WO2022033189A1 - 机械腿和轮式移动设备 - Google Patents

机械腿和轮式移动设备 Download PDF

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Publication number
WO2022033189A1
WO2022033189A1 PCT/CN2021/101882 CN2021101882W WO2022033189A1 WO 2022033189 A1 WO2022033189 A1 WO 2022033189A1 CN 2021101882 W CN2021101882 W CN 2021101882W WO 2022033189 A1 WO2022033189 A1 WO 2022033189A1
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WO
WIPO (PCT)
Prior art keywords
telescopic
leg
wheel
auxiliary
mechanical
Prior art date
Application number
PCT/CN2021/101882
Other languages
English (en)
French (fr)
Inventor
来杰
张东胜
王帅
陈科
杨思成
张正友
Original Assignee
腾讯科技（深圳）有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 腾讯科技（深圳）有限公司 filed Critical 腾讯科技（深圳）有限公司
Priority to EP21855244.6A priority Critical patent/EP4119427A4/en
Publication of WO2022033189A1 publication Critical patent/WO2022033189A1/zh
Priority to US17/968,229 priority patent/US11993123B2/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
    • B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
    • B60G17/025—Spring characteristics, e.g. mechanical springs and mechanical adjusting means the mechanical spring being a torsion spring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G21/00—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces
    • B60G21/005—Interconnection systems for two or more resiliently-suspended wheels, e.g. for stabilising a vehicle body with respect to acceleration, deceleration or centrifugal forces transversally
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/12—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with variable number of ground engaging wheels, e.g. with some wheels arranged higher than others, or with retractable wheels

Definitions

  • the present application relates to the technical field of intelligent wheeled mobile devices, and in particular, to a mechanical leg and a wheeled mobile device.
  • a wheeled mobile device is a mechanical device that can perform work tasks, such as manufacturing, construction, or some hazardous work.
  • the mechanical legs of wheeled mobile equipment have advantages in the movement of the wheels on flat ground, but the ability to cross obstacles is weak.
  • the embodiment of the present application provides a mechanical leg and a wheeled mobile device, which can improve the traffic capacity of the mechanical leg:
  • the embodiment of the present application provides a mechanical leg, the mechanical leg includes a frame, a telescopic part, a wheel, a telescopic driving part, a walking driving part, an auxiliary leg and an auxiliary wheel;
  • the telescopic driving member is located at the side of the frame, the telescopic driving member is connected to the telescopic driving member, the wheel is connected to the telescopic driving member, and the wheel is also connected to the traveling driving member.
  • the first end of the auxiliary leg is connected to the auxiliary wheel, and the second end of the auxiliary leg is located on the frame;
  • the telescopic element is stretched and retracted under the driving of the telescopic driving element, so as to drive the wheel to jump, the wheel moves under the driving of the traveling driving element, and when the auxiliary wheel is in contact with the ground, the mechanical leg Move under the rolling of the wheel and the auxiliary wheel.
  • the embodiment of the present application further provides a wheeled mobile device, where the wheeled mobile device includes the above-mentioned mechanical leg provided by the embodiment of the present application.
  • the walking driving member of the mechanical leg can drive the wheels to move on the ground, and when encountering obstacles, the telescopic driving member is connected to the telescopic member.
  • the telescopic driver can quickly apply force to the telescopic element to deform the telescopic element, and then cooperate with the force of the walking driving element on the wheel, the mechanical leg can jump over obstacles. It can be seen that the mechanical leg can move quickly on a flat ground, and when encountering an obstacle, it can also jump through the obstacle, thereby improving the passing ability of the mechanical leg.
  • FIG. 1 is a schematic structural diagram of a mechanical leg provided by an embodiment of the present application.
  • FIG. 2 is a schematic structural diagram of a mechanical leg provided by an embodiment of the present application.
  • FIG. 3 is a schematic structural diagram of a mechanical leg in a first three-wheel mode provided by an embodiment of the present application
  • FIG. 4 is a schematic structural diagram of a mechanical leg in a second three-wheel mode provided by an embodiment of the present application.
  • FIG. 5 is a schematic structural diagram of an auxiliary leg of a mechanical leg being retracted to the bottom of the frame according to an embodiment of the present application;
  • FIG. 6 is a schematic partial structure diagram of a mechanical leg provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural diagram of a telescopic member of a mechanical leg provided by an embodiment of the present application.
  • FIG. 8 is a schematic structural diagram of a mechanical leg provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a mechanical leg provided by an embodiment of the present application.
  • Telescopic piece 21. Thigh rod; 22. Calf rod; 23. First telescopic piece; 24. Second telescopic piece;
  • the embodiment of the present application provides a mechanical leg, which can be applied in a wheeled mobile device, and can be a leg of a wheeled mobile device.
  • the mechanical leg has a jumping mode to cross obstacles, and the mechanical leg can also Toggle between two-wheel mode and three-wheel mode.
  • Figure 1 is a schematic diagram of the structure of the mechanical leg.
  • the mechanical leg includes a frame 1, a telescopic part 2, a wheel 3, a telescopic driving part 4 and a walking driving part 5; the telescopic driving part 4 is located on the side of the frame 1,
  • the telescopic element 2 is connected to the telescopic driving element 4,
  • the wheel 3 is connected to the telescopic element 2, and the wheel 3 is also connected to the traveling driving element 5;
  • the movement is driven by the travel drive 5 , for example, the wheels 3 can be moved on the ground under the drive of the travel drive 5 .
  • the rack 1 may be box-shaped or frame-shaped, and the top of the rack 1 may have a platform shape, so as to facilitate the installation of the torso part of the wheeled mobile device to which the mechanical leg belongs.
