CN114044063A

CN114044063A - Wheel leg switching robot

Info

Publication number: CN114044063A
Application number: CN202111286326.1A
Authority: CN
Inventors: 贾振中; 刘拯滔; 戴存玺; 蒋世兴
Original assignee: Southern University of Science and Technology
Current assignee: Southern University of Science and Technology
Priority date: 2021-11-02
Filing date: 2021-11-02
Publication date: 2022-02-15
Anticipated expiration: 2041-11-02
Also published as: CN114044063B

Abstract

The invention discloses a wheel-leg switching robot which comprises a base, wheel-leg devices, a first driving device and a second driving device, wherein each wheel-leg device comprises a supporting body, a wheel disc unit, a connecting rod assembly and a reset body, two ends of each connecting rod assembly are respectively and rotatably connected with the wheel disc unit and the supporting body, the reset body abuts against the connecting rod assembly and the wheel disc unit, each wheel-leg device is connected with the first driving device, a driving wheel is used for driving the supporting body to rotate, the second driving device comprises a driving unit and a plurality of driving ropes, and the driving unit is used for winding and unwinding the driving ropes so that the connecting rod assembly is unfolded or folded under the abutting action of the reset body. According to the wheel leg switching robot, the first driving device is used for driving the wheel leg device to walk, the second driving device drives the wheel leg device to switch the wheel legs by winding and unwinding ropes, all the driving ropes can be wound and unwound by the second driving device, the number of driving units is small, control is convenient, and the structure of the wheel leg switching robot is greatly simplified.

Description

Wheel leg switching robot

Technical Field

The invention relates to the technical field of wheel-leg robots, in particular to a wheel-leg switching robot.

Background

The wheel-leg robot can walk in different modes by switching the states of the wheel legs, has the characteristics of flexible obstacle crossing and rapid traveling, and can execute search and rescue tasks on flat and complex terrains. Deformation formula wheel leg robot compares in the wheel, the coexistence wheel leg robot structure of leg is simpler, but deformation formula's wheel leg robot need carry out the structural deformation and switch over into wheel structure or leg structure, among the correlation technique, N sufficient robot needs N drive unit that is used for driving wheel leg to march to and N drive unit that is used for driving wheel leg to switch over, it is more to lead to the drive unit in the robot, control complexity is high, be unfavorable for the lightness of robot structure and the stability of control.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a wheel-leg switching robot, which can reduce the number of driving units, is convenient to control and has a simpler structure.

According to the wheel leg switching robot in the embodiment of the invention, the wheel leg switching robot comprises:

a base;

the wheel leg devices are arranged on the base and comprise a support body, at least two wheel disc units, at least two connecting rod assemblies and at least two reset bodies, two ends of each connecting rod assembly are respectively connected with the wheel disc units and the support body in a rotating mode, and the reset bodies are abutted against the connecting rod assemblies and the wheel disc units;

the first driving device is connected with each wheel leg device and comprises a driving wheel, and the driving wheel is connected with the supporting body and used for driving the supporting body to rotate;

the second driving device comprises a driving unit and a plurality of driving ropes, one end of each driving rope is connected with the driving unit, the other end of each driving rope is connected with the connecting rod assembly, and the driving unit is used for retracting and releasing the driving ropes so that the connecting rod assembly can be unfolded or folded under the abutting action of the restoring body.

The wheel-leg switching robot provided by the embodiment of the invention at least has the following beneficial effects:

in the wheel-leg switching robot in the embodiment of the invention, each wheel-leg device is provided with the first driving device, the first driving device is used for driving the wheel-leg device to walk, the second driving device drives the wheel-leg device to switch the wheel-legs by retracting and releasing the rope, the unfolding and folding of the connecting rod assembly can be realized by retracting and releasing the driving rope and abutting the restoring body, all the driving ropes can be retracted and released by the second driving device, the number of the driving units is small, the control is convenient, and the structure of the wheel-leg switching robot is greatly simplified.

According to some embodiments of the present invention, the driving rope includes a first driving rope section and a second driving rope section, the second driving rope section is provided in plurality, the first driving device includes a sliding seat and a sliding rail, the sliding rail is fixed to the base, the sliding seat is slidably connected to the sliding rail, the driving wheel is rotatably connected to the sliding seat, two ends of the first driving rope section are respectively connected to the driving unit and the sliding seat, and two ends of the second driving rope section are respectively connected to the sliding seat and the connecting rod assembly.

According to some embodiments of the invention, the rope guiding device further comprises a wire holder fixed to the base, and the wire holder comprises a plurality of guide wheels, and the guide wheels are used for winding the first rope driving section and guiding the first rope driving section to the sliding seat.

According to some embodiments of the invention, a limiting protrusion is protrusively disposed on a side of the wire seat close to the sliding seat, and the limiting protrusion is used for limiting the movement of the sliding seat.

