CN220391375U

CN220391375U - Wheel leg type kangaroo-like jumping robot

Info

Publication number: CN220391375U
Application number: CN202321896583.1U
Authority: CN
Inventors: 张振中; 王秉铨; 黄琼; 周睿
Original assignee: Shandong Jianzhu University
Current assignee: Shandong Jianzhu University
Priority date: 2023-07-19
Filing date: 2023-07-19
Publication date: 2024-01-26
Anticipated expiration: 2033-07-19

Abstract

The utility model provides a wheel leg type kangaroo-like jumping robot which comprises a plurality of leg modules, a tail module and an upper body module, wherein each leg module comprises a thigh assembly, a shank assembly and a foot assembly which are sequentially connected, and a rotating shaft is arranged at the lower end of each thigh and is rotatably connected with the shank assembly; the lower leg assembly comprises a lower leg and an energy storage mechanism, and the energy storage mechanism is provided with a tension spring and is connected with the lower leg; the lower ends of the lower leg and the energy storage mechanism are rotationally connected with the foot component; the foot component comprises a sole, the lower end of the sole is rotatably provided with toes, and the upper surface of the toes is rotatably provided with a rotating wheel. The inner side of the leg module is provided with a wheel transmission mechanism; the outer side of the leg module is provided with a turnover mechanism. The utility model has the beneficial effects that: the device has the function of switching at any time under two motion modes of wheeled motion and jumping motion. The advantages of high wheel type movement speed, low energy consumption and strong jump movement obstacle crossing capability are combined, the movement range of the robot is enlarged, and the terrain adaptability of the robot is improved.

Description

Wheel leg type kangaroo-like jumping robot

Technical Field

The utility model relates to the field of special robots, in particular to a wheel-leg type kangaroo-like jumping robot.

Background

The development of the special robot is rapid, and the special robot technology is penetrated into a plurality of fields such as earthquake relief, military reconnaissance, archaeological excavation and the like to gradually replace manual work. Special robotics have become an integral part of the society. The existing special robot has various moving modes such as wheeled movement, jumping movement, bipedal movement, crawling movement and the like according to different application fields.

The patent application 201911013057.4 provides a four-wheel-leg robot which can realize two movement modes, but does not realize better movement effect by changing the shape of the robot. When outdoor work needs jumping movement, the wheel type structure is directly used for contacting the ground, the wheel type structure is extremely easy to damage, and if the road surface is uneven, sliding can occur, so that the robot deviates from a movement route.

Disclosure of Invention

Aiming at the defects of the prior art, the utility model provides a wheel leg type kangaroo-like jumping robot which has the effects of wheel leg switching and continuous jumping and aims to solve the problem that the robot can not realize stable jumping movement while guaranteeing wheel type movement, and the wheel leg type kangaroo-like jumping robot comprises a plurality of leg modules, tail modules and upper body modules, wherein the leg modules comprise thigh assemblies, shank assemblies and foot assemblies which are connected in sequence;

the thigh assembly comprises a thigh, a slide block is sleeved on the thigh, a crank is arranged on the inner side of the slide block and connected with a thigh driving motor, and a rotating shaft is arranged at the lower end of the thigh and is in rotating connection with the shank assembly;

the lower leg assembly comprises a lower leg and an energy storage mechanism, the upper end of the energy storage mechanism is rotationally connected with the thigh, the energy storage mechanism is provided with an extension spring and is connected with the lower leg, and the upper end of the lower leg is rotationally connected with the lower end of the thigh; the lower ends of the lower leg and the energy storage mechanism are rotationally connected with the foot component;

the foot assembly comprises a sole, the sole is rotationally connected with the lower leg and the lower end of the energy storage mechanism, the lower end of the sole is rotationally provided with toes, and the upper surface of the toes is rotationally provided with a rotating wheel;

the inner side of the leg module is provided with a wheel transmission mechanism; the outside of shank module is provided with tilting mechanism.

Further, shank module upper end with upper body module rotates to be connected, and upper body module includes the frame, is provided with the revolving platform in the frame, thigh driving motor is fixed to be set up in the frame.

