CN218777610U - Variable-radius rotating wheel leg structure and bionic robot - Google Patents
Variable-radius rotating wheel leg structure and bionic robot Download PDFInfo
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- CN218777610U CN218777610U CN202223264637.0U CN202223264637U CN218777610U CN 218777610 U CN218777610 U CN 218777610U CN 202223264637 U CN202223264637 U CN 202223264637U CN 218777610 U CN218777610 U CN 218777610U
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Abstract
The utility model discloses a become radius gyration wheel leg structure and bionic robot, this become radius gyration wheel leg structure includes the mounting panel, the power part, the clutch part, the initiative part, upset part and rotation wheel part, the initiative part includes driving shaft and driving gear, the clutch part includes the clutch, first clutch gear and second clutch gear, the upset part is including upset gear, flange and upset support, the upset gear cover is established outside the driving shaft, the upset gear can mesh with first clutch gear when the clutch circular telegram, the upset gear passes through flange and is connected with the upset support, it includes the axis of rotation and connects the rotation wheel in the vertical both sides of axis of rotation to rotate the wheel part. This scheme can satisfy and have higher translation rate on gentle topography, can have higher obstacle-surmounting ability demand simultaneously again on complicated topography.
Description
Technical Field
The utility model relates to a bionical mechanical technical field, concretely relates to variable radius gyration wheel leg structure and bionic robot.
Background
Bionic robot technology covers the field of multidisciplinary, and the application is wide and the demand is increasing. People often cannot safely arrive and smoothly complete in occasions where many dangerous tasks are performed, such as field exploration, military investigation, planet exploration, experimental sites with biochemical pollution and the like. The bionic robot can well move to a dangerous environment where people cannot safely reach by utilizing the characteristics of strong flexibility and high adaptability, and can perform related work tasks such as detection.
At present, most of bionic robots are only suitable for working in environments with large motion space and few obstacles. In the bionic robot, an important branch is the bionic mechanical scorpion, which depends on the characteristics of multiple gaits and high redundancy of the bionic mechanical scorpion, can adapt to complex environments and execute complex tasks, but also puts higher requirements on the functionality of the bionic mechanical scorpion along with the continuous trend of the complex tasks of the bionic mechanical scorpion.
The existing bionic robot has strong environment adaptability, but the leg movement mode is often single, so that the requirements of high movement speed on gentle terrain and high obstacle crossing capability on complex terrain can not be met simultaneously.
SUMMERY OF THE UTILITY MODEL
The aforesaid to prior art exist not enough, the to-be-solved technical problem of the utility model is: how to provide a variable radius gyration wheel leg structure and bionic robot that has higher translation rate on gentle topography, can have higher obstacle-surmounting ability demand simultaneously again on complicated topography.
In order to solve the technical problem, the utility model discloses a following technical scheme:
a variable-radius slewing wheel leg structure comprises a mounting plate, a power part, a clutch part, a driving part, a turnover part and a rotating wheel part, wherein the power part and the clutch part are arranged on the mounting plate, the driving part comprises a driving shaft and a driving gear, the driving shaft is connected with a power output end of the power part, the driving gear is sleeved on the driving shaft and synchronously rotates along with the driving shaft, the clutch part comprises a clutch, a first clutch gear and a second clutch gear, the second clutch gear is engaged with the driving gear, the turnover part comprises a turnover gear, a connecting flange and a turnover support, the turnover gear is sleeved outside the driving shaft, a gap is reserved between the turnover gear and the inner diameter and the outer diameter of the driving shaft, and the turnover gear can be engaged with the first clutch gear when the clutch is electrified, and the overturning gear is in when the clutch is powered off, the overturning gear is separated from the first clutch gear, the overturning gear passes through the connecting flange and is connected with the overturning support, so that the overturning gear is meshed with the first clutch gear and winds the driving shaft to rotate, the overturning support winds the driving shaft to rotate circumferentially through the connecting flange, the rotating wheel part comprises a rotating shaft and rotating wheels connected to the two longitudinal sides of the rotating shaft, the driving shaft is connected with the rotating shaft through a belt part, so that the belt part drives the rotating wheels to roll around the axis of the rotating wheel part to realize a wheel type moving mode, the lower end of the overturning support is movably sleeved on the rotating shaft between the two rotating wheels, so that the overturning support can synchronously drive the rotating wheels to wind around the driving shaft synchronously when the driving shaft to rotate circumferentially Rotate circumferentially to achieve a legged travel pattern.