According to some embodiments of the present invention, the sliding seat has a winding channel, and one side of the sliding seat facing the wire guide seat is provided with at least two winding holes, and the winding holes are communicated with the winding channel.

According to some embodiments of the present invention, two sets of the wheel leg devices are symmetrically distributed, the second driving device includes two driving rope wheels rotating in opposite directions, the driving rope wheels have thread fixing holes, the thread fixing holes are used for the first driving rope sections to penetrate and fix, and the two sets of the first driving rope sections connected with the two driving rope wheels are respectively led to the two sets of the wheel leg devices which are symmetrical to each other.

According to some embodiments of the invention, the first driving device comprises a rotating seat, the supporting body is provided with a rotating column in a protruding mode, the rotating seat is provided with a rotating hole, the rotating column penetrates through the rotating hole, and one end of the rotating column is connected with the driving wheel.

According to some embodiments of the present invention, the first driving device further includes a guiding shaft, one end of the guiding shaft is rotatably connected to the sliding seat, and the other end of the guiding shaft sequentially penetrates through the driving wheel, the rotating seat and the rotating column, and can slide relative to the driving wheel, the rotating seat and the rotating column along with the movement of the sliding seat.

According to some embodiments of the present invention, the second rope driving section is sequentially inserted into the guide shaft, the driving wheel and the rotating column, and can rotate relative to the sliding seat along with the rotation of the driving wheel.

According to some embodiments of the present invention, the first driving device further includes a wire fixing body, the wire fixing body is connected to one end of the guide shaft, the wire fixing body is rotatably connected to the sliding seat, the wire fixing body has a wire fixing column, the wire fixing column is used for fixing the second driving rope section, and the second driving rope section can pass through the wire fixing body and be guided to the guide shaft.

According to some embodiments of the invention, the support body comprises a main rod, a winding shaft and a reel, the main rod is provided with a threading hole, the threading hole is used for leading in the second rope driving section, the winding shaft and the reel are erected on the main rod and can rotate relative to the main rod, the second rope driving section is sequentially wound on the winding shaft and the reel, and the rotation directions of the winding shaft and the reel are perpendicular to each other.

According to some embodiments of the invention, the connecting rod assembly includes a first connecting rod and a second connecting rod which are rotatably connected, the second rope driving section is connected to a rotating connection position of the first connecting rod and the second connecting rod, the first connecting rod is rotatably connected with the supporting body, the second connecting rod is rotatably connected with the wheel disc unit, a limiting body is protrudingly arranged on one side of the first connecting rod, which is close to the wheel disc, and the limiting body extends along a length direction of the first connecting rod.

According to some embodiments of the present invention, a fixing body is disposed on an inner side of the wheel disc unit, the link assembly further includes a rotating shaft, the rotating shaft penetrates through a joint of the first link and the second link, the restoring body is sleeved on the rotating shaft, the second link has a clamping groove, the restoring body has two supporting legs, one of the supporting legs is clamped in the clamping groove, and the other supporting leg abuts against the fixing body.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The invention is further described with reference to the following figures and examples, in which:

FIG. 1 is a schematic structural view of a walking state of the wheel-leg switching robot according to the present invention;

FIG. 2 is a schematic structural view of another walking state of the wheel-leg switching robot according to the present invention;

FIG. 3 is a schematic structural view of the wheel-leg switching robot in FIG. 1 in another direction;

FIG. 4 is a schematic structural diagram of an embodiment of the first driving device and the second driving device in FIG. 3;

FIG. 5 is a schematic structural diagram of a portion of the first driving device in FIG. 4;

FIG. 6 is a cross-sectional view of the first drive assembly of FIG. 5;

FIG. 7 is an exploded view of the first drive assembly of FIG. 5;

FIG. 8 is a schematic structural view of one embodiment of the leg unit of FIG. 3;

FIG. 9 is a cross-sectional view of the wheel leg assembly of FIG. 8;

FIG. 10 is a schematic structural view of one embodiment of the wheel leg assembly of FIG. 1;

FIG. 11 is a cross-sectional view of the wheel leg assembly of FIG. 10;

FIG. 12 is an exploded view of the wheel leg assembly of FIG. 10;

fig. 13 is a schematic structural view of one embodiment of the support body in fig. 1.

Reference numerals:

a base 100; the wheel leg device 200, the supporting body 210, the rotating column 211, the main rod 212, the threading hole 2121, the winding shaft 213, the reel 214, the wheel disc unit 220, the supporting body 221, the fixing body 222, the connecting rod assembly 230, the first connecting rod 231, the limiting body 2311, the second connecting rod 232, the clamping groove 2321, the rotating shaft 233 and the reset body 240; the wire fixing device comprises a first driving device 300, a driving wheel 310, a guide hole 311, a sliding seat 320, a winding hole 321, an end cover 322, a sliding rail 330, a rotating seat 340, a rotating hole 341, a guide shaft 350, a rotating section 351, a moving section 352, a wire fixing body 360, a wire fixing column 361 and a wire passing hole 362; the second driving device 400, the driving unit 410, the rope driving wheel 411, the mounting column 412, the driving rope 420, the first rope driving section 421, the thread fixing hole 4121, the second rope driving section 422 and the mounting frame 430; the lead frame comprises a lead seat 500, a guide wheel 510, a lead frame 520 and a limiting bump 521.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.

