CN113911230A - Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism - Google Patents
Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism Download PDFInfo
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- CN113911230A CN113911230A CN202111416940.5A CN202111416940A CN113911230A CN 113911230 A CN113911230 A CN 113911230A CN 202111416940 A CN202111416940 A CN 202111416940A CN 113911230 A CN113911230 A CN 113911230A
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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 invention discloses a folding wheel mechanism and a foot mechanism for a foot mechanism of an unmanned metamorphic vehicle, wherein the foot mechanism of the unmanned metamorphic vehicle comprises a 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, each folding wheel is rotatably arranged on a folding wheel bracket, the top end of each folding wheel bracket is rotatably arranged on the foot bottom plate, one folding wheel bracket is driven to rotate by a folding wheel driving mechanism, a plurality of folding wheel brackets of a single folding wheel unit are driven by a connecting rod mechanism to synchronously rotate, the state that the folding wheels extend downwards below the foot bottom plate is an unfolded state, and the state that the folding wheels swing upwards to a state that the folding wheels do not exceed the bottom end of the foot bottom plate is a folded state; the folding wheel bracket in the unfolding state is locked by the folding wheel self-locking mechanism. 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 folding wheel mechanism for a foot mechanism of an unmanned metamorphic vehicle and the foot mechanism.
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: in the reconstruction process of the unmanned metamorphic vehicle from the automobile state to the humanoid state, the sole plate of the flat plate structure is directly in hard contact with the ground, so that great friction and impact can be generated in the process, and the damage to a foot mechanism and even an integral robot is easily caused. 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 folding wheel mechanism for a foot mechanism of an unmanned metamorphic vehicle and the foot mechanism.
The invention is realized by the following technical scheme:
the invention discloses a folding wheel mechanism for a foot mechanism of an unmanned metamorphic vehicle, which comprises a foot bottom plate, wherein the folding wheel mechanism is arranged on the foot bottom plate, the folding wheel mechanism 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 front and back, each folding wheel is rotatably arranged on a folding wheel bracket, the top end of each folding wheel bracket is rotatably arranged on the foot bottom plate through a first articulated shaft, the first articulated shaft extends along the left and 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 a folding wheel driving mechanism, the plurality of folding wheel brackets of the single folding wheel unit synchronously rotate under the driving of the connecting rod mechanism, and the state that the folding wheels extend downwards below the foot bottom plate is the unfolding state of the folding wheels, 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 folding wheel bracket in the unfolding state of the folding wheel is locked by the folding wheel self-locking mechanism.
The invention also discloses a foot mechanism with a folding wheel self-locking function for the unmanned metamorphic vehicle, which 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 adopts the folding wheel mechanism of claim 1.
As a preferred scheme of the foot mechanism, the folding wheel self-locking mechanism comprises a self-locking base fixed on a foot bottom plate, a left slide block and a right slide block are arranged in a sliding groove of the self-locking base in a sliding manner, the two slide blocks can slide left and right in the sliding groove, the outer ends of the two slide blocks are respectively provided with a locking rod extending outwards, a limiting block protruding laterally is arranged on each locking rod, a first elastic reset piece is arranged between each limiting block and the self-locking base, the two first elastic reset pieces respectively pull the two slide blocks inwards to be close to each other in a natural state, a pushing block is arranged between the inner ends of the two slide blocks, the left end and the right end of the pushing block are respectively in inclined plane fit with the two slide blocks, the pushing block is driven by a self-locking driving mechanism to move back and forth along the front-and-back direction, under the action of the inclined plane fit, the pushing block drives the two slide blocks to be far away from each other or close to each other, when the two slide blocks are far away from each other, the outer end of each locking rod is respectively inserted into the locking hole of the folding wheel bracket on the corresponding side or the locking hole of the connecting rod mechanism, so that the folding wheel bracket in the unfolding state of the folding wheel is locked.
