CN114919675B - Wheel-foot conversion mechanism and control method thereof - Google Patents
Wheel-foot conversion mechanism and control method thereof Download PDFInfo
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- CN114919675B CN114919675B CN202210646153.8A CN202210646153A CN114919675B CN 114919675 B CN114919675 B CN 114919675B CN 202210646153 A CN202210646153 A CN 202210646153A CN 114919675 B CN114919675 B CN 114919675B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 17
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000005096 rolling process Methods 0.000 claims abstract description 28
- 239000002131 composite material Substances 0.000 claims description 12
- 239000011248 coating agent Substances 0.000 claims description 4
- 238000000576 coating method Methods 0.000 claims description 4
- 210000002414 leg Anatomy 0.000 claims description 4
- 210000002683 foot Anatomy 0.000 description 36
- 241000282414 Homo sapiens Species 0.000 description 4
- 210000001699 lower leg Anatomy 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 210000000689 upper leg Anatomy 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 210000003423 ankle Anatomy 0.000 description 1
- 210000000544 articulatio talocruralis Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a wheel-foot conversion mechanism and a control method thereof, and the wheel-foot conversion mechanism comprises a cross rolling support, an outer rotor motor, a cross rolling motor and a direct current motor, wherein one side of the cross rolling support is fixedly connected with a shell of the cross rolling motor, an output shaft of the cross rolling motor is fixedly connected with one end of a cross shaft support, the other end of the cross shaft support is rotatably connected with the cross rolling support, the cross shaft support is fixedly connected with the outer rotor motor, the shell of the outer rotor motor is rotatably connected with a lead screw/worm gear structure, the lead screw/worm gear structure is fixedly connected with a sole push rod, the sole push rod is fixedly connected with a sole, and the lead screw/worm gear structure is driven by the direct current motor; the outer rotor motor is also fixedly connected with the tire hub. The invention can switch the mode of the humanoid robot with the wheel-foot switching mechanism at any time during the movement, and has the advantages of high switching speed and high system reliability.
Description
Technical Field
The invention belongs to the technical field of humanoid robots, and particularly relates to a wheel-foot switching mechanism and a control method thereof.
Background
The wheeled robot has the advantages of high speed, high efficiency and low movement noise, and can realize rapid movement on relatively flat ground; the humanoid robot has strong adaptability to the environment of human life, can step on steps and cross obstacles through walking, but has a slow movement speed. The humanoid robot and the wheel-type robot are combined to generate the wheel-foot composite humanoid robot, so that the robot can carry out wheel-type rapid movement through wheels and can also carry out foot-type movement through conversion to move in various complex ground and complex terrains like a human. The combination of the two can greatly improve the motion capability of the humanoid robot.
Disclosure of Invention
In view of this, the invention provides a wheel-foot switching mechanism and a control method thereof, so that the wheel-foot composite humanoid robot has two motion modes of wheel-type motion and foot-type motion, and can realize free and rapid switching between the two motion modes.
The present invention achieves the above-described object by the following means.
A wheel-foot conversion mechanism comprising:
one side of the cross rolling support is fixedly connected with the shell of a cross rolling motor, an output shaft of the cross rolling motor is fixedly connected with one end of the cross shaft support, and the other end of the cross shaft support is rotatably connected with the cross rolling support;
the outer rotor motor is fixedly connected with the crossed shaft bracket;
the shell of the outer rotor motor is rotationally connected with a lead screw structure, the lead screw structure is fixedly connected with a sole push rod, and the sole push rod is fixedly connected with a sole of a foot; the screw rod structure is driven by a power source;
the outer rotor motor is also fixedly connected with a tire hub.
In the technical scheme, the other end of the cross shaft support is connected with the rolling support through a flange plate connecting piece and a bearing.
In the technical scheme, the tire wheel hub is fixedly connected with the tire coating rubber.
In the above technical scheme, the lead screw structure comprises a lead screw and a lead screw nut, the lead screw is connected with the outer shell of the outer rotor motor through a bearing and a bearing retainer ring, the lead screw is matched with the lead screw nut, and the lead screw nut is fixedly connected with the sole push rod.
