CN113911228A - Wheel-foot bimodal mechanical leg and robot - Google Patents
Wheel-foot bimodal mechanical leg and robot Download PDFInfo
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- CN113911228A CN113911228A CN202010663751.7A CN202010663751A CN113911228A CN 113911228 A CN113911228 A CN 113911228A CN 202010663751 A CN202010663751 A CN 202010663751A CN 113911228 A CN113911228 A CN 113911228A
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- thigh
- rotating shaft
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- 230000002902 bimodal effect Effects 0.000 title claims abstract description 21
- 210000000689 upper leg Anatomy 0.000 claims abstract description 61
- 210000002414 leg Anatomy 0.000 claims abstract description 47
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 244000309466 calf Species 0.000 claims description 5
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 7
- 125000006850 spacer group Chemical group 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 239000011664 nicotinic acid Substances 0.000 description 5
- 241000238631 Hexapoda Species 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The application discloses a wheel-foot bimodal mechanical leg, a device, equipment and a medium, and relates to the field of virtual environments. This mechanical leg includes: a drive device, a thigh unit and a shank unit; one end of the thigh unit is connected with a driving device, the other end of the thigh unit is hinged with one end of the shank unit through a rotating shaft, a traveling wheel is fixed on the rotating shaft, and the driving device is connected with the rotating shaft through a transmission device; the lower leg unit has a locking member; when the locking part is in a locking state, the shank unit is fixedly connected with the rotating shaft through the travelling wheel; when the locking component is in an unlocked state, the lower leg unit is rotatably connected with the rotating shaft. The mechanical leg can realize wheel type and foot type double modes only by one set of driving device.
Description
Technical Field
The embodiment of the application relates to the field of robots, in particular to a wheel-foot bimodal mechanical leg and a robot.
Background
Common robots are classified into a wheel type robot and a foot type robot. The wheel type robot is a robot moving by wheels, and the foot type robot is a robot moving by two feet, four feet or six feet and the like.
The related art provides a wheel-foot combined type robot, and a travelling wheel is installed at the other end of a bionic leg of the robot, so that the robot has two motion modes of a wheel type and a foot type. The bionic leg needs two sets of driving devices, and the first set of driving device is used for driving the bionic leg to move in a foot type manner; the second set of driving device is used for driving the traveling wheels to travel by adopting wheel motion.
Because the bionic leg needs two sets of driving devices, the structure is relatively complex, and the miniaturization and the lightness of the bionic leg are not facilitated.
Disclosure of Invention
The embodiment of the application provides a wheel-foot bimodal mechanical leg and a robot, and the wheel-foot bimodal driving can be realized simultaneously only by one set of driving device. The technical scheme is as follows:
according to an aspect of the application, there is provided a wheel-foot bimodal mechanical leg, comprising: a drive device, a thigh unit and a shank unit;
one end of the thigh unit is connected with a driving device, the other end of the thigh unit is hinged with one end of the shank unit through a rotating shaft, a traveling wheel is fixed on the rotating shaft, and the driving device is connected with the rotating shaft through a transmission device;
the lower leg unit has a locking member;
when the locking part is in a locking state, the shank unit is fixedly connected with the rotating shaft through the travelling wheel;
when the locking component is in an unlocked state, the lower leg unit is rotatably connected with the rotating shaft.
In an alternative embodiment of the present application, the travel wheel has a pin slot, and the locking member includes a linear motor and a flat pin fixed to an output end of the linear motor;
when the flat pin is inserted into the pin groove, the locking part is in the locking state;
when the flat pin leaves the pin slot, the locking component is in the unlocked state.
In an alternative embodiment of the present application, at least two of the pin grooves are radially distributed on the running wheel.
In an alternative embodiment of the present application, the lower leg unit has a motor holder therein, and the motor holder fixes the linear motor and the inner wall of the lower leg unit.
In an optional embodiment of the present application, a driving wheel is further fixedly connected to the rotating shaft;
the driving wheel is connected with the driving device through the transmission device.
In an alternative embodiment of the present application, the transmission comprises: a belt;
the driving wheel is connected with the driving device through the belt.