  • the frame 1 of the mechanical leg acts as the torso or part of the torso of the wheeled mobile device. Wherein, this embodiment does not limit the structure of the frame 1 of the mechanical leg.
  • the mechanical leg includes a telescopic part 2 , which is a part that can expand and contract, so that the height of the mechanical leg can be adjusted, so as to save energy and jump upward to jump over obstacles.
  • the telescopic element 2 may be a telescopic rod capable of telescopic, and may also be a link mechanism capable of telescopic. This embodiment does not limit this, and it can realize that the height of the mechanical leg can be adjusted quickly, and it is sufficient to jump upward and leap over obstacles by accumulating force.
  • the telescopic element 2 may be used as an example of a link structure, and the structure of the telescopic element 2 will be introduced below.
  • the telescopic element 2 is switched from the compressed state to the extended state, that is, the process of switching the mechanical leg from the squatting state to the standing state.
  • the mechanical leg is in the crouching state, and the telescopic element 2
  • the mechanical leg is in a standing state.
  • the telescopic element 2 is rapidly switched from the compressed state to the standing state, the mechanical leg is rapidly switched from the squatting state to the standing state to realize upward jumping.
  • the mechanical leg further includes a telescopic driving member 4 configured to drive the telescopic member 2 to extend and retract.
  • the telescopic driving member 4 is connected to the telescopic member 2 and configured to drive the telescopic member 2 to expand and contract.
  • the telescopic drive member 4 may be a motor, the output shaft of which is connected to the telescopic member 2 .
  • One end of the telescopic element 2 away from the telescopic driving element 4 is connected to the wheel 3 of the mechanical leg.
  • one end of the telescopic element 2 is connected with the output shaft of the telescopic driving element 4 , and the other end is connected with the wheel 3 .
  • the telescopic driving member 4 is configured to drive the telescopic movement of the telescopic member 2, and the movement of the wheel 3 also needs to be driven by the walking driving member 5.
  • the mechanical leg further includes the walking driving member 5, and the walking driving member The component 5 is connected with the wheel 3 , for example, the traveling driving component 5 is also a motor, and its output shaft is connected with the drive shaft of the wheel 3 .
  • the walking driving member 5 of the mechanical leg can drive the wheels 3 to move on the ground.
  • the telescopic driving member 4 can quickly exert a force on the telescopic member 2, so that the telescopic member 2 can quickly extend Long, the mechanical leg jumps upwards quickly, and in conjunction with the force of the walking driving member 5 on the wheel 3, the mechanical leg can jump over obstacles. It can be seen that the mechanical leg can move quickly on a flat ground, and when encountering an obstacle, it can also jump through the obstacle, thereby improving the passing ability of the mechanical leg.
  • the mechanical leg may include two legs, each leg corresponds to one wheel 3 , each wheel 3 may correspond to one telescopic piece 2 , and each wheel 3 may also correspond to two telescopic pieces 2 .
  • one telescopic element 2 may correspond to one telescopic driving element 4 .
  • two telescopic driving elements 4 corresponding to the same wheel 3 may also correspond to one telescopic driving element.
  • each wheel 3 corresponds to one telescopic piece 2 , two telescopic pieces 2 or more telescopic pieces 2 , and the technician can flexibly set it according to the actual situation.
  • each wheel 3 corresponds to two telescopic members 2 as an example.
  • each telescopic element 2 corresponds to one telescopic driving element 4 or two telescopic driving elements 4, and the technician can flexibly set it according to the actual situation.
  • each telescopic element 2 corresponds to one telescopic driving element 4 as an example.
  • each wheel 3 corresponds to two telescopic elements 2 and two telescopic driving elements 4
  • the telescopic elements 2 and the telescopic driving elements 4 are in one-to-one correspondence; in some embodiments, see FIG. 4 , the side of the frame 1 It includes a raised portion 401 and a non-raised portion 402.
  • a telescopic drive member 4 is respectively provided on the raised portion 401 and the non-raised portion 402, so that the two telescopic drive members 4 corresponding to each wheel 3 are staggered and arranged on the machine.
  • the relative height difference between the protruding part 401 and the non-protruding part 402 makes it impossible for the two thigh rods 21 on the same side to collide or generate friction when the mechanical leg is walking. There is also no collision or friction between the lower leg bars 22 .
  • a portion of the thigh rod 21 near the second end is provided with a snap groove, and when the thigh rod 21 is parallel to the ground, the portion of the calf rod 22 near the first end is in the snap groove and the thigh rod 21 In this way, when the mechanical leg is in a standing state, the thigh rod 21 can apply gravity to the calf rod 22 through the clamping point in the clip slot, so that the calf rod 22 can share the force, thereby making the telescopic drive member 4 in an inactive state. Idle state of work.
  • each wheel 3 corresponds to two telescopic parts 2, which can improve the connection strength between the frame 1 and the wheel 3 and improve the stability of the mechanical leg.
  • the telescopic member 2 may be a link mechanism, and correspondingly, as shown in FIG. 1 , it may include a thigh rod 21 and a calf rod 22 , wherein the first end of the thigh rod 21 is connected to the output shaft of the telescopic driving member 4 In the rotational connection, the second end of the thigh rod 21 is rotatably connected with the first end of the calf rod 22 , and the second end of the calf rod 22 is mounted on the drive shaft of the wheel 3 through a bearing.
  • the mechanical leg may include two legs, a left leg and a right leg, and each leg may include two telescopic parts 2; Connected, the connection can be the leg joint, the end of the thigh rod 21 away from the leg joint can be called the first end, the end that constitutes the leg joint can be called the second end, and the end of the calf rod 22 that constitutes the leg joint can be called the first end.
  • One end, the end away from the leg joint may be referred to as the second end.
