CN115771581A - Leg-arm multiplexing switching mechanism with two degrees of freedom and legged robot - Google Patents
Leg-arm multiplexing switching mechanism with two degrees of freedom and legged robot Download PDFInfo
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- CN115771581A CN115771581A CN202211678095.3A CN202211678095A CN115771581A CN 115771581 A CN115771581 A CN 115771581A CN 202211678095 A CN202211678095 A CN 202211678095A CN 115771581 A CN115771581 A CN 115771581A
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Abstract
A leg-arm multiplexing switching mechanism with two degrees of freedom and a legged robot belong to the field of robot design. The aim of the switching joint is to solve the problem that the existing switching joint only has one degree of freedom for switching leg and arm modes, and cannot realize other additional functions. The invention comprises a driving motor, a gear transmission pair, a commutator outer frame and two groups of locking components; the stator of the driving motor is arranged on the body of the robot, the gear transmission pair is arranged in the outer frame of the commutator, and the power input end of the gear transmission pair extends out of the outer frame of the commutator to be coaxially connected with the rotor of the driving motor; the power output end of the gear transmission pair extends out of the commutator outer frame to be connected with the foot legs, one group of locking assemblies is sleeved on the power input end of the gear transmission pair and used for locking or unlocking between the stator of the driving motor and the commutator outer frame, and the other group of locking assemblies is sleeved on the power output end of the gear transmission pair and used for locking or unlocking between the commutator outer frame and the robot foot legs. The invention is mainly used for switching the legs and the arms.
Description
Technical Field
The invention belongs to the field of robot design, and particularly relates to a leg-arm multiplexing switching mechanism with two degrees of freedom and a legged robot.
Background
Mobile robots, an important type of robot, are widely used, covering the ground, the air, underwater and even the outer space. The legged robot has unique advantages in complex terrains, can adapt to various uneven ground surfaces and discontinuous terrains, can actively adjust the height of a body to adapt to different operation requirements, ensures the stability of an operating platform when the legged robot moves on the uneven ground surfaces, and has certain movement fault tolerance, so that the legged robot is an ideal moving carrier in a non-structural environment.
The existing legged robot has certain operation capability while meeting the obstacle crossing function, generally, an operation mechanical arm is independently arranged on the legged robot to meet the operation requirement, but the mode can increase the load of the robot, and the service life of the robot is short; or a leg-arm fusion multiplexing form is adopted, for example, chinese patent "a control method based on leg-arm multiplexing hexapod robot and a robot" disclosed in publication No. CN113625735A, two middle legs of the hexapod robot can be used as both legs and arms, and switching between the leg mode and the arm mode is realized by a kinematic joint, but the patent does not disclose a structural form of the kinematic joint, and a general kinematic joint directly drives a driving motor to realize leg motion or switching between the leg mode and the arm mode, and has only one degree of freedom and cannot realize other additional functions.
Disclosure of Invention
The technical problems to be solved by the invention are as follows: the existing motion joints are directly driven by a driving motor to realize leg motion or switching between a leg mode and an arm mode, only have one degree of freedom and cannot realize other additional functions; further provided are a leg-arm multiplexing switching mechanism having two degrees of freedom and a legged robot, which can realize the switching between a leg mode and an arm mode or realize the rotation of the legs and feet.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a leg-arm multiplexing switching mechanism with two degrees of freedom comprises a driving motor, a gear transmission pair, a commutator outer frame and two groups of locking components; the stator of the driving motor is arranged on the body of the legged robot, the gear transmission pair is arranged in the outer frame of the commutator, and the power input end of the gear transmission pair is horizontally arranged and extends out of the outer frame of the commutator to be coaxially connected with the rotor of the driving motor; the power output end of the gear transmission pair is vertically arranged and extends out of the outer frame of the commutator to be connected with the robot foot legs, and the gear transmission pair is used for realizing the transmission of the torque force between the driving motor and the robot foot legs; one group of locking assemblies is sleeved on the power input end of the gear transmission pair, is positioned between the stator of the driving motor and the outer frame of the commutator and is used for locking or unlocking the stator of the driving motor and the outer frame of the commutator, and the other group of locking assemblies is sleeved on the power output end of the gear transmission pair, is positioned between the outer frame of the commutator and the legs of the robot and is used for locking or unlocking the outer frame of the commutator and the legs of the robot; the two groups of locking assemblies are used for changing the output direction of the torque force of the driving motor.
