CN113911228B - Wheel-foot bimodal mechanical leg and robot - Google Patents
Wheel-foot bimodal mechanical leg and robot Download PDFInfo
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- CN113911228B CN113911228B CN202010663751.7A CN202010663751A CN113911228B CN 113911228 B CN113911228 B CN 113911228B CN 202010663751 A CN202010663751 A CN 202010663751A CN 113911228 B CN113911228 B CN 113911228B
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- 230000002902 bimodal effect Effects 0.000 title claims abstract description 33
- 210000000689 upper leg Anatomy 0.000 claims abstract description 59
- 210000002414 leg Anatomy 0.000 claims abstract description 47
- 244000309466 calf Species 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims description 13
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 6
- 229910052742 iron Inorganic materials 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 2
- 125000006850 spacer group Chemical group 0.000 description 6
- 239000011664 nicotinic acid Substances 0.000 description 5
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 241000238631 Hexapoda Species 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000002023 wood Substances 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The application discloses a wheel foot bimodal mechanical leg, device, equipment and medium relates to the virtual environment field. The mechanical leg comprises: a driving 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 calf unit having a locking member; when the locking component 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 unlocking state, the lower leg unit is rotationally connected with the rotating shaft. The mechanical leg can realize wheel type and foot type double modes by only 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 wheeled robot and a foot robot. The wheeled robot is a robot using wheel movement, and the foot robot is a robot using two-foot, four-foot or six-foot movement.
In the related art, a wheel-foot composite robot is provided, and a traveling wheel is arranged at the other end of a bionic leg of the robot, so that the robot has two motion modes of wheels and feet. 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 by foot type movement; the second set of driving devices is used for driving the travelling wheels to travel by adopting wheel movement.
Because the bionic leg needs two sets of driving devices, the structure is relatively complex, and the miniaturization and the portability 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, which can realize wheel foot bimodal driving simultaneously by only one set of driving device. The technical scheme is as follows:
according to one aspect of the present application, there is provided a wheel-foot bimodal mechanical leg comprising: a driving 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 calf unit having a locking member;
when the locking component 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 unlocking state, the lower leg unit is rotationally connected with the rotating shaft.
In an alternative embodiment of the present application, the traveling wheel has a pin slot, and the locking part includes a linear motor and a flat pin fixed at an output end of the linear motor;
the locking member is in the locked state when the flat pin is inserted into the pin slot;
the locking member is in the unlocked state when the flat pin exits the pin slot.
In an alternative embodiment of the present application, at least two of the pin grooves are radially distributed on the travelling wheel.
In an alternative embodiment of the present application, the lower leg unit has a motor fixing base therein, and the motor fixing base fixes the linear motor and the inner wall of the lower leg unit.
In an alternative embodiment of the present application, the rotating shaft is also fixedly connected with a driving wheel;
the driving wheel is connected with the driving device through the transmission device.
In an alternative embodiment of the present application, the transmission includes: a belt;
the driving wheel is connected with the driving device through the belt.
In an alternative embodiment of the present application, a belt compression device is included in the thigh unit, the belt compression device being in compression contact with the outer surface of the belt.
In an alternative embodiment of the present application, the travelling wheel comprises: a first travel wheel and a second travel wheel;
the pin grooves are formed on a first wheel surface of the first travelling wheel facing the second travelling wheel, and the pin grooves are formed on a second wheel surface of the second travelling wheel facing the first travelling wheel;
the number and the slotting positions of the pin slots on the first wheel surface and the second wheel surface are the same.
In an alternative embodiment of the present application, the lower leg unit has a first magnetic component thereon and the thigh unit has a second magnetic component thereon; when the locking component is in the locking state, the first magnetic component and the second magnetic component 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 comprises a first thigh section and a second thigh section that are detachably connected, and the calf unit comprises a first calf section and a second calf section that are detachably connected;
the first thigh section and the first calf section are located on a first side of the transmission and the second thigh section and the second calf section are located on a second side of the transmission.