Among the above-mentioned technical scheme, the sole push rod is an overall structure or two independent structures, and an overall structure's sole push rod both ends link firmly the foot sole respectively, and two independent structures's sole push rod upper end links firmly with screw nut, and the lower extreme links firmly with the foot sole.
According to the technical scheme, the robot leg comprises a wheel-foot composite humanoid robot leg, and the wheel-foot composite humanoid robot leg is used for connecting the rolling support and the humanoid robot thigh into a whole.
A control method of a wheel-foot switching mechanism specifically comprises the following steps:
under the drive of a direct current motor, the screw rod structure realizes upward movement, and the sole of the foot synchronously moves upward to enter the envelope line of the wheel; the outer rotor motor drives wheels to rotate to realize wheel type motion;
the bottom surface of the sole of the foot is parallel to the ground, the screw rod structure realizes downward movement under the driving of the direct current motor, and the sole of the foot synchronously moves downward until contacting with the ground, so that foot type movement is realized;
the lead screw structure moves up/down under the drive of the direct current motor, and the sole of the foot moves up/down along with the separation and contact with the ground, so that the switching between wheel type movement and foot type movement is realized.
Further, the wheel-foot switching mechanism is arranged before the wheel-type motion and the foot-type motion, and the cross-rolling motor rotates, so that the wheels are positioned in a vertical plane.
Furthermore, the sole bottom surface of the foot is parallel to the ground, and the wheels move forwards or backwards by controlling the outer rotor motor to work.
The beneficial effects of the invention are as follows:
(1) When the humanoid robot moves in a foot type, the outer rotor motor provides the pitching freedom degree of the feet of the humanoid robot, the roll motor provides the roll freedom degree, and the two freedom degrees are superposed to simulate the ankle movement of human beings, so that the humanoid robot has better environmental adaptability during movement and can walk on a more complex road surface; when the robot moves in a wheel type, the outer rotor motor can provide continuous rotating speed to drive wheels to rotate continuously, so that the robot moves forwards;
(2) According to the wheel-foot switching mechanism, when the foot sole of the foot extends downwards to be in contact with the bottom surface during foot walking, the self-locking performance of the lead screw is utilized, the foot sole cannot drive the lead screw to rotate through the lead screw nut, so that the foot sole can be stably kept at a specified position, and meanwhile, the lead screw motor does not need to provide extra energy, so that the purpose of energy conservation is achieved;
(3) The wheel-foot switching mechanism simultaneously realizes the functions of wheel type motion and foot type motion by utilizing a set of power system, greatly simplifies the complexity of the system, fully considers the flow rationality when the wheel-foot composite humanoid robot carries out wheel-foot mode switching, enables the wheel-foot composite humanoid robot to carry out mode switching at any time during the motion, and has high switching speed and high system reliability.
Drawings
FIG. 1 is a schematic view of the overall structure of the wheel-foot conversion mechanism of the present invention;
FIG. 2 is a schematic view of a partial structure of the wheel-foot conversion mechanism of the present invention;
FIG. 3 is a wheel-type motion state diagram of the wheel-foot switching mechanism of the present invention;
FIG. 4 is a diagram of the state of the foot motion of the wheel-foot switching mechanism according to the present invention;
in the figure: the robot comprises a wheel-foot composite humanoid robot, a lower leg, a 3-rolling support, a 4-cross shaft support, a 5-flange plate connecting piece, 6-tire coated rubber, 7-tire wheel hub, 8-outer rotor motor, 9-direct current motor, 10-sole push rod, 11-foot sole, 12-rolling motor, 13-lead screw and 14-lead screw nut.
Detailed Description
The invention will be further described with reference to the following figures and specific examples, without limiting the scope of the invention thereto.
