CN214189853U - Sufficient hybrid robot shank of wheel and sufficient hybrid robot of wheel - Google Patents
Sufficient hybrid robot shank of wheel and sufficient hybrid robot of wheel Download PDFInfo
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- CN214189853U CN214189853U CN202023076155.3U CN202023076155U CN214189853U CN 214189853 U CN214189853 U CN 214189853U CN 202023076155 U CN202023076155 U CN 202023076155U CN 214189853 U CN214189853 U CN 214189853U
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Abstract
The application provides a sufficient hybrid robot shank of wheel and sufficient hybrid robot of wheel. In the leg part of the robot, a first driving wheel and a second driving wheel are arranged in parallel and are rotatably arranged at the hip joint of the leg part through a hip joint rotating shaft; the first driven wheel and the second driven wheel are arranged in parallel and are rotatably arranged at the knee joint of the leg part through a knee joint rotating shaft; the output power of the driving unit sequentially passes through the first driving wheel and the first driven wheel to the shank to form a first power transmission route so as to move in a foot type state, or the output power of the driving unit sequentially passes through the second driving wheel and the second driven wheel to the roller to form a second power transmission route so as to move in a wheel type state; the power switching unit can switch the output power of the driving unit between the first power transmission route and the second power transmission route so as to switch the wheel-foot hybrid robot between the foot-type state motion and the wheel-type state motion.
Description
Technical Field
The application relates to the technical field of robots, in particular to a wheel-foot hybrid robot leg and a wheel-foot hybrid robot.
Background
The research of the robot wheel-foot hybrid gradually becomes the hot point of the research of scholars at home and abroad. Because the wheeled robot can move rapidly on a flat road and the foot type robot can cross a sand pit, climb stairs and the like, the advantages of the foot type robot and the wheeled robot are integrated, and then the wheel-foot hybrid robot is eliminated. However, the increase of the wheel type kinematic pair on the foot type robot needs to be realized by adding a driving motor, so that the motion inertia of the leg mechanism is increased, and the motion performance of the robot is reduced.
Therefore, there is a need to provide an improved solution to the above-mentioned deficiencies of the prior art.
SUMMERY OF THE UTILITY MODEL
An object of the present application is to provide a wheel-foot hybrid robot leg and a wheel-foot hybrid robot, so as to solve or alleviate the problems existing in the prior art.
In order to achieve the above purpose, the present application provides the following technical solutions: the application provides a sufficient hybrid robot shank of wheel includes: the device comprises a driving unit, a first driving wheel, a first driven wheel, a second driving wheel, a second driven wheel, a roller and a power switching unit; the first driving wheel and the second driving wheel are arranged in parallel and are rotatably arranged at the hip joints of the legs through hip joint rotating shafts; the first driven wheel and the second driven wheel are arranged in parallel and are rotatably mounted at the knee joint of the leg part through a knee joint rotating shaft; the first driven wheel is fixedly connected with the knee joint rotating shaft, the knee joint rotating shaft is fixedly connected with the shank of the leg, and the second driven wheel is coaxially and fixedly connected with the roller; the output power of the driving unit sequentially passes through the first driving wheel and the first driven wheel to the shank to form a first power transmission route so as to enable the shank to move in a foot type state, or the output power of the driving unit sequentially passes through the second driving wheel and the second driven wheel to the roller to form a second power transmission route so as to enable the shank to move in a wheel type state; the power switching unit can switch the output power of the driving unit between the first power transmission route and the second power transmission route so as to switch the wheel-foot hybrid robot between the foot-type state motion and the wheel-type state motion.
Optionally, in any embodiment of the present application, the knee joint rotation shaft is integrally formed with the first driven wheel.
Optionally, in any embodiment of the present application, the first driving wheel, the first driven wheel, the second driving wheel, and the second driven wheel are rope wheels, and correspondingly, the leg of the hybrid robot further includes: the transmission steel wire rope is wound on the first driving wheel and the first driven wheel so as to transmit the output power of the driving unit from the first driving wheel to the first driven wheel; or the transmission steel wire rope is wound on the second driving wheel and the second driven wheel so as to transmit the output power of the driving unit to the second driven wheel through the second driving wheel.