In an alternative embodiment of the present application, a belt pressing device is included in the thigh unit, the belt pressing device being in pressing contact with an outer surface of the belt.
In an alternative embodiment of the present application, the travel wheel comprises: a first travel wheel and a second travel wheel;
the pin slot is formed on a first wheel surface of the first travelling wheel facing the second travelling wheel, and the pin slot is formed on a second wheel surface of the second travelling wheel facing the first travelling wheel;
the number and the grooving positions of the pin grooves on the first wheel surface and the second wheel surface are the same.
In an alternative embodiment of the present application, the calf unit has a first magnetic feature thereon and the thigh unit has a second magnetic feature thereon; when the locking part is in the locking state, the first magnetic part and the second magnetic part are attracted;
wherein one of the first magnetic member and the second magnetic member is a magnet, and the other of the first magnetic member and the second magnetic member is a magnet or an iron block.
In an alternative embodiment of the present application, the thigh unit includes first and second detachably connectable thigh portions, and the shank unit includes first and second detachably connectable shank portions;
the first thigh portion and the first shank portion are located on a first side of the transmission device, and the second thigh portion and the second shank portion are located on a second side of the transmission device.
In an optional embodiment of the present application, the rotating shaft is further provided with a first shaft sleeve and a second shaft sleeve;
the first shaft sleeve is arranged between the first thigh part and the first shank part;
the second sleeve is mounted between the second thigh portion and the second calf portion.
In an alternative embodiment of the present application, the other end of the lower leg unit is connected to a sole portion.
According to another aspect of the application, a robot is provided, comprising a wheel-foot bimodal mechanical leg as described above.
In an alternative embodiment of the present application, the robot is a biped, quadruped or hexapod robot. The robot comprises a mechanical body and four mechanical legs.
The mechanical leg comprises a thigh unit and a shank unit; the joint end of the thigh unit is hinged with the joint end of the shank unit through a rotating shaft, and a travelling wheel is fixed on the rotating shaft;
the lower leg unit has a locking member;
when the locking part is in a locking state, the shank unit is fixedly connected with the rotating shaft through the travelling wheel;
when the locking component is in an unlocked state, the lower leg unit is rotatably connected with the rotating shaft.
When the robot is in a foot type mode, the lower leg units in the n mechanical legs are fixedly connected with the rotating shaft;
when the robot is in a wheel type mode, the lower leg unit in at least two mechanical legs is in rotary connection with the rotating shaft.
The beneficial effects brought by the technical scheme provided by the embodiment of the application at least comprise:
the locking part is arranged in the shank unit, when the locking part is in a locking state, the shank unit is locked with the traveling wheel, and the shank unit is fixedly connected with the rotating shaft through the traveling wheel, so that the driving device drives the traveling wheel through the rotating shaft to drive the shank unit to travel in a foot type mode; when the locking component is in an unlocking state, the lower leg unit and the travelling wheel are unlocked, and the lower leg unit is rotatably connected with the rotating shaft, so that the driving device drives the travelling wheel to travel in a wheel type mode through the rotating shaft.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a perspective view of a wheel-foot bimodal mechanical leg provided by an exemplary embodiment of the present application;
FIG. 2 is a schematic view of a wheel-foot dual-mode mechanical leg in a wheel mode, provided in accordance with an exemplary embodiment of the present application;
FIG. 3 is a schematic view of a locking member provided in an exemplary embodiment of the present application;
FIG. 4 is a schematic view of a locking member provided in an exemplary embodiment of the present application in a locked condition;
FIG. 5 is an exploded perspective view of a wheel-foot dual-modality mechanical leg provided by an exemplary embodiment of the present application;
FIG. 6 is an exploded top view of a wheel-foot dual-modality mechanical leg provided by an exemplary embodiment of the present application;
FIG. 7 is a block diagram of a robot in a legged mode in accordance with an exemplary embodiment of the present application;
fig. 8 is a block diagram of a robot in a wheeled mode in accordance with an exemplary embodiment of the present application.
