CN113895538A - Foot mechanism with folding wheel self-locking function for unmanned metamorphic vehicle - Google Patents
Foot mechanism with folding wheel self-locking function for unmanned metamorphic vehicle Download PDFInfo
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- CN113895538A CN113895538A CN202111416959.XA CN202111416959A CN113895538A CN 113895538 A CN113895538 A CN 113895538A CN 202111416959 A CN202111416959 A CN 202111416959A CN 113895538 A CN113895538 A CN 113895538A
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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 discloses a foot mechanism with a folding wheel self-locking function for an unmanned metamorphic vehicle, which comprises a foot bottom plate, an ankle joint mechanism and a folding wheel mechanism, wherein the folding wheel mechanism is arranged on the foot bottom plate; the folding wheel mechanism is arranged on the foot bottom plate and comprises a left folding wheel unit and a right folding wheel unit, each folding wheel unit comprises at least two folding wheels which are arranged in a front-back manner, each folding wheel is rotatably arranged on a folding wheel bracket, and one folding wheel bracket is driven to rotate by the folding wheel driving mechanism; one of the folding wheel brackets in the folding wheel unfolding state is locked through the folding wheel self-locking mechanism, the folding wheel self-locking mechanism comprises a locking block, the locking block is suspended at the bottom of the elastic part, the locking block is driven to move downwards through the locking transmission mechanism to be located at a lower limit position, and the locking block abuts against the rear side of the folding wheel locking bracket to lock the folding wheel locking bracket. The invention has the advantages that: the folding wheel can be in an unfolding state or a folding state according to actual requirements, and the folding wheel is convenient and flexible to use.
Description
Technical Field
The invention relates to the field of ground vehicles and deformable robots, in particular to a foot mechanism with a folding wheel self-locking function for an unmanned metamorphic vehicle.
Background
The ground mobile robots are classified into four types, i.e., wheeled type, crawler type, legged type, and composite type (wheel-track composite type, wheel-leg composite type, leg-track composite type, and wheel-track-leg composite type) according to their structural forms. The wheel type structure has the advantages that the running speed is high under the structural pavement environment, the control is convenient, and the obstacle crossing capability is weak; the crawler-type structure has stronger obstacle crossing capability in the environment of either a structured road or an unstructured road but has larger energy consumption; the leg structure is flexible in movement and has incomparable superiority in the aspect of terrain adaptability, however, the structure composition is complex generally, the walking speed is slow, the maximum speed can only reach 11Km/h, and the leg structure is supported by flat feet, so that the friction is very large, and the leg structure can damage machinery. It can be known that the ground mobile robot with a single driving (walking) structure is difficult to meet the requirements of flexibility, rapidness and high efficiency in certain specific scenes or tasks, so that the combined type mobile robot, especially the wheel-leg combined type ground mobile robot with high-speed and high-efficiency movement performance and good obstacle crossing performance, becomes a popular subject in the research field of the current robot.
The unmanned metamorphic vehicle is a deformable wheel-leg type robot, belongs to a movable carrier which is in the field of forward research and advanced in technology, and the structure of the unmanned metamorphic vehicle can be deformed and reconstructed to adapt to different driving pavements. The unmanned metamorphic vehicle has two states of an automobile state and a human-like state, when the unmanned metamorphic vehicle is on a flat road surface easy to pass through, the unmanned metamorphic vehicle can be changed into the automobile state to run quickly, and when the unmanned metamorphic vehicle is on a non-flat road surface (such as the open air, steps, gullies and the like) difficult to pass through, the unmanned metamorphic vehicle can be changed into the human-like state from the automobile state to walk astride, so that the passing performance of the road is improved.
The sole plate of the foot mechanism of the existing unmanned metamorphic vehicle is of a simple flat plate structure, and the existing unmanned metamorphic vehicle has the following defects: when the unmanned metamorphic vehicle is driven to realize the reconstruction process from an automobile state to a human-like state, the foot mechanism is opened and supported on the ground, and the foot bottom plate of the flat plate structure is directly in rigid contact with the ground, so that great friction and impact can be generated in the process, and the foot mechanism and even the whole robot can be easily damaged. Therefore, the existing unmanned metamorphic vehicle cannot realize reconstruction deformation in the vehicle driving process, and can only carry out reconstruction deformation under the condition of parking and stopping, thereby influencing the reconstruction efficiency.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a foot mechanism with a folding wheel self-locking function for an unmanned metamorphic vehicle, so that the unmanned metamorphic vehicle can complete reconstruction deformation even in the driving process, and the reconstruction efficiency is improved.
