CN215883860U - Adjustable transmission mechanism, wheel leg and foot type robot - Google Patents
Adjustable transmission mechanism, wheel leg and foot type robot Download PDFInfo
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- CN215883860U CN215883860U CN202122437809.9U CN202122437809U CN215883860U CN 215883860 U CN215883860 U CN 215883860U CN 202122437809 U CN202122437809 U CN 202122437809U CN 215883860 U CN215883860 U CN 215883860U
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Abstract
The utility model relates to an adjustable transmission mechanism, a wheel leg and a foot type robot, comprising: the transmission rod group comprises a first connecting rod and a second connecting rod, and the first end of the first connecting rod is rotatably connected with the first end of the second connecting rod; the locking connector is connected to the rotating connection position of the first end of the first connecting rod and the first end of the second connecting rod; the adjustable telescopic rod group comprises a telescopic seat and a telescopic connecting rod, the telescopic connecting rod is configured to be arranged on the telescopic seat in a telescopic moving mode, and one end, far away from the telescopic seat, of the telescopic connecting rod is rotatably connected with the second end of the second connecting rod. The adjustable transmission device has wide adjustable range of driving torque and transmission ratio, is suitable for occasions with requirements on driving torque and transmission ratio when the foot type robot is in any motion state, has wide application range, simple and compact integral structure and low requirements on installation and motion space, and can be well suitable for wheel legs of the foot type robot.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to an adjustable transmission mechanism, a wheel leg and a foot type robot.
Background
At present, the foot robot can replace people to execute heavy and dangerous work tasks in various fields, and has the effects of increasing efficiency, reducing cost and eliminating potential safety hazards, so that the foot robot has been widely concerned by numerous enterprises and scientific research institutions at home and abroad in recent years. The important research direction in the foot robot is the development of a leg driving structure of the foot robot, the leg driving structure of the large foot robot usually adopts hydraulic driving, and the foot robot is characterized by large output power and is suitable for heavy-load occasions; the small foot type robot is light in weight and limited by volume requirements, and a leg driving structure is usually driven by a motor and is characterized by simple structure and higher response speed.
However, the foot type robot driven by the motor is limited by the torque of the motor, and the required output torque requirement can be met after the foot type robot driven by the motor is subjected to corresponding speed reduction and torque increase. For example, the application scenarios of the foot robot are variable, the environment is complex, the torque required by the leg driving structure is different in the motion process, for example, walking or running on flat ground, the driving torque required by the lower leg is relatively small, and the rotation speed requirement is high; when climbing a slope, jumping and other sports are carried out, the driving torque required by the shank is relatively large, and the rotating speed requirement is low. At present, the method for changing the shank driving torque generally adopted in the market is a mode of combining the size of the torque of the output motor with the fixed transmission ratio of the wheel legs, however, the traditional adjusting mode has a complex structure and is limited by the inherent torque and the rotation speed of the motor and the size of the fixed transmission ratio of the wheel legs, so that the torque adjustable range is narrow, the condition that the requirements of the shank driving torque and the rotation speed cannot be met can be generated, and the application limitation is large.
SUMMERY OF THE UTILITY MODEL
Based on this, it is necessary to provide an adjustable transmission mechanism, a wheel leg and a foot type robot, and the purpose is to solve the problems of narrow adjustable range of driving torque and transmission ratio, complicated and inconvenient adjustment operation, and limited application range in the prior art.
In one aspect, the present application provides an adjustable drive mechanism, the adjustable drive mechanism comprising:
the transmission rod group comprises a first connecting rod and a second connecting rod, and the first end of the first connecting rod is rotatably connected with the first end of the second connecting rod;
a locker connected to a rotational connection of the first end of the first link and the first end of the second link, and configured to be capable of locking or unlocking the first link and the second link; and
adjustable telescopic link group, adjustable telescopic link group is including flexible seat and telescopic link, telescopic link is configured scalable removal set up in on the flexible seat, just telescopic link keeps away from the one end of flexible seat with the second end of second connecting rod rotates and is connected.