In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Referring to fig. 1 to 3, an embodiment of the present invention provides a wheel-leg switching robot, including a base 100, a wheel-leg device 200, a first driving device 300, and a second driving device 400, where the base 100 is used to mount the wheel-leg device 200, the first driving device 300, and the second driving device 400, the wheel-leg device 200 is provided in plurality, the plurality of wheel-leg devices 200 cooperate to enable the robot to walk, the first driving device 300 is used to drive the wheel-leg device 200 to walk, and the second driving device 400 is used to enable the wheel-leg device 200 to perform wheel-leg switching.

Specifically, as shown in fig. 8 and 12, the wheel leg device 200 includes a support body 210, at least two wheel disc units 220, at least two link assemblies 230, and at least two restoring bodies 240, wherein the support body 210 supports the wheel disc units 220 and the link assemblies 230, two ends of the link assemblies 230 are respectively rotatably connected to the wheel disc units 220 and the support body 210, and the link assemblies 230 are rotated relative to the support body 210 and the wheel disc units 220 to unfold or fold the link assemblies 230, as shown in fig. 1, when the link assemblies 230 are folded, the wheel leg device 200 is in a "wheel state", as shown in fig. 2, when the link assemblies 230 are unfolded, the wheel leg device 200 is in a "leg state". The reset body 240 abuts against the link assembly 230 and the wheel unit 220, respectively, and the reset body 240 provides a reset function to the link assembly 230 for the folding reset of the link assembly 230 after the unfolding.

As shown in fig. 4 to 7, each wheel-leg device 200 is connected to a first driving device 300, the first driving device 300 includes a driving wheel 310, the driving wheel 310 is connected to the supporting body 210, and the driving wheel 310 drives the supporting body 210 to rotate, so that the wheel-leg device 200 integrally travels in a rotating manner. The second driving device 400 comprises a driving unit 410 and a plurality of driving ropes 420, one end of each driving rope 420 is connected with the driving unit 410, the other end of each driving rope 420 is connected with the connecting rod assembly 230, the number of the driving ropes 420 is equal to that of the connecting rod assemblies 230, the driving unit 410 is used for winding and unwinding the driving ropes 420, when the driving ropes 420 are tightened by the driving unit 410, the connecting rod assemblies 230 are unfolded, the wheel disc units 220 are separated from each other under the support of the connecting rod assemblies 230, the wheel leg device 200 is in a leg state, when the driving unit 410 removes tightening force and releases the driving ropes 420, the connecting rod assemblies 230 are folded under the abutting action of the reset bodies 240, the wheel disc units 220 are close to each other and spliced to form a finished wheel disc, and at the moment, the wheel leg device 200 is in a wheel state.

The wheel-leg device 200 is suitable for flat terrain in a wheel state, and the robot can stably and quickly move by driving the supporting body 210 through the driving wheels 310; the leg state of the wheel leg device 200 is suitable for rugged and complex terrain, the wheel disc units 220 are separated from each other, the length of the whole wheel leg device 200 is lengthened, and the plurality of wheel disc units 220 are alternately supported on the ground under the driving of the driving wheels 310, so that the robot can flexibly cross obstacles.

Thus, in the wheel-leg switching robot according to the embodiment of the present invention, each wheel-leg device 200 is equipped with the first driving device 300, the first driving device 300 is used for driving the wheel-leg device 200 to travel, the second driving device 400 drives the wheel-leg device 200 to perform wheel-leg switching by winding and unwinding the rope, since the expansion and the folding of the link assembly 230 can be realized by the retraction of the driving rope 420 and the abutting of the restoring body 240, and all the driving ropes 420 can be retracted by the second driving device 400, that is, when N wheel-leg devices 200 are provided in the wheel-leg switching robot, the wheel-leg switching robot is equipped with N first driving devices 300 and one second driving device 400, the walking and the wheel-leg switching of the robot can be realized through the N +1 driving units 410, the number of the driving units 410 is small, the control is convenient, and the structure of the wheel-leg switching robot is greatly simplified.

In one embodiment, the driving wheel 310 is configured as a synchronous pulley, and the first driving device 300 further includes a driving member such as a motor and a motor, and the driving member is connected to the synchronous pulley, and the synchronous pulley and the driving wheel 310 are provided with a synchronous belt, so that the driving wheel 310 is rotated by a belt transmission; in another embodiment, the driving wheel 310 may also be provided as a gear, and the first driving device 300 further includes a driving member such as a motor, etc., and the driving member is connected with the gear engaged with the driving wheel 310, so that the driving member drives the driving wheel 310 to rotate through the gear transmission.