Further, shank module upper end with afterbody module fixed connection, afterbody module include tail and tail connecting rod, and the tail connecting rod is fixed to be set up in thigh upper end, and the tail connecting rod rotates with the tail to be connected.

Further, the energy storage mechanism is of a four-bar structure with the ends connected in sequence.

Further, the wheel transmission mechanism comprises a wheel driving motor, a first belt pulley, a second belt pulley and a duplex belt pulley, wherein the first belt pulley is arranged on the inner side of the wheel driving motor, the first belt pulley is sleeved with the duplex belt pulley to carry out belt transmission, the second belt pulley is provided with a wheel shaft to connect with a rotating wheel, and the second belt pulley is sleeved with the duplex belt pulley to carry out elastic belt transmission.

As a preferable scheme, the wheel driving motor is fixedly arranged at the inner side of the energy storage mechanism, the duplex belt wheel is rotatably arranged at the inner side of a rotating shaft connected with the lower leg and the sole, and the second belt wheel is arranged at the inner side of the rotating wheel.

Further, the turnover mechanism comprises a turnover driving motor, a first transmission mechanism and a second transmission mechanism, wherein the upper end of the first transmission mechanism is connected with the turnover driving motor, the lower end of the second transmission mechanism is rotatably connected with the toes, and the lower end of the first transmission mechanism is rotatably connected with the upper end of the second transmission mechanism.

As a preferable scheme, the overturning driving motor is arranged outside the energy storage mechanism, the lower end of the first transmission mechanism and the upper end of the second transmission mechanism are rotatably arranged outside a rotating shaft connected with the sole of the foot of the wheel transmission mechanism, and the lower end of the second transmission mechanism is rotatably arranged outside the toes.

As a preferable scheme, the runner sleeve is provided with a tire, and the lower surface of the toe is provided with a rubber gasket.

As a preferable scheme, the non-connection part of the rod piece of the leg part module and the tail part module is provided with a hollowed-out part.

The utility model has the beneficial effects that:

1. the utility model introduces the spring energy storage mechanism, so that the deformation direction of the spring and the direction of the force when the energy storage mechanism releases energy are mutually perpendicular, the robot has nonlinear jumping force and stable jumping gesture, the robot is well ensured not to jump in advance, and the higher energy conversion efficiency is maintained during jumping.

2. The utility model introduces the tail mechanism, and adjusts the gesture of the robot by swinging up and down, so as to keep balance. And the rubber gaskets are additionally arranged at the bottoms of the toes to reduce the landing impact.

3. The utility model has the function of switching at any time under two motion modes of wheel type motion and jumping motion. The advantages of high wheel type movement speed, low energy consumption and strong jump movement obstacle crossing capability are combined, the movement range of the robot is enlarged, and the terrain adaptability of the robot is improved. The method can be applied to scenes with complex rugged topography features such as military reconnaissance, agriculture, interplanetary exploration and the like.

4. According to the utility model, the connecting rod mechanism is introduced to lift the overturning driving motor to a position close to the knee joint, and the wheel driving motor is lifted to a position close to the knee joint through belt transmission, so that the inertia of legs is reduced. The quality of the robot is reduced through the hollowed-out design of the parts.

Drawings

In order that the utility model may be more readily understood, a more particular description of the utility model will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings, in which

Fig. 1 is a schematic structural view of the present utility model.

Fig. 2 is a schematic structural view of the leg module of the present utility model.

Fig. 3 is a schematic structural view of the tail module of the present utility model.

Fig. 4 is a schematic structural view of the upper body module of the present utility model.

Fig. 5 is a schematic structural view of the wheel driving mechanism of the present utility model.

Fig. 6 is a schematic structural view of the turnover mechanism of the present utility model.

Fig. 7 is a schematic view of the structure of the wheel type exercise state of the present utility model.