The adjustable transmission mechanism is applied to the wheel legs of the foot type robot and used for adjusting the transmission force of the wheel legs, so that the driving torque and the rotating speed of the crus can be flexibly and conveniently adjusted according to different working conditions, and the use requirements are met. Specifically, when the adjustable wheel leg transmission mechanism is used, the transmission rod group is arranged on a thigh of the wheel leg, and the adjustable telescopic rod group is arranged on a shank of the wheel leg, so that the thigh is rotatably connected with the shank through the adjustable transmission mechanism. When the legged robot runs on a gentle ground, the driving torque required by the lower leg is relatively small, and the requirement on the rotating speed is relatively high, firstly, the adjustable telescopic rod group is controlled to act, the telescopic connecting rod contracts and shortens relative to the telescopic seat, meanwhile, the locking connector is controlled to act to unlock the first connecting rod and the second connecting rod, so that the first connecting rod and the second connecting rod can rotate freely relative to each other, at the moment, the first connecting rod and the second connecting rod can rotate relative to each other by taking the locking connector as a rotating center under the driving of the telescopic connecting rod, so that the center distance between the second end of the first connecting rod and the second end of the second connecting rod is reduced, and the included angle between the first connecting rod and the second connecting rod is reduced; after the telescopic connecting rod is contracted to a preset position, the locking connector is finally controlled to act to lock the first connecting rod and the second connecting rod, so that a smaller transmission ratio can be obtained, the driving torque is reduced, the rotating speed is increased, and the requirements of high speed and low torque during calf running are met; on the contrary, when the legged robot is in working conditions of climbing, jumping and the like, the driving torque required by the crus is relatively large, the requirement on the rotating speed is relatively small, the adjustable telescopic rod group is controlled to act, the telescopic connecting rod extends and lengthens relative to the telescopic seat, and meanwhile, the locking connector is controlled to act to unlock the first connecting rod and the second connecting rod, so that the first connecting rod and the second connecting rod can rotate freely relative to each other; at the moment, the first connecting rod and the second connecting rod are driven by the telescopic connecting rod to relatively rotate by taking the locking connector as a rotation center, so that the center distance between the second end of the first connecting rod and the second end of the second connecting rod is increased, and the included angle between the first connecting rod and the second connecting rod is increased; after the telescopic connecting rod extends to the preset position, the locking connector is finally controlled to act to lock the first connecting rod and the second connecting rod, so that a larger transmission ratio can be obtained, the driving torque is increased, the rotating speed is reduced, and the requirements of low speed and high torque during climbing and jumping of crus are met.
Compared with the prior art, the adjustable transmission device has the advantages that the adjustable range of the driving torque and the transmission ratio is wide, the adjusting operation is simple and rapid, the adjustable transmission device is suitable for occasions with requirements on the driving torque and the transmission ratio when the foot type robot is in any motion state, the application range is wide, the whole structure of the adjustable transmission device is simple and compact, the requirements on installation and motion space are low, and the adjustable transmission device can be well suitable for the wheel legs of the foot type robot.
The technical solution of the present application is further described below:
in one embodiment, the locking device comprises a locking power source and a locking rod, wherein the locking power source is in driving connection with the locking rod, and the locking power source is used for driving the locking rod to move telescopically along the axial direction of the locking rod;
the outer wall of the locking rod is provided with a first locking matching portion, a first end of the second connecting rod is provided with a matching hole, the hole wall of the matching hole is provided with a second locking matching portion, and the first locking matching portion can be locked or unlocked with the second locking matching portion.
In one embodiment, the first locking mating part is provided as a locking tooth, the second locking mating part is provided as a locking tooth socket, and the locking tooth can be engaged with or disengaged from the locking tooth socket; or
The first locking matching part is arranged as a locking tooth groove, the second locking matching part is arranged as a locking convex tooth, and the locking convex tooth can be meshed with or separated from the locking tooth groove.
In one embodiment, the outer wall of the locking rod is further provided with a polish rod part, the polish rod part and the locking convex teeth are sequentially arranged along the axial direction of the locking rod, and the polish rod part is in avoiding fit with the hole wall of the fitting hole.
In one embodiment, the adjustable telescopic rod group further comprises a telescopic power source, the telescopic power source is arranged on the telescopic seat, and a power shaft of the telescopic power source is in driving connection with the telescopic connecting rod.
In one embodiment, the telescopic seat is provided with an installation cavity, the telescopic power source is inserted into the installation cavity, and the telescopic connecting rod is in sliding contact with the side wall of the installation cavity.
In one embodiment, the length of the first link is greater than the length of the second link;
the transmission rod group further comprises a transmission rod, the transmission rod is used for being connected with a driving motor to transmit rotary driving force, the second end of the first connecting rod is rotatably connected with the transmission rod through a first rotating pin, and one end, far away from the telescopic seat, of the telescopic connecting rod is rotatably connected with the second end of the second connecting rod through a second rotating pin.