The utility model discloses a theory of operation is: the variable-radius turning wheel leg structure has two moving modes: a legged travel mode and a wheeled travel mode. When the vehicle runs on a relatively gentle ground, the vehicle is in a wheel type moving mode, at the moment, the clutch is powered off, the first clutch gear is separated from the turnover gear, the power part drives the driving shaft to rotate, the driving shaft drives the rotating shaft to rotate through the belt part, the rotating shaft drives the rotating wheel to roll around the axis of the rotating wheel, and at the moment, the rotating wheel rolls on the ground to realize the wheel type moving mode, so that the requirement of a relatively high moving speed on the gentle ground is met; when the obstacle is crossed in a complex terrain or by matching with the rolling of the rotating wheel, the clutch is powered on, the first clutch gear is meshed with the overturning gear, on one hand, the power component drives the rotating wheel to rotate through the driving shaft, the belt component and the rotating shaft, on the other hand, the power of the power component is transmitted to the second clutch gear through the driving gear, the second clutch gear is further transmitted to the first clutch gear, the first clutch gear is transmitted to the overturning gear again, the overturning gear rotates around the driving shaft and drives the overturning support to synchronously rotate around the driving shaft through the connecting flange, the overturning support also informs the rotating shaft to drive the rotating wheel to rotate around the driving shaft while rotating, so that the rotating wheel component integrally rotates upwards to realize the purpose of crossing a large obstacle in a leg type moving mode, the leg type moving mode can cross a large obstacle, and the condition of easily crossing the obstacle can be realized by matching with the rolling of the rotating wheel at the moment.
Consequently, the variable radius gyration wheel leg structure of this scheme can satisfy and have higher translation rate on gentle topography, can have higher obstacle-crossing ability demand simultaneously again on complicated topography to user demand under the very big adaptation complex environment.
Preferably, the turnover support comprises a vertically arranged leg rod, a housing is vertically connected to the leg rod in a sliding manner, the housing is fixed to the connecting flange, a wheel axle box is further arranged at one end, close to the rotating wheel, of the leg rod, the rotating shaft penetrates through the wheel axle box, and a first elastic piece is sleeved on the leg rod between the housing and the wheel axle box.
Therefore, in the wheel type moving mode, the rotating wheel is in contact with the ground and is under the action of the gravity of the bionic robot, the first elastic part is in a compressed state, in the leg type moving mode, the rotating wheel leaves the ground to rotate, at the moment, the first elastic part is not under the action of the gravity of the bionic robot any more, the first elastic part resets, at the moment, the distance between the rotating wheel and the driving shaft is increased, namely, the circumferential rotating radius of the rotating wheel is increased, the radius-variable rotating function is realized, and therefore the effect of spanning larger obstacles can be achieved; meanwhile, in the wheel type moving mode, when a small obstacle is met, the rotating wheel part can realize the shock absorption effect through the leg rod-first elastic piece.
Preferably, the belt part includes driving synchronous pulley, driven synchronous pulley and driving belt, driving synchronous pulley cover is established on the driving shaft, driven synchronous pulley cover is established in the axis of rotation, driving belt overlaps in proper order and establishes driving synchronous pulley with driven synchronous pulley is last.
Therefore, the driving shaft drives the driving synchronous belt wheel to rotate when rotating, the driving synchronous belt wheel drives the transmission belt to rotate when rotating, the transmission belt drives the driven synchronous belt wheel to rotate when rotating, the driven synchronous belt wheel drives the rotating shaft to rotate when rotating, and the rotating shaft further drives the rotating wheel to rotate after rotating.
