CN113212587B - Modular wheel-foot dual-purpose robot - Google Patents
Modular wheel-foot dual-purpose robot Download PDFInfo
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- CN113212587B CN113212587B CN202110369396.7A CN202110369396A CN113212587B CN 113212587 B CN113212587 B CN 113212587B CN 202110369396 A CN202110369396 A CN 202110369396A CN 113212587 B CN113212587 B CN 113212587B
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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 invention relates to the technical field of robots, in particular to a modularized wheel-foot dual-purpose robot, which comprises two symmetrically arranged motion modules, and a connecting module, wherein two ends of the connecting module are respectively connected with the two motion modules; the motion module comprises a wheel foot transformation module, a first joint module used for realizing the rotary motion of the wheel foot transformation module, and a second joint module used for realizing the swing motion of the wheel foot transformation module, wherein the wheel foot transformation module, the first joint module and the second joint module are sequentially connected. The invention aims to overcome the defects of the prior art and provides a modularized wheel-foot dual-purpose robot which can be converted between a vertical state and a horizontal state through wheels so as to share wheel feet.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a modularized wheel-foot dual-purpose robot.
Background
The mobility of the mobile robot greatly expands the moving range and the application field of the robot, and the wheel type mobile robot is widely applied because of the characteristics of high speed, stable operation and the like when the mobile robot moves, so that the robot is a long-lasting hot spot in robot research; the foot type mobile robot can run in an environment where the wheel type mobile robot cannot work, such as a sand road surface, a gravel brick road surface state, a road surface state where the gravel brick road surface is vertical and horizontal, the foot type mobile robot can skip and cross obstacles or ravines, the foot points of the movement mode of the foot type mobile robot are discrete points, and the foot type mobile robot has good adaptability to rugged roads, so that the foot type mobile robot can replace people to finish inspection, service and industrial application in the future, such as a transformer substation environment.
In the prior art, various wheeled and foot-type mobile robots exist, but the flexibility is not high enough, and the wheeled mobile robot and the foot-type mobile robot cannot be mutually converted on the same robot and are only fixed in one mode. When the wheeled mobile robot encounters obstacles, ravines and other conditions, the wheeled mobile robot cannot take effect.
Chinese patent CN205574095U discloses a dual-purpose robot of wheel foot, has four walking wheels and six feet simultaneously, can satisfy the random conversion between wheel and foot, but walking wheel and foot can not share, because four walking wheels and six feet need to arrange simultaneously on a robot, make walking wheel and foot all can contact with ground just can realize the motion of robot, lead to whole robot huge, need occupation space more, inflexible, be convenient for move in narrow region.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides the modularized wheel-foot dual-purpose robot which can be converted between a vertical state and a horizontal state through the wheels, further can realize the functions of both the wheels and the feet by only one component, can save materials, reduce cost, and can ensure that the robot occupies small space and can move in a narrow area.
In order to solve the technical problems, the invention adopts the following technical scheme:
The modular wheel-foot dual-purpose robot comprises two symmetrically arranged motion modules, and a connecting module, wherein two ends of the connecting module are respectively connected with the two motion modules; the motion module comprises a wheel foot transformation module, a first joint module used for realizing the rotary motion of the wheel foot transformation module, and a second joint module used for realizing the swing motion of the wheel foot transformation module, wherein the wheel foot transformation module, the first joint module and the second joint module are sequentially connected.
The motion module realizes wheel type or foot type motion of the robot, and the connecting module is used for connecting the two motion modules; the first joint module is used for realizing the self rotation of the wheel foot conversion module, so that the wheel foot conversion module can conveniently adjust the direction in the moving process; the second joint module is used for realizing the swing of the wheel foot conversion module, so that the wheel group conversion module can be conveniently spanned; the first joint module and the second joint module each have at least one rotational degree of freedom. The wheel-foot conversion module is used for converting the robot between a wheel-type movement mode and a foot-type movement mode according to requirements, and when the road surface is flat, the wheel-type mode is used for enabling the robot to move at a high speed; when the road conditions are hollow or the obstacle is encountered, the robot can walk smoothly or cross the obstacle by using the foot mode. Specifically, the wheels can roll, namely a wheel mode, by enabling the wheels to be in a vertical state, namely the axes of the wheels are parallel to the ground; by placing the wheels in a horizontal position, i.e. with the wheel axis perpendicular to the ground, a translational and spanning of the wheels, i.e. foot mode, is achieved. The connecting module is used for connecting two second joint modules positioned at the end parts of the two movement modules, realizing the rotation between the two second joint modules, and further transmitting the force to the first joint module to drive the wheel-foot conversion module to realize the swinging movement. The modularized wheel-foot dual-purpose robot is easy to construct, simple in structure and high in system flexibility, can simultaneously have the functions of wheels and feet through one component of the wheel set conversion module, and realizes the rapid movement of the robot in the wheel state and the walking and crossing of the robot in the foot state; the whole robot can walk vertically like feet of a person, has a narrow shape and can pass through a narrow area; therefore, the method can be widely applied to scenes such as service, industry, detection, disaster relief and the like.