  • the first end of the upper leg bar 21 is connected to the output shaft of the telescopic drive member 4
  • the second end of the lower leg bar 22 is connected to the drive shaft of the wheel 3 through a bearing.
  • the first end of the thigh rod 21 is connected to the output shaft of the telescopic driving member 4, that is, the first end of the thigh rod 21 is fixedly connected to the output shaft of the telescopic driving member 4, so that the output shaft of the telescopic driving member 4 rotates , the thigh rod 21 can be driven to move.
  • the thigh rod 21 and the calf rod 22 are connected to form a leg joint, for example, the second end of the thigh rod 21 and the first end of the calf rod 22 are hinged, for example, the second end of the thigh rod 21 and the first end of the calf rod 22 are rotated by rotating
  • the pair are connected so that relative rotation can occur between the thigh rod 21 and the calf rod 22 , so that the telescopic element 2 including the thigh rod 21 and the calf rod 22 can perform telescopic motion.
  • leg joints of the telescopic element 2 when the leg joints of the telescopic element 2 are in a bent state, it can be called a compressed state, and when the leg joints of the telescopic element 2 are in a straight state, it can be called an extended state, which can also be called an extended state, and can also be called an extended state. Expanded state.
  • a state in which the leg joints of the telescopic element 2 are bent to the limit can be referred to as a fully compressed state
  • a state in which the leg joints of the telescopic element 2 are extended to the limit can be referred to as a fully extended state.
  • the fully compressed state is not limited to when the leg joint is bent to the limit, and the fully compressed state may also be achieved when the leg joint is bent to other states.
  • the fully extended state is not limited to when the leg joint is extended to the limit, and the fully extended state may also occur when the leg joint is extended to other states.
  • the leg joints of the telescopic element 2 are in a straight state, the telescopic element 2 is in an extended state, and the mechanical leg is in a standing state.
  • the leg joints of the telescopic element 2 are in a bent state, the telescopic element 2 is in a compressed state, and the mechanical leg in a squat state.
  • the second end of the calf rod 22 away from the leg joint is disposed on the drive shaft of the wheel 3 , for example, the second end of the calf rod 22 is mounted on the drive shaft of the wheel 3 through a bearing.
  • the wheel 3 can rotate relative to the lower leg bar 22 .
  • the drive shaft of the wheel 3 is connected to the travel drive member 5.
  • the output shaft of the travel drive member 5 and the drive shaft of the wheel 3 can be keyed or fixedly connected, or the output shaft of the travel drive member 5 can be connected to the drive shaft of the wheel 3.
  • the shaft is integrally formed.
  • the output shaft of the traveling drive member 5 is connected to the drive shaft of the wheel 3 through a timing belt, and when the output shaft of the traveling drive member 5 rotates, the drive shaft of the wheel 3 can be driven to rotate by the timing belt, and then The drive wheel 3 moves.
  • This embodiment does not limit the fixed connection method between the drive shaft of the wheel 3 and the output shaft of the traveling drive member 5, and the drive shaft of the wheel 3 can be driven to rotate when the traveling drive member 5 rotates, and the wheel 3 can be driven to move.
  • each wheel 3 may correspond to one traveling driving member 5 , or two wheels 3 may correspond to one traveling driving member 5 , or the like.
  • the robotic leg is always moving in a straight line, the same travel drive 5 can be used for both wheels 3 .
  • each wheel 3 can use a traveling drive member 5, so that the driving of the two wheels 3 is relatively independent, and the rotational speed of the two can be different, which is convenient for The turning of the mechanical leg.
  • This embodiment does not limit whether each wheel 3 corresponds to one traveling driving member 5 or two traveling driving members 5 , and each wheel 3 corresponds to one traveling driving member 5 as an example.
  • the telescopic part 2 between the frame 1 and the wheel 3 can be in an extended state or in a retracted state, and the wheel 3 is driven by the traveling driving part 5 sports.
  • the telescopic driving element 4 controls the telescopic element 2 to quickly extend; if the telescopic element 2 is in an extended state, the telescopic driving element 4 first controls the telescopic element 2 Shrink, and then control the telescopic element 2 to expand rapidly. In this way, during the rapid extension of the telescopic element 2, the mechanical leg can bounce upwards and cross obstacles.
  • the mechanical leg further includes an auxiliary leg 6 and an auxiliary wheel 7 , the auxiliary wheel 7 is connected to the first end of the auxiliary leg 6 , and the second end of the auxiliary leg 6 is located on the frame 1 ;
  • the telescopic element 2 is compressed until the auxiliary wheel 7 is in contact with the ground, the mechanical leg moves under the rolling of the wheel 3 and the auxiliary wheel 7 .
  • the auxiliary leg 6 may also be called the counterweight leg of the mechanical leg, and can be used to adjust the center of gravity of the mechanical leg to maintain the stability of the mechanical leg.
  • the telescopic element 2 can be extended until the auxiliary wheel 7 leaves the ground, and the telescopic element 2 can also be compressed until the auxiliary wheel 7 is in contact with the ground.
  • the auxiliary leg 6 can be located between the two telescopic parts 2, for example, the two telescopic parts 2 are located on the left and right sides of the frame 1, the auxiliary leg 6 can be located on the front side of the frame 1 or On the rear side, the two wheels 3 and the auxiliary wheel 7 are not collinear. In this way, when the auxiliary wheel 7 is located on the ground, the two wheels and the auxiliary wheel can form a triangle, and the triangle has high stability, thereby improving the stability of the mechanical leg.
  • the mechanical leg can be switched between two-wheel mode and three-wheel mode. For example, when the mechanical leg is required to move quickly, it can be switched to the two-wheel mode, and when the mechanical leg is required to bear weight, it can be switched to the three-wheel mode. Therefore, the application flexibility of the mechanical leg can be improved.