In another aspect, the present application also provides a wheel leg, comprising:
a thigh;
a lower leg; and
the thigh is rotatably connected with the shank through the adjustable transmission mechanism.
In one embodiment, the wheel leg further comprises a foot end sensor, the lower leg comprises a lower leg foot end, and the foot end sensor is arranged on the lower leg foot end.
In one embodiment, the adjustable transmission mechanism can adaptively and actively adjust the telescopic length of the telescopic connecting rod according to the signal feedback of the foot end sensor.
Furthermore, the present application also provides a legged robot comprising the wheel leg as described above.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural view of a wheel leg according to an embodiment of the present invention;
FIG. 2 is a schematic view of the adjustable drive mechanism of FIG. 1 in an extended position with the telescoping links;
FIG. 3 is a schematic structural view of the adjustable drive mechanism of FIG. 1 in a retracted state of the pantograph linkage;
FIG. 4 is a schematic structural view of the locking device in an unlocked state according to the present invention;
FIG. 5 is a schematic structural view of the locking device of the present invention in a locked state;
FIG. 6 is a schematic structural view of a second link according to the present invention;
fig. 7 is a schematic structural view of the locking device of the present invention.
Description of reference numerals:
100. a wheel leg; 10. a thigh; 20. a lower leg; 21. the foot end of the shank; 30. an adjustable transmission mechanism; 31. a drive rod group; 311. a transmission rod; 312. a first link; 313. a second link; 3131. a second locking mating portion; 32. a locking connector; 321. the power source is locked; 322. a locking rod; 323. a first lock engagement portion; 324. a light bar section; 33. an adjustable telescopic rod group; 331. a telescopic base; 332. a telescopic connecting rod; 34. a first rotation pin; 35. a second rotation pin.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
The embodiment of the application provides a foot type robot, and particularly relates to bionic intelligent equipment, for example, a robot dog can simulate actions such as walking, running and jumping of the dog, so that the robot can replace a person to arrive at various places to complete various work tasks such as exploration, search and rescue, logistics and the like, the finished work is guaranteed to improve the quality and the efficiency, and potential safety hazards faced by the person are eliminated.
The robot dog includes a robot body, and a wheel leg 100 and a control unit for performing a walking motion. Preferably, the number of the wheel legs 100 is four, and the wheel legs are distributed on the periphery of the robot main body in a rectangular shape, so that a better supporting effect is achieved, and walking stability is ensured. The control unit is electrically connected with the wheel legs 100 to send out working instructions to the wheel legs 100 according to actual working conditions, so that the working states of the wheel legs 100 can be automatically switched.
Alternatively, the control unit may be any one of, but not limited to, a PLC, a micro-controller computer, and the like.
Referring to fig. 1, a wheel leg 100 is shown for an embodiment of the present application, comprising: the thigh 10, the lower leg 20 and the adjustable transmission mechanism 30, wherein the thigh 10 is rotatably connected with the lower leg 20 through the adjustable transmission mechanism 30. The adjustable transmission mechanism 30 is electrically connected with the control unit, and the control unit sends a corresponding instruction to the adjustable transmission mechanism 30 according to the movement working condition, so that the adjustable transmission mechanism 30 can automatically adjust the transmission ratio value, and the purpose of adjusting the driving torque and the rotating speed of the shank 20 is achieved.
In some embodiments, the wheel leg 100 further comprises a foot end sensor, and the lower leg 20 comprises a lower leg foot end 21, and the foot end sensor is disposed on the lower leg foot end 21. The foot end sensor is used for sensing road conditions, so that whether the barricade foot type robot runs on a flat bottom or climbs a slope or jumps can be judged, signals are accurately fed back to the control unit, flexible adjustment of transmission ratio is achieved, and the shank 20 can obtain appropriate required driving torque and rotating speed. For example, the foot end sensor may be, but is not limited to, a pressure sensor.
It should be noted that the adjustable transmission mechanism 30 can adaptively and actively adjust the telescopic length of the telescopic link 332 according to the signal feedback of the foot end sensor. The active adjustment mode has strong using capability and wide using scene, the transmission ratio can be set at will, and the active adjustment mode is not limited by the swing position of the knee joint.