Optionally, in any embodiment of the present application, the power switching unit includes: the movable shifting block is movably arranged on the fixed part, and the fixed part can drive the movable shifting block to move under the action of electromagnetic force and spring force, so that the movable shifting block drives the transmission steel wire rope to switch between the first power transmission route and the second power transmission route.
Optionally, in any embodiment of the present application, the wheel-foot hybrid robot leg further comprises: and the tensioning mechanism is arranged on the thigh of the leg of the wheel-foot hybrid robot and can enable the transmission steel wire rope to be tensioned on the first driving wheel and the first driven wheel or enable the transmission steel wire rope to be tensioned on the second driving wheel and the second driven wheel.
Optionally, in any embodiment of the present application, the tensioning mechanism comprises: the electric telescopic rod is fixedly installed on the thigh, and the tensioning wheel is installed on the electric telescopic rod and can move under the driving of the electric telescopic rod so as to compress or loosen the transmission steel wire rope.
Optionally, in any embodiment of the application, there are two tensioning wheels, and the two tensioning wheels are coaxially arranged in parallel and both can be driven by the electric telescopic rod to move; one tension wheel is positioned on the same plane with the first driving wheel and the first driven wheel, and can tension or relax the transmission steel wire rope on the first driving wheel and the first driven wheel; the other tension wheel is on the same plane with the second driving wheel and the second driven wheel, and can tension or loosen the transmission steel wire rope on the second driving wheel and the second driven wheel.
Optionally, in any embodiment of the present application, the driving unit includes: the first driving motor is used for driving the first driving wheel and the second driving wheel, and the second driving motor is connected with a thigh of the leg of the wheel-foot hybrid robot and used for driving the thigh to swing around a hip joint of the leg of the wheel-foot hybrid robot.
Optionally, in any embodiment of the present application, the first drive motor and the second drive motor are both frameless motors, and the first drive motor and the second drive motor are nested and both mounted at a hip joint of the leg of the wheel-foot hybrid robot.
The embodiment of the application also provides a wheel-foot hybrid robot, which comprises a plurality of groups of the wheel-foot hybrid robot legs in any one of the embodiments.
Compared with the closest prior art, the technical scheme of the embodiment of the application has the following beneficial effects:
in the technical scheme provided by the application, the output power of the driving unit reaches the lower leg fixedly connected with the first driven wheel through the first power transmission route (sequentially passes through the first driving wheel, the first driven wheel and the lower leg), so that the driving unit can drive the lower leg to swing around the knee joint rotating shaft, and the wheel-foot hybrid robot can move in a foot type state; the output power of the driving unit reaches the roller fixedly connected with the second driven wheel through a second power transmission route (sequentially passes through the second driving wheel, the second driven wheel and the roller), so that the driving unit can drive the roller to rotate around the knee joint rotating shaft, and the wheel-foot hybrid robot can move in a wheel type state; the power switching means switches the output power of the drive means between the first power transmission path and the second power transmission path, and the wheel-foot hybrid robot can be switched between a foot type state and a wheel type state. Therefore, the wheel-foot hybrid robot can walk in different movement states on different terrains, and the adaptability of the wheel-foot hybrid robot is greatly improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application. Wherein:
fig. 1 is a schematic structural view of a wheel-foot hybrid robot leg provided in accordance with some embodiments of the present application;
fig. 2 is another schematic structural view of a wheel-foot hybrid robot leg provided in accordance with some embodiments of the present application;
fig. 3 is a schematic structural view of a leg of a wheel-foot hybrid robot in a wheel-type state according to some embodiments of the present application;
fig. 4 is another schematic structural diagram of a leg of a wheel-foot hybrid robot in a wheel-type state according to some embodiments of the present application.