The invention is realized by the following technical scheme:
a foot mechanism with a folding wheel self-locking function for an unmanned metamorphic vehicle comprises a foot bottom plate, an ankle joint mechanism and a folding wheel mechanism;
the foot bottom plate is connected with a shank component of the unmanned metamorphic vehicle through an ankle joint mechanism, and the foot bottom plate is driven by the ankle joint mechanism to swing back and forth and swing left and right relative to the shank component;
the folding wheel mechanism is arranged on the foot bottom plate and comprises a left folding wheel unit and a right folding wheel unit which are arranged on the left side and the right side of the foot bottom plate, each folding wheel unit comprises at least two folding wheels which are arranged in a front-back manner, each folding wheel is rotatably arranged on a folding wheel bracket, the top end of the folding wheel bracket is rotatably arranged on the foot bottom plate through a first articulated shaft, the first articulated shaft extends along the left-right direction, a plurality of folding wheel brackets of each folding wheel unit are connected together through a group of connecting rod mechanisms, one folding wheel bracket is driven to rotate around the first articulated shaft through the folding wheel driving mechanism, the folding wheel bracket connected with the folding wheel driving mechanism is a folding wheel driving bracket, the plurality of folding wheel brackets of a single folding wheel unit rotate along with the folding wheel driving bracket under the driving of the connecting rod mechanisms, and the state that the folding wheels extend downwards below the foot bottom plate is a folding wheel unfolding state, the folding wheel swings upwards to a state that the folding wheel does not exceed the bottom end of the sole plate, and the folding wheel is in a folded state;
the foldable wheel locking support is characterized in that one of the foldable wheel supports in the foldable wheel unfolding state is locked through the foldable wheel self-locking mechanism, the foldable wheel support matched with the foldable wheel self-locking mechanism is arranged to be the foldable wheel locking support, the foldable wheel self-locking mechanism comprises a locking block, a vertical groove for the locking block to move up and down is formed in a foot bottom plate, an elastic part is arranged at a position above the locking block on the foot bottom plate, the locking block is suspended at the bottom of the elastic part, the locking block is pulled to be in an upper limit position through the elastic part in a natural state, the locking block is driven to move downwards through a locking transmission mechanism to be in a lower limit position, the locking block extends downwards below the foot bottom plate and is located at the rear side of the foldable wheel locking support at the moment, and the locking block abuts against the rear side of the foldable wheel locking support in the foldable wheel unfolding state, so that the foldable wheel locking support in the foldable wheel unfolding state is locked.
As a preferred scheme of the foot mechanism, the locking transmission mechanism comprises a locking gear, a locking slider, a first locking connecting rod and a second locking connecting rod, the locking slider is located in front of the locking block, the locking slider is slidably arranged on the foot bottom plate and can slide back and forth along the front-back direction of the foot bottom plate, the rear end of the first locking connecting rod is hinged to the front end of the second locking connecting rod, the rear end of the second locking connecting rod is hinged to the locking slider, the front end of the first locking connecting rod is fixed on a mounting shaft of the locking gear, the locking gear is rotatably mounted on the foot bottom plate, the locking gear is driven by the locking driving mechanism to rotate, so that the first locking connecting rod is driven to swing, the locking slider is driven by the second locking connecting rod to move back and forth, the locking slider is far away from or close to the locking block, and when the locking slider moves back, the locking slider can push the locking block to move down.
As a preferred scheme of the foot mechanism, the locking driving mechanism and the folding wheel driving mechanism share one driving motor, the driving motor is installed on a foot bottom plate, a folding wheel driving gear is installed on the foot bottom plate in a rotating mode, the top end of the folding wheel driving support is fixed on an installation shaft of the folding wheel driving gear, an output shaft of the driving motor extends in the left-right direction, an incomplete gear is fixed on the output shaft of the driving motor, the folding wheel driving gear and the locking gear are arranged side by side in the front-back direction, the folding wheel driving gear and the locking gear are respectively meshed with the incomplete gear above, the incomplete gear is driven to swing through the driving motor, and therefore the folding wheel driving gear and the locking gear are driven to swing correspondingly, unfolding or folding of the folding wheel driving support is achieved, and locking or unlocking of the folding wheel locking support is achieved.