As shown in fig. 1 and 2, the wheel-foot conversion mechanism comprises a wheel-foot composite humanoid robot shank 1, a transverse rolling bracket 3, a cross shaft bracket 4, a flange plate connecting piece 5, tire coating rubber 6, a tire hub 7, an outer rotor motor 8, a direct current motor 9, a sole push rod 10, a foot sole 11, a transverse rolling motor 12 and a screw rod structure, wherein the screw rod structure comprises a screw rod 13 and a screw rod nut 14.
The upper end of a crus 1 of the wheel-foot composite humanoid robot is connected with a thigh of the humanoid robot, the lower end of the crus 1 of the wheel-foot composite humanoid robot is fixedly connected with a transverse rolling bracket 3, one side of the transverse rolling bracket 3 is fixedly connected with a shell of a transverse rolling motor 12 through a bolt, and the two do not move relatively; an output shaft of the roll motor 12 is fixedly connected with one end of the cross shaft bracket 4 through a bolt, the other end of the cross shaft bracket 4 is connected with the roll bracket 3 through a flange plate connecting piece 5 and a bearing, the flange plate connecting piece 5 and the roll bracket 3 can rotate relatively, the rotary motion of the roll motor 12 is transmitted to the cross shaft bracket 4, and the motion output by the roll motor 12 can enable the tire/sole to rotate along the axial direction to generate rotation; the crossed shaft bracket 4 is fixedly connected with an outer rotor motor 8 through bolts, the shell of the outer rotor motor 8 is fixedly connected with a tire hub 7 through bolts, and the tire hub 7 is fixedly connected with tire coating rubber 6; the outer shell of the outer rotor motor 8 is also connected with a lead screw 13 through a bearing and a bearing retainer ring, so that the lead screw 13 can rotate, and the lead screw 13 is connected with the output end of the direct current motor 9, so that the rotation of the direct current motor 9 is transmitted to the lead screw 13; the lead screw 13 is matched with a lead screw nut 14, and the lead screw nut 14 can move up and down along the lead screw 13 along with the rotation of the lead screw 13; the lead screw nut 14 is fixedly connected with the middle of the sole push rod 10 through a bolt, two ends of the sole push rod 10 are respectively fixedly connected with the sole 11 through bolts, and when the lead screw nut 14 moves up and down, the sole push rod 10 drives the sole 11 to move up and down, so that the extension and contraction of the sole 11 are realized. Wherein, sole push rod 10 can select two solitary push rods, and two push rod upper ends all are with screw nut 14 fixed connection, and the lower extreme all passes through bolt and foot sole 11 fixed connection.
The working principle of the wheel-foot conversion mechanism of the invention is specifically explained below by taking a screw structure as an example:
when the wheel type moves, the transverse rolling motor 12 rotates to ensure that the wheel is in a vertical plane, the direct current motor 9 drives the lead screw 13 to rotate, the lead screw nut 14 moves upwards, and the sole 11 of the foot also moves upwards to enter an envelope curve of the wheel; then the outer rotor motor 8 drives wheels to rotate to realize wheel type movement; in the process, the direct current motor 9, the lead screw 13 and the foot sole 11 rotate along with the wheels, and the foot sole 11 does not collide and interfere with other parts, so that normal wheel type movement can be ensured; when the foot type moves, the lead screw 13 has the self-locking characteristic, so that the direct current motor 9 can keep the sole 11 of the foot at a fixed position without providing extra power; see fig. 3;
when the foot type moves, firstly, the transverse rolling motor 12 rotates to ensure that the wheel is in a vertical plane, the outer rotor motor 8 detects the current position through the absolute encoder and transmits the current position to the industrial personal computer, and the bottom surface of the foot sole 11 at the current position is ensured to be parallel to the ground (if the bottom surface is not parallel, the industrial personal computer controls the outer rotor motor 8 to work, so that the wheel moves forwards or backwards for a certain angle to ensure that the bottom surface of the foot sole 11 is parallel to the ground, and the process is the prior art); then the direct current motor 9 drives the screw rod 13 to rotate, so that the screw rod nut 14 moves downwards, and the foot sole 11 also moves downwards until slowly contacting the ground, namely, the foot sole 11 is in a grounding state, namely, a foot type movement mode is obtained; then, the outer rotor motor 8 rotates to serve as a Pitch angle (Pitch) control motor, the Roll motor 12 rotates to serve as a Roll angle (Roll) control motor, and under the combined action of the two motors, the foot can have two degrees of freedom, namely, the degree of freedom of motion of the ankle joint of a human is simulated; see fig. 4;
when the wheel type motion and the foot type motion of the wheel foot conversion mechanism are switched, the direct current motor 9 drives the lead screw 13 to rotate, so that the lead screw nut 14 moves upwards/downwards, the sole 11 of the foot moves upwards/downwards along with the lead screw, and the separation and the contact with the ground are realized.