Preferably, the connection module is at least one third joint module which can realize a rotary motion and/or at least one fourth joint module which can realize a swinging motion.
Preferably, the third joint module has the same structure as the first joint module, and the fourth joint module has the same structure as the second joint module.
Preferably, the wheel foot conversion module comprises two wheels, a connection unit for connecting the wheels with the first joint module, and a conversion unit for converting the wheels between a vertical state and a horizontal state, wherein the conversion unit is arranged between the connection unit and the wheels and is in rotary connection with the wheels.
Preferably, the conversion unit comprises a first driving mechanism and a first transmission mechanism; the connecting unit comprises an upper shell, a lower shell and a driven rod, wherein the upper shell and the lower shell are provided with hollow cavities, the driven rod is used for supporting the wheels in an auxiliary mode, one end of the upper shell is connected with the lower shell, and the other end of the upper shell is connected with the first joint module; the lower shell is rotationally connected with one end of the driven rod, and the other end of the driven rod is rotationally connected with the first driving mechanism; a second driving mechanism is arranged in the upper shell, and a second transmission mechanism is arranged in the lower shell; one end of the first driving mechanism is connected with one end of the first transmission mechanism, and the other end of the first driving mechanism is connected with the wheel; one end of the second transmission mechanism is connected with the second driving mechanism, and the other end of the second transmission mechanism is connected with the first transmission mechanism.
Preferably, the first transmission mechanism comprises a worm wheel and a straight rod; the first driving mechanism comprises a first motor seat and a first motor; the second transmission mechanism comprises a first harmonic reducer, a coupler and a worm; the second driving mechanism comprises an output disc and a second motor; one end of the worm wheel is connected with one end of the straight rod, and the other end of the worm wheel is meshed with the worm; one end of the first motor seat is connected with the first motor, and the other end of the first motor seat is respectively and rotatably connected with the other end of the straight rod and the end part of the driven rod; the shaft coupling is connected with the first harmonic speed reducer, the output disc and the worm coaxially in sequence, and the second motor is connected with the output disc.
Preferably, the first joint module comprises a first shell provided with a hollow cavity, a third transmission mechanism, a third driving mechanism and a first joint output piece, wherein the interior of the first shell is divided into a first cavity and a second cavity along the axial direction by a first division plate; the third transmission mechanism is arranged in the first cavity, and the third driving mechanism is arranged in the second cavity; the third driving mechanism penetrates through the first separation plate to be connected with one end of the third transmission mechanism, and the other end of the third transmission mechanism is connected with the first joint output piece.
Preferably, the third driving mechanism is a third motor; the third transmission mechanism comprises a driving cylindrical gear, a driven cylindrical gear and a second harmonic reducer; the third motor spindle penetrates through the first separation plate to be coaxially connected with the driving cylindrical gear, the driven cylindrical gear is meshed with the driving cylindrical gear and is coaxially connected with the second harmonic reducer, and one end, far away from the driven cylindrical gear, of the second harmonic reducer is connected with the first joint output piece.
Preferably, the second joint module comprises a second shell provided with a hollow cavity, a fourth transmission mechanism, a fourth driving mechanism and a second joint output piece, wherein the interior of the second shell is divided into a third cavity and a fourth cavity by a second partition plate; the fourth transmission mechanism is arranged in the third cavity, and the fourth driving mechanism is arranged in the fourth cavity; the fourth driving mechanism penetrates through the second partition plate to be connected with one end of the fourth transmission mechanism, and the other end of the fourth transmission mechanism is connected with the second joint output piece.
Preferably, the fourth driving mechanism is a fourth motor; the fourth transmission mechanism comprises a driving bevel gear, a driven bevel gear and a third harmonic reducer; the fourth motor spindle penetrates through the second partition plate to be coaxially connected with the driving bevel gear, the driven bevel gear is meshed with the driving bevel gear and is coaxially connected with the third harmonic reducer, and one end, far away from the driven bevel gear, of the third harmonic reducer is connected with the second joint output piece.
Preferably, the control unit further comprises a first controller for controlling the wheel foot conversion module to perform mode conversion, a second controller for controlling the third motor to act, and a third controller for controlling the fourth motor to act, wherein the first controller is electrically connected with the first motor and the second motor respectively; the second controller is electrically connected with the third motor; the third controller is electrically connected with the fourth motor.