Furthermore, the gear transmission pair comprises two gear shafts, wherein one gear shaft is a driving gear shaft and is used as a power input end of the gear transmission pair to be connected with a rotor of the driving motor, the other gear shaft is a driven gear shaft and is used as a power output end of the gear transmission pair to be connected with the robot foot legs, and the driving gear shaft and the driven gear shaft are perpendicular to each other and meshed.
Furthermore, each gear shaft comprises a rotating shaft and a transmission bevel gear, and the transmission bevel gear is arranged at one end part of the rotating shaft; in the driving gear shaft, one end of a rotating shaft with a transmission bevel gear is positioned in the outer frame of the commutator, and the other end of the rotating shaft is coaxially and fixedly connected with a rotor of a driving motor; in the driven gear shaft, one end of the rotating shaft with a transmission bevel gear is positioned in the outer frame of the commutator and is meshed with the transmission bevel gear in the driving gear shaft, and the other end of the rotating shaft is connected with the foot legs of the robot.
Furthermore, each group of locking assemblies comprises a passive locking part and an active locking part, the locking assemblies are sleeved on the power input end of the gear transmission pair, the passive locking part is arranged on a stator of the driving motor, and the active locking part is arranged on the outer frame of the commutator; the locking assembly is sleeved on the power output end of the gear transmission pair, the passive locking part is installed on a shell at the end part of a leg of the robot, the active locking part is installed on an outer frame of the commutator, the passive locking part is connected with the active locking part to realize a locking function, and the passive locking part is separated from the active locking part to realize an unlocking function.
Further, the passive locking part is a fixed meshing chuck with one toothed end, the toothed end of the fixed meshing chuck is arranged towards the active locking part, and the non-toothed end is fixed on a stator of the driving motor 1 or a shell at the end part of the foot leg of the robot.
Furthermore, the active locking part comprises an electromagnetic actuator and a movable engaging chuck; the electromagnetic actuator is arranged on the outer frame of the commutator, and the movable engaging chuck is arranged at the engaging end of the electromagnetic actuator; the movable meshing chuck is a chuck with one end provided with teeth, the end with the teeth of the movable meshing chuck is arranged towards the fixed meshing chuck, and the tooth part of the fixed meshing chuck is meshed with the tooth part of the movable meshing chuck.
Furthermore, the electromagnetic actuator comprises an electromagnetic coil, a connecting plate, a plurality of guide posts and a plurality of reset springs; the electromagnetic coil is arranged in the outer commutator frame, and the connecting plate is arranged between the outer commutator frame and the movable meshing chuck and is fixed on the outer commutator frame; the guide posts and the reset springs are arranged between the connecting plate and the movable meshing chuck, one ends of the guide posts are fixed on the movable meshing chuck, and the other ends of the guide posts extend out of the connecting plate and can axially move relative to the connecting plate; one end of the reset spring is fixed on the movable engagement chuck, and the other end of the reset spring is fixed on the connecting plate.
Furthermore, the commutator outer frame is of a frame structure with two right-angle edges, two mounting grooves are respectively formed in the two right-angle edges of the commutator outer frame, and the electromagnetic coil is arranged in the mounting grooves.
Furthermore, the robot comprises a robot body, four leg-arm multiplexing switching mechanisms and four robot foot legs, wherein each robot foot leg is arranged on the robot body through one leg-arm multiplexing switching mechanism; each robot leg comprises a knee driving joint, a thigh, an ankle driving joint and a shank which are connected in sequence, wherein the knee driving joint is used for driving the thigh to swing, and the ankle driving joint is used for driving the shank to swing.
Furthermore, a mechanical claw is arranged at the end part of the lower leg.
Compared with the prior art, the invention has the following beneficial effects:
1. the leg-arm multiplexing switching mechanism is used as a hip joint connected between a robot foot leg and a robot body, has two degrees of freedom, and realizes the switching of the two degrees of freedom through a driving motor, wherein one degree of freedom is used for rotating by taking an axis where a power input end of a gear transmission pair is positioned as a shaft so as to realize the switching of the robot foot leg of the foot-leg robot between a leg mode and an arm mode; the other one is a degree of freedom which rotates by taking the axis where the power output end of the gear transmission pair is positioned as a shaft, so that the 360-degree steering of the legs of the robot is realized.