As the preferable scheme of the foot mechanism, the locking slide block and the locking block are matched in an inclined plane.
As the preferable scheme of the foot mechanism, the locking slide block is matched with the locking block through a convex arc surface
As the preferable scheme of the foot mechanism, the foot bottom plate is provided with a slide rail, the slide rail is provided with a slide groove extending along the front-back direction, and the locking slide block is slidably arranged in the slide groove.
As a preferable scheme of the foot mechanism, each set of the link mechanisms includes a main link, and the middle section of each folding wheel bracket of each folding wheel unit is hinged to the main link through a second hinge shaft, which extends in the left-right direction.
As a preferable aspect of the foot mechanism, the ankle joint mechanism includes an ankle forward swing mechanism and an ankle lateral swing mechanism;
the ankle forward-swing mechanism comprises an ankle joint connecting frame, the left end and the right end of the ankle joint connecting frame are respectively provided with a mounting ring, the two mounting rings are rotatably connected with the bottom of a shank component, the ankle joint connecting frame is driven to swing back and forth relative to the shank component through an ankle forward-swing motor and a planetary gear speed reducing mechanism, the ankle forward-swing motor is mounted on the ankle joint connecting frame, the planetary gear speed reducing mechanism comprises a sun gear, a plurality of planet gears surrounding the sun gear and a gear ring, the sun gear is fixed on an output shaft of the ankle forward-swing motor, the gear ring is fixed on the ankle joint connecting frame, and planet gear shafts of the planet gears are fixed on the shank component;
the ankle side swing mechanism comprises a front mounting plate and a rear mounting plate which are fixed on a sole plate, the two mounting plates are respectively located on the front side and the rear side of an ankle joint connecting frame, the front end and the rear end of the ankle joint connecting frame are respectively rotatably mounted on the two mounting plates, an output shaft of the ankle side swing motor is fixedly connected with one of the mounting plates, and the ankle side swing motor drives the two mounting plates to swing left and right relative to the ankle joint connecting frame.
As a preferred scheme of the foot mechanism, the foot bottom plate comprises a horizontal foot bottom plate body and supporting side plates positioned on the left side and the right side of the foot bottom plate body, the two supporting side plates extend downwards along the foot bottom plate body, and when the folding wheels are in a folding wheel folding state, each folding wheel is folded into an accommodating space defined by the foot bottom plate body and the two supporting side plates.
As the preferred scheme of foot mechanism, incomplete gear includes the fluted disc and sets up one section continuous meshing tooth in the fluted disc outer fringe, it has the bar groove that supplies folding wheel drive support to pass from top to bottom to open on the sole board, and the bar groove extends along the fore-and-aft direction, and when folding wheel drive support expanded completely and was vertical state, supported and blocked folding wheel drive support front side through bar groove front end face, realizes the locking to folding wheel drive support.
Compared with the prior art, the invention has the following advantages:
1. according to the foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle, the folding wheels capable of being folded and unfolded are arranged on the foot bottom plate, so that the folding wheels can be put down to be in an unfolded state or folded to be in a folded state according to actual requirements, the use is convenient and flexible, when the folding wheel mechanism is in the unfolded state, the folding wheels in the unfolded state can be locked through the folding wheel self-locking mechanism, the folding wheels are effectively prevented from shifting due to ground impact, and the stability of the unfolded state is guaranteed. Be applied to foot mechanism of unmanned metamorphic car with above-mentioned folding wheel mechanism, when unmanned metamorphic car needs realize the reconsitution that the car attitude reaches the class attitude under the condition of driving, ankle joint mechanism can be the forward swing motion, at this moment the folding wheel of control is put down to vertical direction and is the state of expanding, the folding wheel can contact with ground earlier, impact and the friction that produces when sole plate and ground direct contact have been reduced, thereby avoided sole plate and ground direct contact to cause the damage of foot mechanism, unmanned metamorphic car's overall structure has been protected. In addition, as the folding wheels capable of being folded and unfolded are arranged on the foot mechanism, when the unmanned metamorphic vehicle is reconstructed from an automobile state to a similar human state, reconstruction can be completed in the running process of the unmanned metamorphic vehicle without reconstructing the unmanned metamorphic vehicle in a static state, so that the reconstruction time of the whole unmanned metamorphic vehicle is greatly saved, and the efficiency of reconstruction deformation is improved.