The reference numerals in the drawings are:

1. thigh; 2. thigh drive motor; 3. a tension spring; 4. a lower leg; 5. a wheel transmission mechanism; 5-1, a wheel driving motor; 5-2, a first pulley; 5-3, a duplex belt wheel; 5-4, an elastic belt; 5-5, a belt; 5-6, a second belt wheel; 5-7, wheel axle; 6. a toe; 7. a rubber gasket; 8. a crank; 9. a slide block; 10. an energy storage mechanism; 12. a turnover mechanism; 12-1, a turnover driving motor; 12-2, a first transmission mechanism; 12-3, a second transmission mechanism; 13. sole of foot; 14. a tire; 15. a rotating wheel; 16. tail part; 17. tail connecting rod; 18. a frame; 19. and (5) a rotary table.

Detailed Description

The utility model will be further described with reference to the drawings and examples for the purpose of illustrating the features of the utility model.

Examples:

referring to the figure, the embodiment of the utility model provides a wheel-leg type kangaroo-like jumping robot, which comprises a plurality of leg modules, a tail module and an upper body module, wherein each leg module comprises a thigh component, a shank component and a foot component, each thigh component comprises a thigh 1, a slide block 9 is sleeved on the thigh 1, a crank 8 is arranged on the inner side of the slide block 9 and is connected with a thigh driving motor 2, and a rotating shaft is arranged at the lower end of the thigh 1 and is rotatably connected with the shank component; the thigh driving motor 2 drives the sliding block 9 to slide up and down on the thigh 1, so as to adjust the movable posture of the thigh.

The lower leg assembly comprises a lower leg 4 and an energy storage mechanism 10, wherein the upper end of the energy storage mechanism 10 is rotationally connected with a thigh 1, the energy storage mechanism 10 is provided with an extension spring 3 and is connected with the lower leg 4, and the upper end of the lower leg 4 is rotationally connected with the lower end of the thigh 1; the lower ends of the lower leg 4 and the energy storage mechanism 10 are rotatably connected with the foot component; the thigh assembly moves to drive the energy storage mechanism 10 of the calf assembly, so that the energy storage mechanism 10 is longitudinally compressed, the extension spring 3 is stretched to the maximum length, and then the elastic potential energy of the extension spring 3 is converted into kinetic energy, so that jumping motion is realized.

The foot component comprises a sole 13, the sole 13 is rotatably connected with the lower ends of the lower legs 4 and the energy storage mechanism 10, the lower ends of the sole 13 are rotatably provided with toes 6, and the upper surfaces of the toes 6 are rotatably provided with rotating wheels 15. The foot assembly contacts the ground and moves with the lower leg assembly to support the lower leg assembly.

The inner side of the leg module is provided with a wheel transmission mechanism 5; the outside of the leg module is provided with a tilting mechanism 12. The turning mechanism 12 drives the toe 6 to turn inwards until the extreme limit is separated from the ground, so that the rotating wheel 15 is in contact with the ground. The wheel transmission mechanism 5 drives the rotating wheel 15 to realize the rapid movement of the wheel type motion state.

The leg part module upper end with upper body module rotates to be connected, and upper body module includes frame 18, is provided with revolving platform 19 on the frame 18, thigh driving motor 2 is fixed to be set up on frame 18. The turntable 19 can be provided with a sprinkler for agricultural production, can be provided with a camera for reconnaissance, and can even erect a weapon for military operations.

The leg part module upper end with afterbody module fixed connection, afterbody module include tail 16 and tail connecting rod 17, and tail connecting rod 17 is fixed to be set up in thigh 1 upper end, and tail connecting rod 17 rotates with tail 16 to be connected. According to the robot, when the robot jumps, the thigh 1 swings forwards and simultaneously drives the tail connecting rod 17, and the tail connecting rod 17 drives the tail 16 to swing, so that the overall balance of the robot in the jumping process is ensured.

The energy storage mechanism 10 is of a four-bar structure with the ends connected in sequence, the shape of the energy storage mechanism 10 is changed by rotating the connecting bars, and the spring 3 is pulled to finish energy storage.