The examples are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any obvious modifications, substitutions or variations can be made by those skilled in the art without departing from the spirit of the present invention.
Claims (9)
1. A wheel and foot conversion mechanism, comprising:
the lower end of the wheel-foot composite humanoid robot shank (1) is fixedly connected with a transverse rolling bracket (3);
one side of the cross rolling support (3) is fixedly connected with a shell of a cross rolling motor (12), an output shaft of the cross rolling motor (12) is fixedly connected with one end of the cross shaft support (4), and the other end of the cross shaft support (4) is rotatably connected with the cross rolling support (3); the wheel is positioned in a vertical plane through the rotation of the roll motor (12);
the outer rotor motor (8) is fixedly connected with the cross shaft bracket (4); the outer rotor motor (8) is also fixedly connected with a tire hub (7); the forward or backward movement of the wheels is realized by controlling the outer rotor motor (8) to work;
the shell of the outer rotor motor (8) is rotationally connected with a lead screw structure, the lead screw structure is fixedly connected with a sole push rod (10), and the sole push rod (10) is fixedly connected with a sole (11); the lead screw structure is driven by a direct current motor (9), and driven by the direct current motor (9), the lead screw structure moves upwards/downwards, and the sole (11) of the foot moves upwards/downwards along with the lead screw structure, and is separated from and contacted with the ground.
2. The wheel foot conversion mechanism according to claim 1, characterized in that the other end of the cross-axle support (4) is connected with the roll support (3) through a flange connection (5) and a bearing.
3. The wheel foot conversion mechanism according to claim 1, characterized in that the tire hub (7) is fixedly connected with the tire coating rubber (6).
4. The wheel foot conversion mechanism according to claim 1, characterized in that the screw structure comprises a screw (13) and a screw nut (14), the screw (13) is connected with the outer shell of the outer rotor motor (8) through a bearing and a bearing retainer ring, the screw (13) is matched with the screw nut (14), and the screw nut (14) is fixedly connected with the sole push rod (10).
5. The wheel foot conversion mechanism according to claim 4, characterized in that the sole push rods (10) are of an integral structure or two independent structures, both ends of the sole push rod (10) of an integral structure are fixedly connected with the sole (11), the upper ends of the sole push rods (10) of two independent structures are fixedly connected with the lead screw nut (14), and the lower ends of the two independent structures are fixedly connected with the sole (11).
6. The wheel-foot conversion mechanism according to claim 1, characterized in that the wheel-foot composite humanoid robot lower leg (1) connects the rolling support (3) and the humanoid robot big leg into a whole.
7. A control method based on the wheel-foot switching mechanism of any one of claims 1 to 6, characterized in that:
under the drive of a direct current motor (9), the screw rod structure realizes upward movement, and the foot sole (11) synchronously moves upward to enter an envelope curve of the wheel; the outer rotor motor (8) drives wheels to rotate to realize wheel type movement;
the bottom surface of the foot sole (11) is ensured to be parallel to the ground, the screw rod structure realizes downward movement under the drive of the direct current motor (9), and the foot sole (11) synchronously moves downward until contacting with the ground, so that foot type movement is realized;
the lead screw structure moves upwards/downwards under the driving of the direct current motor (9), and the foot sole (11) moves upwards/downwards along with the upward/downward movement and is separated from and contacted with the ground, so that the switching between wheel type movement and foot type movement is realized.