In an alternative embodiment of the present application, the rotating shaft is further provided with a first shaft sleeve and a second shaft sleeve;
the first sleeve is mounted between the first thigh section and the first calf section;
the second hub is mounted between the second thigh section and the second calf section.
In an alternative embodiment of the present application, the other end of the calf cell is connected to the foot bottom.
According to another aspect of the present 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 bipedal, 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 calf unit having a locking member;
when the locking component 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 unlocking state, the lower leg unit is rotationally connected with the rotating shaft.
The shank units in the n mechanical legs are fixedly connected with the rotating shaft when the robot is in a foot-type mode;
in a wheeled mode of the robot, there is a rotational connection of the shank unit and the spindle in at least two mechanical legs.
The beneficial effects that technical scheme that this application embodiment provided include at least:
the leg unit is fixedly connected with the rotating shaft through the traveling wheel, so that the driving device drives the traveling wheel to drive the leg unit to travel in a foot-type mode through the rotating shaft; when the locking part is in an unlocking state, the lower leg unit and the traveling wheel are unlocked, the lower leg unit is rotationally connected with the rotating shaft, and the driving device drives the traveling wheel to travel in a wheel mode through the rotating shaft.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a perspective view of a wheel-foot bimodal mechanical leg provided in one exemplary embodiment of the present application;
FIG. 2 is a schematic illustration of a wheel-foot bimodal mechanical leg in a wheeled 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 state;
FIG. 5 is an exploded perspective view of a wheel-foot bimodal mechanical leg provided in one exemplary embodiment of the present application;
FIG. 6 is an exploded top view of a wheel-foot bimodal mechanical leg provided in one exemplary embodiment of the present application;
FIG. 7 is a block diagram of a robot in a foot-style mode provided in an exemplary embodiment of the present application;
fig. 8 is a block diagram of a robot in a wheeled mode according to an exemplary embodiment of the present application.
The various reference numerals in the drawings are described as follows:
1-a driving device;
a 2-thigh unit, 21-first thigh, 22-second thigh, one end of 201-thigh unit, the other end of 202-thigh unit;
one end of the 3-calf unit, 31-first calf portion, 32-second calf portion, 33-motor fixing seat and 301-calf unit;
4-rotating shaft, 41-first shaft sleeve and 42-second shaft sleeve;
5-travelling wheel, first travelling wheel 51, second travelling wheel 52, driving wheel 53;
6-transmission device;
7-locking parts, 71-linear motors, 72-flat pins, 73-pin slots;
8-foot bottom;
91-first magnetic component, 92-second magnetic component.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the 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 bimodal mechanical leg, which can realize the bimodal driving of a wheel mode and a foot mode simultaneously by only needing one set of driving device.
Fig. 1 shows a schematic view of a wheel-foot bimodal mechanical leg 10 provided in an exemplary embodiment of the present application. The mechanical leg comprises: a driving 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 travelling wheel 5 is fixed on the rotating shaft 4, and the driving device 1 is connected with the travelling wheel 5 through a transmission device 6;
the lower leg unit 3 has a locking member (not shown in the drawings);
when the locking component is in a locking state, the lower leg unit 3 and the travelling wheel 5 are locked, and the lower leg unit 3 is fixedly connected with the rotating shaft 4 through the travelling wheel 5, so that the driving device 1 drives the travelling 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 traveling wheel 5 are unlocked, and the lower leg unit 3 is rotationally connected with the rotating shaft 4, so that the driving device 1 drives the traveling wheel 5 to travel in a wheeled movement mode through the rotating shaft 4, and the lower leg unit 3 is not driven to move.