As a preferred scheme of the above foot mechanism, the self-locking driving mechanism includes an electromagnet and a permanent magnet chuck, the electromagnet is fixed on the foot bottom plate, a push rod extending forward and backward is slidably arranged in a central hole of the electromagnet, two ends of the push rod are respectively connected with the permanent magnet chuck and the pushing block, two second elastic reset pieces are arranged between the permanent magnet chuck and the base, the two second elastic reset pieces are respectively arranged on the left side and the right side of the electromagnet, and in a natural state, the permanent magnet chuck is pushed to be away from the electromagnet through the second elastic reset pieces, and forward current or reverse current is introduced into the electromagnet, so that the permanent magnet chuck is driven to move towards the direction close to the electromagnet or away from the electromagnet, and the pushing block is driven to synchronously move along the forward and backward directions through the push rod.
As the preferable scheme of the foot mechanism, each group of the link mechanism includes a first main link and a locking link extending along the front and back, the middle section of each folding wheel bracket of each folding wheel unit is hinged to the first main link through a second hinge shaft, the second hinge shaft extends along the left and right direction, a locking support for supporting a locking rod is arranged on the foot bottom plate, the locking rod is slidably penetrated in a support hole of the locking support, the upper end of the locking link is hinged to the locking support, the lower end of the locking link is hinged to the first main link, and during locking, the outer end of each locking rod is inserted into a locking hole of the locking link at the corresponding side.
As a preferable scheme of the foot mechanism, each group of the link mechanisms includes a second main link extending in the front-rear direction, the middle section of each folding wheel bracket of each folding wheel unit is hinged to the second main link through a third hinge shaft, the third hinge shaft extends in the left-right direction, and when the foot mechanism is locked, the outer end of each locking rod is inserted into the locking hole of the folding wheel bracket on the corresponding side.
As the preferred scheme of above-mentioned foot mechanism, the sole plate is equipped with a plurality of damping springs including the sole plate body, middle shock pad, the flexible bottom plate that from top to bottom fixedly connected in proper order, between sole plate body and the flexible bottom plate, and open respectively bottom the sole plate body and flexible bottom plate top has the recess that holds damping spring, and middle damping is filled up and is opened the through-hole that supplies each damping spring to run through.
As a preferable scheme of the foot mechanism, the folding wheel driving mechanism comprises a folding wheel driving motor and a first planetary gear reduction mechanism, a motor base is fixed on the foot plate, the folding wheel driving motor is mounted on the motor base, the top end of the folding wheel bracket is rotatably sleeved on a first mounting ring of the motor base through a bearing, the first planetary gear reduction mechanism comprises a first sun wheel, a plurality of first planetary gears surrounding the first sun wheel, and a first gear ring, the first gear ring is fixed on the motor base, the first sun wheel is fixed on an output shaft of the folding wheel driving motor, and planetary gear shafts of the plurality of first planetary gears are fixed on the top end of the folding wheel bracket.
As a preferable mode of the above foot mechanism, the ankle joint mechanism includes an ankle forward swing mechanism and an ankle lateral swing mechanism;
the ankle forward-swinging 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 second mounting ring, the two second 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-swinging motor and a second planetary gear speed reducing mechanism, the ankle forward-swinging motor is mounted on the ankle joint connecting frame, the second planetary gear speed reducing mechanism comprises a second sun gear, a plurality of second planet gears surrounding the second sun gear and a second gear ring, the second sun gear is fixed on an output shaft of the ankle forward-swinging motor, the second gear ring is fixed on the ankle joint connecting frame, and planet gear shafts of the plurality of second 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.
Compared with the prior art, the invention has the following advantages:
1. according to the folding wheel mechanism for the foot mechanism of 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, and the folding wheel mechanism is convenient and flexible to use; and when the folding wheel mechanism is in the unfolding state, the folding wheel in the unfolding state can be locked through the folding wheel self-locking mechanism, the folding wheel is effectively prevented from shifting due to ground impact, and the stability of the unfolding state is ensured.