Compared with the prior art, the invention has the beneficial effects that:
(1) The wheel-foot conversion module is used for realizing flexible switching between a wheel mode and a foot mode of the robot in different application scenes, realizing the function of realizing the crossing when the robot can rapidly move and meet obstacles, and overcoming the defects of single application scene, poor adaptability and the like of the conventional mobile robot; specifically, the wheel is subjected to crossing movement in a foot mode through the swinging of the second joint module, and the direction of the wheel is adjusted through the rotation of the first joint module so as to adjust the advancing direction when the robot moves;
(2) The cylindrical spur gear is adopted to realize the rotation of the joint module around the self, and the bevel gear is adopted to realize the swinging movement of the joint module, so that the robot can flexibly and freely cope with different environments, and the system has a simple structure and high flexibility.
(3) The automatic intelligent control is realized through the control unit, and the portable intelligent control system is portable and efficient;
(4) The invention adopts a modularized method design, the robot body is reconfigurable, and the robot is convenient and quick to disassemble and assemble.
Drawings
Fig. 1 is a schematic structural diagram of a modular wheel-foot dual-purpose robot according to an embodiment 1 of the present invention in foot mode;
FIG. 2 is a schematic view of a modular wheel and foot robot of embodiment 1 in a first wheeled mode;
FIG. 3 is a schematic diagram of a wheel foot conversion module;
FIG. 4 is a schematic view of a first joint module;
FIG. 5 is a schematic view of the second joint module after rotating the drive bevel gear 90 ° on the basis of FIG. 1;
FIG. 6 is a schematic diagram of a first foot mode motion;
FIG. 7 is a schematic diagram of a second foot mode of motion;
FIG. 8 is a schematic view of a modular wheel and foot robot of embodiment 1 in a second wheeled mode;
FIG. 9 is a schematic diagram illustrating the direction adjustment of the wheel foot conversion module in the second wheel mode according to embodiment 1;
FIG. 10 is a schematic view of a modular wheel and foot robot according to the present invention in foot mode 2;
FIG. 11 is a schematic view of a modular wheel and foot robot according to embodiment 2 in a wheeled mode;
FIG. 12 is a schematic view of a modular wheel and foot robot according to the present invention in foot mode 3;
FIG. 13 is a schematic view of a modular wheel and foot robot according to the present invention in a wheeled mode of embodiment 3;
FIG. 14 is a schematic view of a modular wheel and foot robot according to the present invention in foot mode 4;
FIG. 15 is a schematic view of a modular wheel and foot robot according to embodiment 4 in a wheeled mode;
FIG. 16 is a schematic view of a modular wheel and foot robot according to the present invention in foot mode 5;
fig. 17 is a schematic view of a modular wheel and foot robot according to embodiment 5 in a wheel mode.
The graphic indicia are illustrated as follows:
1. A wheel foot conversion module; 11. a wheel; 12. a connection unit; 121. an upper housing; 122. a driven rod; 123. a second driving mechanism; 1231. an output tray; 1232. a second motor; 124. a second transmission mechanism; 1241. a first harmonic reducer; 1242. a coupling; 1243. a worm; 125. a lower housing; 13. a conversion unit; 131. a first driving mechanism; 1311. a first motor base; 1312. a first motor; 132. a first transmission mechanism; 1321. a worm wheel; 1322. a straight rod; 2. a first joint module; 21. a first housing; 211. a first partition plate; 22. a third transmission mechanism; 221. a driving cylindrical gear; 222. driven cylindrical gears; 223. a second harmonic reducer; 23. a third driving mechanism; 24. a first joint output; 3. a second joint module; 31. a second housing; 311. a second partition plate; 32. a fourth transmission mechanism; 321. a drive bevel gear; 322. a driven bevel gear; 323. a third harmonic reducer; 33. a fourth driving mechanism; 34. a second joint output; 4. a connection module; 41. a third joint module; 42. and a fourth joint module.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Example 1
Fig. 1 to 9 show a first embodiment of a modular wheel-foot dual-purpose robot according to the present invention, which includes two symmetrically arranged motion modules, and a connection module having two ends respectively connected to the two motion modules; the motion module comprises a wheel foot transformation module 1, a first joint module 2 for realizing the rotary motion of the wheel foot transformation module 1, and a second joint module 3 for realizing the swinging motion of the wheel foot transformation module 1, wherein the wheel foot transformation module 1, the first joint module 2 and the second joint module 3 are sequentially connected.
As an embodiment of the present invention, the connection module is a third joint module 41, and the wheel foot transformation module 1, the first joint module 2, the second joint module 3, and the third joint module 41 are all detachably connected.