2. The leg-arm multiplexing switching mechanism can be applied to different types of legged robots so as to adapt to different working environments.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this application.
Fig. 1 is an isometric view of a leg-arm multiplexing switching mechanism.
Fig. 2 is a side view of a leg-arm multiplexing switching mechanism.
Fig. 3 is a schematic structural diagram of a commutator housing.
Fig. 4 is a schematic structural diagram of a leg-arm multiplexing switching mechanism applied to a foot leg of a robot.
Fig. 5 is a schematic diagram of a leg-arm multiplexing switching mechanism applied to a mammalian-type robot.
Fig. 6 is a schematic view of a leg-arm multiplexing switching mechanism applied to a crawling type robot.
Fig. 7 is a schematic view of the robot in a state where the legs and feet are rotated.
Fig. 8 is a state diagram of the legged robot in which one of the legs is switched to the arm mode.
Fig. 9 is a state diagram of the legged robot in the leg mode.
Description of the reference numerals: 1-driving a motor; 2-a gear shaft; 2-1-rotation axis; 2-2-drive bevel gear; 3-robot legs and feet; 4-commutator outer frame; 5-a passive locking part; 6-an active locking part; 6-1-an electromagnetic actuator; 6-1-1-solenoid; 6-1-2-connecting plate; 6-1-3 guide posts; 6-1-4-a return spring; 6-2-moving the engagement chuck; 7-robot body.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and the following embodiments are used for illustrating the present invention and are not intended to limit the scope of the present invention.
The technical scheme of the application is described in detail by adopting two embodiments.
In this embodiment, the leg-arm multiplexing switching mechanism is used as a hip joint connected between a robot leg and a robot body, the leg-arm multiplexing switching mechanism has two degrees of freedom, and realizes switching of the two degrees of freedom by using a driving motor, one degree of freedom is used for rotating by using an axis where a power input end of a gear transmission pair is located as an axis, so as to realize switching of the robot leg 3 of the leg robot between a leg mode and an arm mode; the other one is a degree of freedom which rotates by taking the axis of the power output end of the gear transmission pair as a shaft so as to realize the 3360-degree steering of the foot leg of the robot.
In this embodiment, the two sets of locking assemblies are always in opposite states, that is, one of the sets of locking assemblies is in a locked state, and then the other set of locking assemblies is necessarily in an unlocked state.
Referring to fig. 1, the gear transmission pair includes two gear shafts 2, one of the gear shafts 2 is a driving gear shaft and is connected to a rotor of a driving motor 1 as a power input end of the gear transmission pair, the other gear shaft 2 is a driven gear shaft and is connected to a robot foot leg 3 as a power output end of the gear transmission pair, and the driving gear shaft and the driven gear shaft are perpendicular to each other and engaged with each other.
Further, referring to fig. 2, each gear shaft 2 comprises a rotating shaft 2-1 and a transmission bevel gear 2-2, and the transmission bevel gear 2-2 is installed at one end of the rotating shaft 2-1; in the driving gear shaft, one end of a rotating shaft 2-1 with a transmission bevel gear 2-2 is positioned in a commutator outer frame 4, and the other end of the rotating shaft 2-1 is coaxially and fixedly connected with a rotor of a driving motor 1; in the driven gear shaft, one end of a rotating shaft 2-1 with a transmission bevel gear 2-2 is positioned in a commutator outer frame 4 and is meshed with the transmission bevel gear 2-2 in the driving gear shaft, and the other end of the rotating shaft 2-1 is connected with a robot foot leg 3.
Referring to fig. 1, each group of locking assemblies comprises a passive locking part 5 and an active locking part 6, the locking assemblies are sleeved on the power input end of the gear transmission pair, the passive locking part 5 is installed on the stator of the driving motor 1, and the active locking part 6 is installed on the outer frame 4 of the commutator; the locking assembly is sleeved on the power output end of the gear transmission pair, the passive locking part 5 is installed on a shell at the end part of the foot leg 3 of the robot, the active locking part 6 is installed on the outer frame 4 of the commutator, the passive locking part 5 is connected with the active locking part 6 to realize the locking function, and the passive locking part 5 is separated from the active locking part 6 to realize the unlocking function.
