability.
A second wheeled modality:
the proximal side of the lower leg unit 2 is also provided with an auxiliary wheel 6. In the second wheeled mode, the lower leg units 2 of the m mechanical legs 14 located at the same end (front end or rear end) 02 of the trunk portion 12 are rotatably connected to the rotary shaft 3, and the lower leg units 2 of the remaining n-m mechanical legs 14 located at the other end 04 of the trunk portion 12 are fixedly connected to the rotary shaft 3.
As schematically shown in fig. 8, the lower leg units 2 of the two robot legs 14 located at the rear end 02 of the trunk portion 12 are rotatably connected to the rotary shaft 3, and the lower leg units 2 of the two robot legs 14 located at the front end 04 of the trunk portion 12 are fixedly connected to the rotary shaft 3.
The robot 10 performs wheeled forward and backward movements by two robot legs 14 located at the rear end 02 of the trunk 12. During the wheeled forward or backward movement, the robot 10 can also perform other actions, such as opening doors, carrying objects, photographing, etc., via the two legs 14 located at the front end 04 of the trunk 12.
As is apparent from the above embodiment, the lower leg unit 2 and the rotary shaft 3 can be switched between the fixed connection and the rotary connection. In some embodiments, the lower leg unit 2 has a locking member 7 therein, the locking member 7 being used to effect a switch between a fixed connection and a rotating connection. As shown in fig. 9:
fig. 9 shows a block diagram of the locking member 7 provided in an exemplary embodiment of the present application. The locking member 7 is used to lock or unlock between the lower leg unit 2 and the travel wheel 4. The locking member 7 includes: a linear motor 71 and a flat pin 72.
The linear motor 71 is a transmission device that converts electric energy into mechanical energy for linear motion. Optionally, the lower leg unit 2 has a motor fixing base 33 therein, and the motor fixing base 33 fixes the linear motor 71 and the inner wall of the lower leg unit 2.
The flat pin 72 is fixed to the output end of the linear motor 71. The running wheel 4 has at least one pin slot 73. The linear motor 71 drives the flat pin 72 to insert into the pin groove 73 or to extract the pin groove 73.
When the flat pin 72 is inserted into the pin groove 73, the lock member 7 is in a locked state. The lower leg unit 2 and the travelling wheel 4 are locked, and the lower leg unit 2 is fixedly connected with the rotating shaft 3 through the travelling wheel 4. When the rotating shaft 3 drives the travelling wheel 4 to rotate, the lower leg unit 2 also rotates along with the travelling wheel 4.
When the flat pin 72 is pulled out of the pin groove 73, the lock member 7 is in the unlocked state. The lower leg unit 2 and the travelling wheel 4 are unlocked, and the lower leg unit 2 is rotatably connected with the rotating shaft 3. When the rotating shaft 3 drives the travelling wheel 4 to rotate, the lower leg unit 2 does not rotate along with the travelling wheel 4.
In some embodiments, there are at least two pin slots 73, each pin slot 73 being distributed along the radial direction of the travelling wheel 4. That is, at least two pin grooves 73 are radially distributed on the traveling wheel 4, and the at least two pin grooves 73 may be uniformly distributed or non-uniformly distributed.
In some embodiments, the travel wheels 4 include at least one travel wheel. Fig. 9 is exemplified with the travel wheels including a first travel wheel 41 and a second travel wheel 42. The first running wheel 41 and the second running wheel 42 are relatively fixed. The first travel wheel 41 has a pin groove 73 formed on a first wheel surface facing the second travel wheel 42, and the second travel wheel 42 has a pin groove 73 formed on a second wheel surface facing the first travel wheel 41. The number and slot positions of the pin slots 73 on the first tread and the second tread are the same.
In summary, in the locking member provided in the present embodiment, the linear motor 71 drives the flat pin 72 to be inserted into the pin slot 73 of the travel wheel 4 for locking, and the linear motor 71 drives the flat pin 72 to be pulled out of the pin slot of the travel wheel 4 for unlocking, and the linear motor 71 is hidden inside the lower leg unit 2, so that the structure is simple, and the miniaturization and the lightness of the lower leg unit 2 can be better ensured.