The wheel foot conversion module 1, the first joint module 2, the second joint module 3, the third joint module 41, the second joint module 3, the first joint module 2 and the wheel foot conversion module 1 are sequentially connected to form the whole robot of the portal frame structure, as shown in fig. 1, the whole robot can be straightened through rotation to form a straight shape, as shown in fig. 8, the whole robot is symmetrically arranged, the stress balance of the robot is facilitated, and the movement of the robot is facilitated. The third joint module 41, the second joint module 3, the first joint module 2 and the wheel foot conversion module 1 are all in clamping connection through a clamping ring and a pin, the clamping connection is a common connection mode, and force transmission can be carried out between the first joint module 2 and the wheel foot conversion module 1, between the second joint module 3 and the first joint module 2 and between the third joint module 41 and the second joint module 3, so that rotation and swing of the wheel foot conversion module 1 are realized. In the cognitive range of the person skilled in the art, the connecting module is not limited to the third joint module 41, but may be a roller with two ends capable of being respectively and rotatably connected with the two second joint modules 3, and the purpose of the invention can be achieved, but the connecting module adopts one third joint module 41 as a preferred embodiment, so that the connecting module can straighten the whole robot to form a straight line shape, and then the direction of the wheel foot conversion module 1 can be conveniently adjusted, if the connecting module is a roller, the function cannot be realized, but the rolling of the wheel mode and the spanning of the foot mode can be realized when the robot forms a portal frame structure, and the disadvantage is that the adjustment of the distance between the two wheel foot conversion modules 1 cannot be realized.
As an embodiment of the present invention, the third joint module 41 has the same structure as the first joint module 2, and the fourth joint module 42 has the same structure as the second joint module 3.
The structure of the third joint module 41 is the same as that of the first joint module 2, and the structure of the fourth joint module 42 is the same as that of the second joint module 3, so that the processing is simpler and more convenient, the processing cost is reduced, and the robot is easier to realize modularized connection.
As an embodiment of the present invention, the wheel foot transforming module 1 includes two wheels 11, a connection unit 12 for connecting the wheels 11 with the first joint module 2, and a transforming unit 13 for transforming the wheels 11 between a vertical state and a horizontal state, the transforming unit 13 being provided between the connection unit 12 and the wheels 11 and being rotatably connected thereto.
The wheels 11 are used to roll in a wheeled mode and act as feet in a foot mode; the connection unit 12 is used for connecting the wheel 11 with the first joint module 2, transmitting the turning force of the first joint module 2 to the wheel 11, and transmitting the turning force of the second joint module 3 to the wheel 11, so as to realize the wheel type movement and foot type movement functions of the robot. The transformation unit 13 is used for enabling the wheels 11 to be transformed between a vertical state and a horizontal state, namely, the robot is transformed between a wheeled mode and a foot-type mode, when the robot is in the wheeled mode, the wheels 11 are in the vertical state, namely, the axes of the wheels 11 are parallel to the ground, so that the wheels 11 can roll relative to the ground to form a four-wheel mobile robot, and the four-wheel mobile robot can rapidly move on a flat road surface; when the robot is in the foot mode, the wheels 11 are in a horizontal state, namely the axes of the wheels 11 are vertical to the ground, so that the wheels 11 are equivalent to supporting feet and can be stably placed on the ground to form the bipedal mobile robot, and the robot can cross obstacles and go up and down stairs. The conversion unit 13 is rotatably connected with the connection unit 12 and the wheel 11 to change the placement state of the wheel 11 by rotation, thereby achieving the purpose of converting the wheel mode from the foot mode.
As an embodiment of the present invention, the conversion unit 13 includes a first driving mechanism 131, a first transmission mechanism 132; the connecting unit 12 comprises an upper shell 121 and a lower shell 125 which are provided with hollow cavities, and a driven rod 122 for supporting the wheels 11 in an auxiliary way, wherein one end of the upper shell 121 is connected with the lower shell 125, and the other end is connected with the first joint module 2; the lower shell 125 is rotatably connected with one end of the driven rod 122, and the other end of the driven rod 122 is rotatably connected with the first driving mechanism 131; a second driving mechanism 123 is provided in the upper case 121, and a second transmission mechanism 124 is provided in the lower case 125; one end of the first driving mechanism 131 is connected with one end of the first transmission mechanism 132, and the other end is connected with the wheel 11; the second transmission mechanism 124 has one end connected to the second driving mechanism 123 and the other end connected to the first transmission mechanism 132.
The first driving mechanism 131 provides driving force for the wheel 11, and drives the wheel 11 to change states; the first transmission mechanism 132 transmits the turning force to the wheel 11, causing the wheel 11 to change state by rotation; the upper and lower cases 121 and 125 together serve as a support for the connection unit 12, and the upper case 121 serves as a force transmission mechanism for the first and second joint modules 2 and 3 so that the wheels 11 can be moved as needed; the lower housing serves to connect the first joint module 2 with the wheel 11; the driven rod 122 provides auxiliary support for the wheel 11, and the wheel 11 is stressed uniformly under the drive of the first transmission mechanism 132, so that the wheel 11 can be conveniently converted between a vertical state and a horizontal state; the second driving mechanism 123 is used for driving the second transmission mechanism 124 to act, the second transmission mechanism 124 is connected with the first transmission mechanism 132, and the turning force is transmitted to the wheel 11 through the first transmission mechanism 132 to change the state of the wheel 11.