2. The invention provides a foot mechanism with a folding wheel self-locking function for an unmanned metamorphic vehicle, which is characterized in that the folding wheel mechanism is applied to the foot mechanism of the unmanned metamorphic vehicle, when the unmanned metamorphic vehicle needs to realize reconstruction from an automobile state to a similar human state under a driving condition, an ankle joint mechanism can swing forwards, the folding wheel is controlled to be put down in the vertical direction to be in an unfolded state, the folding wheel can be firstly contacted with the ground, impact and friction generated when a sole plate is directly contacted with the ground are reduced, the damage of the foot mechanism caused by the direct contact of the sole plate and the ground is avoided, and the integral structure of the unmanned metamorphic vehicle is 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, and the reconstruction time of the whole unmanned metamorphic vehicle is greatly saved.
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.
5. The folding wheel self-locking mechanism can drive the pushing block to move back and forth through electromagnetic driving, and can drive the two locking rods to extend or retract under the matching action of the pushing block and the inclined planes of the two sliding blocks, so that the folding wheel mechanism is locked or unlocked.
6. The foot bottom plate of the foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle comprises a foot bottom plate body, a middle damping pad and a flexible bottom plate which are fixedly connected from top to bottom in sequence, a plurality of damping springs are arranged between the foot bottom plate body and the flexible bottom plate, and the middle damping pad and the damping springs are used as elastic buffer interlayers, so that the unmanned metamorphic vehicle can absorb impact and can stably walk without slipping easily, and a good damping effect is achieved.
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 mechanism of the present invention.
Fig. 4 is an exploded perspective view of the folding wheel drive mechanism of the present invention.
Fig. 5 is a perspective view of the folding wheel self-locking mechanism of the present invention in an unlocked state.
Fig. 6 is a perspective view of the folding wheel self-locking mechanism of the present invention in a locked state.
Fig. 7 is a perspective exploded view of the sole plate of the present invention.
Figure 8 is a perspective view of the ankle mechanism of the invention.
Fig. 9 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 a middle cushion; 13 a flexible backplane; 14 a damping spring; 15 accommodating grooves; 2, a folding wheel mechanism; 21 a folding wheel; 22 a folding wheel support; 23 folding wheel driving motor; a 24 motor base; 25 a first mounting ring; 26 a first sun gear; 27 a first planet wheel; 28 a first ring gear; 29 self-locking base; 210 a slider; 211 a locking lever; 212 a stop block; 213 a first elastic restoring member; 214 pushing the block; 215 an electromagnet; 216 permanent magnet suction cup; 217 pushing rod; 218 a second resilient return member; 219 a first master link; 220 locking the connecting rod; 221 locking the support; 222 locking holes; 3 an ankle joint mechanism; 31 an ankle joint connecting frame; 32 a second mounting ring; 33 an ankle forward swing motor; 34 a second sun gear; 35 a second planet wheel; 36 a second ring gear; 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 9, the embodiment discloses a folding wheel mechanism for a foot mechanism of an unmanned metamorphic vehicle, the foot mechanism of the unmanned metamorphic vehicle comprises a sole plate 1, the sole plate 1 comprises a sole plate body 11, an intermediate shock pad 12 and a flexible sole plate 13 which are sequentially and fixedly connected from top to bottom, adjacent components can be fixed together in an adhesive manner, a plurality of shock-absorbing springs 14 are arranged between the sole plate body 11 and the flexible sole plate 13, the bottom of the sole plate body 11 and the top of the flexible sole plate 13 are respectively provided with accommodating grooves 15 for accommodating the shock-absorbing springs 14, and the intermediate shock-absorbing pad is provided with a through hole for the penetration of each shock-absorbing spring 14. When the foot bottom plate 1 of the unmanned metamorphic vehicle lands, the middle shock pad 12, the flexible bottom plate 13 and the damping spring 14 can absorb ground impact energy to protect the foot mechanism of the unmanned metamorphic vehicle.