Further, the passive locking part 5 is a fixed engagement chuck with one toothed end, the toothed end of the fixed engagement chuck is arranged towards the active locking part 6, and the non-toothed end is fixed on the stator of the driving motor 1 or the shell at the end part of the robot foot leg 3.
Further, the active locking part 6 comprises an electromagnetic sucker 6-1 and a movable engaging chuck 6-2; the electromagnetic actuator 6-1 is arranged on the outer frame 4 of the commutator, and the movable engaging chuck 6-2 is arranged at the actuating end of the electromagnetic actuator 6-1; the movable meshing chuck 6-2 is a chuck with one toothed end, the toothed end of the movable meshing chuck 6-2 faces the fixed meshing chuck, and a tooth part of the fixed meshing chuck is meshed with a tooth part of the movable meshing chuck 6-2.
Furthermore, the electromagnetic actuator 6-1 comprises an electromagnetic coil 6-1-1, a connecting plate 6-1-2, a plurality of guide columns 6-1-3 and a plurality of reset springs 6-1-4; the electromagnetic coil 6-1-1 is arranged in the commutator outer frame 4, and the connecting plate 6-1-2 is arranged between the commutator outer frame 4 and the movable meshing chuck 6-2 and is fixed on the commutator outer frame 4; the guide columns 6-1-3 and the reset springs 6-1-4 are arranged between the connecting plate 6-1-2 and the movable engaging chuck 6-2, one ends of the guide columns 6-1-3 are fixed on the movable engaging chuck 6-2, and the other ends of the guide columns 6-1-3 extend out of the connecting plate 6-1-2 and can axially move relative to the connecting plate 6-1-2; one end of the return spring 6-1-4 is fixed on the movable engagement chuck 6-2, and the other end of the return spring 6-1-4 is fixed on the connecting plate 6-1-2.
In this embodiment, the movable engaging chuck 6-2 performs an opposite opening and closing operation under the regulation of the antagonistic electromagnetic actuator, that is, when the electromagnetic actuator 6-1 is powered off, the return spring 6-1-4 in the electromagnetic actuator 6-1 is in an extended state, at this time, the movable engaging chuck 6-2 is far away from the connecting plate 6-1-2 and is engaged with the fixed engaging chuck, and at this time, the commutator outer frame 4 is locked with the stator of the driving motor 1; when the electromagnetic suction device 6-1 is in a power-on state, the electromagnetic coil 6-1-1 generates suction force on the movable engagement chuck 6-2, and the movable engagement chuck 6-2 overcomes the elastic force of the return spring 6-1-4 to move towards the connecting plate 6-1-2, so that the movable engagement chuck 6-2 is separated from the fixed engagement chuck.
In this embodiment, the guide posts 6-1-3 have a guiding function, so that the movable engaging chuck 6-2 can only move axially but cannot rotate, and the tooth part of the movable engaging chuck 6-2 and the tooth part of the fixed engaging chuck are always dislocated to achieve the meshing purpose.
Referring to fig. 1, the commutator outer frame 4 is a frame structure with two right-angle sides, two right-angle sides of the commutator outer frame 4 are respectively provided with an installation groove 4-1, and the electromagnetic coil 6-1-1 is arranged in the installation groove 4-1.
The working procedure of example 1 is further illustrated below to further demonstrate the working principles and advantages of the present invention:
when the legs and feet of the robot are in leg mode: the locking component on the power input end of the gear transmission pair is in a locking state, namely the electromagnetic actuator 6-1 is in a power-off state, the movable engagement chuck 6-2 is engaged with the fixed engagement chuck, the commutator outer frame 4 is fixedly connected with the stator of the driving motor 1 through the movable engagement chuck 6-2, the commutator outer frame 4 is kept still relative to the stator of the driving motor 1, the locking component on the power output end of the gear transmission pair is in an unlocking state, namely the electromagnetic actuator 6-1 is in a power-on state, the movable engagement chuck 6-2 is separated from the fixed engagement chuck, the commutator outer frame 4 is separated from the shell of the robot foot leg 3, and the two can move relatively; the rotor of the driving motor 1 rotates, torque is transmitted through the gear transmission pair, a driving gear shaft in the gear transmission pair rotates, the driving gear shaft drives a driven gear shaft to rotate, the driven gear shaft transmits the torque to the robot foot legs 3, and the robot foot legs 3 rotate.