  • the auxiliary wheel 7 can not only achieve contact with the ground through the compression of the telescopic member 2, but also can achieve contact with the ground through the rotation of the auxiliary leg 6 relative to the frame 1.
  • the realization method will be described below. It will be introduced when rack 1 rotates.
  • the number of wheels 3 can be two, which can be called left wheels and right wheels respectively, and can be located on two opposite sides of the frame 1, and the auxiliary wheels 7 can be located on the side of the frame 1 and Located between the two wheels 3 , for example, auxiliary wheels 7 are located on the front side or the rear side of the frame 1 .
  • the mechanical legs are in the first three-wheel mode, as shown in FIG.
  • the mechanical leg is in the second three-wheel mode.
  • the leg joint of the telescopic element 2 is the rotational connection between the thigh rod 21 and the lower leg rod 22 of the telescopic element 2 .
  • the telescopic elements 2 can be in a compressed state to assist the auxiliary wheel 7 connected to the leg 6 can be in contact with the ground, and this state can be called the first three-wheel mode of the mechanical leg.
  • the leg joints of the two telescopic elements 2 are bent outward, for example, the leg joints of the two telescopic elements 2 are bent in a direction away from each other.
  • the telescopic elements 2 can also be in a compressed state, and the auxiliary legs 6 are connected
  • the auxiliary wheel 7 can also be in contact with the ground, and this state can be called the second three-wheel mode of the mechanical leg.
  • the second and third wheel modes can also be the crawling mode of the mechanical leg, and the stability in the second and third wheel modes is stronger, and can be applied in a work environment with a large load.
  • the mechanical leg further includes an auxiliary driving member 8 , the auxiliary driving member 8 is located at the side of the frame 1 , and the second end of the auxiliary leg 6 is connected with the output shaft of the auxiliary driving member 8 .
  • the auxiliary legs 6 can be extended to the side of the frame 1 and retracted to the bottom of the frame 1 under the drive of the auxiliary drive member 8 .
  • the auxiliary driving member 8 is configured to drive the auxiliary leg 6 to move relative to the frame 1 .
  • the auxiliary driving member 8 may be located on the front side of the frame 1, or the auxiliary driving member 8 may also be positioned at the rear side of the frame 1, or the like.
  • the output shaft of the auxiliary driving member 8 is connected with the second end of the auxiliary leg 6 , and the first end of the auxiliary leg 6 is rotatably connected with the auxiliary wheel 7 .
  • the output shaft of the auxiliary driving member 8 is connected with the second end of the auxiliary leg 6.
  • the output shaft of the auxiliary driving member 8 is fixedly connected with the second end of the auxiliary leg 6, so that the output shaft of the auxiliary driving member 8 can drive the auxiliary driving member when rotating.
  • the position of the legs 6 relative to the frame 1 can be adjusted, for example, the legs 6 can be extended out of the frame 1 or retracted below the frame 1 .
  • the auxiliary driving member 8 can drive the auxiliary leg 6 to rotate, so that the auxiliary leg 6 is retracted to the bottom of the frame 1, wherein the auxiliary leg 6 is retracted to the lower part of the frame 1.
  • a schematic diagram can be referred to as shown in FIG. 5 .
  • the auxiliary driving member 8 can drive the auxiliary leg 6 to rotate relative to the frame 1 to protrude from the frame 1, and then cooperate with the telescopic member 2
  • the compression can make the auxiliary wheel 7 contact the ground, as shown in Figure 3 and Figure 4.
  • the auxiliary wheel 7 can be in contact with the ground under the compression of the telescopic element 2 and the rotation of the auxiliary leg 6 relative to the frame 1 .
  • the contact with the ground can also be achieved only by the rotation of the auxiliary leg 6 relative to the frame 1 .
  • this embodiment does not limit the manner in which the auxiliary wheel 7 is in contact with the ground, and can be flexibly set according to actual needs.
  • the auxiliary driving member 8 can also drive the auxiliary leg 6 to adjust the position relative to the frame 1 , so as to adjust the center of gravity of the mechanical leg and maintain the mechanical leg in a stable state.
  • the position of the center of gravity may change, and the center of gravity of the mechanical leg can be adjusted by adjusting the position of the auxiliary leg 6 relative to the frame 1 .
  • the frame 1 of the mechanical leg also has components such as a torso and a mechanical arm, then during the movement of the mechanical leg, as the mechanical arm swings back and forth, the wheeled mobile device to which the mechanical leg belongs will also appear at the center of gravity.
  • the position of the auxiliary leg 6 relative to the frame 1 can also be adjusted by the auxiliary drive member 8 to dynamically adjust the center of gravity of the wheeled mobile device to maintain the stability of the wheeled mobile device.
  • the mechanical leg when the mechanical leg jumps upward, in order to store energy and provide jump buffering, correspondingly, as shown in FIG. 6 and referring to FIG. 7 , the mechanical leg further includes an elastic member 9 , which is connected to the elastic member 9 . Between the calf rod 22 of the first telescopic element 23 of the two telescopic elements 2 and the calf rod 22 of the second telescopic element 24 of the two telescopic elements 2 .
  • one wheel 3 may correspond to two telescopic elements 2 , in order to distinguish the two telescopic elements 2 , as shown in FIG. 7 , they may be referred to as the first telescopic element 23 and the second telescopic element 24 respectively.
  • the elastic member 9 may be a torsion spring, as shown in FIG. 6 , the torsion spring is sleeved on the drive shaft of the wheel 3 , and the first torsion arm 91 of the torsion spring is connected to the calf rod 22 of the first telescopic member 23 , the second torsion arm 92 of the torsion spring is connected with the lower leg rod 22 of the second telescopic member 24 .