The various reference numbers in the drawings are illustrated below:
1-a drive device;
2-thigh unit, 21-first thigh, 22-second thigh, 201-one end of thigh unit, 202-the other end of thigh unit;
3-shank unit, 31-first shank, 32-second shank, 33-motor fixing seat and 301-one end of shank unit;
4-rotating shaft, 41-first shaft sleeve and 42-second shaft sleeve;
5-a travel wheel, a first travel wheel 51, a second travel wheel 52, a drive wheel 53;
6-a transmission device;
7-locking component, 71-linear motor, 72-flat pin and 73-pin slot;
8-plantar region;
91-first magnetic means, 92-second magnetic means.
Detailed Description
To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.
The embodiment of the application provides a wheel-foot dual-mode mechanical leg, which can realize dual-mode driving of a wheel mode and a foot mode at the same time only by one set of driving device.
Fig. 1 shows a schematic diagram of a wheel-foot dual-modality mechanical leg 10 provided by an exemplary embodiment of the present application. This mechanical leg includes: a drive device 1, a thigh unit 2 and a shank unit 3;
one end 201 of the thigh unit 2 is connected with the driving device 1, the other end 202 of the thigh unit 2 is hinged with one end 301 of the shank unit 3 through a rotating shaft 4, a traveling wheel 5 is fixed on the rotating shaft 4, and the driving device 1 is connected with the traveling wheel 5 through a transmission device 6;
the lower leg unit 3 has a locking member (not shown in the figure);
when the locking part is in a locking state, the lower leg unit 3 and the traveling wheel 5 are locked, and the lower leg unit 3 is fixedly connected with the rotating shaft 4 through the traveling wheel 5, so that the driving device 1 drives the traveling wheel 5 and the lower leg unit 3 to travel in a foot type movement mode through the rotating shaft 4.
When the locking component is in an unlocking state, the lower leg unit 3 and the travelling wheel 5 are unlocked, and the lower leg unit 3 is rotatably connected with the rotating shaft 4, so that the driving device 1 drives the travelling wheel 5 to travel in a wheel type movement mode through the rotating shaft 4 without driving the lower leg unit 3 to move.
The working principle of the wheel-foot dual-mode mechanical leg 10 comprises the following steps:
when the locking part is in a locking state, the lower leg unit 3 is fixedly connected with the rotating shaft 4 through the traveling wheel 5. When the driving device 1 drives the travelling wheel 5 to rotate forwards through the rotating shaft 4, the shank unit 3 is also driven to rotate forwards; when the driving device 1 drives the traveling wheels 5 to rotate backward through the rotating shaft 4, the lower leg unit 3 is also driven to rotate backward. The above processes are repeatedly executed, and foot type exercise can be realized.
When the locking component is in an unlocked state, the lower leg unit 3 is rotationally connected with the rotating shaft 4, namely the rotating shaft 4 and the travelling wheel 5 can freely rotate relative to the lower leg unit 3. The driving device 1 drives the traveling wheels 5 to rotate forwards through the rotating shaft 4, so that wheel type movement is realized, as shown in fig. 2.
In summary, according to the wheel-foot dual-mode mechanical leg provided by this embodiment, the locking component is arranged in the lower leg unit, when the locking component is in the locking state, the lower leg unit and the traveling wheel are locked, and the lower leg unit is fixedly connected with the rotating shaft through the traveling wheel, so that the driving device drives the traveling wheel through the rotating shaft to drive the lower leg unit to travel in the foot mode; when the locking component is in an unlocking state, the lower leg unit and the travelling wheel are unlocked, and the lower leg unit is rotatably connected with the rotating shaft, so that the driving device drives the travelling wheel to travel in a wheel type mode through the rotating shaft.
Fig. 3 shows a block diagram of the locking member 7 provided in an exemplary embodiment of the present application. The locking member 7 is used to lock or unlock between the lower leg unit 3 and the travel wheel 5. The locking member 7 includes: a linear motor 71 and a flat pin 72.
The linear motor 71 is a transmission device that converts electric energy into mechanical energy for linear motion. Optionally, the lower leg unit 3 has a motor fixing base 33 therein, and the motor fixing base 33 fixes the linear motor 71 and the inner wall of the lower leg unit 3.
The flat pin 72 is fixed to the output end of the linear motor 71. The running wheel 5 has at least one pin slot 73. The linear motor 71 drives the flat pin 72 to insert into the pin groove 73 or to extract the pin groove 73.