Fig. 10 and 11 show an exploded view of a mechanical leg 14 provided by another exemplary embodiment of the present application from two perspectives, respectively. The mechanical leg 14 comprises at least: a lower leg drive device 53, a thigh unit 1, a lower leg unit 2, a rotary shaft 3, a travel wheel 4, a transmission 5 and a locking part 7.
The calf drive 53 includes a third stator portion 531 and a third rotor portion 532. The third stator portion 531 serves to provide a rotational driving force. A driving wheel 533 is fixed to an output end of the third rotor portion 532. The transmission wheel 533 is connected to the transmission means 5. The transmission device 5 is a belt or a chain, and the embodiment is exemplified by the transmission device 5 being a belt. Optionally, the surface of the driving wheel 533 is also formed with gear teeth to increase a driving force between the driving wheel 533 and the belt.
The base end 11 of the thigh unit 1 is fixed to the third stator portion 531. The joint end 12 of the thigh unit 1 is hinged with the joint end 21 of the shank unit 2 through the rotating shaft 3. Optionally, the thigh unit 1 comprises: a first thigh section 120 and a second thigh section 140 that are detachably connected. First thigh portion 120 and second thigh portion 140 are plugged or screwed. The first thigh section 120 and the second thigh section 140 enclose to form an outer shell part of the thigh unit 1 and form an inner receiving cavity of the thigh unit 1. Alternatively, first thigh portion 120 is located on a first side of transmission 5 and second thigh portion 140 is located on a second side of transmission 5. For example, the first thigh section 120 is located outside the transmission 5, and the second thigh section 140 is located inside the transmission 5. Optionally, a belt pressing device 23 is further included in the thigh unit 1, and the belt pressing device 23 is in pressing contact with the outer surface of the belt.
The lower leg unit 2 includes: a first lower leg portion 220 and a second lower leg portion 240 that are detachably connected. First leg segment 220 and second leg segment 240 are plugged or screwed together. First and second lower leg portions 220, 240 enclose to form an outer shell portion of lower leg unit 2 and form an inner receiving cavity for lower leg unit 2. Alternatively, first shank portion 220 is positioned on a first side of transmission 5 and second shank portion 240 is positioned on a second side of transmission 5. Referring collectively to fig. 3, first shank portion 220 is positioned on the outside of transmission 5 and second shank portion 240 is positioned on the inside of transmission 5. As can be seen from fig. 3, the distal end 22 of the lower leg unit 2 is used to connect the sole portion 8, and the material of the sole portion 8 may be rubber, wood, or other wear-resistant material. In some embodiments, sole 8 is in the shape of a semi-circular hoof; in other embodiments, sole 8 is spherical.
Illustratively, the first thigh portion 120, the second thigh portion 140, the first shank portion 220 and the second shank portion 240 are sleeved on the rotating shaft 3 through bearings. A first spacer 31 is further sleeved between the first thigh portion 120 and the first shank portion 240, and the first spacer 31 is used for separating a bearing corresponding to the first thigh portion 120 from a bearing inner ring of a bearing corresponding to the first shank portion 220, so that direct friction between the first thigh portion 120 and the first shank portion is avoided; a second spacer 32 is further sleeved between the second thigh portion 140 and the second shank portion 240, and the second spacer 32 is used for preventing direct friction between a bearing corresponding to the second thigh portion 140 and a bearing inner ring of a bearing corresponding to the second shank portion 240. In addition, the first spacer 31 and the second spacer 32 also serve for axial positioning.