  • the torsion spring includes a helical cylinder, a first torsion arm 91 and a second torsion arm 92
  • the helical cylinder can be sleeved on the drive shaft of the wheel 3
  • the first torsion arm 91 and the lower leg rod of the first telescopic member 23 22 is connected
  • the second torsion arm 92 is connected with the lower leg bar 22 of the second telescopic member 24 .
  • the first torsion arm 91 may abut against the lower leg bar 22 of the first telescopic element 23
  • the second torsion arm 92 may abut against the lower leg bar 22 of the second telescopic element 24 .
  • the calf rod 22 of the first telescopic member 23 has a long through hole for the first torsion arm 91 to pass through
  • the calf rod 22 of the second telescopic member 24 has a second torsion hole on the calf rod 22
  • the elongated through hole through which the arm 92 passes, the first torsion arm 91 and the second torsion arm 92 can be respectively located in the opposite elongated through hole, and the calf rod 22 of the first telescopic member 23 and the second telescopic
  • the torsion spring can accelerate the rapid expansion of the first telescopic member 23 and the second telescopic member 24 from the fully compressed state to the fully extended state.
  • the state is switched, so that the mechanical leg is rapidly switched from the squatting state to the standing state, the mechanical leg bounces upward, and the elastic member 9 can store energy for the upward jumping of the mechanical leg.
  • the elastic member 9 can also be a spring, one end of the spring is connected to the lower leg rod 22 of the first telescopic member 23 , and the other end of the spring is connected to the lower leg rod 22 of the second telescopic member 24 .
  • the spring will expand toward the first telescopic element in the process of rebounding from the tensioned state.
  • the tension member 23 exerts a pulling force, and a pulling force is exerted on the second telescopic member 24 .
  • the connection between the calf rod 22 of the first telescopic member 23 and the calf rod 22 of the second telescopic member 24 The spring can intensify the rapid switching of the first telescopic member 23 and the second telescopic member 24 from the fully compressed state to the fully extended state, the mechanical leg bounces upward, and the elastic member 9 can store energy for the upward jumping of the mechanical leg.
  • the structural form of the elastic member 9 is not limited in this embodiment, which can accelerate the rapid expansion of the telescopic member 2 and urge the mechanical leg to jump upward.
  • the included angle between the thigh rods 21 of the two is relatively small.
  • the connection When the angle between the thigh rod 21 of the first telescopic element 23 and the thigh rod 21 of the second telescopic element 24 on the same wheel 3 is relatively small, the torsion spring may be in a natural state.
  • the elastic member 9 will not exert any force on the calf rod 22 of the first telescopic member 23 and the calf rod 22 of the second telescopic member 24, so the telescopic driving member 4 configured to drive the first telescopic member 23 and the telescopic driving member 4 configured to drive the second telescopic member 24
  • the telescopic driving member 4 of the telescopic member 24 may not be in a working state, that is, in a non-driving state.
  • the first telescopic member 23 and the second telescopic member 24 connected to the same wheel 3 when the included angle between the thigh rods 21 of the two is relatively large, for example, as shown in FIG. 9, they are connected to the same wheel
  • the torsion spring is likely to be in a stretched state.
  • the first torsion arm 91 of the elastic member 9 will exert a pulling force on the calf rod 22 of the first telescopic member 23, and the second torsion arm 92 of the elastic member 9 will exert a pulling force on the calf rod 22 of the second telescopic member 24.
  • the telescopic driving element 4 configured to drive the first telescopic element 23 and the telescopic driving element 4 configured to drive the second telescopic element 24 are in the working state, that is , in the driving state to balance the force exerted by the elastic element 9 on the first telescopic element 23 and the second telescopic element 24 .
  • the mechanical leg includes a frame 1, a plurality of telescopic parts 2, a plurality of wheels 3, an auxiliary leg 6 and an auxiliary wheel 7, wherein each wheel 3 is connected with two telescopic parts 2, and the auxiliary legs 6 and 7
  • the auxiliary wheels 7 are in one-to-one correspondence.
  • the mechanical leg may have two legs, the number of wheels 3 is two, the number of telescopic parts 2 is four, and the number of auxiliary legs 6 and auxiliary wheels 7 is one.
  • the two telescopic parts 2 are connected between the frame 1 and the wheel 3 and can be used as the left leg of the mechanical leg, and the other two telescopic parts 2 are connected between the frame 1 and the wheel 3 and can be used as the right leg of the mechanical leg.
  • the mechanical leg further includes a telescopic drive member 4 configured to drive the telescopic member 2 to extend and retract, and a travel drive member 5 configured to drive the wheel 3 to move.
  • a telescopic drive member 4 configured to drive the telescopic member 2 to extend and retract
  • a travel drive member 5 configured to drive the wheel 3 to move.
  • each telescopic driving member 4 drives the corresponding telescopic member 2 to quickly switch from the fully compressed state to the fully extended state. state, prompting the mechanical leg to jump up and over obstacles. It can be seen that the mechanical leg can move quickly on a flat ground, and when encountering an obstacle, it can also jump through the obstacle, thereby improving the passing ability of the mechanical leg.
  • An elastic member 9 is also connected between the calf rods 22 of the two telescopic members 2 corresponding to the same wheel 3.
  • the elastic member 9, on the one hand, can promote the switching of the telescopic member 2 from the fully compressed state to the fully extended state, which means that the mechanical legs move upward. Jumping saves energy, and on the other hand, the elastic element can also provide cushioning force for the mechanical leg to contact the ground after bouncing.
  • the mechanical leg further includes an auxiliary leg 6 and an auxiliary wheel 7 .
  • the auxiliary wheel 7 is installed at one end of the auxiliary leg 6 , and the other end of the auxiliary leg 6 is installed on the frame 1 .