When the foot-leg of the robot is switched to the arm mode: the locking component on the power input end of the gear transmission pair is in an unlocking state, namely the electromagnetic sucker 6-1 is in a power-on state, the movable meshing chuck 6-2 is separated from the fixed meshing chuck, the outer frame 4 of the commutator is separated from the stator of the driving motor 1, and the two can move relatively; the locking component on the power output end of the gear transmission pair is in a locking state, namely the electromagnetic actuator 6-1 is in a power-off state, the movable meshing chuck 6-2 is meshed with the fixed meshing chuck, the outer frame 4 of the commutator and the shell of the leg 3 of the robot are fixedly connected with the fixed meshing chuck through the movable meshing chuck 6-2, and the outer frame and the fixed meshing chuck are kept fixed; the rotor of the driving motor 1 rotates, torque transmission is achieved through the gear transmission pair, the driving gear shaft in the gear transmission pair rotates, the commutator outer frame 4 and the outer wall of the foot leg are in a locked state, the driven gear shaft is connected with the foot leg of the robot, the driven gear shaft cannot rotate, the driven gear shaft rotates around the axis where the driving gear shaft is located under the action of the driving gear shaft, the driven gear shaft drives the foot leg 3 of the robot to rotate, the driven gear shaft can be lifted to the upper portion of the robot body of the foot leg to serve as an arm, and switching between a leg mode and an arm mode is achieved.
Referring to fig. 1, the end of the lower leg 7-4 is provided with a gripper.
The working procedure of example 2 is further described below to further demonstrate the working principles and advantages of the present invention:
when the leg-arm multiplexing switching mechanism a is applied to a mammal type robot: referring to fig. 5, a leg-arm multiplexing switching mechanism a is installed on two sides of a robot body 7, a stator of a driving motor 1 is installed on the robot body 7, a rotor of the driving motor 1 is in a horizontal state, a driven gear shaft in the leg-arm multiplexing switching mechanism a is connected to a shell of a knee driving joint 7-1 in a robot leg 3, when a locking assembly on a power input end of a gear transmission pair is in a locking state and a locking assembly on a power output end of the gear transmission pair is in an unlocking state, the rotor of the driving motor 1 rotates and drives a driving gear shaft in the gear transmission pair to rotate, the driving gear shaft drives the driven gear shaft to rotate, and the driven gear shaft drives the robot leg 3 to rotate, so that the robot leg 3 realizes a reversing function. When the locking assembly on the power input end of the gear transmission pair is in an unlocking state and the locking assembly on the power output end of the gear transmission pair is in a locking state, the rotor of the driving motor 1 rotates and drives the driving gear shaft in the gear transmission pair to rotate, the driven gear shaft rotates around the axis where the driving gear shaft is located under the restriction of the robot foot leg 3, the robot foot leg 3 is lifted up, and the switching of the leg mode to the arm mode is realized; when one of the legs is lifted up to be used as an arm body, the other three legs or five legs are often required to be solved for keeping the balance of the body, and because the leg-arm multiplexing switching mechanism A passing through each robot leg 3 and the robot body 7 in the application is connected and has two degrees of freedom, the rest robot legs 3 can swing outwards by a certain angle, the gravity center of the leg robot is reduced, the stability of the leg robot is improved, and the calculation process can be reduced.
When the leg-arm multiplexing switching mechanism A is applied to the crawling robot: referring to fig. 6, the leg-arm multiplexing switching mechanism a is installed at four vertex angles of the robot body 7, the stator of the driving motor 1 is installed on the robot body 7, the rotor of the driving motor 1 is in a vertical state, the driven gear shaft in the leg-arm multiplexing switching mechanism a is connected to the shell of the knee driving joint 7-1 in the robot foot leg 3, when the locking assembly at the power input end of the gear transmission pair is in a locking state and the locking assembly at the power output end of the gear transmission pair is in an unlocking state, the rotor of the driving motor 1 rotates and drives the driving gear shaft in the gear transmission pair to rotate, the driving gear shaft drives the driven gear shaft to rotate, and the driven gear shaft drives the robot foot leg 3 to rotate, so that the robot foot leg 3 realizes a reversing function. When the locking assembly on the power input end of the gear transmission pair is in an unlocking state and the locking assembly on the power output end of the gear transmission pair is in a locking state, the rotor of the driving motor 1 rotates and drives the driving gear shaft in the gear transmission pair to rotate, the driven gear shaft rotates around the axis where the driving gear shaft is located under the restriction of the robot foot leg 3, the robot foot leg 3 is lifted up, and the switching of the leg mode to the arm mode is realized; because the stability of the crawling robot is good, the rest of the feet and the legs can stand stably without being opened outwards.