As shown in fig. 7, the driving rope 420 includes a first driving rope section 421 and a second driving rope section 422, the second driving rope section 422 may be provided in plural, and the first driving rope section 421 and the second driving rope section 422 should be understood as two independent sections. The first driving device 300 includes a sliding seat 320 and a sliding rail 330, the sliding rail 330 is fixed on the surface of the base 100, the sliding seat 320 is connected with the sliding rail 330 in a sliding manner, the driving wheel 310 is connected with the sliding seat 320 in a rotating manner, the driving wheel 310 can rotate relative to the sliding seat 320, one end of the first driving rope section 421 is connected with the driving unit 410, the other end of the first driving rope section is connected with the sliding seat 320, the driving unit 410 can receive and release the first driving rope section 421 to drive the sliding seat 320 to move along the sliding rail 330, one end of the second driving rope section 422 is connected with the sliding seat 320, the other end of the second driving rope section is connected with the connecting rod assembly 230, and the sliding seat 320 drives the second driving rope section 422 to receive and release when moving, so that the connecting rod assembly 230 is unfolded or folded, thereby realizing the switching of the wheel legs of the wheel leg device 200.

It should be noted that the driving rope 420 is provided in two sections, and the first driving rope section 421 and the second driving rope section 422 are connected through the sliding seat 320, on one hand, the retraction of the driving rope 420 is realized through the movement of the sliding seat 320, on the other hand, the driving wheel 310 can rotate relative to the sliding seat 320, so that the radial rotation of the wheel leg device 200 and the axial retraction of the driving rope 420 are not affected by each other, and the second driving rope section 422 rotates relative to the sliding seat 320 along with the rotation of the driving wheel 310, when the second driving rope section 422 rotates, the first driving rope section 421 and the sliding seat 320 are fixed relative to the second driving rope section 422, so that the driving rope 420 is prevented from being wound in the walking process of the wheel leg device 200, and the walking stability of the robot is ensured.

The plurality of wheel leg devices 200 are symmetrically distributed, and in one embodiment, two sets of wheel leg devices 200 are symmetrically arranged and respectively installed on two sides of the base 100, so that the two sides are balanced when the robot walks. The number of the first rope driving sections 421 is equal to the number of the wheel leg devices 200, the number of the second rope driving sections 422 is equal to the number of the connecting rod assemblies 230, each driving unit 410 comprises two reversely rotating rope driving wheels 411, each rope driving wheel 411 is provided with a driving rope 420, the number of the driving ropes is the same as that of the wheel leg devices 200 in each group, and the rope driving ropes 420 of the wheel leg devices 200 on the two sides are opposite in folding and unfolding directions, so that the requirement for symmetrical arrangement of the wheel leg devices 200 can be met by arranging the reversely rotating rope driving wheels 411.

In the embodiment of the present invention, there may be a plurality of wheel leg devices 200 in each group, and each group includes two wheel leg devices 200, so that two first rope driving sections 421 are connected to each rope driving wheel 411, and the two first rope driving sections 421 are respectively led to two mutually symmetric wheel leg devices 200, although the number of the wheel leg devices 200 may be other, and on the premise that the two sides of the wheel leg devices 200 are symmetrically disposed, the number of the first rope driving sections 421 wound around the rope driving wheel 411 is half of the total number of the wheel leg devices 200.

The outside of driving rope wheel 411 is provided with the teeth of a cogwheel, and the teeth of a cogwheel intermeshing of two driving rope wheels 411 drives the drive of driving pieces such as driving motor, realizes the antiport of the two. One end of the rope driving wheel 411 is connected with an installation column 412, a thread fixing hole 4121 is formed in the installation column 412, and the thread fixing hole 4121 is used for connecting and fixing the first rope driving section 421, so that the first rope driving section 421 can be wound and unwound along with the rotation of the rope driving wheel 411. Specifically, two line fixing holes 4121 may be provided, the two line fixing holes 4121 are communicated with each other, a channel is formed inside the mounting column 412, the first driving rope segment 421 is inserted into the channel, and a knot may be tied at the line fixing hole 4121 at one end to complete the connection of the first driving rope segment 421 to the driving rope wheel 411; the periphery of erection column 412 sets up the annular, and the annular can supply first rope section 421 of driving to imbed to it leads, is spacing to first rope section 421 of driving.

The second driving device 400 further includes a mounting bracket 430, the driving pulley 411 and the mounting column 412 are erected on the mounting bracket 430, and are rotatably connected to the mounting bracket 430, and the mounting bracket 430 supports the driving pulley 411 and the mounting column 412. It should be noted that bearings can be arranged at the connection between the driving pulley 411 and the mounting bracket 430 and at the connection between the mounting column 412 and the mounting bracket 430, so as to realize the rotatable connection between the mounting bracket 430 and the driving pulley 411 and the mounting column 412.