2. The folding wheel self-locking mechanism drives the locking gear to rotate through the locking driving mechanism, the locking sliding block is driven to move back and forth under the action of the first locking connecting rod and the second locking connecting rod, so that the locking block is pushed to move downwards through backward movement of the locking sliding block, or the locking block is released through forward movement of the locking sliding block and is moved upwards under the action of the elastic component, and the locking or unlocking of the folding wheel locking support is realized. The locking driving mechanism and the folding wheel driving mechanism share one driving motor, and the folding wheel driving gear and the locking gear are driven to swing in sequence by the swing of the incomplete gear, so that the energy is saved, the linkage of the folding wheel folding and unfolding state and the folding wheel self-locking mechanism locking and unlocking state is realized, and the locking effect is ensured.
3. According to the foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle, when the unmanned metamorphic vehicle runs in an automobile-state wheel mode, the folding wheels of the folding wheel mechanism can be folded upwards to be not beyond the bottom end of the foot bottom plate, and space is greatly saved.
4. According to the foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle, when the unmanned metamorphic vehicle needs to walk in a similar human state, the foot mechanism can achieve the retraction of the folding wheels of both feet, so that the unmanned metamorphic vehicle can walk by directly contacting the bottom plate of the foot with the ground, and instability caused by the fact that the unmanned metamorphic vehicle only contacts the ground is avoided.
Drawings
Fig. 1 is a perspective view of the foot mechanism of the present invention in a folded wheel deployed state.
Fig. 2 is a perspective view of the foot mechanism of the present invention in a folded wheel stowed position.
Fig. 3 is a perspective view of the folding wheel self-locking mechanism of the present invention in a locked state.
Fig. 4 is a perspective view of the folding wheel self-locking mechanism of the present invention in an unlocked state.
FIG. 5 is a perspective view of the ankle mechanism of the present invention.
Fig. 6 is an exploded perspective view of the ankle forward swing mechanism of the present invention.
Reference numbers in the figures:
1, a foot bottom plate; 11 a sole plate body; 12 supporting the side plates; 13 a strip-shaped groove;
2, a folding wheel mechanism; 21 a folding wheel; 22 a main link; 23 folding wheel driving bracket; 24 folding wheel locking bracket; 25, a locking block; 26 a tension spring; 27 locking the gear; 28 locking the sliding block; 29 a first locking link; 210 a second locking link; 211 a slide rail; 212 a drive motor; 213 folding wheel drive gear; 214 incomplete gear;
3 an ankle joint mechanism; 31 an ankle joint connecting frame; 32 a mounting ring; 33 an ankle forward swing motor; 34 a sun gear; 35 planet wheels; 36 ring gears; 37 mounting the plate; 38 ankle side swing motor;
4 lower leg member.
Detailed Description
The following examples are given for the detailed implementation and specific operation of the present invention, but the scope of the present invention is not limited to the following examples.
Referring to fig. 1 to 6, the present embodiment discloses a foot mechanism with a folding wheel self-locking function for an unmanned metamorphic vehicle, which comprises a foot bottom plate 1, an ankle joint mechanism 3 and a folding wheel mechanism 2.
The sole plate 1 is connected with a shank component 4 of the unmanned metamorphic vehicle through an ankle joint mechanism 3, and the sole plate 1 is driven by the ankle joint mechanism 3 to swing back and forth and swing left and right relative to the shank component 4. The ankle joint mechanism 3 includes an ankle forward swing mechanism and an ankle lateral swing mechanism.
The ankle forward-swinging mechanism comprises an ankle joint connecting frame 31, the left end and the right end of the ankle joint connecting frame 31 are respectively provided with a mounting ring 32, the two mounting rings 32 are rotatably connected with the bottom of a lower leg member 4 through bearings, the ankle joint connecting frame 31 is driven to swing back and forth relative to the lower leg member 4 through an ankle forward-swinging motor 33 and a planetary gear speed reducing mechanism, the ankle forward-swinging motor 33 is installed on the ankle joint connecting frame 31, the planetary gear speed reducing mechanism comprises a sun gear 34, a plurality of planet gears 35 surrounding the sun gear 34 and a gear ring 36, the sun gear 34 is fixed on an output shaft of the ankle forward-swinging motor 33, the gear ring 36 is fixed on the ankle joint connecting frame 31, and planet gears 35 of the planet gears 35 are axially fixed on the lower leg member 4.