The working principle of the wheel-foot bimodal mechanical leg 10 includes:
when the locking member is in the locked state, the calf unit 3 is fixedly connected with the spindle 4 via the running wheel 5. When the driving device 1 drives the travelling wheel 5 to rotate forwards through the rotating shaft 4, the lower leg unit 3 is also driven to rotate forwards; when the driving device 1 drives the traveling wheel 5 to rotate backwards through the rotating shaft 4, the calf unit 3 is also driven to rotate backwards. The above-mentioned processes are repeatedly executed, so that the foot-type movement can be implemented.
When the locking member is in the unlocked state, the calf unit 3 and the spindle 4 are rotatably connected, i.e. the spindle 4 and the travelling wheel 5 can rotate freely with respect to the calf unit 3. The driving device 1 drives the traveling wheel 5 to rotate forward through the rotating shaft 4, thereby realizing wheeled movement, as shown in fig. 2.
In summary, in the wheel-foot bimodal mechanical leg provided in this embodiment, by arranging the locking component in the lower leg unit, when the locking component is in the locked state, the lower leg unit is locked with the travelling wheel, and the lower leg unit is fixedly connected with the rotating shaft through the travelling wheel, so that the driving device drives the travelling wheel to drive the lower leg unit to travel in a foot-type mode through the rotating shaft; when the locking part is in an unlocking state, the lower leg unit and the traveling wheel are unlocked, the lower leg unit is rotationally connected with the rotating shaft, and the driving device drives the traveling wheel to travel in a wheel 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 calf unit 3 and the running 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 linear motion mechanical energy. Optionally, a motor fixing seat 33 is provided in the calf unit 3, and the motor fixing seat 33 fixes the linear motor 71 and the inner wall of the calf unit 3.
A flat pin 72 is fixed to the output end of the linear motor 71. The travelling wheel 5 has at least one pin slot 73 thereon. The linear motor 71 drives the flat pin 72 to be inserted into the pin groove 73 or to be pulled out of the pin groove 73.
When the flat pin 72 is inserted into the pin slot 73, the locking member 7 is in a locked 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, as shown in fig. 4. When the rotating shaft 4 drives the traveling wheel 5 to rotate, the calf unit 3 also rotates along with the traveling wheel 5.
When the flat pin 72 is pulled out of the pin groove 73, the locking member 7 is in an 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 traveling wheel 5 to rotate, the calf unit 3 does not rotate along with the traveling wheel 5.
In some embodiments, there are at least two pin grooves 73, each pin groove 73 being distributed in 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 at least two pin grooves 73 may be uniformly or non-uniformly distributed.
In some embodiments, the travel wheel 5 comprises at least one travel wheel. Fig. 5 is exemplified by the travel wheels comprising 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 first tread of the first traveling wheel 51 facing the second traveling wheel 52 is formed with pin grooves 73, and a second tread of the second traveling wheel 52 facing the first traveling wheel 51 is formed with pin grooves 73. The number and grooving positions of the pin grooves 73 on the first tread and the second tread are the same.
In summary, in the locking component provided in this embodiment, the flat pin 72 is driven by the linear motor 71 to be inserted into the pin groove 73 of the traveling wheel 5 for locking, and the flat pin 72 is driven by the linear motor 71 to be pulled out of the pin groove of the traveling wheel 5 for unlocking, so that the linear motor 71 is hidden inside the lower leg unit 3, and therefore, the structure is simple, and the miniaturization and portability of the lower leg unit 3 can be well ensured.
Referring to fig. 1, fig. 5 and fig. 6 illustrate exploded views of a wheel foot bimodal mechanical leg 10 provided in accordance with another exemplary embodiment of the present application at two viewing angles, respectively. The wheel foot bimodal mechanical leg comprises: a driving device 1, a thigh unit 2, a shank unit 3, a rotating shaft 4, a travelling wheel 5, a transmission device 6, a locking part 7 and a sole 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 for providing a rotational driving force. The transmission wheel 12 is connected with the transmission device 6. The transmission 6 is a belt or chain, which is exemplified in this embodiment.