When the flat pin 72 is inserted into the pin groove 73, the lock member 7 is in a locked state. The lower leg unit 3 is locked with the traveling wheel 5, and the lower leg unit 3 is fixedly connected with the rotating shaft 4 through the traveling wheel 5, as shown in fig. 4. When the rotating shaft 4 drives the travelling wheel 5 to rotate, the lower leg unit 3 also rotates along with the travelling wheel 5.
When the flat pin 72 is pulled out of the pin groove 73, the lock member 7 is in the unlocked state. The lower leg unit 3 and the travelling wheel 5 are unlocked, and the lower leg unit 3 is rotatably connected with the rotating shaft 4. When the rotating shaft 4 drives the travelling wheel 5 to rotate, the lower leg unit 3 does not rotate along with the travelling wheel 5.
In some embodiments, there are at least two pin slots 73, each pin slot 73 being distributed along the radial direction of the travelling wheel 5. That is, at least two pin grooves 73 are radially distributed on the traveling wheel 5, and the at least two pin grooves 73 may be uniformly distributed or non-uniformly distributed.
In some embodiments, the travel wheels 5 include at least one travel wheel. Fig. 5 is exemplified with the travel wheels including a first travel wheel 51 and a second travel wheel 52. The first travel wheel 51 and the second travel wheel 52 are relatively fixed. A pin groove 73 is formed on a first tread of the first running wheel 51 facing the second running wheel 52, and a pin groove 73 is formed on a second tread of the second running wheel 52 facing the first running wheel 51. The number and slot positions of the pin slots 73 on the first tread and the second tread are the same.
In summary, in the locking member provided in the present embodiment, the linear motor 71 drives the flat pin 72 to be inserted into the pin slot 73 of the travel wheel 5 for locking, and the linear motor 71 drives the flat pin 72 to be pulled out of the pin slot of the travel wheel 5 for unlocking, and the linear motor 71 is hidden inside the lower leg unit 3, so that the structure is simple, and the miniaturization and the lightness of the lower leg unit 3 can be better ensured.
With reference to fig. 1, fig. 5 and fig. 6 respectively show the exploded views of a wheel-foot dual-mode mechanical leg 10 provided by another exemplary embodiment of the present application from two viewing angles. This wheel foot bimodal machinery leg includes: the device comprises a driving device 1, a thigh unit 2, a shank unit 3, a rotating shaft 4, a traveling wheel 5, a transmission device 6, a locking part 7 and a sole part 8.
The drive device 1 comprises a rotary motor 11 and a transmission wheel 12. The rotating motor 11 is fixedly connected with the driving wheel 12. The rotary electric machine 11 is used to provide a rotational driving force. The transmission wheel 12 is connected with the transmission device 6. The transmission 6 is a belt or a chain, and the embodiment is exemplified by a belt.
One end 201 of the thigh unit 2 is fixed to the drive device 1. The other end 202 of the thigh unit 2 is hinged with one end 301 of the shank unit 3 through a rotating shaft 4. Optionally, the thigh unit 2 comprises: a first thigh section 21 and a second thigh section 22 that are detachably connected. The first thigh portion 21 and the second thigh portion 22 are inserted or screwed. The first thigh portion 21 and the second thigh portion 22 enclose to form a housing portion of the thigh unit 2 and form an inner accommodation cavity of the thigh unit 2. Alternatively, the first thigh portion 21 is located on a first side of the transmission 6 and the second thigh portion 22 is located on a second side of the transmission 6. Optionally, a belt pressing device 23 is further included in the thigh unit 2, and the belt pressing device 23 is in pressing contact with the outer surface of the belt.
The lower leg unit 3 includes: a first lower leg portion 31 and a second lower leg portion 32 that are detachably connected. First and second leg portions 31 and 32 are inserted or screwed. First and second lower leg portions 31, 32 enclose to form a shell portion of lower leg unit 3 and form an internal receiving cavity for lower leg unit 3. Alternatively, first shank portion 31 is located on a first side of transmission 6 and second shank portion 32 is located on a second side of transmission 6. The other end of the shank unit 3 is connected with a sole part 8, and the sole part 8 can be made of wear-resistant materials such as rubber, wood and the like.