The folding wheel mechanism 2 is arranged on the foot bottom plate 1, the folding wheel mechanism 2 comprises a left folding wheel 21 unit and a right folding wheel 21 unit which are arranged on the left side and the right side of the foot bottom plate 1, each folding wheel 21 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 22, the top end of the folding wheel bracket 22 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 22 of each folding wheel 21 unit are connected together through a group of connecting rod mechanisms, one of the folding wheel brackets 22 is driven to rotate around the first hinge shaft by the folding wheel driving mechanism, under the drive of the link mechanism, a plurality of folding wheel brackets 22 of a single folding wheel 21 unit synchronously rotate, the state that the folding wheel 21 extends downwards below the foot bottom plate 1 is the unfolding state of the folding wheel, and the state that the folding wheel 21 swings upwards to a position not exceeding the bottom end of the foot bottom plate 1 is the folding state of the folding wheel; the folding wheel bracket 22 in the unfolding state of the folding wheel is locked by the self-locking mechanism of the folding wheel 21.
The folding wheel driving mechanism comprises a folding wheel driving motor 23 and a first planetary gear speed reducing mechanism, a motor base 24 is fixed on the baseboard 1, the folding wheel driving motor 23 is installed on the motor base 24, the top end of the folding wheel support 22 is rotatably sleeved on a first installation ring 25 of the motor base 24 through a bearing, the first planetary gear speed reducing mechanism comprises a first sun wheel 26, a plurality of first planetary gears 27 surrounding the first sun wheel 26 and a first gear ring 28, the first gear ring 28 is fixed on the motor base 24, the first sun wheel 26 is fixed on an output shaft of the folding wheel driving motor 23, and planetary gear shafts of the first planetary gears 27 are fixed on the top end of the folding wheel support 22. The folding wheel driving motor 23 drives the first sun wheel 26 to rotate, the first sun wheel 26 drives each first planet wheel 27 to rotate and revolve, and the planet wheel shaft of each first planet wheel 27 drives the folding wheel support 22 to swing back and forth, so that the folding wheel 21 is folded or unfolded.
The embodiment also discloses a foot mechanism with a folding wheel self-locking function for the 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 folding wheel mechanism 2 adopts the folding wheel mechanism 2. The folding wheel 21 self-locking mechanism comprises a self-locking base 29 fixed on the foot bottom plate 1, a left slide block 210 and a right slide block 210 are arranged in a sliding groove of the self-locking base 29 in a sliding manner, the two slide blocks 210 can slide left and right in the sliding groove, the outer ends of the two slide blocks 210 are respectively provided with a locking rod 211 extending outwards, each locking rod 211 is provided with a limiting block 212 protruding laterally, a first elastic resetting piece 213 is arranged between each limiting block 212 and the self-locking base 29, in a natural state, the two first elastic resetting pieces 213 respectively pull the two slide blocks 210 inwards to be close to each other, a pushing block 214 is arranged between the inner ends of the two slide blocks 210, the left end and the right end of the pushing block 214 are respectively in inclined plane fit with the two slide blocks 210, the pushing block 214 is driven to move back and forth along the front-back direction by the self-locking driving mechanism, under the action of the inclined plane fit, the pushing block 214 drives the two slide blocks 210 to be far away from or close to each other, when the two slide blocks 210 are far away from each other, the outer end of each locking rod 211 is inserted into the locking hole 222 of the folding wheel bracket 22 on the corresponding side or the locking hole 222 of the link mechanism, so as to lock the folding wheel bracket 22 in the unfolded state of the folding wheel.