The ankle side swing mechanism comprises a front mounting plate 37 and a rear mounting plate 37 which are fixed on the sole plate 1, the two mounting plates 37 are respectively located on the front side and the rear side of the ankle joint connecting frame 31, the front end and the rear end of the ankle joint connecting frame 31 are respectively installed on the two mounting plates 37 through bearing rotation, an output shaft of the ankle side swing motor 38 is fixedly connected with one of the mounting plates 37, the ankle side swing motor 38 drives the two mounting plates 37 to swing left and right relative to the ankle joint connecting frame 31, and therefore the sole plate 1 is driven to swing left and right relative to the ankle joint connecting frame 31.
The ankle forward swing motor 33 can drive the ankle joint connecting frame 31 and the entire sole plate 1 to swing back and forth relative to the lower leg member 4, and the ankle lateral swing motor 38 can drive the sole plate 1 to swing left and right relative to the ankle joint connecting frame 31. The unmanned metamorphic vehicle owner is mainly used for disaster rescue, anti-terrorism and anti-riot work and the like, the working ground is mostly rugged and uneven and has obstacles, so the ankle joint mechanism 3 of the foot mechanism is designed to have two degrees of freedom, and the flexibility and the stability of the unmanned metamorphic vehicle during moving and the adaptability to the terrain environment are ensured.
The sole plate 1 comprises a horizontal sole plate body 11 and supporting side plates 12 positioned on the left side and the right side of the sole plate body 11, the two supporting side plates 12 extend downwards along the sole plate body 11, and when the folding wheels 21 are in a folding wheel 21 folding state, the folding wheels 21 are folded into an accommodating space defined by the sole plate body 11 and the two supporting side plates 12.
One folding wheel bracket in the unfolding state of the folding wheel 21 is locked by a folding wheel 21 self-locking mechanism, the folding wheel bracket matched with the folding wheel 21 self-locking mechanism is a folding wheel locking bracket 24, the folding wheel 21 self-locking mechanism comprises a locking block 25, a vertical groove for the locking block 25 to move up and down is formed in the foot bottom plate 1, an elastic part is arranged at the position above the locking block 25 on the foot bottom plate 1, the elastic part adopts a tension spring 26, the locking block 25 is suspended at the bottom of the elastic part in a hanging manner, in a natural state, the locking block 25 is pulled to be at the upper limit position through the elastic component, the locking block 25 is driven to move downwards to be at the lower limit position through the locking transmission mechanism, at the moment, the locking block 25 extends downwards to be below the sole plate 1 and is positioned at the rear side of the folding wheel locking bracket 24, the locking block 25 is abutted against the rear side of the folding wheel locking bracket 24, so that the folding wheel locking bracket 24 in the unfolding state of the folding wheel 21 is locked.
The locking transmission mechanism comprises a locking gear 27, a locking slide block 28, a first locking connecting rod 29 and a second locking connecting rod 210, the locking slide block 28 is located in front of the locking block 25, the locking slide block 28 is arranged on the foot bottom plate 1 in a sliding mode and can slide back and forth along the front-back direction of the foot bottom plate 1, a sliding rail 211 is arranged on the foot bottom plate 1, a sliding groove extending along the front-back direction is formed in the sliding rail 211, and the locking slide block 28 is installed in the sliding groove in a sliding mode. The rear end of the first locking connecting rod 29 is hinged to the front end of the second locking connecting rod 210, the rear end of the second locking connecting rod 210 is hinged to the locking slide block 28, the front end of the first locking connecting rod 29 is fixed to a mounting shaft of the locking gear 27, the locking gear 27 is rotatably mounted on the foot bottom plate 1, the locking gear 27 is driven to rotate through the locking driving mechanism, so that the first locking connecting rod 29 is driven to swing, the second locking connecting rod 210 drives the locking slide block 28 to move back and forth, the locking slide block 28 is far away from or close to the locking block 25, and the locking slide block 28 and the locking block 25 are matched by an inclined plane or a convex arc surface. When the locking slider 28 moves backward, the locking slider 28 pushes the locking block 25 to move downward.