The wheel transmission mechanism 5 comprises a wheel driving motor 5-1, a first belt wheel 5-2, a second belt wheel 5-6 and a double belt wheel 5-3, wherein the first belt wheel 5-2 is arranged on the inner side of the wheel driving motor 5-1, the first belt wheel 5-2 and the double belt wheel 5-3 are sleeved with a belt 5-5 for transmission, the second belt wheel 5-6 is provided with a wheel shaft 5-7 for connecting a rotating wheel 15, and the second belt wheel 5-6 and the double belt wheel 5-3 are sleeved with an elastic belt 5-4 for transmission. The wheel driving motor 5-1 drives the first belt wheel 5-2 to rotate, the first belt wheel 5-2 drives the belt 5-5 to move, the belt 5-5 drives the duplex belt wheel 5-3 to rotate, the duplex belt wheel 5-3 drives the elastic belt 5-4 to move, the elastic belt 5-4 drives the second belt wheel 5-6 to rotate, the second belt wheel 5-6 drives the wheel shaft 5-7 to rotate, and the wheel shaft 5-7 drives the rotating wheel 15 to rotate.

The wheel driving motor 5-1 is fixedly arranged at the inner side of the energy storage mechanism 10, the duplex belt wheel 5-3 is rotatably arranged at the inner side of a rotating shaft connected with the shank 4 and the sole 13, and the second belt wheel 5-6 is arranged at the inner side of the rotating wheel 15. The wheel driving motor is lifted to a position close to the knee joint through belt transmission, so that the inertia of the legs is reduced.

The turnover mechanism 12 comprises a turnover driving motor 12-1, a first transmission mechanism 12-2 and a second transmission mechanism 12-3, wherein the upper end of the first transmission mechanism 12-2 is connected with the turnover driving motor 12-1, the lower end of the second transmission mechanism 12-3 is rotatably connected with the toe 6, and the lower end of the first transmission mechanism 12-2 is rotatably connected with the upper end of the second transmission mechanism 12-3. The overturning driving motor 12-1 drives the first transmission mechanism 12-2 to swing, and the first transmission mechanism 12-2 drives the second transmission mechanism 12-3 to swing. The second transmission mechanism 12-3 drives the toe 6 to turn inwards to the limit position.

The overturning driving motor 12-1 is arranged outside the energy storage mechanism 10, the lower end of the first transmission mechanism 12-2 and the upper end of the second transmission mechanism 12-3 are rotatably arranged outside a rotating shaft connected with the sole 13 of the wheel transmission mechanism 5, and the lower end of the second transmission mechanism 12-3 is rotatably arranged outside the toe 6. The four-bar mechanism is introduced to lift the overturning driving motor to a position close to the knee joint, so that the inertia of the legs is reduced.

The wheel 15 is sleeved with a tyre 14. Friction is increased by the tire 14 to promote the movement capability of the wheel type movement state. The rubber gaskets 7 are arranged on the lower surfaces of the toes 6, so that friction and shock absorption performance are improved. The non-junction of shank module with the member of afterbody module sets up the fretwork, reduces the quality of robot through the fretwork design of part, promotes robot motion performance.

The specific movement process of the utility model is as follows:

1. jumping movement

1 landing stage:

(1) compression stage:

the process is completed by the thigh 1, the thigh driving motor 2, the extension spring 3, the shank 4, the crank 8, the slide block 9, the energy storage mechanism 10, the tail 16 and the tail connecting rod 17.

The specific transmission process is as follows: the thigh driving motor 2 drives the crank 8 to rotate, the crank 8 drives the slide block 9 to move downwards along the thigh 1, the slide block 9 drives the thigh 1 to swing forwards, the thigh 1 presses the shank 4 downwards, the included angle between the thigh 1 and the shank 4 is reduced, the energy storage mechanism 10 is longitudinally compressed, and the extension spring 3 is stretched to the maximum length. While the thigh 1 swings forwards, the tail connecting rod 17 is pulled, and the tail connecting rod 17 drives the tail 16 to swing downwards.