Preferably, the belt component further comprises two parallelogram supports, the two parallelogram supports are longitudinally arranged, each parallelogram support comprises a first support, a second support, a third support and a fourth support, one end of each first support is sleeved on the driving shaft at two ends of the driving synchronous belt wheel through a bearing respectively, the other end of each first support is rotatably connected with the corresponding second support in the corresponding parallelogram support, the corresponding ends of the two first supports and the two second supports are connected through a first connecting piece, and one end of each second support, far away from the end where the second support is connected with the first support, is sleeved on the rotating shaft at two ends of the driven synchronous belt wheel through a bearing respectively;
one end of each of the two third supports is sleeved on the driving shaft at the two ends of the driving synchronous belt pulley through a bearing, the other end of each of the two third supports is rotatably connected with the corresponding fourth support in the corresponding parallelogram support, the corresponding ends of the two third supports and the two fourth supports are connected through a second connecting piece, and one end of each of the two fourth supports, far away from the corresponding third support, is sleeved on the rotating shaft at the two ends of the driven synchronous belt pulley through a bearing;
the driving synchronous belt pulley is characterized in that a first rolling bearing is sleeved on the first connecting piece between the two parallelogram supports, a first tensioning wheel is sleeved on an outer ring of the first rolling bearing, a second rolling bearing is sleeved on the second connecting piece between the two parallelogram supports, a second tensioning wheel is sleeved on an outer ring of the second rolling bearing, and the driving synchronous belt pulley, the first tensioning wheel, the driven synchronous belt pulley and the second tensioning wheel are sequentially sleeved with a driving belt.
Like this, two parallelogram supports cooperation first take-up pulley and second take-up pulley utilize the unchangeable characteristics of parallelogram girth, can be so when becoming radius gyration, driving belt is in the tensioning state all the time to guarantee transmission efficiency.
Preferably, a leg cap is further disposed at one end of the leg rod, which is far away from the axle box, and the leg cap can abut against the housing when the first elastic member is reset, so as to limit the vertical movement of the housing.
Therefore, the leg cap can limit the movement of the shell when the first elastic piece resets, and the shell can move in a limited range.
Preferably, a linear bearing is arranged in the shell, and the shell is in sliding connection with the leg rod through the linear bearing.
Thus, the friction force when the housing slides along the leg bar can be reduced by the linear bearing.
Preferably, the minimum distance between the axis of the driving shaft and the axis of the rotating wheel is R, and the maximum distance between the axis of the driving shaft and the axis of the rotating wheel is H, and then H/R is more than or equal to 2.5.
Therefore, the ratio of the minimum distance to the maximum distance between the axis of the driving shaft and the axis of the rotating wheel is called a deformation ratio, the deformation ratio is an important design parameter of the variable-radius rotating wheel leg structure, the deformation ratio can directly reflect the strength and the size of the deformation capacity of the variable-radius rotating wheel leg structure and can indirectly reflect the obstacle crossing capacity of the variable-radius rotating wheel leg structure, and therefore the radius rotating wheel leg structure can be ensured to have stronger obstacle crossing capacity by the deformation ratio being more than 2.5, and the driving requirements of various terrains can be basically met.
Preferably, the output shaft of the power component is connected with the driving shaft through a coupling.
Preferably, the power component is a motor, the first elastic member is a spring, and the clutch is an electromagnetic clutch.
The utility model provides a bionic robot, bionic robot includes the fuselage be equipped with at least foretell radius gyration wheel leg structure, just the mounting panel is located on the fuselage.
Like this, through set up the variable radius gyration wheel leg structure of this scheme on bionic robot's fuselage, utilize the leg formula of variable radius gyration wheel leg structure to remove the mode and wheeled removal mode's conversion, the ability of the speed of traveling and crossing over the obstacle on the very big improvement bionic robot flat and gentle road surface, and then improve this bionic robot's environmental suitability greatly.
Drawings
FIG. 1 is a schematic structural view of a variable radius turning wheel leg structure of the present invention;
FIG. 2 is a front view of the variable radius caster leg structure of the present invention;
FIG. 3 is a bottom view of the variable radius turning wheel leg structure of the present invention;
fig. 4 is a schematic power transmission diagram of the variable radius turning wheel leg structure according to the present invention in two moving modes, (a) is a wheel moving mode, and (b) is a leg moving mode;
fig. 5 is a schematic diagram showing the length change of the first elastic member in two states of the variable radius turning wheel leg structure of the present invention, wherein (a) is in a relaxed state and (b) is in a gravity compression state;
fig. 6 is a schematic diagram of the length change of the variable radius turning wheel leg structure in the circumferential rotation process of the present invention.
Description of reference numerals: the device comprises a rotating wheel 1, a first elastic part 2, a shell 3, a leg rod 4, a leg cap 5, an axle box 6, a parallelogram support 7, a first support 71, a second support 72, a third support 73, a fourth support 74, a turnover gear 8, a first clutch gear 9, a second clutch gear 10, a clutch 11, a connecting flange 12, a first tension wheel 13, a power part 14, a driving gear 15, a coupler 16, a transmission belt 17, a driven synchronous pulley 18, a rotating shaft 19, a driving synchronous pulley 20 and a mounting plate 21.