8. Control method according to claim 7, characterized in that the wheel-foot switching mechanism is placed before the wheel-type movement and the foot-type movement, and the roll motor (12) is rotated so that the wheel is in a vertical plane.
9. The control method according to claim 7, wherein the sole (11) of the foot has a bottom surface parallel to the ground, and the wheel is moved forward or backward by controlling the operation of the outer rotor motor (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210646153.8A CN114919675B (en) | 2022-06-09 | 2022-06-09 | Wheel-foot conversion mechanism and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210646153.8A CN114919675B (en) | 2022-06-09 | 2022-06-09 | Wheel-foot conversion mechanism and control method thereof |
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| Publication Number | Publication Date |
|---|---|
| CN114919675A CN114919675A (en) | 2022-08-19 |
| CN114919675B true CN114919675B (en) | 2023-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210646153.8A Active CN114919675B (en) | 2022-06-09 | 2022-06-09 | Wheel-foot conversion mechanism and control method thereof |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582715A (en) * | 2012-03-15 | 2012-07-18 | 北京航空航天大学 | Mechanical foot device imitating cattle foot |
| CN202657137U (en) * | 2012-04-11 | 2013-01-09 | 中国人民解放军国防科学技术大学 | Combined wheel and leg type motion platform |
| CN108556957A (en) * | 2018-06-07 | 2018-09-21 | 合肥工业大学 | A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents |
| CN112298397A (en) * | 2020-11-03 | 2021-02-02 | 武汉理工大学 | Wheel-walking robot foot end mechanism suitable for all-terrain road conditions |
| CN113120109A (en) * | 2021-04-12 | 2021-07-16 | 北京理工大学 | Auxiliary support structure of wheel-foot composite humanoid robot and control method thereof |
| CN216332386U (en) * | 2021-11-18 | 2022-04-19 | 安徽理工大学 | Wheel-leg-changeable robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009113135A (en) * | 2007-11-05 | 2009-05-28 | Hitachi Ltd | Biped mobile mechanism |
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2022
- 2022-06-09 CN CN202210646153.8A patent/CN114919675B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582715A (en) * | 2012-03-15 | 2012-07-18 | 北京航空航天大学 | Mechanical foot device imitating cattle foot |
| CN202657137U (en) * | 2012-04-11 | 2013-01-09 | 中国人民解放军国防科学技术大学 | Combined wheel and leg type motion platform |
| CN108556957A (en) * | 2018-06-07 | 2018-09-21 | 合肥工业大学 | A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents |
| CN112298397A (en) * | 2020-11-03 | 2021-02-02 | 武汉理工大学 | Wheel-walking robot foot end mechanism suitable for all-terrain road conditions |
| CN113120109A (en) * | 2021-04-12 | 2021-07-16 | 北京理工大学 | Auxiliary support structure of wheel-foot composite humanoid robot and control method thereof |
| CN216332386U (en) * | 2021-11-18 | 2022-04-19 | 安徽理工大学 | Wheel-leg-changeable robot |
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| CN114919675A (en) | 2022-08-19 |
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Inventor after: Yu Zhangguo Inventor after: Zhao Lingxuan Inventor after: Zhang Yu Inventor after: Sun Yanbo Inventor after: Chen Xuechao Inventor after: Qiu Xuejian Inventor after: Zhang Xiaochen Inventor after: Huang Qiang Inventor before: Yu Zhangguo Inventor before: Zhao Lingxuan Inventor before: Chen Xuechao Inventor before: Qiu Xuejian Inventor before: Zhang Xiaochen Inventor before: Huang Qiang |
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Effective date of registration: 20240207 Address after: 300450 Tianjin Binhai New Area Hangzhou Road Street Times Building 1-2024 (Zhongqi (Tianjin) Business Secretary Co., Ltd. Trust No. 453) Patentee after: Galileo (Tianjin) Technology Co.,Ltd. Country or region after: China Address before: 100081 No. 5 South Main Street, Haidian District, Beijing, Zhongguancun Patentee before: BEIJING INSTITUTE OF TECHNOLOGY Country or region before: China |
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