(2) A take-off stage:

the process is completed through the work of the thigh 1, the thigh driving motor 2, the extension spring 3, the shank 4, the crank 8 and the energy storage mechanism 10.

The specific transmission process is as follows: the tension spring 3 restores the original long traction energy storage mechanism 10 to longitudinally extend, the included angle between the thigh 1 and the shank 4 is increased, the thigh 1 swings backwards, and the whole upper body is pushed to move obliquely upwards. The thigh 1 swings backwards and simultaneously pulls the tail connecting rod 17, and the tail connecting rod 17 drives the tail 16 to swing upwards.

2 vacation phase:

the process is completed by thigh 1, thigh driving motor 2, extension spring 3, shank 4, crank 8, slider 9, tail 16, tail link 17.

The specific transmission process is as follows: the thigh driving motor 2 reversely drives the crank 8 to rotate, the crank 8 drives the sliding block 9 to move downwards along the thigh 1, the sliding block 9 drives the thigh 1 to swing backwards to the limit position, the thigh 1 drives the lower structure to swing backwards integrally, meanwhile, the thigh 1 drives the tail connecting rod 17, and the tail connecting rod 17 drives the tail 16 to swing upwards continuously to the limit position. Then the thigh driving motor 2 rotates positively to drive the crank 8 to rotate, the crank 8 drives the slide block 9 to move downwards along the thigh 1, the slide block 9 drives the thigh 1 to swing forwards to the initial position of the compression stage, and the thigh 1 drives the lower structure to swing forwards integrally. While the thigh 1 swings forwards, the tail connecting rod 17 is pulled, and the tail connecting rod 17 drives the tail 16 to swing downwards.

2. Wheeled sport

1 overturning movement:

the process is completed by turning over the drive motor 12-1, the first transmission 12-2 and the second transmission 12-3 through the toe 6.

The specific transmission process is as follows: the overturning driving motor 12-1 drives the first transmission mechanism 12-2 to swing, and the first transmission mechanism 12-2 drives the second transmission mechanism 12-3 to swing. The second transmission mechanism 12-3 drives the toe 6 to turn inwards to the limit position.

2, driving the wheels:

the process is completed through the work of the wheel driving motor 5-1, the first belt wheel 5-2, the duplex belt wheel 5-3, the elastic belt 5-4, the belt 5-5, the second belt wheel 5-6, the wheel shaft 5-7, the tire 14 and the rotating wheel 15.

The specific transmission process is as follows: the wheel driving motor 5-1 drives the first belt wheel 5-2 to rotate, the first belt wheel 5-2 drives the belt 5-5 to move, the belt 5-5 drives the duplex belt wheel 5-3 to rotate, the duplex belt wheel 5-3 drives the elastic belt 5-4 to move, the elastic belt 5-4 drives the second belt wheel 5-6 to rotate, the second belt wheel 5-6 drives the wheel shaft 5-7 to rotate, the wheel shaft 5-7 drives the wheel 15 to rotate, and the wheel 15 drives the tire 14 to rotate.

The above examples and drawings are only for illustrating the technical aspects of the present utility model, but not for limiting the same, and it should be understood by those skilled in the art that the present utility model is described in detail with reference to the preferred embodiments, and that the changes, modifications, additions or substitutions made by those skilled in the art without departing from the spirit of the present utility model and the scope of the claims of the present utility model. Other related art structures not disclosed in detail in the present utility model are prior art in the field.

Claims

1. A wheel leg type kangaroo-like jumping robot comprises a plurality of leg modules, a tail module and an upper body module, wherein the leg modules comprise thigh assemblies, shank assemblies and foot assemblies which are sequentially connected,

it is characterized in that the method comprises the steps of,

the thigh assembly comprises a thigh (1), a sliding block (9) is sleeved on the thigh (1), a crank (8) is arranged on the inner side of the sliding block (9) and connected with a thigh driving motor (2), and a rotating shaft is arranged at the lower end of the thigh (1) and is connected with the shank assembly in a rotating way;