As one embodiment of the present invention, the first transmission mechanism 132 includes a worm wheel 1321 and a straight rod 1322; the first driving mechanism 131 includes a first motor housing 1311 and a first motor 1312; the second transmission mechanism 124 comprises a first harmonic reducer 1241, a coupler 1242 and a worm 1243; the second drive mechanism 123 includes an output disc 1231, a second motor 1232; one end of the worm wheel 1321 is connected with one end of the straight rod 1322, and the other end is meshed with the worm 1243; one end of the first motor seat 1311 is connected with the first motor 1312, and the other end of the first motor seat is respectively connected with the other end of the straight rod 1322 and the end part of the driven rod 122 in a rotating way; the coupling 1242 is connected coaxially with the first harmonic reducer 1241, the output disc 1231 and the worm 1243 in sequence, and the second motor 1232 is connected with the output disc 1231.
The coupling 1242 plays roles of buffering, damping and improving the dynamic performance of the shafting, and the coupling 1242 serves as a safety device for preventing the first shell 121 from bearing excessive load and plays a role of overload protection; the first harmonic drive reducer is provided with a flexible bearing through a wave generator to enable the flexible gear to generate controllable elastic deformation, and is meshed with the rigid gear to transmit motion and power. The second motor 1232 is a disc motor, the disc motor is fixed on the first housing 121, and is connected with the first harmonic reducer 1241 through the coupler 1242, the first harmonic reducer 1241 outputs power to the output disc 1231, a spline hole is formed in the output disc 1231, the worm 1243 is connected with the output disc 1231 through a spline on the worm 1243, the worm 1243 is matched with the worm wheel 1321 installed in the first housing 121, one end of the driven rod 122 is hinged in the first housing 121, the other end of the driven rod is hinged on one through hole of the first motor seat 1311, a straight rod 1322 is attached to the worm wheel 1321, the straight rod 1322 is hinged with the other through hole of the first motor seat 1311 through a pin, when the disc motor is started, the opening and closing actions of the two wheels 11 can be realized, the direct current brushless motor is installed on the first motor seat 1311 and used for driving the wheels 11, and the wheels 11 are fixed on the direct current brushless motor through set screws; in the wheel mode, the wheels 11 are driven by a disc motor to form a vertical angle with the ground, and then the direct current brushless motor is driven to rotate the wheels 11, so that the whole robot moves; in the foot mode, the wheels 11 are flatly placed on the ground under the drive of the disc motor, the two wheel foot conversion modules 1 are equivalent to the feet of the robot, and the robot can complete the gait walking of the feet alternately under the movement of the joints of the robot body.
As one embodiment of the present invention, the first joint module 2 includes a first housing 21 provided with a hollow cavity, a third transmission mechanism 22, a third driving mechanism 23, a first joint output 24, the inside of the first housing 21 being partitioned into a first cavity and a second cavity by a first partition plate 211 in the axial direction; the third transmission mechanism 22 is arranged in the first cavity, and the third driving mechanism 23 is arranged in the second cavity; the third driving mechanism 23 passes through the first partition plate 211 and is connected with one end of the third transmission mechanism 22, and the other end of the third transmission mechanism 22 is connected with the first joint output member 24.
The first housing 21 serves as a support for the third drive mechanism 23 and the third transmission mechanism 22; the third driving mechanism 23 drives the third transmission mechanism 22 to transmit force and output the force to the first joint output member 24, thereby realizing the rotation of the first joint output member 24.
As an embodiment of the present invention, the third driving mechanism 23 is a third motor; the third transmission mechanism 22 includes a driving cylindrical gear 221, a driven cylindrical gear 222, and a second harmonic reducer 223; the third motor spindle passes through the first partition plate 211 and is coaxially connected with the driving cylindrical gear 221, the driven cylindrical gear 222 is meshed with the driving cylindrical gear 221 and is coaxially connected with the second harmonic reducer 223, and one end, far away from the driven cylindrical gear 222, of the second harmonic reducer 223 is connected with the first joint output piece 24.
An output shaft of the third motor passes through the first partition plate to be coaxially connected with the driving cylindrical gear 221, the driving cylindrical gear 221 is meshed with the driven cylindrical gear 222 to drive the driven cylindrical gear 222 to rotate, the driven cylindrical gear 222 is coaxially connected with the second harmonic reducer 223, and the second harmonic reducer 223 outputs force to the first joint output piece 24 to realize the rotary motion of the first joint output piece 24.
As one embodiment of the present invention, the second joint module 3 includes a second housing 31 provided with a hollow cavity, a fourth transmission mechanism 32, a fourth driving mechanism 33, and a second joint output 34, and the inside of the second housing 31 is partitioned into a third cavity and a fourth cavity by a second partition 311; the fourth transmission mechanism 32 is arranged in the third cavity, and the fourth driving mechanism 33 is arranged in the fourth cavity; the fourth driving mechanism 33 is connected to one end of the fourth transmission mechanism 32 through the second partition 311, and the other end of the fourth transmission mechanism 32 is connected to the second joint output 34.