The locking driving mechanism and the folding wheel driving mechanism share one driving motor 212, the driving motor 212 is installed on the foot bottom plate 1, the folding wheel driving gear 213 is installed on the foot bottom plate 1 in a rotating manner, the top end of the folding wheel driving bracket 23 is fixed on the installation shaft of the folding wheel driving gear 213, the output shaft of the driving motor 212 extends along the left-right direction, the incomplete gear 214 is fixed on the output shaft of the driving motor 212, the folding wheel driving gear 213 and the locking gear 27 are arranged side by side in the front-back direction, and the folding wheel driving gear 213 and the lock gear 27 are respectively engaged with the upper incomplete gear 214, the incomplete gear 214 is driven to swing by the driving motor 212, so as to drive the folding wheel driving gear 213 and the locking gear 27 to correspondingly swing, thereby realizing the unfolding or folding of the folding wheel driving bracket 23 and the locking or unlocking of the folding wheel locking bracket 24.
The specific transmission process of the locking driving mechanism is as follows:
when the folding wheels 21 need to be unfolded, the incomplete gear 214 is driven to swing through the driving motor 212, the incomplete gear 214 drives the folding wheel driving gear 213 to swing correspondingly through continuous meshing teeth on the incomplete gear, the folding wheel driving gear 213 drives the folding wheel driving bracket 23 to swing forwards and downwards together until the folding wheel driving bracket 23 is in a vertical state, at the moment, under the driving of the connecting rod mechanism, all the folding wheel brackets swing together with the folding wheel driving bracket 23, the folding wheels 21 at the bottom ends of all the folding wheel brackets downwards extend out of the supporting side plates 12 of the baseboard 1, all the folding wheels 21 are in contact with the ground, and the folding wheels 21 are in an unfolded state; in the process, the incomplete gear 214 simultaneously drives the locking gear 27 to swing through continuous meshing teeth on the incomplete gear, the locking gear 27 then pushes the locking slider 28 backwards through the two locking connecting rods, the locking slider 28 firstly moves backwards for a free stroke before the folding wheel driving support 23 is completely unfolded to be in a vertical state, when the folding wheel driving support 23 is completely unfolded to be in the vertical state, the locking slider 28 just presses the locking block 25 downwards, the locking block 25 moves downwards to be blocked at the rear side of the folding wheel locking support 24 to lock the folding wheel locking support 24, the front end face of the strip-shaped groove 13 just abuts against the front side of the folding wheel driving support 23 to limit the folding wheel driving support 23 to continuously swing forwards, and the locking of the folding wheel driving support 23 is realized.
When the folding wheel 21 needs to be folded, the driving motor 212 drives the incomplete gear 214 to reversely swing, the incomplete gear 214 drives the locking gear 27 to reversely swing, the locking gear 27 forwards pulls the locking slider 28 through the two locking connecting rods, so that the locking slider 28 is separated from the locking block 25, the locking block 25 moves upwards to reset under the action of the tension spring 26, and then the locking block 25 is separated from the folding wheel locking support 24, so that the folding wheel locking support 24 is unlocked. Then, along with the continuous rotation of the incomplete gear 214, when the continuous meshing teeth of the incomplete gear 214 are meshed with the folding wheel driving gear 213, the continuous meshing teeth can drive the folding wheel driving gear 213 to reversely swing, the folding wheel driving gear 213 drives the folding wheel driving bracket 23 to swing backwards and upwards together, the folding wheel driving bracket 23 drives the folding wheels 21 on the folding wheel driving bracket to fold backwards, at the moment, under the driving of the link mechanism, each folding wheel bracket swings backwards and upwards together with the folding wheel driving bracket 23, the folding wheels 21 at the bottom end of each folding wheel bracket are all accommodated in the accommodating space of the sole plate 1, and the folding wheels 21 are in a folded state.
The locking driving mechanism and the folding wheel driving mechanism adopt the same driving motor 212 as a driving source, energy is saved, linkage between the folding wheel 21 folding and unfolding state and the folding wheel 21 self-locking mechanism locking and unlocking state is realized, and the locking effect is ensured.
The reconstruction process from an automobile state to a human-like state of the unmanned metamorphic vehicle in the driving process is a complex motion conversion process from wheel type driving to step walking of legs and feet, and the continuity of speed and the mechanism adaptability of a motion mode are needed, and the reconstruction process comprises two aspects: on one hand, when the folded leg members are unfolded downwards to be supported to the ground during running, in order to avoid inertia instability caused by speed difference when the fast wheel type running is switched to the slow leg foot running, the folding wheels 21 of the foot mechanism need to be unfolded firstly, so that the folding wheels 21 are contacted with the ground firstly, and the foot mechanism still runs in a wheel type mode to ensure the speed continuity and stability of reconstruction; on the other hand, when walking or climbing stairs, the folding wheels 21 need to be folded upward to walk on the flat-bottom sole plate 1 in order to avoid unstable walking caused by the sliding of the folding wheels 21 of the feet.