The travel wheel 4 includes: a first running wheel 41 and a second running wheel 42. The first running wheel 41, the second running wheel 42 and the drive wheel 34 are fixedly connected. Illustratively, the travel wheel includes: a first running wheel 41 and a second running wheel 42. A pin groove 73 is formed on a first wheel surface of the first traveling wheel 41 facing the second traveling wheel 42, and a pin groove 73 is formed on a second wheel surface of the second traveling wheel 42 facing the first traveling wheel 41; the number and slot positions of the pin slots 73 on the first tread and the second tread are the same. In some embodiments, there are at least two pin slots 73, each pin slot 73 being distributed along the radial direction of the travelling wheel 4. That is, at least two pin grooves 73 are radially distributed on the traveling wheel 4, and the at least two pin grooves 73 may be uniformly distributed or non-uniformly distributed. In other embodiments, the number of the traveling wheels 4 may also be 1, or more than 3, which is not limited in the present application.
A driving wheel 34 is also fixed on the rotating shaft 3. Illustratively, the driving wheel 34 is located between the first travel wheel 41 and the second travel wheel 42, and the driving wheel 34 is connected to the transmission wheel 533 through the transmission 5. Taking the transmission device 5 as an example of a belt, the driving wheel 34 is connected with the driving wheel 533 through the belt. When the third rotor portion 533 of the lower leg drive device 53 rotates, the transmission wheel 533 also rotates. The driving wheel 533 drives the driving wheel 34 to rotate through the belt, and the driving wheel 34 drives the rotating shaft 3 and the traveling wheel 4 to rotate simultaneously, so that the transmission of the driving force is realized.
A locking component 7 is further arranged in the inner accommodating cavity of the lower leg unit 2, and the locking component 7 is used for locking or unlocking the lower leg unit 2 and the travelling wheel 4 (or the rotating shaft 3), so that the switching between the wheel mode and the foot mode is realized. In some embodiments, the locking member 7 includes: a linear motor 71 and a flat pin 72.
The linear motor 71 is a transmission device that converts electric energy into mechanical energy for linear motion. Optionally, the lower leg unit 2 has a motor fixing base 33 therein, and the motor fixing base 33 fixes the linear motor 71 and the inner wall of the lower leg unit 2.
The flat pin 72 is fixed to the output end of the linear motor 71. The running wheel 4 has at least one pin slot 73. The linear motor 71 drives the flat pin 72 to insert into the pin groove 73 or to extract the pin groove 73.
When the flat pin 72 is inserted into the pin groove 73, the lock member 7 is in a locked state. The lower leg unit 2 is locked with the traveling wheel 4, and the lower leg unit 2 is fixedly connected with the rotating shaft 3 through the traveling wheel 4, as shown in fig. 4. When the rotating shaft 3 drives the travelling wheel 4 to rotate, the lower leg unit 2 also rotates along with the travelling wheel 4.
When the flat pin 72 is pulled out of the pin groove 73, the lock member 7 is in the unlocked state. The lower leg unit 2 and the travelling wheel 4 are unlocked, and the lower leg unit 2 is rotatably connected with the rotating shaft 3. When the rotating shaft 3 drives the travelling wheel 4 to rotate, the lower leg unit 2 does not rotate along with the travelling wheel 4.
The thigh unit 1 and the rotary shaft 3 are in rotational connection regardless of whether the locking part 7 is in the locked state or the unlocked state, and the travel wheel 4 can rotate forward or backward relative to the thigh unit 1.
Schematically, the lower leg unit 2 is provided with a first magnetic part 91, and the upper leg unit 1 is provided with a second magnetic part 92; when the locking member 7 is in the locked state, the first magnetic member 91 and the second magnetic member 92 attract each other. One of the first magnetic member 91 and the second magnetic member 92 is a magnet, and the other of the first magnetic member 91 and the second magnetic member 92 is a magnet or an iron block. In the present embodiment, the first magnetic member 91 is exemplified as a magnet, and the second magnetic member 92 is exemplified as an iron block. Alternatively, the magnetic attraction between the first magnetic component 91 and the second magnetic component 92 is less than the maximum driving force provided by the lower leg drive device 53.