The wheel leg switching robot further comprises a wire seat 500, the wire seat 500 is fixed on the surface of the base 100, the wire seat 500 comprises a plurality of guide wheels 510, the guide wheels 510 are used for winding the first rope driving section 421 and guiding the first rope driving section 421 to the sliding seat 320, the first rope driving section 421 led out from the rope driving wheel 411 is led into the wire seat 500, the first rope driving section 421 is guided by the guide wheels 510, the winding direction of the first rope driving section 421 is changed, and the first rope driving section 421 is led to the sliding seat 320. It should be noted that, because the wheel leg device 200 is installed on the outer side of the base 100, and the second driving device 400 is located at the center of the base 100, by providing the wire seat 500, on one hand, the first driving rope section 421 is turned and wound, and on the other hand, the position distribution among different components in the wheel leg switching robot is facilitated.

The wire holder 500 includes a wire frame 520, the guiding wheel 510 is rotatably connected to the wire frame 520, a wire winding groove for the first rope driving section 421 to wind is disposed on the periphery of the guiding wheel 510, and the wire winding groove limits the first rope driving section 421. The lead frame 520 has a mounting cavity for mounting the guide wheels 510, the first driving rope segments 421 extend into the mounting cavity, and a gap is provided between adjacent guide wheels 510 for the first driving rope segments 421 to pass through, so as to prevent the first driving rope segments 421 on different guide wheels 510 from interfering with each other. As shown in fig. 4, the first rope driving section 421 between the second driving device 400 and the wire guide seat 500 is at 90 degrees to the first rope driving section 421 between the wire guide seat 500 and the sliding seat 320, and in order to enable the guide wheel 510 to support the large-scale steering of the first rope driving section 421, the guide wheel 510 may be made of a metal material, such as a U-shaped bearing, so as to ensure the structural strength of the guide wheel 510, reduce the friction between the guide wheel 510 and the first rope driving section 421, and improve the winding and unwinding efficiency of the second driving device 400 on the driving rope 420.

It should be noted that the number of the guide wheels 510 in the wire holder 500 is matched with the number of the first rope driving segments 421 connected to the rope driving wheel 411, and in an embodiment of the present invention, two guide wheels 510 are provided, the two guide wheels 510 are distributed along the horizontal direction, and guide the two first rope driving segments 421 to the two symmetrical wheel leg devices 200 respectively.

In addition, a limiting protrusion 521 is disposed on one side of the lead frame 520 close to the sliding seat 320, and the limiting protrusion 521 is used for limiting the movement of the sliding seat 320. When the rope driving wheel 411 pulls the first rope driving segment 421 and drives the sliding seat 320 to move toward the direction close to the wire seat 500, the limiting protrusion 521 can abut against the sliding block slidably connected to the sliding seat 320 or the sliding rail 330, and at this time, the sliding seat 320 moves to the limit position, and the connecting rod assembly 230 is in the unfolded state. It is conceivable that the lead frame 520 is provided with two limiting protrusions 521, and the two limiting protrusions 521 respectively limit the two sliding seats 320 which are symmetrical to each other.

The inside of sliding seat 320 has the wire winding passageway, and sliding seat 320 offers towards one side of wire guide 500 and is no less than two wire winding holes 321, wire winding hole 321 and wire winding passageway intercommunication, and first drive rope segment 421 penetrates in the wire winding passageway via wire winding hole 321 to wear out from other wire winding holes 321, and first drive rope segment 421 accessible is tied a knot and is fixed. The first rope driving section 421 is connected to the sliding seat 320 by arranging the winding channel and the winding hole 321; in order to facilitate the first rope driving section 421 to penetrate into the winding channel, the winding channel can be arc-shaped; to improve the smoothness of the movement of the sliding seat 320, the winding holes 321 should be symmetrically arranged with respect to the center line of the sliding seat 320.

The first driving device 300 comprises a rotating seat 340, a rotating column 211 is convexly arranged on the supporting body 210, the rotating column 211 extends towards the first driving device 300, a rotating hole 341 is formed in the rotating seat 340, the rotating column 211 penetrates through the rotating hole 341, one end of the rotating column 211 is connected with the driving wheel 310, and when the driving wheel 310 rotates, the rotating column 211 rotates relative to the rotating seat 340 and drives the wheel leg device 200 to integrally rotate. The outer portion of the rotating column 211 is sleeved with a bearing, the bearing is disposed between the rotating column 211 and the inner wall of the rotating hole 341, the rotating base 340 is fixed on the surface of the base 100, and the rotating base 340 and the rotating column 211 are supported, so that the rotating column 211 is driven by the driving wheel 310 to rotate relative to the rotating base 340.