Since the application scenarios of the legged robots are different, it is necessary to select different forms of legged robots, including a mammalian robot and a crawling robot, in which the mammalian robot can be applied in a narrow space and the crawling robot can be applied in a wide space.
Although the invention herein has been described with reference to particular embodiments, it is to be understood that these embodiments are merely illustrative of the principles and applications of the present invention. It is therefore to be understood that numerous modifications may be made to the illustrative embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that features described in different dependent claims and herein may be combined in ways different from those described in the original claims. It is also to be understood that features described in connection with individual embodiments may be used in other described embodiments.
Claims (10)
1. A leg-arm multiplexing switching mechanism with two degrees of freedom is characterized in that: the device comprises a driving motor (1), a gear transmission pair, a commutator outer frame (4) and two groups of locking components; the stator of the driving motor (1) is arranged on the body of the legged robot, the gear transmission pair is arranged in the commutator outer frame (4), the power input end of the gear transmission pair is horizontally arranged and extends out of the commutator outer frame (4) to be coaxially connected with the rotor of the driving motor (1); the power output end of the gear transmission pair is vertically arranged and extends out of the commutator outer frame (4) to be connected with the robot foot legs (3), and the gear transmission pair is used for realizing the transmission of torque between the driving motor (1) and the robot foot legs (3); one group of locking assemblies is sleeved on the power input end of the gear transmission pair, is positioned between the stator of the driving motor (1) and the commutator outer frame (4) and is used for locking or unlocking between the stator of the driving motor (1) and the commutator outer frame (4), and the other group of locking assemblies is sleeved on the power output end of the gear transmission pair, is positioned between the commutator outer frame (4) and the robot leg (3) and is used for locking or unlocking between the commutator outer frame (4) and the robot leg (3); the two groups of locking assemblies are used for changing the output direction of the torsion of the driving motor (1).
2. The leg-arm multiplexing switching mechanism with two degrees of freedom of claim 1, wherein: the gear transmission pair comprises two gear shafts (2), one of the gear shafts (2) is a driving gear shaft and is used as a power input end of the gear transmission pair to be connected with a rotor of the driving motor (1), the other gear shaft (2) is a driven gear shaft and is used as a power output end of the gear transmission pair to be connected with the robot foot legs (3), and the driving gear shaft and the driven gear shaft are perpendicular to each other and meshed.
3. The leg-arm multiplexing switching mechanism with two degrees of freedom of claim 2, wherein: each gear shaft (2) comprises a rotating shaft (2-1) and a transmission bevel gear (2-2), and the transmission bevel gear (2-2) is installed at one end part of the rotating shaft (2-1); in the driving gear shaft, one end of a rotating shaft (2-1) with a transmission bevel gear (2-2) is positioned in a commutator outer frame (4), and the other end of the rotating shaft (2-1) is coaxially and fixedly connected with a rotor of a driving motor (1); in the driven gear shaft, one end of a rotating shaft (2-1) with a transmission bevel gear (2-2) is positioned in a commutator outer frame (4) and is meshed with the transmission bevel gear (2-2) in the driving gear shaft, and the other end of the rotating shaft (2-1) is connected with a robot foot leg (3).
4. The leg-arm multiplexing switching mechanism having two degrees of freedom of claim 3, wherein: each group of locking assemblies comprises a passive locking part (5) and an active locking part (6), the locking assemblies are sleeved on the power input end of the gear transmission pair, the passive locking part (5) is arranged on a stator of the driving motor (1), and the active locking part (6) is arranged on the outer frame (4) of the commutator; the locking assembly is sleeved on a power output end of the gear transmission pair, a passive locking part (5) is installed on a shell of the end part of a leg (3) of the robot, an active locking part (6) is installed on a commutator outer frame (4), the passive locking part (5) is connected with the active locking part (6) to achieve a locking function, and the passive locking part (5) is separated from the active locking part (6) to achieve an unlocking function.