The self-locking driving mechanism comprises an electromagnet 215 and a permanent magnet sucker 216, the electromagnet 215 is fixed on the baseboard 1, a push rod 217 extending forwards and backwards penetrates through a central hole of the electromagnet 215 in a sliding mode, two ends of the push rod 217 are connected with the permanent magnet sucker 216 and a pushing block 214 respectively, two second elastic resetting pieces 218 are arranged between the permanent magnet sucker 216 and a base, the two second elastic resetting pieces 218 are arranged on the left side and the right side of the electromagnet 215 respectively, in a natural state, the permanent magnet sucker 216 is pushed to be away from the electromagnet 215 through the second elastic resetting pieces 218, forward current or reverse current is conducted to the electromagnet 215, the permanent magnet sucker 216 is driven to move towards the direction close to the electromagnet 215 or away from the electromagnet 215, and the pushing block 214 is driven to synchronously move forwards and backwards through the push rod 217.
The first elastic restoring member 213 and the second elastic restoring member 218 may adopt a restoring spring.
When the electromagnet 215 is not energized, the first elastic restoring member 213 and the second elastic restoring member 218 are both in a free state.
When locking is needed, forward current is conducted into the electromagnet 215, a magnetic field generated by the current acts on the permanent magnet sucker 216 to generate attraction force on the permanent magnet sucker 216, so that the permanent magnet sucker 216 overcomes the elasticity of the two second elastic resetting pieces 218 to move, the push rod 217 and the pushing block 214 are driven to move towards the direction close to the slide blocks 210, the two slide blocks 210 are pushed to be away from each other under the action of the cooperation of the inclined planes between the left side and the right side of the pushing block 214 and the two slide blocks 210, and the two locking rods 211 are driven to respectively extend outwards and respectively inserted into the locking holes 222 of the folding wheel brackets 22 on the corresponding sides or the locking holes 222 of the link mechanisms to lock the folding wheel brackets 22. The locking state can be maintained by continuously energizing the electromagnet 215.
When unlocking is needed, reverse current is introduced into the electromagnet 215, at the moment, a magnetic field generated by the current generates repulsive force on the permanent magnet sucker 216, the permanent magnet sucker 216 moves in the reverse direction, the permanent magnet sucker 216 drives the push rod 217 and the push block 214 to move in the reverse direction together, so that the push block 214 leaves the two sliders 210, under the action of the pulling force of the two first elastic reset pieces 213, the two locking rods 211 retract, leave the corresponding locking holes 222, locking is released, and at the moment, the folding wheel bracket 22 can swing. When the unlocking needs to be kept, the coil in the electromagnet 215 is not electrified, and the pushing block 214 and the two locking rods 211 are kept at the unlocking position under the action of the elastic force of the first elastic resetting piece 213 and the second elastic resetting piece 218.
In the self-locking mechanism of the folding wheel 21, the structural form of the locking rod 211 can adopt one of the following two types:
the first locking structure form is as follows: each group of link mechanisms comprises a first main link 219 and a locking link 220 extending forwards and backwards, the middle section of each folding wheel bracket 22 of each folding wheel 21 unit is hinged to the first main link 219 through a second hinge shaft, the second hinge shaft extends in the left-right direction, a locking support 221 for supporting a locking rod 211 is arranged on the foot bottom plate 1, the locking rod 211 penetrates through a support hole of the locking support 221 in a sliding manner, the upper end of the locking link 220 is hinged to the locking support 221, the lower end of the locking link 220 is hinged to the first main link 219, and during locking, the outer end of each locking rod 211 is inserted into a locking hole 222 of the locking link 220 on the corresponding side.
The second locking structure form is as follows: each group of link mechanisms comprises a second main link rod extending forwards and backwards, the middle section of each folding wheel bracket 22 of each folding wheel 21 unit is hinged with the second main link rod through a third hinge shaft, the third hinge shaft extends in the left-right direction, and during locking, the outer end of each locking rod 211 is inserted into the locking hole 222 of the folding wheel bracket 22 on the corresponding side.
Wherein, the ankle joint mechanism 3 comprises an ankle forward swing mechanism and an ankle side swing mechanism.