As shown in fig. 2 to 5, an adjustable transmission mechanism 30 is shown for the embodiment of the present application, where the adjustable transmission mechanism 30 includes: a drive rod set 31, a lock connector 32 and an adjustable telescopic rod set 33. The transmission lever set 31 includes a transmission lever 311, a first link 312, and a second link 313, and the transmission lever 311 is used to provide a rotational driving force. Specifically, in this embodiment, a driving motor is further installed on the outer side of the thigh 10, and the driving motor is connected to one end of the transmission rod 311 away from the first link 312 to drive the transmission rod 311 to rotate, so as to drive the adjustable transmission mechanism 30 and the lower leg 20 to rotate, thereby achieving the purpose of walking by the legged robot.
The second end of the first link 312 is rotatably connected to the driving rod 311 by a first rotating pin 34, and the first end of the first link 312 is rotatably connected to the first end of the second link 313. The lock connector 32 is connected to a rotary connection between the first end of the first link 312 and the first end of the second link 313, and the lock connector 32 is configured to lock or unlock the first link 312 and the second link 313; adjustable telescopic link group 33 includes telescopic base 331 and telescopic link 332, telescopic link 332 telescopic movement set up in on the telescopic base 331, just telescopic link 332 keeps away from telescopic base 331's one end with the second end of second connecting rod 313 rotates through second rotating pin 35 and connects.
In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the adjustable transmission mechanism 30 of the above scheme is applied to the wheel leg 100 of the foot type robot to adjust the transmission force of the wheel leg 100, so that the driving torque and the rotating speed of the shank 20 can be flexibly and conveniently adjusted according to different working conditions to meet the use requirements. Specifically, in use, the transmission rod set 31 is mounted on the thigh 10 of the wheel leg 100, and the adjustable telescopic rod set 33 is mounted on the shank 20 of the wheel leg 100, that is, the thigh 10 is rotatably connected with the shank 20 through the adjustable transmission mechanism 30.
When the legged robot runs on a gentle ground, the driving torque required by the lower leg 20 is relatively small, and the requirement on the rotation speed is relatively high, firstly, the adjustable telescopic rod group 33 is controlled to act, the telescopic connecting rod 332 contracts and shortens relative to the telescopic seat 331, and meanwhile, the lock connector 32 is controlled to act so as to unlock the first connecting rod 312 and the second connecting rod 313, so that the first connecting rod 312 and the second connecting rod 313 can rotate relatively freely, and at the moment, the first connecting rod 312 and the second connecting rod 313 are driven by the telescopic connecting rod 332 to rotate relatively by taking the lock connector 32 as a rotation center, so that the center distance between the second end of the first connecting rod 312 and the second end of the second connecting rod 313 is reduced, and the included angle between the first connecting rod 312 and the second connecting rod 313 is reduced; after the telescopic link 332 is retracted to the preset position, the locking device 32 is finally controlled to operate to lock the first link 312 and the second link 313, so that a smaller transmission ratio can be obtained, the driving torque is reduced, the rotation speed is increased, and the requirement of high speed and low torque during calf running is met.
On the contrary, when the legged robot is in working conditions of climbing, jumping and the like, the driving torque required by the lower leg 20 is relatively large, and the requirement on the rotating speed is relatively small, the adjustable telescopic rod 33 is controlled to act, the telescopic connecting rod 332 extends and lengthens relative to the telescopic seat 331, and meanwhile, the lock connector 32 is controlled to act to unlock the first connecting rod 312 and the second connecting rod 313, so that the first connecting rod 312 and the second connecting rod 313 can rotate freely relative to each other; at this time, the first link 312 and the second link 313 are driven by the telescopic link 332 to rotate relatively around the lock connector 32 as a rotation center, so that the center distance between the second end of the first link 312 and the second end of the second link 313 is increased and the included angle between the first link 312 and the second link 313 is increased; after the telescopic link 332 is extended to a preset position, the locking device 32 is finally controlled to act to lock the first link 312 and the second link 313, so that a larger transmission ratio can be obtained, the driving torque is increased, the rotating speed is reduced, and the requirements of low speed and high torque when the shank climbs a slope and jumps are met.
Compared with the prior art, the adjustable transmission device has the advantages that the adjustable range of the driving torque and the transmission ratio is wide, the adjusting operation is simple and rapid, the adjustable transmission device is suitable for occasions with requirements on the driving torque and the transmission ratio when the foot type robot is in any motion state, the application range is wide, the whole structure of the adjustable transmission device is simple and compact, the requirements on installation and motion space are low, and the adjustable transmission device can be well suitable for the wheel legs 100 of the foot type robot.