the lower leg assembly comprises a lower leg (4) and an energy storage mechanism (10), wherein the upper end of the energy storage mechanism (10) is rotationally connected with the thigh (1), the energy storage mechanism (10) is provided with an extension spring (3) and is connected with the lower leg (4), and the upper end of the lower leg (4) is rotationally connected with the lower end of the thigh (1); the lower ends of the lower leg (4) and the energy storage mechanism (10) are rotationally connected with the foot component;

the foot assembly comprises a sole (13), the sole (13) is rotationally connected with the lower ends of the lower legs (4) and the energy storage mechanism (10), the lower ends of the sole (13) are rotationally provided with toes (6), and the upper surfaces of the toes (6) are rotationally provided with rotating wheels (15);

a wheel transmission mechanism (5) is arranged on the inner side of the leg module; the outer side of the leg module is provided with a turnover mechanism (12).

2. The wheel-leg type kangaroo-like jumping robot according to claim 1, wherein the upper end of the leg module is rotatably connected with the upper body module, the upper body module comprises a frame (18), a turntable (19) is arranged on the frame (18), and the thigh driving motor (2) is fixedly arranged on the frame (18).

3. The wheel-leg type kangaroo-like jumping robot according to claim 2, wherein the upper end of the leg module is fixedly connected with the tail module, the tail module comprises a tail (16) and a tail connecting rod (17), the tail connecting rod (17) is fixedly arranged at the upper end of the thigh (1), and the tail connecting rod (17) is rotatably connected with the tail (16).

4. The wheel-leg kangaroo-like jumping robot according to claim 1, wherein the energy storage mechanism (10) is a four-bar structure connected end to end in sequence.

5. The wheel-leg type kangaroo jumping robot according to claim 1, wherein the wheel transmission mechanism (5) comprises a wheel driving motor (5-1), a first belt wheel (5-2), a second belt wheel (5-6) and a duplex belt wheel (5-3), the first belt wheel (5-2) is arranged on the inner side of the wheel driving motor (5-1), the first belt wheel (5-2) and the duplex belt wheel (5-3) are sleeved with a belt (5-5) for transmission, the second belt wheel (5-6) is provided with a wheel shaft (5-7) for connecting a rotating wheel (15), and the second belt wheel (5-6) and the duplex belt wheel (5-3) are sleeved with an elastic belt (5-4) for transmission.

6. The wheel-leg type kangaroo jumping robot according to claim 5, wherein the wheel driving motor (5-1) is fixedly arranged at the inner side of the energy storage mechanism (10), the duplex belt wheel (5-3) is rotatably arranged at the inner side of a rotating shaft connecting the lower leg (4) and the sole (13), and the second belt wheel (5-6) is arranged at the inner side of the rotating wheel (15).

7. The wheel-leg type kangaroo jumping robot according to claim 1, wherein the turnover mechanism (12) comprises a turnover driving motor (12-1), a first transmission mechanism (12-2) and a second transmission mechanism (12-3), the upper end of the first transmission mechanism (12-2) is connected with the turnover driving motor (12-1), the lower end of the second transmission mechanism (12-3) is rotatably connected with a toe (6), and the lower end of the first transmission mechanism (12-2) is rotatably connected with the upper end of the second transmission mechanism (12-3).

8. The wheel-leg type kangaroo jumping robot according to claim 7, wherein the overturning driving motor (12-1) is arranged outside the energy storage mechanism (10), the lower end of the first transmission mechanism (12-2) and the upper end of the second transmission mechanism (12-3) are rotatably arranged outside a rotating shaft connected with the sole (13) of the wheel transmission mechanism (5), and the lower end of the second transmission mechanism (12-3) is rotatably arranged outside the toe (6).

9. The wheel-leg kangaroo-like jumping robot according to claim 1, characterized in that the wheel (15) is sleeved with a tire (14), and the lower surface of the toe (6) is provided with a rubber gasket (7).

10. The wheel-leg kangaroo-like jump robot of claim 1, wherein the leg module and the tail module are hollowed out at a non-connection point of the rod.