Illustratively, the first thigh portion 21, the second thigh portion 22, the first shank portion 31 and the second shank portion 32 are sleeved on the rotating shaft 4 through bearings. A first spacer 41 is further sleeved between the first thigh portion 21 and the first shank portion 31, and the first spacer 41 is used for separating a bearing corresponding to the first thigh portion 21 from a bearing inner ring of a bearing corresponding to the first shank portion 31 so as to avoid direct friction between the first thigh portion 21 and the first shank portion 31; a second spacer 42 is further sleeved between the second thigh portion 22 and the second shank portion 32, and the second spacer 42 is used for preventing direct friction between a bearing corresponding to the second thigh portion 22 and a bearing inner ring of a bearing corresponding to the second shank portion 32. In addition to this, the first spacer 41 and the second spacer 42 also serve for axial positioning.
The travel wheel 5 includes: a first travel wheel 51 and a second travel wheel 52. The first travelling wheel 51, the second travelling wheel 52 and the drive wheel 53 are fixedly connected. Illustratively, the travel wheel includes: a first travel wheel 51 and a second travel wheel 52. A pin groove 73 is formed on a first wheel surface of the first travelling wheel 51 facing the second travelling wheel 52, and a pin groove 73 is formed on a second wheel surface of the second travelling wheel 52 facing the first travelling wheel 51; the number and slot positions of the pin slots 73 on the first tread and the second tread are the same. In some embodiments, there are at least two pin slots 73, each pin slot 73 being distributed along the radial direction of the travelling wheel 5. That is, at least two pin grooves 73 are radially distributed on the traveling wheel 5, and the at least two pin grooves 73 may be uniformly distributed or non-uniformly distributed.
The rotating shaft 4 is also fixed with a driving wheel 53, and the driving wheel 53 is connected with the driving device 1 through a transmission device 6. Taking the transmission device 6 as an example of a belt, the driving wheel 53 is connected with the driving wheel 12 through the belt.
The lower leg unit 3 also has a locking member 7. The locking member 7 includes: a linear motor 71 and a flat pin 72.
The linear motor 71 is a transmission device that converts electric energy into mechanical energy for linear motion. Optionally, the lower leg unit 3 has a motor fixing base 33 therein, and the motor fixing base 33 fixes the linear motor 71 and the inner wall of the lower leg unit 3.
The flat pin 72 is fixed to the output end of the linear motor 71. The running wheel 5 has at least one pin slot 73. The linear motor 71 drives the flat pin 72 to insert into the pin groove 73 or to extract the pin groove 73.
When the flat pin 72 is inserted into the pin groove 73, the lock member 7 is in a locked state. The lower leg unit 3 is locked with the traveling wheel 5, and the lower leg unit 3 is fixedly connected with the rotating shaft 4 through the traveling wheel 5, as shown in fig. 4. When the rotating shaft 4 drives the travelling wheel 5 to rotate, the lower leg unit 3 also rotates along with the travelling wheel 5.
When the flat pin 72 is pulled out of the pin groove 73, the lock member 7 is in the unlocked state. The lower leg unit 3 and the travelling wheel 5 are unlocked, and the lower leg unit 3 is rotatably connected with the rotating shaft 4. When the rotating shaft 4 drives the travelling wheel 5 to rotate, the lower leg unit 3 does not rotate along with the travelling wheel 5.
The thigh unit 2 and the rotary shaft 4 are in rotational connection regardless of whether the locking part 7 is in the locked state or the unlocked state, and the travel wheel 5 can be rotated forward or backward with respect to the thigh unit 2.
Schematically, the lower leg unit 3 is provided with a first magnetic part 91, and the upper leg unit 2 is provided with a second magnetic part 92; when the locking member 7 is in the locked state, the first magnetic member 91 and the second magnetic member 92 attract each other. One of the first magnetic member 91 and the second magnetic member 92 is a magnet, and the other of the first magnetic member 91 and the second magnetic member 92 is a magnet or an iron block.