5. The leg-arm multiplexing switching mechanism having two degrees of freedom of claim 4, wherein: the passive locking part (5) is a fixed meshing chuck with one toothed end, the toothed end of the fixed meshing chuck is arranged towards the active locking part (6), and the non-toothed end is fixed on a stator of the driving motor (1) or a shell at the end part of the robot foot leg (3).
6. The leg-arm multiplexing switching mechanism having two degrees of freedom of claim 5, wherein: the active locking part (6) comprises an electromagnetic actuator (6-1) and a movable engaging chuck (6-2); the electromagnetic actuator (6-1) is arranged on the outer frame (4) of the commutator, and the movable meshing chuck (6-2) is arranged at the actuation end of the electromagnetic actuator (6-1); the movable meshing chuck (6-2) is a chuck with one end provided with teeth, the end with teeth of the movable meshing chuck (6-2) faces the fixed meshing chuck, and the tooth part of the fixed meshing chuck is meshed with the tooth part of the movable meshing chuck (6-2).
7. The leg-arm multiplexing switching mechanism having two degrees of freedom of claim 6, wherein: the electromagnetic actuator (6-1) comprises an electromagnetic coil (6-1-1), a connecting plate (6-1-2), a plurality of guide posts (6-1-3) and a plurality of reset springs (6-1-4); the electromagnetic coil (6-1-1) is arranged in the commutator outer frame (4), and the connecting plate (6-1-2) is arranged between the commutator outer frame (4) and the movable meshing chuck (6-2) and is fixed on the commutator outer frame (4); the guide posts (6-1-3) and the reset springs (6-1-4) are arranged between the connecting plate (6-1-2) and the movable engagement chuck (6-2), one ends of the guide posts (6-1-3) are fixed on the movable engagement chuck (6-2), and the other ends of the guide posts (6-1-3) extend out of the connecting plate (6-1-2) and can axially move relative to the connecting plate (6-1-2); one end of the return spring (6-1-4) is fixed on the movable engagement chuck (6-2), and the other end of the return spring (6-1-4) is fixed on the connecting plate (6-1-2).
8. The leg-arm multiplexing switching mechanism having two degrees of freedom of claim 7, wherein: the commutator outer frame (4) is of a frame structure with two right-angle edges, two mounting grooves (4-1) are respectively formed in the two right-angle edges of the commutator outer frame (4), and the electromagnetic coils (6-1-1) are arranged in the mounting grooves (4-1).
9. A legged robot having a leg-arm multiplexing switching mechanism according to claim 8, characterized in that: the robot comprises a robot body (7), four leg-arm multiplexing switching mechanisms (A) and four robot foot legs (3), wherein each robot foot leg (3) is arranged on the robot body (7) through one leg-arm multiplexing switching mechanism (A); each robot leg (3) comprises a knee driving joint (7-1), a thigh (7-2), an ankle driving joint (7-3) and a lower leg (7-4) which are connected in sequence, wherein the knee driving joint (7-1) is used for driving the thigh (7-2) to swing, and the ankle driving joint (7-3) is used for driving the lower leg (7-4) to swing.
10. The legged robot having a leg-arm multiplexing switching mechanism according to claim 9, characterized in that: the end part of the lower leg (7-4) is provided with a mechanical claw.
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| CN202211678095.3A CN115771581A (en) | 2022-12-26 | 2022-12-26 | Leg-arm multiplexing switching mechanism with two degrees of freedom and legged robot |
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| CN202211678095.3A CN115771581A (en) | 2022-12-26 | 2022-12-26 | Leg-arm multiplexing switching mechanism with two degrees of freedom and legged robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116215692A (en) * | 2023-03-28 | 2023-06-06 | 上海智元新创技术有限公司 | Leg structure of wheel foot robot and wheel foot robot |
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2022
- 2022-12-26 CN CN202211678095.3A patent/CN115771581A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116215692A (en) * | 2023-03-28 | 2023-06-06 | 上海智元新创技术有限公司 | Leg structure of wheel foot robot and wheel foot robot |
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