Detailed Description
In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the drawings of the embodiments of the present invention are combined below to clearly and completely describe the technical solution of the embodiments of the present invention. It is to be understood that the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments, which can be obtained by a person skilled in the art without any inventive work based on the described embodiments of the present invention, belong to the protection scope of the present invention. Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this invention belongs.
The use of "first," "second," and similar terms in the description and in the claims does not indicate any order, quantity, or importance, but rather is used to distinguish one element from another. Similarly, the singular forms "a," "an," and "the" do not denote a limitation of quantity, but rather denote the presence of at least one, unless the context clearly dictates otherwise. The terms "comprises," "comprising," or the like, mean that the elements or items listed before "comprises" or "comprising" encompass the features, integers, steps, operations, elements, and/or components listed after "comprising" or "comprising," and do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. "upper", "lower", "left", "right", and the like are used only to indicate relative positional relationships, and when the absolute position of the object to be described is changed, the relative positional relationships may also be changed accordingly.
As shown in attached figures 1 to 6, the variable-radius rotary wheel leg structure comprises a mounting plate 21, a power part 14, a clutch part, a driving part, a turning part and a rotating wheel part, wherein the power part 14 and the clutch part are arranged on the mounting plate 21, the driving part comprises a driving shaft and a driving gear 15, the driving shaft is connected with a power output end of the power part 14, the driving gear 15 is sleeved on the driving shaft and rotates synchronously along with the driving shaft, the clutch part comprises a clutch 11, a first clutch gear 9 and a second clutch gear 10, the second clutch gear 10 is meshed with the driving gear 15, the turning part comprises a turning gear 8, a connecting flange 12 and a turning support, the turning gear 8 is sleeved outside the driving shaft, and a clearance is arranged between the overturning gear 8 and the inner diameter and the outer diameter of the driving shaft, the overturning gear 8 can be meshed with the first clutch gear 9 when the clutch 11 is electrified, and the turnover gear 8 is separated from the first clutch gear 9 when the clutch 11 is powered off, the turnover gear 8 is connected with the turnover bracket through the connecting flange 12, so that the overturning gear 8 is meshed with the first clutch gear 9 and rotates around the driving shaft, the overturning bracket can be driven to rotate around the driving shaft in the circumferential direction through the connecting flange 12, the rotating wheel component comprises a rotating shaft 19 and rotating wheels 1 connected to the two longitudinal sides of the rotating shaft 19, the driving shaft is connected with the rotating shaft 19 through a belt component, so that the belt component drives the rotating wheels 1 to roll around the self axis to realize the wheel type moving mode, the lower end of the turning bracket is movably sleeved on the rotating shaft 19 between the two rotating wheels 1, so that the turnover support can synchronously drive the rotating wheel 1 to synchronously rotate around the circumferential direction of the driving shaft when rotating around the circumferential direction of the driving shaft so as to realize a leg type moving mode.
The utility model discloses a theory of operation is: the variable-radius turning wheel leg structure has two moving modes: a leg movement mode and a wheel movement mode. When the vehicle runs on a relatively gentle ground, the vehicle is in a wheel type moving mode, at the moment, the clutch 11 is powered off, the first clutch gear 9 is separated from the overturning gear 8, the power part 14 drives the driving shaft to rotate, the driving shaft further drives the rotating shaft 19 to rotate through the belt part, the rotating shaft 19 further drives the rotating wheel 1 to roll around the axis of the rotating wheel 1, at the moment, the rotating wheel 1 rolls on the ground to realize the wheel type moving mode (shown as a in figure 4), and the relatively high moving speed on the gentle ground is met; when the obstacle is crossed in a complicated terrain or in a leg moving mode, the clutch 11 is electrified, the first clutch gear 9 is meshed with the overturning gear 8, on one hand, the power component 14 drives the rotating wheel 1 to rotate through the driving shaft, the belt component and the rotating shaft 19, on the other hand, the power of the power component 14 is transmitted to the second clutch gear 10 through the driving gear 15, the second clutch gear 10 is further transmitted to the first clutch gear 9, the first clutch gear 9 is transmitted to the overturning gear 8, the overturning gear 8 rotates around the driving shaft and drives the overturning bracket to synchronously rotate around the driving shaft through the connecting flange 12, the overturning bracket rotates and simultaneously informs the rotating shaft 19 to drive the rotating wheel 1 to rotate around the driving shaft (as shown in b in figure 4), so that the rotating wheel component integrally rotates upwards to achieve the purpose of crossing large obstacles in the leg moving mode, the large obstacles can be crossed, and the situation of easily crossing the obstacles can be achieved by matching with the rolling of the rotating wheel 1.