The first driving device 300 further includes a guiding shaft 350, one end of the guiding shaft 350 is rotatably connected to the sliding seat 320, and the other end of the guiding shaft 350 sequentially penetrates through the driving wheel 310, the rotating seat 340 and the rotating column 211, and can slide relative to the driving wheel 310, the rotating seat 340 and the rotating column 211 along with the movement of the sliding seat 320. The driving wheel 310 and the rotating column 211 are internally provided with guide holes 311 for the guide shaft 350 to penetrate through, the driving wheel 310 and the rotating column 211 support the guide shaft 350, so that the sliding seat 320 moves stably, the accuracy of the moving distance of the sliding seat 320 relative to the rotating column 211 is ensured, the retracting length of the second driving rope section 422 is matched with the moving length of the sliding seat 320, and the stability of wheel leg switching is improved.

In addition, the guide shaft 350, the rotating seat 340 and the driving wheel 310 are limited in the circumferential direction, so that the guide shaft 350 can rotate along with the rotation of the driving wheel 310, and the guide shaft 350 is rotatably connected with the sliding seat 320, so that the aim that the movement of the sliding seat 320 does not interfere with the rotation of the wheel legs is fulfilled. In one embodiment, the cross-section of the guide shaft 350 may be provided in a polygonal shape, such as a hexagon, a quadrangle, and the like. The guide holes 311 in the rotary column 211 can be set as through holes, on one hand, the material used for the support body 210 is reduced, and on the other hand, the guide shaft 350 is not limited by the distance of the guide holes 311 in the rotary column 211 and can move freely.

The guide shaft 350 includes a rotation section 351 and a movement section 352 connected to each other, the rotation section 351 is connected to the sliding seat 320, the movement section 352 is inserted into the guide hole 311 of the driving wheel 310 and the rotation column 211, and a bearing can be arranged between the rotation section 351 and the sliding seat 320 to support the guide shaft 350 by the sliding seat 320, so that the rotation section 351 is connected to the sliding seat 320 in a rotation manner.

The first driving device 300 further comprises a wire fixing body 360, the wire fixing body 360 is connected with the rotating section 351, the wire fixing body 360 is rotatably connected in the sliding seat 320, the wire fixing body 360 comprises a wire fixing column 361, the wire fixing column 361 is used for connecting the second driving rope section 422, and the end part of the second driving rope section 422 is wound on the wire fixing column 361 and is knotted and fixed; the string fixing column 361 may be provided in plurality to improve the convenience of connection of the second driving string 422. The thread fixing body 360 can be connected with the rotating section 351 in a threaded fastening mode, the end cover 322 is arranged on one side of the sliding seat 320, the end cover 322 is buckled on the side portion of the sliding seat 320, and axial limiting is carried out on the thread fixing body 360 and the rotating section 351.

The driving wheel 310 and the rotating column 211 can be fixed in a threaded fastening mode, and synchronous rotation of the driving wheel and the rotating column is guaranteed. The line fixing body 360, the rotating section 351, the driving wheel 310 and the rotating column 211 are provided with line passing holes 362 for the second driving rope section 422 to penetrate through, the line passing holes 362 in adjacent parts are communicated with each other, one end of the second driving rope section 422 is fixedly arranged on the line fixing column 361, and the other end of the second driving rope section 422 sequentially penetrates through the line fixing body 360, the rotating section 351, the driving wheel 310 and the rotating column 211 to be connected with the connecting rod assembly 230. It should be noted that the wire passing hole 362 and the mounting hole for mounting the screw may be disposed on the periphery of the guiding hole 311, and the wire passing hole 362 and the mounting hole are uniformly distributed; the number of the thread passing holes 362 is matched with the number of the second driving rope segments 422, one second driving rope segment 422 passes through each thread passing hole 362, and the thread passing holes 362 can be arranged according to the positions of the connecting rod assemblies 230 in each wheel leg device 200 and are symmetrically distributed on the periphery of the guide hole 311.

As shown in fig. 13, the support body 210 includes a main rod 212, a winding shaft 213 and a reel 214, the rotating column 211 is connected to one side of the main rod 212, the main rod 212 has a threading hole 2121, the threading hole 2121 is communicated with the threading hole 362 in the rotating column 211, the second rope-driving section 422 is led into the wheel-leg device 200 from the threading hole 2121, the winding shaft 213 and the reel 214 are both erected on the main rod 212 and can rotate relative to the main rod 212, the second rope-driving section 422 extending from the threading hole 2121 is sequentially wound around the winding shaft 213 and the reel 214, the rotation directions of the winding shaft 213 and the reel 214 are mutually perpendicular, and the second rope-driving section 422 is sequentially led to the connecting rod assembly 230 after twice steering of the winding shaft 213 and the reel 214.