Description of reference numerals:
101-a drive unit; 111-a first drive motor; 121-a second drive motor; 102-a first drive wheel; 103-a second drive wheel; 104 — a first driven wheel; 105-a second driven wheel; 106-a roller; 107-power switching unit; 108-a tensioning mechanism; 118-an electric telescopic rod; 128-a tensioner; 109-driving steel wire ropes; 901-thigh; 902-lower leg; 903-hip joint rotating shaft; 904-Knee joint Pivot.
Detailed Description
The present application will be described in detail below with reference to the embodiments with reference to the attached drawings. The various examples are provided by way of explanation of the application and are not limiting of the application. In fact, it will be apparent to those skilled in the art that modifications and variations can be made in the present application without departing from the scope or spirit of the application. For instance, features illustrated or described as part of one embodiment, can be used with another embodiment to yield a still further embodiment. It is therefore intended that the present application cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
In the description of the present application, the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present application but do not require that the present application must be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. The terms "connected," "connected," and "disposed" as used herein are intended to be broadly construed, and may include, for example, fixed and removable connections; can be directly connected or indirectly connected through intermediate components; the connection may be a wired electrical connection, a wireless electrical connection, or a wireless communication signal connection, and a person skilled in the art can understand the specific meaning of the above terms according to specific situations.
As shown in fig. 1 to 4, the wheel-foot hybrid robot leg includes: a driving unit 101, a first driving wheel 102, a first driven wheel 104, a second driving wheel 103, a second driven wheel 105, a roller 106, and a power switching unit 107; the first driving wheel 102 and the second driving wheel 103 are arranged in parallel and are rotatably mounted at the hip joint of the leg through a hip joint rotating shaft 903; the first driven wheel 104 and the second driven wheel 105 are arranged in parallel and are both rotatably mounted at the knee joint of the leg part through a knee joint rotating shaft 904; the first driven wheel 104 is fixedly connected with the knee joint rotating shaft 904, the knee joint rotating shaft 904 is fixedly connected with the lower leg 902 of the leg, and the second driven wheel 105 is coaxially and fixedly connected with the roller 106; the output power of the driving unit 101 sequentially passes through the first driving wheel 102 and the first driven wheel 104 to the lower leg 902 to form a first power transmission path, so that the wheel-foot hybrid robot moves in a foot-type state, or the output power of the driving unit 101 sequentially passes through the second driving wheel 103 and the second driven wheel 105 to the roller 106 to form a second power transmission path, so that the wheel-foot hybrid robot moves in a wheel-type state; the power switching unit 107 can switch the output power of the drive unit 101 between the first power transmission route and the second power transmission route so that the wheel-foot hybrid robot switches between the foot type state and the wheel type state. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first driving wheel 102 and the second driving wheel 103 are both rotatably mounted on the hip joint of the leg of the wheel-foot hybrid robot through a hip joint rotating shaft 903, where the first driving wheel 102, the second driving wheel 103 and the hip joint rotating shaft 903 may form an integrated form of a wheel axle or a separate form; alternatively, the wheel shaft and the separate body are combined. For example, the first drive wheel 102 and the hip joint shaft 903 form an integrated wheel shaft, and the second drive wheel 103 is rotatably attached to the hip joint shaft 903. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the first driven wheel 104 and the second driven wheel 105 are both rotatably mounted at the knee joint of the leg of the wheel-foot hybrid robot through a knee joint rotating shaft 904. Here, the first driven wheel 104 and the second driven wheel 105 can both be rotatably mounted on the knee joint rotating shaft 904, and meanwhile, the first driven wheel 104 is fixedly connected with the lower leg 902, so that the rotation of the first driven wheel 104 drives the lower leg 902 to swing around the knee joint rotating shaft 904; the second driven wheel 105 is fixedly connected with the roller 106, so that the rotation of the second driven wheel 105 drives the roller 106 to rotate. The first driven wheel 104 is also fixedly connected with the knee joint rotating shaft 904 (for example, a flat key, a spline, etc.), so that when the first driven wheel 104 drives the lower leg 902 to rotate, the lower leg 902 rotates together with the knee joint rotating shaft 904, that is, in a foot type state, the swing of the lower leg 902 is realized by the rotation of the knee joint rotating shaft 904 around the upper leg 901. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In alternative embodiments, the knee joint rotation shaft 904 is integrally formed with the first driven wheel 104. That is, the knee joint rotating shaft 904 and the first driven wheel 104 form an integral form of a wheel shaft, thereby effectively enhancing the structural performance between the knee joint rotating shaft 904 and the first driven wheel 104. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the knee joint rotating shaft 904 and the first driven wheel 104 form a wheel axle shape, and the knee joint rotating shaft 904 is rotatably connected to the thigh 901 through a bearing, so that the resistance of the lower leg 902 during the swinging process can be effectively reduced, and the lower leg 902 can swing more smoothly. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the first driving wheel 102, the first driven wheel 104, the second driving wheel 103, and the second driven wheel 105 are rope wheels, and correspondingly, the leg of the hybrid robot further includes: a transmission cable 109, wherein the transmission cable 109 winds around the first driving wheel 102 and the first driven wheel 104 to transmit the output power of the driving unit 101 from the first driving wheel 102 to the first driven wheel 104; alternatively, the transmission cable 109 is wound around the second driving wheel 103 and the second driven wheel 105 to transmit the output power of the driving unit 101 from the second driving wheel 103 to the second driven wheel 105. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, due to the existence of the power switching unit 107, the output power of the driving unit 101 can be transmitted only through the first power transmission route or the second power transmission route, and at the same time, the wheel-foot hybrid robot can move only in one state (wheel state or foot state). The transmission steel wire 109 is used for transmitting the output power of the driving unit 101, so that the influence of the structural form on power transmission can be reduced as much as possible, and the power can be transmitted in a long distance and high efficiency. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the thigh 901 of the wheel-foot hybrid robot is composed of two fixing plates juxtaposed to each other, and the shapes of the fixing plates may be adapted according to the leg design of the wheel-foot hybrid robot, for example, the fixing plates may be waist-shaped, rectangular, and the like. The two ends of the fixing plate are provided with mounting holes, the mounting hole at one end is matched with the hip joint rotating shaft 903 and used for mounting the hip joint rotating shaft 903, and the mounting hole at the other end is matched with the knee joint rotating shaft 904 and used for mounting the knee joint rotating shaft 904. Between the two fixing plates, the first driving wheel 102 and the second driving wheel 103 are rotatably connected with the fixing plates through a hip joint rotating shaft 903, and the first driven wheel 104 and the second driven wheel 105 are rotatably connected with the fixing plates through a knee joint rotating shaft 904; the roller 106 is fixedly connected with the second driven wheel 105 and is positioned outside the fixed plate. The transmission wire 109 is located between the two fixing plates, and performs power transmission through the first power transmission line or the second power transmission line. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first driven wheel 104 is integrally formed with the knee joint rotating shaft 904, and two ends of the knee joint rotating shaft 904 are respectively rotatably connected to two fixing plates of the thigh 901; the second driven wheel 105 and the roller 106 are fixedly connected, and both are rotatably connected to the knee joint rotating shaft 904, and the second driven wheel 105 and the roller 106 are respectively located at two sides of one fixed plate of the thigh 901, that is, the second driven wheel 105 is located at the inner side of the fixed plate of the thigh 901, and the roller 106 is located at the outer side of the fixed plate of the thigh 901. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the power switching unit 107 includes: the movable shifting block is movably mounted on the fixed part, and the fixed part can drive the movable shifting block to move under the action of electromagnetic force and spring force, so that the movable shifting block drives the transmission steel wire rope 109 to switch between the first power transmission route and the second power transmission route. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this application embodiment, the fixed part can fixed mounting in the inboard (or the outside) of fixed plate, and activity shifting block and fixed part are listed as the both sides at wire rope, and the activity shifting block can be relative fixed part motion under the effect of electromagnetic force and spring force. For example, electromagnets are oppositely arranged on the movable shifting block and the fixed part, and the movable shifting block is connected with the fixed part through a compression spring. When the electromagnet is electrified, the electromagnets arranged on the movable shifting block and the fixed part attract each other to generate electromagnetic force, so that the movable shifting block moves relatively towards the fixed part, and the transmission steel wire rope 109 is shifted to a second power transmission route from a first power transmission route, namely the transmission steel wire rope 109 is shifted to a second driving wheel 103 and a second driven wheel 105 from a first driving wheel 102 and a first driven wheel 104; when the electromagnet is powered off, the movable shifting block and the fixed part are separated from each other under the action of the spring stretching force (namely, the spring force), the transmission steel wire rope 109 is shifted to the first power transmission route from the second power transmission route, namely, the transmission steel wire rope 109 is shifted to the first driving wheel 102 and the first driven wheel 104 from the second driving wheel 103 and the second driven wheel 105. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In this embodiment, the movable shifting block is a plate-shaped structure extending along the length direction of the transmission steel wire rope 109, a plurality of shifting grooves extend out of the side surface of the plate-shaped structure, the transmission steel wire rope 109 is located in the shifting grooves, and when the movable shifting block acts, the shifting grooves shift and switch the transmission steel wire rope 109 between the first power transmission route and the second power transmission route. Further, the movable shifting block can be composed of two shifting plates, a plurality of ear plates extend out of the side faces of the two shifting plates relatively, the two opposite ear plates form a shifting groove, and the transmission steel wire rope 109 is located between the two shifting plates. Under the action of electromagnetic force or spring force, the two shifting plates can clamp the transmission steel wire rope 109, and the transmission steel wire rope 109 is switched between the first power transmission line and the second power transmission line. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the wheel-foot hybrid robot leg further comprises: and a tensioning mechanism 108 attached to a thigh 901 of the leg of the wheel-foot hybrid robot, and configured to tension the transmission wire rope 109 on the first driving wheel 102 and the first driven wheel 104, or to tension the transmission wire rope 109 on the second driving wheel 103 and the second driven wheel 105. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the tensioning mechanism 108 is disposed on the thigh 901 to tension the transmission cable 109, so that the power transmission efficiency between the first driving wheel 102 and the first driven wheel 104, or between the second driving wheel 103 and the second driven wheel 105, is effectively improved. Meanwhile, when the power switching unit 107 switches the transmission steel wire rope 109 between the first power transmission route and the second power transmission route, the tensioning mechanism 108 does not tension the transmission steel wire rope 109, so that the transmission steel wire rope 109 is in a relaxed state, thereby facilitating the power switching unit 107 to toggle the transmission steel wire rope 109. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In one particular example, the tensioning mechanism 108 includes: the electric telescopic rod 118 is fixedly mounted on the thigh 901, and the tension wheel 128 is mounted on the electric telescopic rod 118 and can be driven by the electric telescopic rod 118 to move so as to press or loosen the transmission steel wire 109. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the electric telescopic rod 118 is mounted on the fixing plate of the thigh 901, and the tension wheel 128 is mounted on the end of the electric telescopic rod 118, so that the tension wheel 128 moves along with the extension and contraction movement of the electric telescopic cylinder. For example, the electric telescopic cylinder is fixedly installed at the outer side or the inner side of the fixing plate, the end of the electric telescopic rod 118 is fixedly connected with a fixing shaft, and the axis of the fixing shaft is perpendicular to the plane where the first driving wheel 102, the first driven wheel 104, or the second driving wheel 103, and the second driven wheel 105 are located; the tension wheel 128 is rotatably mounted on a fixed shaft. Therefore, the tensioning wheel 128 can be driven to press or loosen the transmission steel wire 109 by the movement of the electric telescopic rod 118. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, a fixing plate rope of the electric telescopic rod 118 may further be provided with a sliding chute, and the sliding chute extends along the telescopic direction of the electric telescopic rod 118, so that interference between the fixing plate rope of the thigh 901 and the tensioning wheel 128 when the tensioning wheel 128 moves to press or loosen the transmission steel wire rope 109 can be effectively avoided. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, in order to further enhance the effect of the tensioning wheel 128 tensioning or releasing the transmission wire rope 109, so as to facilitate the power switching unit 107 to perform power switching on the transmission wire rope 109 between the first power transmission route and the second power transmission route, a plurality of tensioning mechanisms 108 may be provided, and the plurality of tensioning mechanisms 108 may be arranged on the thigh 901 in parallel along the first power transmission route or the second power transmission route. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In an application scenario, there are two tensioning wheels 128, and the two tensioning wheels 128 are coaxially arranged in parallel and can be driven by the electric telescopic rod 118 to move; one tension wheel 128 is on the same plane as the first driving wheel 102 and the first driven wheel 104, and can tension or relax the transmission steel wire rope 109 on the first driving wheel 102 and the first driven wheel 104; the other tension pulley 128 is on the same plane as the second driving pulley 103 and the second driven pulley 105, and can tension or loosen the transmission wire rope 109 on the second driving pulley 103 and the second driven pulley 105. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the two tension pulleys 128 arranged in parallel respectively compress or release the transmission steel wire rope 109 on the first power transmission line or the second power transmission line, so that not only is the efficiency of power transmission effectively improved, but also the power switching unit 107 is convenient to toggle the transmission steel wire rope 109 between the first power transmission line and the second power transmission line. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, one tension wheel 128 is arranged in parallel with the first driving wheel 102 and the first driven wheel 104, and the other tension wheel 128 is arranged in parallel with the second driving wheel 103 and the second driven wheel 105, so that the tension or release of the transmission cable is realized by the action of the electric telescopic rod 118. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In some optional embodiments, the driving unit 101 includes: the first driving motor 111 is used for driving the first driving wheel 102 and the second driving wheel 103, and the second driving motor 121 is connected with a thigh 901 of the wheel-foot hybrid robot leg and used for driving the thigh 901 to swing around a hip joint of the wheel-foot hybrid robot leg. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first driving motor 111 and the second driving motor 121 are installed at positions where the motion inertia of the wheel-foot hybrid robot is reduced as much as possible, so that the motion of the wheel-foot hybrid robot is more smooth, and the control accuracy of the wheel-foot hybrid robot is improved. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In a specific example, the first driving motor 111 and the second driving motor 121 are frameless motors, and the first driving motor 111 and the second driving motor 121 are nested together and are both installed at a hip joint of a leg of the wheel-foot hybrid robot. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the two frameless motors are used for sleeving, so that the motor can be installed in a limited space, and the mechanism is more compact; meanwhile, the frameless motor has no shell, so that the weight of the whole motor is effectively reduced. The two frameless motors are arranged at the hip joint, so that the motion inertia of the wheel-foot hybrid robot during motion is effectively reduced, and the motion of the wheel-foot hybrid robot is more stable. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the present application, the first driving motor 111 is fixedly mounted on a fixing plate of the thigh 901, and the output end of the first driving motor is fixedly connected to the first driving wheel 102 and the second driving wheel 103, so that the first driving wheel 102 and the second driving wheel 103 can be driven to rotate around the hip joint rotating shaft 903; the second driving motor 121 is fixedly connected to the trunk of the wheel-foot hybrid robot through an L-shaped plate, and the output end of the second driving motor is fixedly connected to the thigh 901 of the wheel-foot hybrid robot, so that the thigh 901 of the wheel-foot hybrid robot can swing around the hip joint. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