  • the mechanical leg When the auxiliary wheel 7 is in contact with the ground, the mechanical leg is in a three-wheel mode, and can move on the ground in the three-wheel mode, with stronger stability.
  • the mechanical leg When the auxiliary wheel 7 is not in contact with the ground, the mechanical leg is in the two-wheel mode, and can move on the ground in the two-wheel mode, and the movement speed is faster.
  • the mechanical leg in the three-wheel mode of the mechanical leg, it also has the first three-wheel mode as shown in FIG. 3 and the second three-wheel mode as shown in FIG. 4 , which improves the use flexibility of the mechanical leg.
  • auxiliary wheel 7 when the auxiliary wheel 7 is in contact with the ground, it can also play a load-bearing role, so that the mechanical leg can carry heavier torso or cargo.
  • the mechanical leg also includes an auxiliary drive member 8, which can drive the auxiliary leg 6 to rotate relative to the frame 1, and dynamically adjust the position of the auxiliary leg 6 relative to the frame 1, so as to dynamically adjust the center of gravity of the mechanical leg and improve the mechanical leg. stability. If the mechanical leg belongs to the leg of the wheeled mobile device, the position of the auxiliary leg 6 relative to the frame 1 can be adjusted, and the center of gravity of the wheeled mobile device can also be dynamically adjusted to improve the stability of the wheeled mobile device. Furthermore, when the auxiliary leg 6 is not required, the auxiliary leg 6 can be retracted to the lower part of the frame 1 .
  • the walking driving member of the mechanical leg can drive the wheels to move on the ground, and when encountering an obstacle, the telescopic driving member can quickly exert a force on the telescopic member, so that the telescopic member can quickly extend Long, the mechanical leg jumps up quickly, and in conjunction with the force of the walking drive on the wheel, the mechanical leg can jump over obstacles. It can be seen that the mechanical leg can move quickly on a flat ground, and when encountering an obstacle, it can also jump through the obstacle, thereby improving the passing ability of the mechanical leg.
  • Embodiments of the present application further provide a wheeled mobile device, where the wheeled mobile device includes the mechanical leg described above.
  • the wheeled mobile device may be a mobile robot.
  • the walking driving member of the mechanical leg can drive the wheel to move on the ground.
  • the telescopic driving member can quickly apply force to the telescopic member to make the telescopic member move.