One end 201 of the thigh unit 2 is fixed with the drive device 1. The other end 202 of the thigh unit 2 is hinged with one end 301 of the shank unit 3 by means of a rotation shaft 4. Optionally, the thigh unit 2 comprises: a first thigh section 21 and a second thigh section 22 which are detachably connected. The first thigh section 21 and the second thigh section 22 are inserted or screwed. The first thigh section 21 and the second thigh section 22 enclose a housing portion forming the thigh unit 2, and form an inner accommodation chamber of the thigh unit 2. Alternatively, the first thigh section 21 is located on a first side of the transmission 6 and the second thigh section 22 is located on a second side of the transmission 6. Optionally, the thigh unit 2 further comprises a belt pressing device 23 therein, 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 which are detachably connected. The first and second lower leg portions 31 and 32 are inserted or screw-or nut-connected. The first and second lower leg portions 31 and 32 enclose a shell portion forming the lower leg unit 3, and form an inner accommodation chamber of the lower leg unit 3. Alternatively, the first lower leg portion 31 is located on a first side of the transmission 6 and the second lower leg portion 32 is located on a second side of the transmission 6. The other end of the shank unit 3 is connected with a foot bottom 8, and the foot bottom 8 can be made of wear-resistant materials such as rubber, wood and the like.
Illustratively, the first thigh section 21, the second thigh section 22, the first shank section 31, and the second shank section 32 are journaled on the rotary shaft 4 by bearings. A first spacer 41 is sleeved between the first thigh 21 and the first shank 31, and the first spacer 41 is used for separating a bearing corresponding to the first thigh 21 from a bearing inner ring of a bearing corresponding to the first shank 31, so that direct friction between the bearing and the bearing inner ring is avoided; 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 connecting a bearing corresponding to the second thigh portion 22 and a bearing inner ring of a bearing corresponding to the second shank portion 32, so that direct friction between the two is avoided. In addition, the first spacer 41 and the second spacer 42 also serve as axial positioning.
The travel wheel 5 includes: a first travel wheel 51 and a second travel wheel 52. The first traveling wheel 51, the second traveling wheel 52 and the driving wheel 53 are fixedly connected. Illustratively, the travel wheel includes: a first travel wheel 51 and a second travel wheel 52. A first wheel surface of the first traveling wheel 51 facing the second traveling wheel 52 is formed with pin grooves 73, and a second wheel surface of the second traveling wheel 52 facing the first traveling wheel 51 is formed with pin grooves 73; the number and grooving positions of the pin grooves 73 on the first tread and the second tread are the same. In some embodiments, there are at least two pin grooves 73, each pin groove 73 being distributed in 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 at least two pin grooves 73 may be uniformly 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 6 as an example, the driving wheel 53 is connected to the driving wheel 12 by a belt.
The calf 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 linear motion mechanical energy. Optionally, a motor fixing seat 33 is provided in the calf unit 3, and the motor fixing seat 33 fixes the linear motor 71 and the inner wall of the calf unit 3.
A flat pin 72 is fixed to the output end of the linear motor 71. The travelling wheel 5 has at least one pin slot 73 thereon. The linear motor 71 drives the flat pin 72 to be inserted into the pin groove 73 or to be pulled out of the pin groove 73.
When the flat pin 72 is inserted into the pin slot 73, the locking member 7 is in a locked 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, as shown in fig. 4. When the rotating shaft 4 drives the traveling wheel 5 to rotate, the calf unit 3 also rotates along with the traveling wheel 5.
When the flat pin 72 is pulled out of the pin groove 73, the locking member 7 is in an unlocked state. The lower leg unit 3 and the traveling wheel 5 are unlocked, and the lower leg unit 3 and the rotating shaft 4 are rotatably connected. When the rotating shaft 4 drives the traveling wheel 5 to rotate, the calf unit 3 does not rotate along with the traveling wheel 5.
Irrespective of whether the locking member 7 is in the locked or unlocked state, the thigh unit 2 and the shaft 4 are in rotational connection, and the travelling wheel 5 can be rotated forward or backward relative to the thigh unit 2.