Consequently, the variable radius gyration wheel leg structure of this scheme can satisfy and have higher translation rate on gentle topography, can have higher obstacle-crossing ability demand simultaneously again on complicated topography to user demand under the very big adaptation complex environment.
In this embodiment, the turning support includes a leg rod 4 vertically disposed, a housing 3 is vertically slidably connected to the leg rod 4, the housing 3 is fixed to a connecting flange 12, a wheel axle box 6 is further disposed at one end of the leg rod 4 close to the rotating wheel 1, a rotating shaft 19 movably penetrates through the wheel axle box 6, and a first elastic member 2 is sleeved on the leg rod 4 between the housing 3 and the wheel axle box 6.
Thus, in the wheel-type moving mode, the rotating wheel 1 is in contact with the ground and is acted by the gravity of the bionic robot, the first elastic part 2 is in a compressed state (as shown in b in fig. 5), and in the leg-type moving mode, the rotating wheel 1 rotates away from the ground, at this time, the first elastic part 2 is not acted by the gravity of the bionic robot any more, the first elastic part 2 resets, at this time, the distance between the rotating wheel 1 and the driving shaft is increased (as shown in a in fig. 5), namely, the radius of circumferential rotation of the rotating wheel 1 is increased, the variable-radius rotation function is realized, and therefore, the effect of spanning larger obstacles can be achieved; meanwhile, in the wheel type moving mode, when a small obstacle is met, the rotating wheel part can realize the shock absorption effect through the leg rod 4-the first elastic part 2.
In this embodiment, the belt component includes a driving synchronous pulley 20, a driven synchronous pulley 18 and a transmission belt 17, the driving synchronous pulley 20 is sleeved on the driving shaft, the driven synchronous pulley 18 is sleeved on the rotation shaft 19, and the transmission belt 17 is sequentially sleeved on the driving synchronous pulley 20 and the driven synchronous pulley 18.
Thus, the driving shaft rotates to drive the driving synchronous pulley 20 to rotate, the driving synchronous pulley 20 rotates to drive the transmission belt 17 to rotate, the transmission belt 17 rotates to drive the driven synchronous pulley 18 to rotate, the driven synchronous pulley 18 rotates to drive the rotating shaft 19 to rotate, and the rotating shaft 19 rotates to further drive the rotating wheel 1 to rotate.
In this embodiment, the belt component further includes two parallelogram supports 7, the two parallelogram supports 7 are disposed along the longitudinal direction, and each parallelogram support 7 includes a first support 71, a second support 72, a third support 73 and a fourth support 74, and one end of each of the two first supports 71 is respectively sleeved on the driving shaft at the two ends of the driving synchronous pulley 20 through a bearing, the other end of each of the two first supports 71 is rotatably connected with the second support 72 in the corresponding parallelogram support 7, and the corresponding ends of the two first supports 71 and the two second supports 72 are connected through a first connecting piece, and the end of each of the two second supports 72 far from the end thereof connected with the first support 71 is respectively sleeved on the rotating shaft 19 at the two ends of the driven synchronous pulley 18 through a bearing;
one end of each of the two third brackets 73 is respectively sleeved on the driving shaft at the two ends of the driving synchronous pulley 20 through a bearing, the other end of each of the two third brackets 73 is rotatably connected with the corresponding fourth bracket 74 in the parallelogram bracket 7, the corresponding ends of the two third brackets 73 and the two fourth brackets 74 are connected through a second connecting piece, and the end of each of the two fourth brackets 74 far away from the end connected with the third bracket 73 is respectively sleeved on the rotating shafts 19 at the two ends of the driven synchronous pulley 18 through a bearing;
a first rolling bearing is sleeved on a first connecting piece between the two parallelogram supports 7, a first tensioning wheel 13 is sleeved on an outer ring of the first rolling bearing, a second rolling bearing is sleeved on a second connecting piece between the two parallelogram supports 7, a second tensioning wheel is sleeved on an outer ring of the second rolling bearing, and a transmission belt 17 is sequentially sleeved on the driving synchronous belt wheel 20, the first tensioning wheel 13, the driven synchronous belt wheel 18 and the second tensioning wheel.