The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a foot mechanism that is used for folding wheel self-locking function of taking of unmanned metamorphic vehicle which characterized in that: comprises a foot bottom plate (1), an ankle joint mechanism (3) and a folding wheel mechanism (2);
the foot bottom plate (1) is connected with a shank component (4) of the unmanned metamorphic vehicle through an ankle joint mechanism (3), and the foot bottom plate (1) is driven by the ankle joint mechanism (3) to swing back and forth and swing left and right relative to the shank component (4);
the folding wheel mechanism (2) is arranged on the foot bottom plate (1), the folding wheel mechanism (2) comprises a left folding wheel unit and a right folding wheel unit which are arranged on the left side and the right side of the foot bottom plate (1), each folding wheel unit comprises at least two folding wheels (21) which are arranged in a front-back manner, each folding wheel (21) is rotatably arranged on a folding wheel bracket, the top end of each folding wheel bracket is rotatably arranged on the foot bottom plate (1) through a first articulated shaft, the first articulated shaft extends along the left-right direction, a plurality of folding wheel brackets of each folding wheel unit are connected together through a group of connecting rod mechanisms, one folding wheel bracket is driven by the folding wheel driving mechanism to rotate around the first articulated shaft, the folding wheel bracket connected with the folding wheel driving mechanism is a folding wheel driving bracket (23), and the plurality of folding wheel brackets of a single folding wheel unit are driven by the connecting rod mechanisms to rotate along with the folding wheel driving bracket (23), the state that the folding wheel (21) extends downwards below the foot bottom plate (1) is the unfolding state of the folding wheel (21), and the state that the folding wheel (21) swings upwards to the bottom end of the foot bottom plate (1) is the folding state of the folding wheel (21);
one folding wheel support in the unfolding state of the folding wheel (21) is locked through a folding wheel (21) self-locking mechanism, the folding wheel support matched with the folding wheel (21) self-locking mechanism is a folding wheel locking support (24), the folding wheel (21) self-locking mechanism comprises a locking block (25), a vertical groove for the locking block (25) to move up and down is formed in a foot bottom plate (1), an elastic part is arranged at a position, above the locking block (25), on the foot bottom plate (1), the locking block (25) is suspended at the bottom of the elastic part, in a natural state, the locking block (25) is pulled to be in an upper limit position through the elastic part, the locking block (25) is driven to move downwards through a locking transmission mechanism to be in a lower limit position, at the moment, the locking block (25) extends downwards below the foot bottom plate (1) and is located on the rear side of the folding wheel locking support (24), the locking block (25) is abutted against the rear side of the folding wheel locking bracket (24) to lock the folding wheel locking bracket (24) in the unfolding state of the folding wheel (21).
2. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 1, is characterized in that: the locking transmission mechanism comprises a locking gear (27), a locking slide block (28), a first locking connecting rod (29) and a second locking connecting rod (210), the locking slide block (28) is positioned in front of a locking block (25), the locking slide block (28) is arranged on the foot bottom plate (1) in a sliding mode and can slide back and forth along the front-back direction of the foot bottom plate (1), the rear end of the first locking connecting rod (29) is hinged with the front end of the second locking connecting rod (210), the rear end of the second locking connecting rod (210) is hinged with the locking slide block (28), the front end of the first locking connecting rod (29) is fixed on a mounting shaft of the locking gear (27), the locking gear (27) is rotatably mounted on the foot bottom plate (1), the locking gear (27) is driven to rotate through a locking driving mechanism, so that the first locking connecting rod (29) is driven to swing, and the locking slide block (28) is driven to move back and forth through the second locking connecting rod (210), the locking slide block (28) is far away from or close to the locking block (25), and when the locking slide block (28) moves backwards, the locking slide block (28) can push the locking block (25) to move downwards.
3. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 2, is characterized in that: the locking driving mechanism and the folding wheel driving mechanism share one driving motor (212), the driving motor (212) is installed on the foot bottom plate (1), a folding wheel driving gear (213) is installed on the foot bottom plate (1) in a rotating mode, the top end of the folding wheel driving support (23) is fixed on an installation shaft of the folding wheel driving gear (213), an output shaft of the driving motor (212) extends in the left-right direction, an incomplete gear (214) is fixed on the output shaft of the driving motor (212), the folding wheel driving gear (213) and the locking gear (27) are arranged side by side in the front-back direction, the folding wheel driving gear (213) and the locking gear (27) are respectively meshed with the incomplete gear (214) above, the incomplete gear (214) is driven to swing through the driving motor (212), and therefore the folding wheel driving gear (213) and the locking gear (27) are driven to swing correspondingly, thereby realizing the unfolding or folding of the folding wheel driving bracket (23) and the locking or unlocking of the folding wheel locking bracket (24).
4. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 2, is characterized in that: the locking slide block (28) is matched with the locking block (25) in an inclined plane.
5. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 2, is characterized in that: the locking slide block (28) is matched with the locking block (25) through a convex arc surface.
6. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 2, is characterized in that: the foot bottom plate (1) is provided with a sliding rail (211), the sliding rail (211) is provided with a sliding groove extending along the front-back direction, and the locking sliding block (28) is slidably arranged in the sliding groove.
7. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 1, is characterized in that: every group link mechanism includes main connecting rod (22), and each folding wheel support middle section of every folding wheel unit is articulated with main connecting rod (22) through second articulated shaft respectively, and the second articulated shaft extends along left right direction.
8. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 1, is characterized in that: the ankle joint mechanism (3) comprises an ankle forward swing mechanism and an ankle lateral swing mechanism;
the ankle forward-swinging mechanism comprises an ankle joint connecting frame (31), the left end and the right end of the ankle joint connecting frame (31) are respectively provided with a mounting ring (32), the two mounting rings (32) are rotatably connected with the bottom of a lower leg member (4), the ankle joint connecting frame (31) is driven to swing back and forth relative to the lower leg member (4) through an ankle forward-swinging motor (33) and a planetary gear speed reducing mechanism, the ankle forward-swinging motor (33) is mounted on the ankle joint connecting frame (31), the planetary gear speed reducing mechanism comprises a sun gear (34), a plurality of planet gears (35) surrounding the sun gear (34) and a gear ring (36), the sun gear (34) is fixed on an output shaft of the ankle forward-swinging motor (33), the gear ring (36) is fixed on the ankle joint connecting frame (31), and planet gears (35) of the planet gears (35) are axially fixed on the lower leg member (4);
the ankle side swinging mechanism comprises a front mounting plate (37) and a rear mounting plate (37) which are fixed on a foot bottom plate (1), the two mounting plates (37) are respectively positioned at the front side and the rear side of an ankle joint connecting frame (31), the front end and the rear end of the ankle joint connecting frame (31) are respectively rotatably mounted on the two mounting plates (37), an output shaft of an ankle side swinging motor (38) is fixedly connected with one of the mounting plates (37), and the ankle side swinging motor (38) drives the two mounting plates (37) to swing left and right relative to the ankle joint connecting frame (31).
9. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 1, is characterized in that: the foot bottom plate (1) comprises a horizontal foot bottom plate body (11) and supporting side plates (12) located on the left side and the right side of the foot bottom plate body (11), the two supporting side plates (12) extend downwards along the foot bottom plate body (11), and when the folding wheels (21) are in a folding wheel (21) folding state, the folding wheels (21) are folded into an accommodating space surrounded by the foot bottom plate body (11) and the two supporting side plates (12).
10. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 3, is characterized in that: incomplete gear (214) include the fluted disc and set up one section continuous meshing tooth in the fluted disc outer fringe, open on sole board (1) and have bar groove (13) that supply folding wheel drive support (23) to pass from top to bottom, bar groove (13) extend along the fore-and-aft direction, when folding wheel drive support (23) expand completely and be vertical state, support to block folding wheel drive support (23) front side through bar groove (13) preceding terminal surface, realize the locking to folding wheel drive support (23).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111416959.XA CN113895538B (en) | 2021-11-26 | 2021-11-26 | Foot mechanism with folding wheel self-locking function for unmanned metamorphic vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111416959.XA CN113895538B (en) | 2021-11-26 | 2021-11-26 | Foot mechanism with folding wheel self-locking function for unmanned metamorphic vehicle |
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| CN113895538B CN113895538B (en) | 2022-12-13 |
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| CN113895538B (en) | 2022-12-13 |
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