The second housing 31 functions as a support for the fourth transmission mechanism 32 and the fourth driving mechanism 33, and the second joint output 34 serves as an output of the movement, so that the first joint module 2 connected to the second joint output 34 performs a swinging movement, and a spanning movement of the robot in the foot mode is realized. Specifically, the fourth transmission mechanism 32 is driven by the fourth driving mechanism 33 to transmit the force to the second joint output member 34, and the force is output from the second joint output member 34.
As an embodiment of the present invention, the fourth driving mechanism 33 is a fourth motor; the fourth transmission mechanism 32 includes a drive bevel gear 321, a driven bevel gear 322, and a third harmonic reducer 323; the fourth motor spindle is coaxially connected with the drive bevel gear 321 through the second partition plate 311, the driven bevel gear 322 is meshed with the drive bevel gear 321 and is coaxially connected with the third harmonic reducer 323, and one end, away from the driven bevel gear 322, of the third harmonic reducer 323 is connected with the second joint output piece 34.
The output shaft of the fourth motor is coaxially connected with the driving bevel gear 321, the driving bevel gear 321 is meshed with the driven bevel gear 322 to drive the driven bevel gear 322 to rotate, and then the third harmonic reducer 323 coaxially connected with the driven bevel gear 322 is driven to rotate, and then the swinging force is output to the second joint output piece 34, and the second joint output piece 34 is connected with the first shell 21 or the first joint output piece 24, so that the second joint module 3 drives the first joint module 2 to swing.
As an embodiment of the present invention, the present invention further includes a control unit, where the control unit includes a first controller for controlling the wheel foot conversion module to perform mode conversion, a second controller for controlling the third motor to operate, and a third controller for controlling the fourth motor to operate, and the first controller is electrically connected to the first motor 1312 and the second motor 1232, respectively; the second controller is electrically connected with the third motor; the third controller is electrically connected with the fourth motor.
The control unit is used as a central brain of the whole robot to control the whole robot to perform coordinated actions, on one hand, the control unit controls the rolling of the wheels 11 in the wheel mode, and on the other hand, the control unit controls the crossing movement of the wheels 11 in the foot mode, and furthermore, the control unit controls the robot to flexibly switch between the wheel mode and the foot mode under different road conditions or different application scenes, so that the flexible movement of the whole robot is realized. The first controller controls the wheel-foot conversion module to realize conversion of foot mode and wheel mode, specifically, the first controller controls the actions of the first motor 1312 and the second motor 1232 to realize free switching of the wheels 11 in a horizontal state and a vertical state; the second controller controls the action of the third motor and drives the wheels 11 to roll in cooperation with the wheel mode; the third controller controls the action of the fourth motor to drive the wheel 11 to oscillate in cooperation with the foot mode.
The first foot mode of motion proceeds as follows: referring to fig. 6, (a) in foot mode, the robot stands on the ground; (b) Rotating the two second joint modules 3 to enable one wheel foot conversion module 1 to be lifted horizontally, namely one leg of the robot is lifted; (c) Rotating the wheel foot conversion module 1 adjacent to the first joint module 2 which is contacted with the ground, so that the leg lifted by the robot advances forwards; (d) Continuing to rotate the two second joint modules 3 to enable the lifted wheel foot conversion modules 1 to be put down, so as to finish walking in one step; (e) Rotating the two second joint modules 3 to horizontally lift the rear wheel foot conversion modules; (f) Rotating the first joint module 2 in front to make the leg lifted by the robot swing forward; (g) Rotating the two second joint modules 3 again to put down the lifted wheel foot conversion module 1; (h) the feet are aligned, and the whole walking is completed. Similarly, the steps are repeated according to the same steps, so that multi-step walking can be realized.
The second foot mode of motion proceeds as follows: referring to fig. 7, (a) in foot mode, the robot stands on the ground; (b) Rotating the two second joint modules 3 to enable one wheel foot conversion module 1 to be lifted horizontally, namely one leg of the robot is lifted; (c) Rotating the third joint module 41 between the two second joint modules 3 to advance the leg raised by the robot forward; (d) Continuing to rotate the two second joint modules 3 to enable the lifted wheel foot conversion modules 1 to be put down, so as to finish walking in one step; (e) Rotating the two second joint modules 3 to horizontally lift the rear wheel foot conversion modules; (f) Rotating the third joint module 41 between the two second joint modules 3 to make the robot swing forward with the rear leg raised; (g) Rotating the two second joint modules 3 again to put down the lifted wheel foot conversion module 1; (h) the feet are aligned, and the whole walking is completed. Similarly, the steps are repeated according to the same steps, so that multi-step walking can be realized.