As shown in fig. 8 to 12, the link assembly 230 includes a first link 231 and a second link 232 that are rotatably connected, an end of the first link 231 that is away from the second link 232 is rotatably connected to the main rod 212, an end of the second link 232 that is away from the first link 231 is rotatably connected to the wheel disc unit 220, an end of the second drive rope segment 422 is connected to a rotational connection portion of the first link 231 and the second link 232, when the second drive rope segment 422 is tightened, the link assembly 230 is pulled toward the main rod 212, the first link 231 and the second link 232 are spread apart from each other, so that the wheel leg device 200 is in the leg state shown in fig. 10, after the second drive rope segment 422 is released, the tension force applied to the wheel leg device 200 disappears, the restoring body 240 pulls the link assembly 230 toward a direction away from the main rod 212, and the first link 231 and the second link 232 are folded together, so that the wheel leg device 200 is in the wheel state shown in fig. 8.

In the embodiment of the present invention, two sets of link assemblies 230 and two wheel disc units 220 are disposed in the wheel leg device 200, the two link assemblies 230 are symmetrically disposed with respect to the support body 210, the two wheel disc units 220 are symmetrically disposed with respect to the support body 210, two ends of the main rod 212 are respectively rotatably connected to inner sides of the two wheel disc units 220, one ends of the two link assemblies 230 are rotatably connected to a side portion of the main rod 212, the other ends of the two link assemblies 230 are both rotatably connected to inner sides of the wheel disc units 220, and two of the winding shaft 213, two of the winding reel 214, and two of the threading holes 2121 are symmetrically disposed at two ends of the main rod 212.

Two rim plate units 220 all are the semicircle arc, and two rim plate units 220 can splice and form complete rim plate, and the tip of rim plate unit 220 is provided with supporter 221, and supporter 221 is outstanding to the inboard of rim plate unit 220 to extend towards the direction of keeping away from rim plate unit 220, and two rim plate units 220 dock the back, and supporter 221 supports with the tip of adjacent rim plate unit 220 and holds, and provides radial holding power to this rim plate unit 220, optimizes wheel leg device 200 at the rigidity of wheel attitude.

It should be noted that, as shown in fig. 10 and 11, a distance between a connection position of the link assembly 230 and the wheel unit 220 and a connection position of the link assembly 230 and the main rod 212 is equal to a sum of lengths of the first link 231 and the second link 232, so that the link assembly 230 is in a linear state after the first link 231 and the second link 232 are completely unfolded, and the link assembly 230 can provide stable support for the wheel unit 220, thereby improving motion stability when the wheel-leg device 200 walks in a leg state.

In an embodiment of the present invention, a limiting body 2311 is protrudingly disposed on one side of the first link 231 close to the wheel disc, the limiting body 2311 extends along a length direction of the first link 231, and the limiting body 2311 is used for limiting the connecting rod assembly 230 in the wheel state and the leg state, so that the wheel leg device 200 maintains a stable structure in different states. Specifically, as shown in fig. 8, in the wheel-shaped state, the stopper 2311 abuts against the inner side of the wheel disc unit 220, so that the excessive folding angle of the connecting rod assembly 230 is avoided, and the connecting rod assembly 230 and the wheel disc unit 220 are mutually supported, thereby improving the structural strength of the wheel leg device 200; as shown in fig. 10, in the leg state, the stopper 2311 abuts against the side of the second link 232 to prevent the first link 231 and the second link 232 from being folded in opposite directions, so that the link assembly 230 stably supports the wheel unit 220.

In one embodiment, the restoring body 240 may be a linear elastic member such as a tension spring, a rubber band, an elastic band, etc., one end of the restoring body 240 is connected to the inner side of the wheel disc unit 220, and the other end of the restoring body 240 is connected to the first link 231, the second link 232, or the connection between the first link 231 and the second link; when the link assembly 230 is unfolded by the pulling force of the second driving rope 422, the restoring body 240 is elongated, and after the second driving rope 422 is released, the link assembly 230 is folded by the elastic restoring force of the restoring body 240.

In another embodiment, as shown in fig. 12, the restoring body 240 is a torsion spring, the fixing body 222 is disposed on the inner side of the wheel disc unit 220, the rotating shaft 233 penetrates through the joint of the first link 231 and the second link 232, the restoring body 240 is sleeved on the rotating shaft 233, the fixing body 222 is disposed on the inner side of the wheel disc unit 220, a hole is formed in the fixing body 222, and since the second link 232 is rotatably connected with the wheel disc unit 220, in order to facilitate the installation of the restoring body 240, a clamping groove 2321 is disposed on the side of the second link 232, one of the two legs of the restoring body 240 is clamped in the clamping groove 2321, and the other leg penetrates through the hole of the fixing body 222 or abuts against the fixing body 222. When the connecting rod assembly 230 is unfolded, the angles of the two support legs of the restoring body 240 are reduced, so that the restoring body 240 is compressed, and after the tension of the second driving rope segment 422 is removed, the elastic force of the restoring body 240 returns and drives the second connecting rod 232 to rotate, so that the connecting rod assembly 230 is folded.