Illustratively, the lower leg unit 3 has a first magnetic member 91 thereon and the upper leg unit 2 has a second magnetic member 92 thereon; when the lock member 7 is in the locked state, the first magnetic member 91 and the second magnetic member 92 are attracted. 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.
In summary, in the wheel-foot bimodal mechanical leg provided in this embodiment, by arranging the locking component in the lower leg unit, when the locking component is in the locked state, the lower leg unit is locked with the travelling wheel, and the lower leg unit is fixedly connected with the rotating shaft through the travelling wheel, so that the driving device drives the travelling wheel to drive the lower leg unit to travel in a foot-type mode through the rotating shaft; when the locking part is in an unlocking state, the lower leg unit and the traveling wheel are unlocked, the lower leg unit is rotationally connected with the rotating shaft, and the driving device drives the traveling wheel to travel in a wheel mode through the rotating shaft.
The locking part that this embodiment provided is locked through the pin groove that linear electric motor drive flat round pin inserted the wheel of marcing, and linear electric motor drive flat round pin pulls out the pin groove of marcing the wheel and unblock, because linear electric motor hides in the inside of shank unit, therefore the structure is comparatively succinct, can guarantee miniaturization and the portability of shank unit better.
The belt compressing device provided by the embodiment can ensure that the belt in the transmission device is kept in a compressing state, thereby ensuring the transmission force of the driving device to the travelling wheel.
The first magnetic component and the second magnetic component provided by the embodiment can fix the thigh unit and the shank unit when the mechanical leg is in a wheeled form, so that the shank unit cannot influence the normal running of the running wheel.
Fig. 7 and 8 respectively show schematic views of a robot 20 provided in an exemplary embodiment of the present application in two modes. The robot 20 may be a bipedal, quadruped or hexapod robot. A four-legged robot is illustrated in fig. 7. The robot 20 includes a robot body 22 and four mechanical legs 10, and the four mechanical legs 10 are wheel-foot bimodal mechanical legs provided in the above embodiment.
In the foot mode shown in fig. 7, the robot 20 travels foot by driving the travel wheel 5 and the lower leg unit 3 through the rotation shaft. In the wheel mode shown in fig. 8, the robot 20 drives the traveling wheel 5 to travel in a wheel-type manner through the rotation shaft.
The foregoing embodiment numbers of the present application are merely for describing, and do not represent advantages or disadvantages 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 for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The foregoing description of the preferred embodiments is merely exemplary in nature and is in no way intended to limit the invention, since it is intended that all modifications, equivalents, improvements, etc. that fall within the spirit and scope of the invention.
Claims (11)
1. A wheel-foot bimodal mechanical leg, characterized in that the wheel-foot bimodal mechanical leg comprises: a driving device (1), a thigh unit (2) and a shank unit (3);
one end (201) of the thigh unit (2) is fixedly connected with the driving device (1), the other end (202) of the thigh unit (2) is hinged with one end (301) of the calf unit (3) through a rotating shaft (4), a traveling wheel (5) is fixed on the rotating shaft (4), at least two pin grooves (73) are distributed on the traveling wheel (5) along the radial direction, 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); the locking component (7) comprises a linear motor (71) and a flat pin (72), and the flat pin (72) is fixed at the output end of the linear motor (71);
-said locking member (7) is in a locked state when said flat pin (72) is inserted into said pin slot (73); when the locking part (7) is in the locking state, the lower leg unit (3) is fixedly connected with the rotating shaft (4) through the travelling wheel (5); when the driving device (1) drives the travelling wheel (5) to rotate forwards through the rotating shaft (4), the lower leg unit (3) is also driven to rotate forwards; when the driving device (1) drives the travelling wheel (5) to rotate backwards through the rotating shaft (4), the lower leg unit (3) is also driven to rotate backwards, and the above process is repeatedly executed, so that foot-type movement can be realized;
-said locking member (7) is in an unlocked state when said flat pin (72) leaves said pin slot (73); when the locking part (7) is in the unlocking state, the lower leg unit (3) is rotationally connected with the rotating shaft (4); the driving device (1) drives the travelling wheel (5) to rotate forwards through the rotating shaft (4) without driving the lower leg unit (3) to move, so that wheeled movement is realized.