The first wheel mode motion process is as follows: as shown in fig. 2, the robot forms a portal frame structure, the direction adjustment of the wheel foot transformation module 1 can be realized by rotating the first joint module 2 adjacent to the wheel foot transformation module 1, the distance between the two wheel foot transformation modules 1 can be adjusted by rotating the two second joint modules 3, the two second joint modules 3 swing outwards, the wheel distance is increased, the wheel distance swings inwards, and the wheel distance is reduced.
The second wheel mode motion process is as follows: as shown in fig. 8, the robot is adjusted to a straight configuration by rotating the two second joint modules 3, so that the distance between the two wheel foot conversion modules 1 is maximized, the middle third joint module 41 and the right first joint module 2 in the drawing are rotated, the middle second joint module 3 is rotated by 90 °, and in this state, the direction of the wheel foot conversion modules 1 can be adjusted by rotating the second joint module 3, as shown in fig. 9.
Example 2
Fig. 10 to 11 show a second embodiment of a modular wheel and foot robot according to the present invention, which is similar to embodiment 1, except that the connection modules are two third joint modules 41 connected to each other. Compared with the embodiment 1, the embodiment realizes the connection of the two motion modules through the two third joint modules 41 which are connected with each other, so that the robot has one more rotation degree of freedom, the distance between the two wheel foot conversion modules 1 can be expanded, and meanwhile, the robot can be more flexible in steering and configuration conversion.
Example 3
Fig. 12 to 13 show a third embodiment of a modular wheel and foot robot according to the present invention, which is similar to embodiment 1, except that the connection modules are two fourth joint modules 42 connected to each other. Compared with the embodiment 1, the connection of the two motion modules is realized through the two fourth joint modules 42 which are connected with each other, so that the robot has two more degrees of freedom in swinging, swinging motion with more dimensions can be realized between the two motion modules of the robot, the angle transformation of the robot is facilitated, and the distance for lifting feet is higher and the span is larger by rotating the connection modules when the robot is in the foot mode.
Example 4
Fig. 14 to 15 show a fourth embodiment of a modular wheel and foot robot according to the present invention, which is similar to embodiment 1, except that the connection module includes a fourth joint module 42 and a third joint module 41, and the fourth joint module 42 is connected to the third joint module 41. Compared with the embodiment 1, the robot has one more swing degree of freedom and one more rotation degree of freedom, so that the robot can conveniently adjust the foot-foot distance and perform turning and other movements, the two-wheel foot conversion module of the robot is regarded as the front foot and the rear foot of the inchworm, and the wheel foot conversion module can realize the inchworm gait movement by alternately converting the wheel type mode and the foot type mode.
Example 5
Fig. 16 to 17 show a fifth embodiment of a modular wheel and foot robot according to the present invention, which is similar to embodiment 1, except that the connection module includes two third joint modules 41 and one fourth joint module 42, the fourth joint module 42 is disposed in the middle of the two third joint modules 41, and both ends of the fourth joint module are respectively connected to the two third joint modules 41. Compared with the embodiment 1, the robot has one more swinging degree of freedom and two more rotation degrees of freedom, and is more convenient for the robot to adjust the distance between feet and perform the movements such as turning.
It is within the knowledge of a person skilled in the art that the connection module 4 may comprise more third joint modules 41 enabling a swiveling movement and/or more fourth joint modules 42 enabling a swinging movement, not limited to the above-mentioned ones
Examples are given.
The modules of the modular wheel-foot dual-purpose robot can be reconstructed at will, and the modular wheel-foot dual-purpose robot comprises a plurality of third joint modules 41 and a plurality of fourth joint modules 42, wherein the connection modules can be formed by sequentially connecting the plurality of third joint modules 41, the plurality of fourth joint modules 42, the plurality of third joint modules 41 and the plurality of fourth joint modules 42, the connection sequences of the third joint modules 41 and the fourth joint modules 42 can be various, the connection sequences can be correspondingly set according to the needs, the connection can be sequentially and alternately performed, and the connection can be performed in other sequences. By superposing the third joint modules 41 and the fourth joint modules 42 in terms of number and arrangement, robots of different shapes and having different functions can be easily obtained, and the robot is convenient to assemble and disassemble, has more activity, and can adjust the distance between the two wheel foot conversion modules 1.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (8)
1. The modularized wheel-foot dual-purpose robot is characterized by comprising two symmetrically arranged motion modules, and a connecting module (4) with two ends connected with the two motion modules respectively; the motion module comprises a wheel foot transformation module (1), a first joint module (2) for realizing the rotary motion of the wheel foot transformation module (1) and a second joint module (3) for realizing the swinging motion of the wheel foot transformation module (1), wherein the wheel foot transformation module (1), the first joint module (2) and the second joint module (3) are sequentially connected; the control unit is used for controlling the motion of the motion module; the wheel foot conversion module (1) comprises two wheels (11), a connecting unit (12) for connecting the wheels (11) with the first joint module (2), and a conversion unit (13) for converting the wheels (11) between a vertical state and a horizontal state, wherein the conversion unit (13) is arranged between the connecting unit (12) and the wheels (11) and is in rotary connection with the wheels; the conversion unit (13) comprises a first driving mechanism (131) and a first transmission mechanism (132); the connecting unit (12) comprises an upper shell (121) and a lower shell (125) which are provided with hollow cavities, and a driven rod (122) for supporting the wheels (11) in an auxiliary mode, one end of the upper shell (121) is connected with the lower shell (125), and the other end of the upper shell is connected with the first joint module (2); the lower shell (125) is rotationally connected with one end of the driven rod (122), and the other end of the driven rod (122) is rotationally connected with the first driving mechanism (131); a second driving mechanism (123) is arranged in the upper shell (121), and a second transmission mechanism (124) is arranged in the lower shell (125); one end of the first driving mechanism (131) is connected with one end of the first transmission mechanism (132), and the other end of the first driving mechanism is connected with the wheel (11); one end of the second transmission mechanism (124) is connected with the second driving mechanism (123), and the other end of the second transmission mechanism is connected with the first transmission mechanism (132).