Like this, two parallelogram supports 7 cooperation first take-up pulley 13 and second take-up pulley utilize the unchangeable characteristics of parallelogram girth, can be so that when variable radius gyration, driving belt 17 is in the tensioning state all the time to guarantee transmission efficiency.
In this embodiment, a leg cap 5 is further disposed at an end of the leg rod 4 away from the axle box 6, and the leg cap 5 can abut against the housing 3 when the first elastic element 2 is reset, so as to limit the vertical movement of the housing 3.
Thus, the leg cap 5 can limit the movement of the housing 3 when the first elastic element 2 is reset, and ensure that the housing 3 moves within a limited range.
In the present embodiment, a linear bearing is provided in the housing 3, and the housing 3 is slidably connected to the leg rod 4 through the linear bearing.
Thus, the friction when the housing 3 slides along the leg shaft 4 can be reduced by the linear bearing.
In the present embodiment, the minimum distance between the axis of the driving shaft and the axis of the rotating wheel 1 is R, and the maximum distance between the axis of the driving shaft and the axis of the rotating wheel 1 is H, then H/R is greater than or equal to 2.5 (as shown in FIG. 6).
Therefore, the ratio of the minimum distance to the maximum distance between the axis of the driving shaft and the axis of the rotating wheel 1 is called a deformation ratio, the deformation ratio is an important design parameter of the variable-radius rotating wheel leg structure, the deformation ratio can directly reflect the strength and the size of the deformation capacity of the variable-radius rotating wheel leg structure and can indirectly reflect the obstacle crossing capacity of the variable-radius rotating wheel leg structure, and therefore the radius rotating wheel leg structure can be guaranteed to have stronger obstacle crossing capacity when the deformation ratio is larger than 2.5, and the driving requirements of various terrains can be basically met.
In the present embodiment, the output shaft of the power unit 14 is connected to the drive shaft via a coupling 16.
In the present embodiment, the power unit 14 is a motor, the first elastic member 2 is a spring, and the clutch 11 is an electromagnetic clutch 11.
In addition, this scheme still provides a bionic robot, and bionic robot includes the fuselage, is equipped with at least foretell radius-variable gyration wheel leg structure on the fuselage, and mounting panel 21 locates on the fuselage.
Like this, through set up the variable radius gyration wheel leg structure of this scheme on bionic robot's fuselage, utilize the leg formula of variable radius gyration wheel leg structure to remove the mode and wheeled removal mode's conversion, the ability of the speed of traveling and crossing over the obstacle on the very big improvement bionic robot flat and gentle road surface, and then improve this bionic robot's environmental suitability greatly.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that those modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all should be covered in the scope of the claims of the present invention.
Claims (10)
1. The variable-radius slewing wheel leg structure is characterized by comprising a mounting plate, a power part, a clutch part, a driving part, a turnover part and a rotating wheel part, wherein the power part and the clutch part are arranged on the mounting plate, the driving part comprises a driving shaft and a driving gear, the driving shaft is connected with a power output end of the power part, the driving gear is sleeved on the driving shaft and synchronously rotates along with the driving shaft, the clutch part comprises a clutch, a first clutch gear and a second clutch gear, the second clutch gear is meshed with the driving gear, the turnover part comprises a turnover gear, a connecting flange and a turnover support, the turnover gear is sleeved outside the driving shaft, and a gap is reserved between the turnover gear and the inner diameter and the outer diameter of the driving shaft, the overturning gear can be meshed with the first clutch gear when the clutch is powered on, the overturning gear is separated from the first clutch gear when the clutch is powered off, the overturning gear is connected with the overturning support through the connecting flange, so that the overturning gear is meshed with the first clutch gear and can drive the overturning support to rotate around the driving shaft in the circumferential direction through the connecting flange when the driving shaft rotates, the rotating wheel component comprises a rotating shaft and rotating wheels connected to the two longitudinal sides of the rotating shaft, the driving shaft is connected with the rotating shaft through a belt component, the belt component drives the rotating wheels to roll around the axis of the belt component to realize a wheel type moving mode, and the lower end of the overturning support is movably sleeved on the rotating shaft between the two rotating wheels, so that the turnover support can synchronously drive the rotating wheel to synchronously rotate around the driving shaft in the circumferential direction when rotating around the driving shaft in order to realize a leg type moving mode.