The ankle forward-swinging mechanism comprises an ankle joint connecting frame 31, second mounting rings 32 are respectively arranged at the left end and the right end of the ankle joint connecting frame 31, the two second mounting rings 32 are rotatably connected with the bottom of a lower leg member 4 through bearings, the ankle forward-swinging motor 33 and a second planetary gear speed reducing mechanism drive the ankle joint connecting frame 31 to swing back and forth relative to the lower leg member 4, the ankle forward-swinging motor 33 is mounted on the ankle joint connecting frame 31, the second planetary gear speed reducing mechanism comprises a second sun gear 34, a plurality of second planet gears 35 surrounding the second sun gear 34 and a second gear ring 36, the second sun gear 34 is fixed on an output shaft of the ankle forward-swinging motor 33, the second gear ring 36 is fixed on the ankle joint connecting frame 31, and planet gear shafts of the second planet gears 35 are 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 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, and the folding wheels 21 are contacted with the ground firstly and locked, so that 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 unlocked and folded upwards 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 (9)
1. A folding wheel mechanism for a foot mechanism of an unmanned metamorphic vehicle is characterized in that: the foot mechanism of the unmanned metamorphic vehicle comprises a foot bottom plate (1), a 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 (21) 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 (22), the top end of each folding wheel bracket (22) is rotatably arranged on the foot bottom plate (1) through a first articulated shaft, the first articulated shaft extends in the left-right direction, a plurality of folding wheel brackets (22) of each folding wheel (21) unit are connected together through a group of connecting rod mechanisms, one folding wheel bracket (22) is driven to rotate around the first articulated shaft through a folding wheel driving mechanism, and a plurality of folding wheel brackets (22) of a single folding wheel (21) unit are driven by the connecting rod mechanisms to synchronously rotate, the state that the folding wheel (21) extends downwards below the foot bottom plate (1) is the unfolding state of the folding wheel, 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; the folding wheel bracket (22) in the unfolding state of the folding wheel is locked by a folding wheel self-locking mechanism.
2. 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) adopts the folding wheel mechanism (2) of claim 1.
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 folding wheel self-locking mechanism comprises a self-locking base (29) fixed on a foot bottom plate (1), a left sliding block and a right sliding block (210) are arranged in a sliding groove of the self-locking base (29) in a sliding manner, the two sliding blocks (210) can slide left and right in the sliding groove, locking rods (211) extending outwards are respectively arranged at the outer ends of the two sliding blocks (210), a limiting block (212) protruding in the lateral direction is arranged on each locking rod (211), a first elastic reset piece (213) is arranged between each limiting block (212) and the self-locking base (29), the two first elastic reset pieces (213) respectively pull the two sliding blocks (210) inwards to be close to each other in a natural state, a pushing block (214) is arranged between the inner ends of the two sliding blocks (210), the left end and the right end of the pushing block (214) are respectively in inclined plane fit with the two sliding blocks (210), and the pushing block (214) is driven by a self-locking driving mechanism to move back and forth along the front direction, under the action of the inclined plane matching, the pushing block (214) drives the two sliding blocks (210) to be away from or close to each other, when the two sliding blocks (210) are away from each other, the outer end of each locking rod (211) is respectively inserted into the locking hole (222) of the folding wheel bracket (22) on the corresponding side or the locking hole (222) of the connecting rod mechanism, and the folding wheel bracket (22) in the unfolding state of the folding wheel is locked.
4. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 3, is characterized in that: the self-locking driving mechanism comprises an electromagnet (215) and a permanent magnet sucker (216), the electromagnet (215) is fixed on the baseboard (1), a push rod (217) extending forwards and backwards penetrates through a central hole of the electromagnet (215) in a sliding mode, two ends of the push rod (217) are respectively connected with the permanent magnet sucker (216) and a pushing block (214), two second elastic resetting pieces (218) are arranged between the permanent magnet sucker (216) and the base, the two second elastic resetting pieces (218) are respectively arranged on the left side and the right side of the electromagnet (215) in a row, and in a natural state, the permanent magnet sucker (216) is pushed away from the electromagnet (215) by the second elastic reset piece (218), and by electrifying the electromagnet (215) with forward current or reverse current, thereby driving the permanent magnet sucker (216) to move towards the direction close to the electromagnet (215) or away from the electromagnet (215), and then the push rod (217) drives the push block (214) to synchronously move along the front and back directions.
5. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 3, is characterized in that: every group link mechanism includes one along the first main connecting rod (219) and a locking connecting rod (220) of extending around, and each folding wheel support (22) middle section of every folding wheel (21) unit is articulated with first main connecting rod (219) through the second articulated shaft respectively, and the second articulated shaft extends along left right direction, be equipped with locking support (221) that are used for supporting check lock lever (211) on sole board (1), check lock lever (211) slide to penetrate in the support hole of locking support (221), and locking connecting rod (220) upper end articulates on locking support (221), and locking connecting rod (220) lower extreme articulates on first main connecting rod (219), and during locking, during every check lock lever (211) outer end inserts in locking hole (222) of locking connecting rod (220) of corresponding side.
6. The foot mechanism with the folding wheel self-locking function for the unmanned metamorphic vehicle as claimed in claim 3, is characterized in that: each group of the link mechanism comprises a second main connecting rod extending forwards and backwards, the middle section of each folding wheel support (22) of each folding wheel (21) unit is hinged with the second main connecting rod through a third hinge shaft, the third hinge shaft extends in the left-right direction, and during locking, the outer end of each locking rod (211) is inserted into a locking hole (222) of the folding wheel support (22) on the corresponding side.
7. 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) comprises a foot bottom plate body (11), an intermediate damping pad (12) and a flexible bottom plate (13) which are sequentially and fixedly connected from top to bottom, a plurality of damping springs (14) are arranged between the foot bottom plate body (11) and the flexible bottom plate (13), accommodating grooves (15) for accommodating the damping springs (14) are formed in the bottom of the foot bottom plate body (11) and the top of the flexible bottom plate (13) respectively, and through holes for the damping springs (14) to run through are formed in the intermediate damping pad.
8. 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 folding wheel driving mechanism comprises a folding wheel driving motor (23) and a first planetary gear speed reducing mechanism, a motor base (24) is fixed on a foot bottom plate (1), the folding wheel driving motor (23) is installed on the motor base (24), the top end of a folding wheel support (22) is sleeved on a first installation ring (25) of the motor base (24) through a bearing in a rotating mode, the first planetary gear speed reducing mechanism comprises a first sun wheel (26), a plurality of first planetary wheels (27) surrounding the first sun wheel (26) and a first gear ring (28), the first gear ring (28) is fixed on the motor base (24), the first sun wheel (26) is fixed on an output shaft of the folding wheel driving motor (23), and planetary wheel shafts of the first planetary wheels (27) are fixed on the top end of the folding wheel support (22).
9. 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 ankle joint mechanism (3) comprises an ankle forward swing mechanism and an ankle lateral swing mechanism;
the ankle forward-swing 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 second mounting ring (32), the two second mounting rings (32) are rotatably connected with the bottom of the shank component (4), the ankle joint connecting frame (31) is driven to swing back and forth relative to the lower leg member (4) through the ankle forward swing motor (33) and the second planetary gear speed reducing mechanism, the ankle forward swing motor (33) is installed on the ankle joint connecting frame (31), the second planetary gear speed reducing mechanism comprises a second sun gear (34), a plurality of second planetary gears (35) surrounding the second sun gear (34) and a second gear ring (36), the second sun gear (34) is fixed on an output shaft of the ankle forward swing motor (33), the second gear ring (36) is fixed on the ankle joint connecting frame (31), and planetary gear shafts of the second planetary gears (35) are 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).
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| CN202111416940.5A CN113911230B (en) | 2021-11-26 | 2021-11-26 | Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism |
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| CN202111416940.5A CN113911230B (en) | 2021-11-26 | 2021-11-26 | Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism |
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| CN113911230B CN113911230B (en) | 2022-12-02 |
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| CN113911230B (en) | 2022-12-02 |
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