In summary, in the mechanical leg provided by this embodiment, the locking component is disposed in the lower leg unit, when the locking component is in a locked state, the lower leg unit is locked with the traveling wheel, and the lower leg unit is fixedly connected to the rotating shaft through the traveling wheel, so that the driving device drives the traveling wheel through the rotating shaft to drive the lower leg unit to travel in a foot type mode; when the locking component is in an unlocking state, the lower leg unit and the travelling wheel are unlocked, and the lower leg unit is rotatably connected with the rotating shaft, so that the driving device drives the travelling wheel to travel in a wheel mode through the rotating shaft.
The locking part that this embodiment provided locks through the cotter way that linear electric motor drive parallel pin inserted the travelling wheel, and the cotter way that linear electric motor drive parallel pin drew the travelling wheel unlocks, because linear electric motor hides in the inside of shank unit, therefore the structure is comparatively succinct, can guarantee the miniaturization and the lightness of shank unit better.
The belt pressing device provided by the embodiment can ensure that a belt in the transmission device keeps a pressing state, so that the transmission force of the driving device to the traveling wheel is ensured.
The first magnetic part and the second magnetic part provided by the embodiment can fix the thigh unit and the shank unit when the mechanical leg is in a wheel type form, so that the shank unit does not influence the normal running of the running wheel.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (15)
1. A robot, characterized in that the robot comprises: a trunk (12), and n mechanical legs (14) connected to the trunk (12), n being a positive integer not less than 2;
the mechanical leg (14) comprises a thigh unit (1) and a shank unit (2); the joint end of the thigh unit (1) is hinged with the joint end of the shank unit (2) through a rotating shaft (3), and a travelling wheel (4) is fixed on the rotating shaft (3);
in a foot type mode, the lower leg units (1) in the n mechanical legs (14) are fixedly connected with the rotating shaft (3);
in the wheeled mode, the lower leg unit (1) and the rotary shaft (3) in at least two mechanical legs (14) are in rotary connection.
2. The robot according to claim 1, characterized in that the proximal side of the lower leg unit (1) is further provided with an auxiliary wheel (6);
in a first wheel type mode, the lower leg units (1) in the n mechanical legs (14) are rotatably connected with the rotating shaft;
in the second wheel type mode, the lower leg units (1) in m mechanical legs (14) at the same end of the trunk part (12) are rotatably connected with the rotating shaft (3), the lower leg units (1) in the remaining n-m mechanical legs (14) are fixedly connected with the rotating shaft (3), and m is a positive integer smaller than n.
3. Robot according to claim 1, characterized in that the mechanical leg (14) further comprises: a first thigh drive device (51), a second thigh drive device (52), a lower leg drive device (53);
the first stator part of the first thigh driving device (51) is connected with the trunk part, and the first rotor part of the first thigh driving device (51) is connected with the side surface of the second stator part of the second thigh driving device (52);
the second rotor part of the second thigh driving device (52) is connected with the third stator part of the lower leg driving device (53);
the third stator part (531) of the shank driving device (53) is connected with the root end of the thigh unit (1), and the third rotor part (532) of the shank driving device (53) is connected with the rotating shaft (3) through a transmission device (5).
4. Robot according to any of the claims 1 to 3, characterized in that the lower leg unit (2) has a locking part (7) inside;
when the locking part (7) is in a locking state, the lower leg unit (2) is fixedly connected with the rotating shaft (3) through the travelling wheel (4);
when the locking component (7) is in an unlocked state, the lower leg unit (2) is rotatably connected with the rotating shaft (3).
5. Robot according to claim 4, characterized in that the travelling wheel (4) has a pin slot (73) and the locking member (7) comprises a linear motor (71) and a flat pin (72), the flat pin (72) being fixed to the output of the linear motor (71);
when the flat pin (72) is inserted into the pin groove (73), the locking member (7) is in the locked state;
when the flat pin (72) leaves the pin groove (73), the locking member (7) is in the unlocked state.
6. Robot according to claim 5, characterized in that said travelling wheel (4) has at least two said pin slots (73) radially distributed thereon.