In this embodiment, the length of the first link 312 is greater than the length of the second link 313. Therefore, the second connecting rod 313 and the first connecting rod 312 can drive the shank 20 to rotate more easily, the adjustable range of the transmission ratio is large, different driving torques and rotating speeds can be obtained for the shank 20 according to different working conditions, and the application range is wide.
With reference to fig. 6 and fig. 7, in some embodiments, the locking device 32 includes a locking power source 321 and a locking rod 322, the locking power source 321 is drivingly connected to the locking rod 322, and the locking power source 321 is electrically connected to the control unit for driving the locking rod 322 to move telescopically along the axial direction thereof; the outer wall of the locking rod 322 is provided with a first locking matching part 323, the first end of the second connecting rod 313 is provided with a matching hole, the hole wall of the matching hole is provided with a second locking matching part 3131, and the first locking matching part 323 can be locked or unlocked with the second locking matching part 3131.
In normal operation, the locking power source 321 controls the driving locking rod 322 to be maintained at the locking position, and at this time, the first locking matching part 323 and the second locking matching part 3131 are locked with each other, so that the first connecting rod 312 and the second connecting rod 313 are maintained relatively fixed, and thus, the driving force is better transmitted. When the transmission ratio needs to be adjusted, the control unit outputs a command to the locking power source 321, the locking power source 321 drives the locking rod 322 to withdraw from the locking position, the first locking matching part 323 is separated from the second locking matching part 3131 to unlock, so that the first connecting rod 312 returns to rotate freely relative to the second connecting rod 313, and the telescopic connecting rod 332 can be adapted to extend or shorten (i.e. the first connecting rod 312 needs to rotate synchronously when the telescopic connecting rod 332 extends or shortens), thereby preventing the interference problem.
Preferably, in some specific embodiments, the first locking mating part 323 is configured as a locking protrusion, and the second locking mating part 3131 is configured as a locking tooth slot, and the locking protrusion can be engaged with or disengaged from the locking tooth slot; or the first locking mating part 323 is provided as a locking tooth groove, and the second locking mating part 3131 is provided as a locking tooth which can be engaged with or disengaged from the locking tooth groove. Adopt locking dogtooth and locking tooth's socket meshing, the locking is effectual, and intensity is high, can not have the problem of skidding because of the locking power is not enough to appear, and because the locking pole 322 can only be along its axial rectilinear concertina movement, therefore the locking dogtooth can obtain guaranteeing with the cooperation precision of locking tooth's socket, and meshing and separation switching certainty are strong.
Further, in order to improve the fixing strength of the first connecting rod 312 and the second connecting rod 313 when being locked, the locking convex teeth and the locking tooth grooves are arranged at least two and are distributed at intervals along the annular direction, and the locking convex teeth are meshed with the locking tooth grooves in a one-to-one correspondence mode.
With reference to fig. 7, in addition to any of the above embodiments, a polish rod portion 324 is further disposed on an outer wall of the locking rod 322, the polish rod portion 324 and the locking protrusion are sequentially disposed along an axial direction of the locking rod 322, and the polish rod portion 324 is in clearance fit with a hole wall of the fitting hole. When the locking rod 322 retracts to separate the locking convex teeth from the locking tooth grooves, the polish rod portion 324 can take over the locking convex teeth to enter the matching holes to be opposite to the locking tooth grooves, and at the moment, the polish rod portion 324 cannot be in contact with the locking tooth grooves and the hole wall, so that the first connecting rod 312 and the second connecting rod 313 are free to rotate without constraint, and the telescopic length of the adaptive telescopic connecting rod 332 is adjusted.
In order to achieve the telescopic motion of the telescopic link 332 relative to the telescopic base 331 and flexibly adjust the working length of the telescopic link 332 (i.e. the length extending out of the telescopic base 331), in some embodiments, the adjustable telescopic rod set 33 further includes a telescopic power source, the telescopic power source is disposed on the telescopic base 331, and a power shaft of the telescopic power source is drivingly connected to the telescopic link 332. During operation, flexible power supply and the control unit electric connection control unit's instruction and can accurate drive telescopic link 332 concertina movement, reach and accurately adjust wheel leg 100 drive ratio as required, make shank 20 obtain the effect that satisfies the driving torque and the slew velocity that the operating mode needs.
It should be noted that the locking power source 321 and the telescopic power source may be driving devices capable of outputting telescopic linear power, such as an electric push rod, a linear cylinder, and an oil cylinder, and may be selected according to actual needs.