2. The wheel-foot bimodal mechanical leg according to claim 1, 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).
3. The wheel-foot bimodal mechanical leg according to claim 1, characterized in that the rotating shaft (4) is also fixedly connected with a driving wheel (53);
the driving wheel (53) is connected with the driving device (1) through the transmission device (6).
4. A wheel-foot bimodal mechanical leg according to claim 3, characterized in that the transmission (6) comprises: a belt;
the driving wheel (53) is connected with the driving device (1) through the belt.
5. The wheel-foot bimodal mechanical leg according to claim 4, characterized in that the thigh unit (2) comprises a belt pressing device (23) inside, the belt pressing device (23) being in pressing contact with the outer surface of the belt.
6. The bipedal bimodal mechanical leg of claim 1, wherein the travelling wheel (5) comprises: a first travelling wheel (5) and a second travelling wheel (5);
the pin grooves (73) are formed on a first wheel surface of the first travelling wheel (5) facing the second travelling wheel (5), and the pin grooves (73) are formed on a second wheel surface of the second travelling wheel (5) facing the first travelling wheel (5);
wherein the number and grooving positions of the pin grooves (73) on the first tread and the second tread are the same.
7. The wheel-foot bimodal mechanical leg according to claim 1, characterized in that the lower leg unit (3) has a first magnetic part (91) thereon, and the thigh unit (2) has a second magnetic part (92) thereon; when the locking component (7) is in the unlocking state, the first magnetic component (91) and the second magnetic component (92) are attracted;
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.
8. The wheel-foot bimodal mechanical leg according to claim 1, characterized in that the thigh unit (2) comprises a first thigh section (21) and a second thigh section (22) which are detachably connected, the shank unit (3) comprising a first shank section (31) and a second shank section (32) which are detachably connected;
the first thigh section (21) and the first lower leg section (31) are located on a first side of the transmission (6), and the second thigh section (22) and the second lower leg section (32) are located on a second side of the transmission (6).
9. The wheel-foot bimodal mechanical leg according to claim 8, characterized in that the rotating shaft (4) is further provided with a first sleeve (41) and a second sleeve (42);
the first boss (41) is mounted between the first thigh section (21) and the first shank section (31);
the second hub (42) is mounted between the second thigh section (22) and the second calf section (32).
10. The wheel-foot bimodal mechanical leg according to claim 1, characterized in that the other end of the calf unit (3) is connected with a sole (8).
11. A robot comprising a wheel-foot bimodal mechanical leg as claimed in any one of claims 1 to 10.
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 |
| EP21838701.7A EP4039567A4 (en) | 2020-07-10 | 2021-05-13 | Wheel-leg dual-mode mechanical leg and robot |
| PCT/CN2021/093698 WO2022007499A1 (en) | 2020-07-10 | 2021-05-13 | Wheel-leg dual-mode mechanical leg and robot |
| JP2022552628A JP2023517001A (en) | 2020-07-10 | 2021-05-13 | Wheel-footed bimodal mechanical legs and robots |
| 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 CN113911228A (en) | 2022-01-11 |
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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 |
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| CN108340985A (en) * | 2018-04-07 | 2018-07-31 | 吉林大学 | A kind of flexible wheel foot switching mobile platform |
| CN110304167A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Wheel leg composite construction and the compound four-leg bionic robot of wheel leg |
| CN110962955A (en) * | 2019-11-19 | 2020-04-07 | 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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| CN110304167A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Wheel leg composite construction and the compound four-leg bionic robot of wheel leg |
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