In summary, according to the wheel-foot dual-mode mechanical leg provided by this embodiment, the locking component is arranged in the lower leg unit, when the locking component is in the locking state, the lower leg unit and the traveling wheel are locked, and the lower leg unit is fixedly connected with the rotating shaft through the traveling wheel, so that the driving device drives the traveling wheel through the rotating shaft to drive the lower leg unit to travel in the foot mode; when the locking component is in an unlocking state, the lower leg unit and the travelling wheel are unlocked, and the lower leg unit is rotatably connected with the rotating shaft, so that the driving device drives the travelling wheel to travel in a wheel type mode through the rotating shaft.
The locking part that this embodiment provided locks through the cotter way that linear electric motor drive parallel pin inserted the travelling wheel, and the cotter way that linear electric motor drive parallel pin drew the travelling wheel unlocks, because linear electric motor hides in the inside of shank unit, therefore the structure is comparatively succinct, can guarantee the miniaturization and the lightness of shank unit better.
The belt pressing device provided by the embodiment can ensure that a belt in the transmission device keeps a pressing state, so that the transmission force of the driving device to the traveling wheel is ensured.
The first magnetic part and the second magnetic part provided by the embodiment can fix the thigh unit and the shank unit when the mechanical leg is in a wheel type form, so that the shank unit does not influence the normal running of the running wheel.
Fig. 7 and 8 show a schematic diagram of the robot 20 in two modes according to an exemplary embodiment of the present application. The robot 20 may be a biped, quadruped or hexapod robot. A quadruped robot is illustrated in fig. 7. The robot 20 comprises a machine body 22 and four machine legs 10, wherein the four machine legs 10 are wheel-foot dual-mode machine legs provided by the above embodiment.
In the foot mode shown in fig. 7, the robot 20 performs foot travel by driving the travel wheels 5 and the lower leg units 3 via the rotation shafts. In the wheel mode shown in fig. 8, the robot 20 performs wheel travel by driving the travel wheels 5 via the rotation shafts.
The above-mentioned serial numbers of the embodiments of the present application are merely for description and do not represent the merits of the embodiments.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (13)
1. A wheel-foot bimodal mechanical leg, comprising: a drive device (1), a thigh unit (2) and a shank unit (3);
one end (201) of the thigh unit (2) is connected with a driving device (1), the other end (202) of the thigh unit (2) is hinged with one end (301) of the shank unit (3) through a rotating shaft (4), a travelling wheel (5) is fixed on the rotating shaft (4), and the driving device (1) is connected with the rotating shaft (4) through a transmission device (6);
the lower leg unit (3) has a locking member (7);
when the locking part (7) is in a locking state, the lower leg unit (3) is fixedly connected with the rotating shaft (4) through the travelling wheel (5);
when the locking component (7) is in an unlocked state, the lower leg unit (3) is rotatably connected with the rotating shaft (4).
2. The wheel foot bimodal mechanical leg according to claim 1, characterized in that the travelling wheel (5) has a pin slot (73), the locking part (7) comprises a linear motor (71) and a flat pin (72), the flat pin (72) is fixed at the output end of the linear motor (71);
when the flat pin (72) is inserted into the pin groove (73), the locking member (7) is in the locked state;
when the flat pin (72) leaves the pin groove (73), the locking member (7) is in the unlocked state.
3. Wheel-foot bimodal mechanical leg according to claim 2, characterized in that at least two of said pin slots (73) are radially distributed on said travelling wheel (5).
4. The wheel-foot bimodal mechanical leg according to claim 2, characterized in that a motor fixing seat (33) is provided in the lower leg unit (3), and the motor fixing seat (33) fixes the linear motor (71) and the inner wall of the lower leg unit (3).
5. The wheel-foot bimodal mechanical leg according to any one of claims 1 to 4, characterized in that a driving wheel (53) is fixedly connected to the rotating shaft (4);
the drive wheel (53) is connected to the drive (1) via the transmission (6).
6. Wheel-foot bimodal mechanical leg according to claim 5, characterized in that the transmission (6) comprises: a belt;
the driving wheel is connected with the driving device (1) through the belt.
7. Wheel-foot bimodal mechanical leg according to claim 6, characterized in that a belt pressing device (23) is comprised in the thigh unit (2), the belt pressing device (23) being in pressing contact with the outer surface of the belt.