In the embodiment of the application, the output power of the driving unit 101 reaches the lower leg 902 fixedly connected with the first driven wheel 104 through the first power transmission route (sequentially passes through the first driving wheel 102, the first driven wheel 104 and the lower leg 902), so that the driving unit 101 can drive the lower leg 902 to swing around the knee joint rotating shaft 904, and the wheel-foot hybrid robot can move in a foot type state; the output power of the driving unit 101 reaches the roller 106 fixedly connected with the second driven wheel 105 through a second power transmission route (sequentially passes through the second driving wheel 103, the second driven wheel 105 and the roller 106), so that the driving unit 101 can drive the roller 106 to rotate around the knee joint rotating shaft 904, and the wheel-foot hybrid robot can move in a wheel type state; the power switching means 107 switches the output power of the drive means 101 between the first power transmission path and the second power transmission path, and the wheel-foot hybrid robot can be switched between the foot type state and the wheel type state. Therefore, the wheel-foot hybrid robot can walk in different movement states on different terrains, and the adaptability of the wheel-foot hybrid robot is greatly improved. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
The embodiment of the application also provides a wheel-foot hybrid robot, which comprises a plurality of groups of legs of the wheel-foot hybrid robot in any one of the embodiments. When the wheel-foot hybrid robot moves, on a rugged road, the output power of the driving unit 101 is transmitted to the lower leg 902 through the first power transmission route to drive the lower leg 902 to swing around the knee joint, so that the wheel-foot hybrid robot moves in a foot type state; on a flat road, the output power of the driving unit 101 drives the shank 902 to retract upwards, and simultaneously drives the thigh 901 to swing around the hip joint, so that the thigh 901 stands upright (as shown in fig. 3 and 4), the roller 106 at the knee joint is in contact with the walking surface, the power switching unit 107 switches the output power of the driving unit 101 from a first power transmission route to a second power transmission route, and the wheel-foot hybrid robot moves in a wheel type state. Therefore, the adaptability of the wheel-foot hybrid robot is effectively improved. It should be understood that the above description is only exemplary, and the embodiments of the present application do not limit the present invention.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A wheel-foot hybrid robot leg, comprising: the device comprises a driving unit, a first driving wheel, a first driven wheel, a second driving wheel, a second driven wheel, a roller and a power switching unit;
the first driving wheel and the second driving wheel are arranged in parallel and are rotatably arranged at the hip joints of the legs through hip joint rotating shafts; the first driven wheel and the second driven wheel are arranged in parallel and are rotatably mounted at the knee joint of the leg part through a knee joint rotating shaft; the first driven wheel is fixedly connected with the knee joint rotating shaft, the knee joint rotating shaft is fixedly connected with the shank of the leg, and the second driven wheel is coaxially and fixedly connected with the roller;
the output power of the driving unit sequentially passes through the first driving wheel and the first driven wheel to the shank to form a first power transmission route so that the wheel-foot hybrid robot moves in a foot type state, or the output power of the driving unit sequentially passes through the second driving wheel and the second driven wheel to the roller to form a second power transmission route so that the wheel-foot hybrid robot moves in a wheel type state;
the power switching unit can switch the output power of the driving unit between the first power transmission route and the second power transmission route so as to switch the wheel-foot hybrid robot between the foot-type state motion and the wheel-type state motion.
2. The wheel-foot hybrid robot leg of claim 1, wherein the knee joint rotation shaft is integrally formed with the first driven wheel.
3. The wheel-foot hybrid robot leg of claim 1, wherein the first drive wheel, the first driven wheel, the second drive wheel, and the second driven wheel are rope wheels,
in a corresponding manner, the first and second optical fibers are,
the wheel-foot hybrid robot leg further comprises: the transmission steel wire rope is wound on the first driving wheel and the first driven wheel so as to transmit the output power of the driving unit from the first driving wheel to the first driven wheel; or the transmission steel wire rope is wound on the second driving wheel and the second driven wheel so as to transmit the output power of the driving unit to the second driven wheel through the second driving wheel.