7. Robot according to claim 5, characterized in that the lower leg unit (2) has a motor holder (33) inside, the motor holder (33) fixing the linear motor (71) and the inner wall of the lower leg unit (2).
8. A robot according to claim 3, characterized in that a driving wheel (34) is fixedly connected to the rotating shaft (3); a driving wheel (533) is fixed at the output end of the third rotor part (532);
the driving wheel (34) is connected with the driving wheel (533) through the transmission device (5).
9. Robot according to claim 8, characterized in that the transmission (5) comprises: a belt;
the driving wheel (34) is connected with the driving wheel (533) through the belt.
10. Robot according to claim 8, characterized in that a belt pressing device (23) is included in the thigh unit (1), which belt pressing device (23) is in pressing contact with the outer surface of the belt.
11. Robot according to claim 4, characterized in that the travelling wheel (4) comprises: a first travel wheel (41) and a second travel wheel (42);
the pin groove (73) is formed on a first wheel surface of the first travelling wheel (41) facing the second travelling wheel (42), and the pin groove (73) is formed on a second wheel surface of the second travelling wheel (42) facing the first travelling wheel (41);
wherein the number and the grooving positions of the pin grooves (73) on the first tread and the second tread are the same.
12. A robot according to any of claims 1-3, characterized in that the lower leg unit (2) is provided with a first magnetic part (91) and the upper leg unit (1) is provided with a second magnetic part (92); in the wheel mode, the first magnetic component (91) and the second magnetic component (92) attract each other;
wherein one of the first magnetic member (91) and the second magnetic member (92) is a magnet, and the other of the first magnetic member (91) and the second magnetic member (92) is a magnet or an iron block.
13. A robot according to any of claims 1-3, characterized in that said thigh unit (1) comprises a first thigh section (120) and a second thigh section (140) that are detachably connected, said shank unit (2) comprises a first shank section (220) and a second shank section (240) that are detachably connected;
the first thigh portion (120) and the first shank portion (220) are located on a first side of the transmission (5), and the second thigh portion (220) and the second shank portion (240) are located on a second side of the transmission (5).
14. A robot according to claim 13, characterized in that the rotating shaft (3) is further provided with a first shaft sleeve (31) and a second shaft sleeve (32);
the first bushing (31) is mounted between the first thigh section (11) and the first shank section (21);
the second bushing (32) is mounted between the second thigh section (12) and the second shank section (22).
15. Robot according to any of the claims 1 to 3, characterized in that the lower leg unit (2) is connected at its end with a foot sole (8).
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010662698.9A CN111731405B (en) | 2020-07-10 | 2020-07-10 | robot |
| PCT/CN2021/093698 WO2022007499A1 (en) | 2020-07-10 | 2021-05-13 | Wheel-leg dual-mode mechanical leg and robot |
| JP2022552628A JP2023517001A (en) | 2020-07-10 | 2021-05-13 | Wheel-footed bimodal mechanical legs and robots |
| EP21838701.7A EP4039567A4 (en) | 2020-07-10 | 2021-05-13 | Wheel-leg dual-mode mechanical leg and robot |
| US17/747,915 US20220274657A1 (en) | 2020-07-10 | 2022-05-18 | Wheel-footed bimodal mechanical leg and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010662698.9A CN111731405B (en) | 2020-07-10 | 2020-07-10 | robot |
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| CN111731405A true CN111731405A (en) | 2020-10-02 |
| CN111731405B CN111731405B (en) | 2023-12-01 |
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| CN202010662698.9A Active CN111731405B (en) | 2020-07-10 | 2020-07-10 | robot |
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| CN113548126A (en) * | 2021-08-09 | 2021-10-26 | Oppo广东移动通信有限公司 | Mechanical foot, mechanical leg and robot |
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| CN113978566A (en) * | 2021-11-22 | 2022-01-28 | 昆明理工大学 | Wheel-foot type robot leg structure with suspension function and wheel-foot type robot |
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