Further, flexible seat 331 is equipped with the installation cavity, flexible power supply is inserted and is arranged in the installation cavity, telescopic link 332 with the lateral wall sliding contact of installation cavity. Install flexible power supply in the installation intracavity, can guarantee that flexible power supply installation is more firm, and can avoid direct contact external environment and be infected with foreign matter such as dust, rainwater and influence operational reliability and life. And the lateral wall and the telescopic connecting rod 332 sliding contact of installation cavity can play spacing and guide effect for telescopic connecting rod 332 telescopic motion time, guarantee that telescopic connecting rod 332 moves more steadily.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the utility model. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the utility model.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
Claims (11)
1. An adjustable drive mechanism, comprising:
the transmission rod group comprises a first connecting rod and a second connecting rod, and the first end of the first connecting rod is rotatably connected with the first end of the second connecting rod;
a locker connected to a rotational connection of the first end of the first link and the first end of the second link, and configured to be capable of locking or unlocking the first link and the second link; and
adjustable telescopic link group, adjustable telescopic link group is including flexible seat and telescopic link, telescopic link is configured scalable removal set up in on the flexible seat, just telescopic link keeps away from the one end of flexible seat with the second end of second connecting rod rotates and is connected.
2. The adjustable transmission of claim 1, wherein the locking device comprises a locking power source and a locking rod, the locking power source is in driving connection with the locking rod, and the locking power source is used for driving the locking rod to move telescopically along the axial direction of the locking rod;
the outer wall of the locking rod is provided with a first locking matching portion, a first end of the second connecting rod is provided with a matching hole, the hole wall of the matching hole is provided with a second locking matching portion, and the first locking matching portion can be locked or unlocked with the second locking matching portion.
3. The adjustable transmission of claim 2, wherein the first locking engagement is configured as a locking lobe and the second locking engagement is configured as a locking tooth slot, the locking lobe being engageable with and disengageable from the locking tooth slot; or
The first locking matching part is arranged as a locking tooth groove, the second locking matching part is arranged as a locking convex tooth, and the locking convex tooth can be meshed with or separated from the locking tooth groove.
4. The adjustable transmission mechanism according to claim 3, wherein the outer wall of the locking rod is further provided with a polish rod portion, the polish rod portion and the locking convex tooth are sequentially arranged along the axial direction of the locking rod, and the polish rod portion is in clearance fit with the hole wall of the fitting hole.
5. The adjustable transmission mechanism according to claim 1, wherein the adjustable telescopic rod set further comprises a telescopic power source, the telescopic power source is disposed on the telescopic base, and a power shaft of the telescopic power source is drivingly connected to the telescopic link.
6. The adjustable transmission mechanism according to claim 5, wherein the telescopic base is provided with a mounting cavity, the telescopic power source is inserted into the mounting cavity, and the telescopic connecting rod is in sliding contact with a side wall of the mounting cavity.
7. The adjustable transmission of any one of claims 1 to 6, wherein the length of the first link is greater than the length of the second link;
the transmission rod group further comprises a transmission rod, the transmission rod is used for being connected with a driving motor to transmit rotary driving force, the second end of the first connecting rod is rotatably connected with the transmission rod through a first rotating pin, and one end, far away from the telescopic seat, of the telescopic connecting rod is rotatably connected with the second end of the second connecting rod through a second rotating pin.
8. A wheel leg, comprising:
a thigh;
a lower leg; and
an adjustable drive mechanism as claimed in any one of claims 1 to 7, wherein the thigh is pivotally connected to the calf via the adjustable drive mechanism.
9. The wheel leg according to claim 8, further comprising a foot end sensor, said lower leg comprising a lower leg foot end, said foot end sensor being disposed on said lower leg foot end.
10. The wheel leg as claimed in claim 9, wherein the adjustable transmission mechanism can actively adjust the telescopic length of the telescopic link in an adaptive manner according to the signal feedback of the foot end sensor.
11. A legged robot, characterized in that it comprises a wheel leg according to any of the claims 8 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202122437809.9U CN215883860U (en) | 2021-10-11 | 2021-10-11 | Adjustable transmission mechanism, wheel leg and foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202122437809.9U CN215883860U (en) | 2021-10-11 | 2021-10-11 | Adjustable transmission mechanism, wheel leg and foot type robot |
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| CN215883860U true CN215883860U (en) | 2022-02-22 |
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| CN202122437809.9U Active CN215883860U (en) | 2021-10-11 | 2021-10-11 | Adjustable transmission mechanism, wheel leg and foot type robot |
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2021
- 2021-10-11 CN CN202122437809.9U patent/CN215883860U/en active Active
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