  • the mechanical leg quickly jumps up, and in conjunction with the force of the walking driving member on the wheel, the mechanical leg can jump over obstacles. It can be seen that the mechanical leg can move quickly on a flat ground, and when encountering an obstacle, it can also jump through the obstacle, thereby improving the passing ability of the mechanical leg.

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Abstract

一种机械腿和轮式移动设备，属于智能轮式移动设备领域。机械腿包括机架(1)、伸缩件(2)、车轮(3)、伸缩驱动件(4)、行走驱动件(5)、辅助腿(6)和辅助轮(7)；伸缩驱动件(4)位于机架(1)的侧部，伸缩件(2)与伸缩驱动件(4)相连，车轮(3)与伸缩件(2)相连，车轮(3)还与行走驱动件(5)相连，辅助腿(6)的第一端连接辅助轮(7)，辅助腿(6)的第二端位于机架(1)上；伸缩件(2)在伸缩驱动件(4)的驱动下伸缩，以带动车轮(3)跳跃，车轮(3)在行走驱动件(5)的驱动下运动，辅助轮(7)与地面相接触时，机械腿在车轮(3)和辅助轮(7)的滚动下运动。该机械腿既可以在平坦地面上快速运动，在遇到障碍物时，又可以跳跃通过障碍物，进而可以提高该机械腿的通行能力。

Description

机械腿和轮式移动设备
相关申请的交叉引用
本申请基于申请号为202010806731.0、申请日为2020年08月12日的中国专利申请提出，并要求该中国专利申请的优先权，该中国专利申请的全部内容在此引入本申请作为参考。
技术领域
本申请涉及智能轮式移动设备技术领域，特别涉及一种机械腿和轮式移动设备。
背景技术
轮式移动设备是一种可以执行工作任务的机械装置，例如，可以应用于制造业、建筑业或者一些具有危险性质的作业工作。
轮式移动设备的机械腿，其车轮在平坦地面上运动具有优势，但是在跨越障碍物方面的能力较弱。
发明内容
本申请实施例提供了一种机械腿和轮式移动设备，能够提高机械腿的通行能力：
本申请实施例提供了一种机械腿，所述机械腿包括机架、伸缩件、车轮、伸缩驱动件、行走驱动件、辅助腿和辅助轮；
所述伸缩驱动件位于所述机架的侧部，所述伸缩件与所述伸缩驱动件相连，所述车轮与所述伸缩件相连，所述车轮还与所述行走驱动件相连，所述辅助腿的第一端连接所述辅助轮，所述辅助腿的第二端位于所述机架 上；
所述伸缩件在所述伸缩驱动件的驱动下伸缩，以带动所述车轮跳跃，所述车轮在所述行走驱动件的驱动下运动，所述辅助轮与地面相接触时，所述机械腿在所述车轮和所述辅助轮的滚动下运动。
本申请实施例还提供了一种轮式移动设备，所述轮式移动设备包括本申请实施例提供的上述机械腿。
应用本申请实施例提供的上述机械腿和轮式移动设备，在平坦的地面上，机械腿的行走驱动件可以驱动车轮在地面上移动，遇到障碍物时，由于伸缩驱动件与伸缩件相连，伸缩驱动件可以快速向伸缩件施加作用力，使伸缩件形变，再配合行走驱动件的对车轮的作用力，该机械腿可以跳跃跨越障碍物。可见，该机械腿既可以在平坦地面上快速运动，在遇到障碍物时，又可以跳跃通过障碍物，进而可以提高该机械腿的通行能力。
附图说明
为了更清楚地说明本申请实施例中的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本申请的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例提供的一种机械腿的结构示意图；
图2是本申请实施例提供的一种机械腿的结构示意图；
图3是本申请实施例提供的一种机械腿处于第一三轮模式的结构示意图；
图4是本申请实施例提供的一种机械腿处于第二三轮模式的结构示意图；
图5是本申请实施例提供的一种机械腿的辅助腿处于收回至机架下方的结构示意图；
图6是本申请实施例提供的一种机械腿的局部结构示意图；
图7是本申请实施例提供的一种机械腿的伸缩件的结构示意图；
图8是本申请实施例提供的一种机械腿的结构示意图；
图9是本申请实施例提供的一种机械腿的结构示意图。
图例说明
1、机架；
2、伸缩件；21、大腿杆；22、小腿杆；23、第一伸缩件；24、第二伸缩件；
3、车轮；
4、伸缩驱动件；5、行走驱动件；8、辅助驱动件；
6、辅助腿；7、辅助轮；
9、弹性件；91、第一扭臂；92、第二扭臂。
具体实施方式
为使本申请的目的、技术方案和优点更加清楚，下面将结合附图对本申请实施方式作进一步地详细描述。
本申请实施例提供了一种机械腿，该机械腿可以应用在轮式移动设备中，可以是轮式移动设备的腿部，该机械腿具有跳跃模式，以跨越障碍物，该机械腿还可以在两轮模式和三轮模式下进行切换。
其中，为便于介绍本实施例，将会引入如“上”、“下”、“左”、“右”、“前”、“后”、“横向”、“竖向”和“水平”等指示的方位或者位置关系为基于附图所示的方位或者位置关系，仅是为了便于描述本方案，并不构成限定。此外，文中涉及到的“第一”、“第二”和“第三”等仅用于描述目的，而不能理解为指示或者暗示相对重要性。
如图1所示为该机械腿的结构示意图，该机械腿包括机架1、伸缩件2、车轮3、伸缩驱动件4和行走驱动件5；伸缩驱动件4位于机架1的 侧部，伸缩件2与伸缩驱动件4相连，车轮3与伸缩件2相连，车轮3还与行走驱动件5相连；伸缩件2在伸缩驱动件4的驱动下伸缩，以带动车轮3跳跃，车轮3在行走驱动件5的驱动下运动，例如，车轮3可以在行走驱动件5的驱动下在地面上移动。
在一种示例中，机架1可以是呈箱状，也可以呈框状，其顶部可以具有平台状，以便于安装该机械腿所属的轮式移动设备的躯干部分。或者，机械腿的机架1作为轮式移动设备的躯干或者躯干的一部分。其中，本实施例对机械腿的机架1的结构不做限定。
如图1所示，该机械腿包括伸缩件2，伸缩件2也即是能够发生伸缩的部件，使得该机械腿的高度可以调整，以便于蓄力向上跳跃跨越障碍物。其中，伸缩件2可以是能够发生伸缩的伸缩杆，也可以是能够发生伸缩的连杆机构等。本实施例对此不做限定，能够实现机械腿的高度能够发生快速调整，以蓄力向上跳跃跨越障碍物即可。本实施例可以以伸缩件2为连杆结构进行示例，关于伸缩件2的结构下文将会介绍。