When the restoring body 240 is installed, one leg of the restoring body 240 may be first clamped into the clamping slot 2321, and then the other leg of the restoring body 240 is abutted against the fixing body 222, and finally a rotating shaft is inserted into the restoring body 240. The angle between the two legs of the restoring body 240 may be set according to the rotation angle of the link assembly 230; if the angle between the two legs is 180 degrees, the angle between the first link 231 and the second link 232 is less than 180 degrees when the links are folded, so that the restoring body 240 has a certain pre-tightening force when the wheel-leg device 200 is in the wheel state, which is beneficial to switching the wheel-leg device 200 from the leg state to the wheel state.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.

Claims

1. Wheel leg switching robot, its characterized in that includes:

a base;

2. The wheel leg switching robot according to claim 1, wherein the driving rope includes a first driving rope section and a second driving rope section, the second driving rope section is provided in plurality, the first driving device includes a sliding seat and a sliding rail, the sliding rail is fixed to the base, the sliding seat is slidably connected to the sliding rail, the driving wheel is rotatably connected to the sliding seat, two ends of the first driving rope section are respectively connected to the driving unit and the sliding seat, and two ends of the second driving rope section are respectively connected to the sliding seat and the connecting rod assembly.

3. The wheel-leg switching robot according to claim 2, further comprising a wire holder fixed to the base, wherein the wire holder includes a plurality of guide wheels for winding the first driving rope section and guiding the first driving rope section to the sliding seat.

4. The wheel-leg switching robot as claimed in claim 3, wherein a limiting protrusion is protruded from a side of the wire guide seat close to the sliding seat, and the limiting protrusion is used for limiting the movement of the sliding seat.

5. The wheel leg switching robot as claimed in claim 3, wherein the sliding seat has a winding passage, and at least two winding holes are formed in a side of the sliding seat facing the wire guide seat, and the winding holes communicate with the winding passage.

6. The wheel leg switching robot as claimed in claim 2, wherein two sets of the wheel leg devices are symmetrically distributed, the second driving device comprises two driving wheel wheels rotating in opposite directions, the driving wheel wheels have thread fixing holes for the first driving rope section to pass through and fix, and the two sets of the first driving rope sections connected with the two driving wheel wheels are respectively led to the two sets of the wheel leg devices which are symmetrical to each other.

7. The wheel-leg switching robot as claimed in claim 2, wherein the first driving device includes a rotary base, the support body is provided with a rotary post in a protruding manner, the rotary base has a rotary hole, the rotary post is inserted into the rotary hole, and one end of the rotary post is connected to the driving wheel.

8. The wheel-leg switching robot of claim 7, wherein the first driving device further comprises a guiding shaft, one end of the guiding shaft is rotatably connected to the sliding seat, and the other end of the guiding shaft is sequentially inserted into the driving wheel, the rotating seat and the rotating column and can slide relative to the driving wheel, the rotating seat and the rotating column along with the movement of the sliding seat.

9. The wheel-leg switching robot of claim 8, wherein the second driving rope segment sequentially penetrates through the guide shaft, the driving wheel and the rotating column, and can rotate relative to the sliding seat along with the rotation of the driving wheel.

10. The wheel-leg switching robot according to claim 9, wherein the first driving device further includes a wire fixing body connected to one end of the guiding shaft, the wire fixing body is rotatably connected to the sliding seat, the wire fixing body has a wire fixing pillar, the wire fixing pillar is used for fixing the second driving rope section, and the second driving rope section can pass through the wire fixing body and be guided to the guiding shaft.

11. The wheel leg switching robot according to any one of claims 2 to 10, wherein the support body includes a main rod, a spool, and a reel, the main rod has a threading hole for introducing the second rope driving segment, the spool and the reel are mounted on the main rod and are rotatable with respect to the main rod, the second rope driving segment is sequentially wound on the spool and the reel, and the spool and the reel are perpendicular to each other in rotation direction.

12. The wheel leg switching robot according to claim 11, wherein the link assembly includes a first link and a second link that are rotatably connected, the second driving rope section is connected to a rotational connection portion of the first link and the second link, the first link is rotatably connected to the support body, the second link is rotatably connected to the wheel disc unit, a stopper is protrudingly provided on a side of the first link close to the wheel disc, and the stopper extends along a length direction of the first link.

13. The wheel-leg switching robot according to claim 12, wherein a fixing body is disposed on an inner side of the wheel disc unit, the link assembly further includes a rotating shaft, the rotating shaft penetrates through a joint of the first link and the second link, the rotating shaft is sleeved with the restoring body, the second link has a clamping groove, the restoring body has two supporting legs, one of the supporting legs is clamped into the clamping groove, and the other supporting leg abuts against the fixing body.