2. The variable radius gyration wheel leg structure of claim 1 wherein the turn-over bracket comprises a vertically disposed leg bar, a housing is vertically slidably connected to the leg bar, the housing is fixed to the connecting flange, a wheel axle box is further disposed at an end of the leg bar near the gyration wheel, the gyration shaft movably passes through the wheel axle box, and a first elastic member is sleeved on the leg bar between the housing and the wheel axle box.
3. The leg structure of a variable-radius rotary wheel according to claim 1, wherein the belt member includes a driving synchronous pulley, a driven synchronous pulley, and a transmission belt, the driving synchronous pulley is sleeved on the driving shaft, the driven synchronous pulley is sleeved on the rotation shaft, and the transmission belt is sequentially sleeved on the driving synchronous pulley and the driven synchronous pulley.
4. The variable-radius slewing wheel leg structure according to claim 3, wherein the belt member further comprises two parallelogram supports, the two parallelogram supports are longitudinally arranged, each parallelogram support comprises a first support, a second support, a third support and a fourth support, one end of each first support is sleeved on the driving shaft at two ends of the driving synchronous pulley through a bearing, the other end of each first support is rotatably connected with the corresponding second support in the corresponding parallelogram support, the corresponding ends of the two first supports and the two second supports are connected through a first connecting piece, and one end of each second support, far away from the first support, far away from the corresponding end of the second support is sleeved on the rotating shaft at two ends of the driven synchronous pulley through a bearing;
one ends of the two third supports are respectively sleeved on the driving shafts at the two ends of the driving synchronous belt wheel through bearings, the other ends of the two third supports are respectively rotatably connected with the fourth supports in the corresponding parallelogram supports, the corresponding ends of the two third supports and the two fourth supports are connected through second connecting pieces, and one ends, far away from the ends connected with the third supports, of the two fourth supports are respectively sleeved on the rotating shafts at the two ends of the driven synchronous belt wheel through bearings;
the driving synchronous belt pulley is characterized in that a first rolling bearing is sleeved on the first connecting piece between the two parallelogram supports, a first tensioning wheel is sleeved on an outer ring of the first rolling bearing, a second rolling bearing is sleeved on the second connecting piece between the two parallelogram supports, a second tensioning wheel is sleeved on an outer ring of the second rolling bearing, and the driving synchronous belt pulley, the first tensioning wheel, the driven synchronous belt pulley and the second tensioning wheel are sequentially sleeved with a driving belt.
5. The variable radius slewing wheel leg structure of claim 2, further comprising a leg cap at an end of the leg bar remote from the axle housing, the leg cap being capable of abutting the housing when the first resilient member is reset to limit vertical movement of the housing.
6. The variable radius swivel wheel leg structure of claim 2, wherein a linear bearing is provided in the housing, and the housing is slidably connected to the leg bar through the linear bearing.
7. The variable-radius gyration wheel leg structure of claim 1 wherein the minimum distance between the axis of the motive shaft and the axis of the gyration wheel is R and the maximum distance between the axis of the motive shaft and the axis of the gyration wheel is H, then H/R is greater than or equal to 2.5.
8. The variable radius swivel leg arrangement of claim 1, wherein the output shaft of the power unit is coupled to the drive shaft via a coupling.
9. The variable radius swivel leg structure of claim 2, wherein the power member is a motor, the first elastic member is a spring, and the clutch is an electromagnetic clutch.
10. A biomimetic robot, comprising a body, wherein at least two variable radius swivel wheel leg structures according to any one of claims 1-9 are provided on the body, and the mounting plate is provided on the body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223264637.0U CN218777610U (en) | 2022-12-07 | 2022-12-07 | Variable-radius rotating wheel leg structure and bionic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202223264637.0U CN218777610U (en) | 2022-12-07 | 2022-12-07 | Variable-radius rotating wheel leg structure and bionic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218777610U true CN218777610U (en) | 2023-03-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202223264637.0U Active CN218777610U (en) | 2022-12-07 | 2022-12-07 | Variable-radius rotating wheel leg structure and bionic robot |
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| Country | Link |
|---|---|
| CN (1) | CN218777610U (en) |
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2022
- 2022-12-07 CN CN202223264637.0U patent/CN218777610U/en active Active
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