2. The modular wheel and foot robot according to claim 1, characterized in that the connection module (4) is at least one third joint module (41) enabling a swiveling movement and/or at least one fourth joint module (42) enabling a swiveling movement.
3. The modular wheel and foot robot according to claim 2, characterized in that the third joint module (41) has the same structure as the first joint module (2) and the fourth joint module (42) has the same structure as the second joint module (3).
4. The modular wheel and foot robot according to claim 1, characterized in that the first transmission mechanism (132) comprises a worm wheel (1321), a straight rod (1322); the first driving mechanism (131) comprises a first motor seat (1311) and a first motor (1312); the second transmission mechanism (124) comprises a first harmonic reducer (1241), a coupler (1242) and a worm (1243); the second driving mechanism (123) comprises an output disc (1231) and a second motor (1232); one end of the worm wheel (1321) is connected with one end of the straight rod (1322), and the other end of the worm wheel is meshed with the worm (1243); one end of the first motor seat (1311) is connected with the first motor (1312), and the other end of the first motor seat is respectively connected with the other end of the straight rod (1322) and the end part of the driven rod (122) in a rotating way; the coupler (1242) is sequentially connected with the first harmonic reducer (1241), the output disc (1231) and the worm (1243) in a coaxial mode, and the second motor (1232) is connected with the output disc (1231).
5. The modular wheel and foot robot according to any of claims 1 to 4, characterized in that the first joint module (2) comprises a first housing (21) provided with a hollow cavity, a third transmission mechanism (22), a third driving mechanism (23), a first joint output (24), the interior of the first housing (21) being divided into a first cavity and a second cavity by a first dividing plate (211) in the axial direction; the third transmission mechanism (22) is arranged in the first cavity, and the third driving mechanism (23) is arranged in the second cavity; the third driving mechanism (23) penetrates through the first separation plate (211) to be connected with one end of the third transmission mechanism (22), and the other end of the third transmission mechanism (22) is connected with the first joint output piece (24).
6. The modular wheel and foot robot according to claim 5, characterized in that the third drive mechanism (23) is a third motor; the third transmission mechanism (22) comprises a driving cylindrical gear (221), a driven cylindrical gear (222) and a second harmonic reducer (223); the third motor spindle penetrates through the first separation plate (211) and is coaxially connected with the driving cylindrical gear (221), the driven cylindrical gear (222) is meshed with the driving cylindrical gear (221) and is coaxially connected with the second harmonic reducer (223), and one end, far away from the driven cylindrical gear (222), of the second harmonic reducer (223) is connected with the first joint output piece (24).
7. The modular wheel and foot robot according to claim 6, wherein the second joint module (3) comprises a second housing (31) provided with a hollow cavity, a fourth transmission mechanism (32), a fourth driving mechanism (33) and a second joint output (34), wherein the interior of the second housing (31) is divided into a third cavity and a fourth cavity by a second partition plate (311); the fourth transmission mechanism (32) is arranged in the third cavity, and the fourth driving mechanism (33) is arranged in the fourth cavity; the fourth driving mechanism (33) is connected with one end of the fourth transmission mechanism (32) through the second partition plate (311), and the other end of the fourth transmission mechanism (32) is connected with the second joint output piece (34).
8. The modular wheel and foot robot according to claim 7, characterized in that the fourth drive mechanism (33) is a fourth motor; the fourth transmission mechanism (32) comprises a driving bevel gear (321), a driven bevel gear (322) and a third harmonic reducer (323); the fourth motor spindle penetrates through the second partition plate (311) and is coaxially connected with the driving bevel gear (321), the driven bevel gear (322) is meshed with the driving bevel gear (321) and is coaxially connected with the third harmonic reducer (323), and one end, far away from the driven bevel gear (322), of the third harmonic reducer (323) is connected with the second joint output piece (34).
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