8. Wheel-foot bimodal mechanical leg according to any of claims 1 to 4, characterized in that the travelling wheel (5) comprises: a first travel wheel (5) and a second travel wheel (5);
the pin groove (73) is formed on a first wheel surface of the first travelling wheel (5) facing the second travelling wheel (5), and the pin groove (73) is formed on a second wheel surface of the second travelling wheel (5) facing the first travelling wheel (5);
wherein the number and the grooving positions of the pin grooves (73) on the first tread and the second tread are the same.
9. A dual-modality mechanical leg for wheel-feet according to any of claims 1 to 4, characterized in that the lower leg unit (3) has a first magnetic means (91) thereon and the upper leg unit (2) has a second magnetic means (92) thereon; when the locking component (7) is in the locking state, the first magnetic component (91) and the second magnetic component attract each other;
wherein one of the first magnetic member (91) and the second magnetic member (92) is a magnet, and the other of the first magnetic member (91) and the second magnetic member (92) is a magnet or an iron block.
10. A dual-modality mechanical wheelchair leg for wheel-feet according to any of claims 1 to 4, characterized in that the thigh unit (2) comprises a first thigh section (21) and a second thigh section (22) that are detachably connectable, the calf unit (3) comprises a first calf section (31) and a second calf section (32) that are detachably connectable;
the first thigh portion (21) and the first shank portion (31) are located on a first side of the transmission (6), and the second thigh portion (22) and the second shank portion (32) are located on a second side of the transmission (6).
11. The wheel-foot bimodal mechanical leg according to claim 10, characterized in that the rotating shaft (4) is further provided with a first bushing (41) and a second bushing (42);
the first bushing (41) is installed between the first thigh portion (21) and the first shank portion (31);
the second bushing (42) is mounted between the second thigh section (22) and the second shank section (32).
12. A wheel-foot bimodal mechanical leg according to any of claims 1 to 4, characterized in that the other end of the lower leg unit (3) is connected with a foot bottom (8).
13. A robot, characterized in that it comprises a wheel-foot bimodal mechanical leg according to any of claims 1 to 12.
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010663751.7A CN113911228B (en) | 2020-07-10 | 2020-07-10 | Wheel-foot bimodal mechanical leg and robot |
| PCT/CN2021/093698 WO2022007499A1 (en) | 2020-07-10 | 2021-05-13 | Wheel-leg dual-mode mechanical leg and robot |
| EP21838701.7A EP4039567A4 (en) | 2020-07-10 | 2021-05-13 | Wheel-leg dual-mode mechanical leg and robot |
| JP2022552628A JP2023517001A (en) | 2020-07-10 | 2021-05-13 | Wheel-footed bimodal mechanical legs and robots |
| US17/747,915 US20220274657A1 (en) | 2020-07-10 | 2022-05-18 | Wheel-footed bimodal mechanical leg and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010663751.7A CN113911228B (en) | 2020-07-10 | 2020-07-10 | Wheel-foot bimodal mechanical leg and robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113911228A true CN113911228A (en) | 2022-01-11 |
| CN113911228B CN113911228B (en) | 2024-03-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010663751.7A Active CN113911228B (en) | 2020-07-10 | 2020-07-10 | Wheel-foot bimodal mechanical leg and robot |
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| CN101298260B (en) * | 2008-06-11 | 2010-06-02 | 清华大学 | Low-power consumption two-foot walking moving system and walking control method thereof |
| CN110962955B (en) * | 2019-11-19 | 2020-11-20 | 北京空间飞行器总体设计部 | Few-driving-wheel leg type composite robot for planet detection |
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| CN201626257U (en) * | 2010-02-25 | 2010-11-10 | 好孩子儿童用品有限公司 | Baby carriage wheel orienting mechanism and baby carriage |
| CN104443104A (en) * | 2014-12-10 | 2015-03-25 | 山东大学 | Foot wheel type robot leg structure and foot wheel type robot with same |
| CN106428284A (en) * | 2016-08-30 | 2017-02-22 | 陆任行 | Multi-leg independent mobile carrier |
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