4. The wheel-foot hybrid robot leg of claim 3, wherein the power switching unit comprises: the movable shifting block is movably arranged on the fixed part, and the fixed part can drive the movable shifting block to move under the action of electromagnetic force and spring force, so that the movable shifting block drives the transmission steel wire rope to switch between the first power transmission route and the second power transmission route.
5. The wheel-foot hybrid robot leg of claim 3, further comprising: and the tensioning mechanism is arranged on the thigh of the leg of the wheel-foot hybrid robot and can enable the transmission steel wire rope to be tensioned on the first driving wheel and the first driven wheel or enable the transmission steel wire rope to be tensioned on the second driving wheel and the second driven wheel.
6. The wheel-foot hybrid robot leg of claim 5, wherein the tensioning mechanism comprises: the electric telescopic rod is fixedly installed on the thigh, and the tensioning wheel is installed on the electric telescopic rod and can move under the driving of the electric telescopic rod so as to compress or loosen the transmission steel wire rope.
7. The wheel-foot hybrid robot leg part according to claim 6, wherein there are two tension wheels, and the two tension wheels are coaxially arranged in parallel and can move under the driving of the electric telescopic rod; one tension wheel is positioned on the same plane with the first driving wheel and the first driven wheel, and can tension or relax the transmission steel wire rope on the first driving wheel and the first driven wheel; the other tension wheel is on the same plane with the second driving wheel and the second driven wheel, and can tension or loosen the transmission steel wire rope on the second driving wheel and the second driven wheel.
8. A wheel-foot hybrid robot leg according to any of claims 1-7, characterized in that the drive unit comprises: the first driving motor is used for driving the first driving wheel and the second driving wheel, and the second driving motor is connected with a thigh of the leg of the wheel-foot hybrid robot and used for driving the thigh to swing around a hip joint of the leg of the wheel-foot hybrid robot.
9. The wheel-foot hybrid robot leg according to claim 8, wherein the first drive motor and the second drive motor are both frameless motors, the first drive motor and the second drive motor are nested, and both are mounted at a hip joint of the wheel-foot hybrid robot leg.
10. A wheel-foot hybrid robot comprising a plurality of sets of wheel-foot hybrid robot legs according to any one of claims 1-9.
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| CN202023076155.3U CN214189853U (en) | 2020-12-18 | 2020-12-18 | Sufficient hybrid robot shank of wheel and sufficient hybrid robot of wheel |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455567A (en) * | 2020-12-18 | 2021-03-09 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Sufficient hybrid robot shank of wheel and sufficient hybrid robot of wheel |
| CN113978566A (en) * | 2021-11-22 | 2022-01-28 | 昆明理工大学 | Wheel-foot type robot leg structure with suspension function and wheel-foot type robot |
| CN114524030A (en) * | 2022-02-25 | 2022-05-24 | 昆明理工大学 | Wheel-foot type robot leg structure based on incomplete gear and wheel-foot type robot |
| CN114701581A (en) * | 2022-03-31 | 2022-07-05 | 清华大学 | Wheel-foot type mobile platform, operation mode switching method and wheel-foot type robot |
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2020
- 2020-12-18 CN CN202023076155.3U patent/CN214189853U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455567A (en) * | 2020-12-18 | 2021-03-09 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Sufficient hybrid robot shank of wheel and sufficient hybrid robot of wheel |
| CN113978566A (en) * | 2021-11-22 | 2022-01-28 | 昆明理工大学 | Wheel-foot type robot leg structure with suspension function and wheel-foot type robot |
| CN114524030A (en) * | 2022-02-25 | 2022-05-24 | 昆明理工大学 | Wheel-foot type robot leg structure based on incomplete gear and wheel-foot type robot |
| CN114524030B (en) * | 2022-02-25 | 2022-11-25 | 昆明理工大学 | Wheel-foot type robot leg structure based on incomplete gear and wheel-foot type robot |
| CN114701581A (en) * | 2022-03-31 | 2022-07-05 | 清华大学 | Wheel-foot type mobile platform, operation mode switching method and wheel-foot type robot |
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