其中，伸缩件2由压缩状态向伸开状态切换中，也即是该机械腿由蹲下状态向站立状态切换的过程，伸缩件2处于压缩状态时，该机械腿处于蹲下状态，伸缩件2处于伸开状态时，该机械腿处于站立状态。那么，伸缩件2由压缩状态迅速切换为站立状态时，该机械腿由蹲下状态迅速切换为站立状态，实现向上跳跃。
如图1所示，该机械腿还包括配置为驱动伸缩件2伸缩的伸缩驱动件4，伸缩驱动件4与伸缩件2相连，配置为驱动伸缩件2发生伸缩。例如，伸缩驱动件4可以是电机，其输出轴与伸缩件2相连。伸缩件2的远离伸缩驱动件4的一端与机械腿的车轮3相连。例如，伸缩件2的一端与伸缩驱动件4的输出轴相连，另一端与车轮3相连。
其中，伸缩驱动件4配置为驱动伸缩件2的伸缩运动，而车轮3的 运动还需要行走驱动件5驱动，相应的，如图1所示，该机械腿还包括行走驱动件5，行走驱动件5与车轮3相连，例如，行走驱动件5也为电机，其输出轴与车轮3的驱动轴相连。
这样，在平坦的地面上，机械腿的行走驱动件5可以驱动车轮3在地面上运动，遇到障碍物时，伸缩驱动件4可以快速向伸缩件2施加作用力，使伸缩件2快速伸长，机械腿快速向上跳跃，再配合行走驱动件5的对车轮3的作用力，该机械腿可以跳跃跨越障碍物。可见，该机械腿既可以在平坦地面上快速运动，在遇到障碍物时，又可以跳跃通过障碍物，进而可以提高该机械腿的通行能力。
其中，机械腿可以包括两条腿，每条腿对应一个车轮3，每个车轮3可以对应一个伸缩件2，每个车轮3也可以对应两个伸缩件2。每个车轮3对应一个伸缩件2的情况下，一个伸缩件2可以对应一个伸缩驱动件4。每个车轮3对应两个伸缩件2的情况下，对应同一个车轮3的两个伸缩驱动件4也可以对应一个伸缩驱动件。
本实施例，对每个车轮3对应一个伸缩件2还是两个伸缩件2还是更多伸缩件2不做限定，技术人员可以根据实际情况灵活设定。本实施例可以以每个车轮3对应两个伸缩件2进行示例。
本实施例，对每个伸缩件2对应一个伸缩驱动件4还是对应两个伸缩驱动件4不做限定，技术人员可以根据实际情况灵活设定。本实施例可以以每个伸缩件2对应一个伸缩驱动件4进行示例。
示例性地，每个车轮3对应两个伸缩件2和两个伸缩驱动件4，伸缩件2和伸缩驱动件4一一对应；在一些实施例中，参见图4，机架1的侧部包括凸起部分401和非凸起部分402，凸起部分401和非凸起部分402上分别设置有一个伸缩驱动件4，使得每个车轮3所对应的两个伸缩驱动件4错位设置于机架1的侧部，凸起部分401和非凸起部分402间的相 对高度差使得机械腿在行走时，同侧的两个大腿杆21间不会碰撞或产生摩擦力，同侧的两个小腿杆22间也不会碰撞或产生摩擦力。
在一些实施例中，参见图3，大腿杆21上靠近第二端的部分设置有卡槽，当大腿杆21与地面平行时，小腿杆22靠近第一端的部分处于卡槽内与大腿杆21卡接，如此，当机械腿处于站立状态时，大腿杆21可以通过卡槽内的卡接点将重力施加于小腿杆22，使得小腿杆22可以分担受力，进而可使伸缩驱动件4处于不工作的空闲状态。
其中，每个车轮3对应两个伸缩件2，可以提高机架1和车轮3之间的连接强度，提升机械腿的稳定性。
如上述所述，伸缩件2可以是连杆机构，相应的，如图1所示，可以包括大腿杆21和小腿杆22，其中，大腿杆21的第一端与伸缩驱动件4的输出轴转动连接，大腿杆21的第二端与小腿杆22的第一端转动连接，小腿杆22的第二端通过轴承安装在车轮3的驱动轴上。
其中，机械腿可以包括左腿和右腿两个腿，对于每一条腿可以包括两个伸缩件2，对于每一个伸缩件2可以包括大腿杆21和小腿杆22，大腿杆21和小腿杆22相连，连接处可以为腿关节，大腿杆21的远离腿关节的一端可以称为第一端，构成腿关节的一端可以称为第二端，小腿杆22的构成腿关节的一端可以称为第一端，远离腿关节的一端可以称为第二端。
在一种示例中，如图1所示，大腿杆21的第一端与伸缩驱动件4的输出轴相连，小腿杆22的第二端通过轴承连接在车轮3的驱动轴上。其中，大腿杆21的第一端与伸缩驱动件4的输出轴相连，也即是，大腿杆21的第一端与伸缩驱动件4的输出轴固定连接，使得伸缩驱动件4的输出轴旋转时，可以带动大腿杆21运动。
大腿杆21和小腿杆22相连构成腿关节，例如，大腿杆21的第二端 和小腿杆22的第一端铰接，例如，大腿杆21的第二端和小腿杆22的第一端通过转动副相连，使得大腿杆21和小腿杆22之间可以发生相对旋转，使得包括大腿杆21和小腿杆22的伸缩件2可以发生伸缩运动。
其中，可以将伸缩件2的腿关节处于弯折状态时称为压缩状态，将伸缩件2的腿关节处于伸直状态时称为伸开状态，也可以称为伸长状态，也可以称为展开状态。例如，可以将伸缩件2的腿关节弯折至极限时的状态称为完全压缩状态，将伸缩件2的腿关节伸展至极限时的状态称为完全伸开状态。当然完全压缩状态并不限于腿关节弯折至极限时，腿关节弯折至其它状态时也有可能实现完全压缩状态。同样，完全伸开状态也并不限于腿关节伸展至极限时，腿关节伸展至其它状态时也有可能出现完全伸展状态。
例如，大腿杆21和小腿杆22共线时，伸缩件2的腿关节处于伸直状态，伸缩件2处于伸开状态，机械腿处于站立状态。又例如，大腿杆21和小腿杆22之间具有夹角时，如图3所示，以及如图4所示，伸缩件2的腿关节处于弯折状态，伸缩件2处于压缩状态，机械腿处于蹲下状态。
小腿杆22的远离腿关节的第二端设置于在车轮3的驱动轴上，例如，小腿杆22的第二端通过轴承安装在车轮3的驱动轴上。这样，既实现了小腿杆22和车轮3之间的连接，又实现了小腿杆22和车轮3之间的相对旋转，例如，车轮3可以相对于小腿杆22发生旋转。
车轮3的驱动轴与行走驱动件5相连，例如，行走驱动件5的输出轴与车轮3的驱动轴之间可以键连接或者固定连接，或者，行走驱动件5的输出轴与车轮3的驱动轴一体成型。又或者，如图6所示，行走驱动件5的输出轴通过同步带与车轮3的驱动轴相连，行走驱动件5的输出轴旋转时，可以通过同步带带动车轮3的驱动轴旋转，进而驱动车轮3运动。
本实施例对车轮3的驱动轴和行走驱动件5的输出轴之间的固定连接方式不做限定，能够实现行走驱动件5旋转时带动车轮3的驱动轴旋转，驱动车轮3运动即可。
在一种示例中，每个车轮3可以对应一个行走驱动件5，也可以是，两个车轮3对应一个行走驱动件5等。例如，如果该机械腿始终在一条直线上运动，那么两个车轮3可以使用同一个行走驱动件5。又例如，如果该机械腿在运动的过程中会涉及到转弯，那么，每个车轮3可以使用一个行走驱动件5，使得两个车轮3的驱动相对独立，两者的转速可以不相同，便于该机械腿的转弯。本实施例对每个车轮3对应一个行走驱动件5还是对应两个行走驱动件5不做限定，可以以每个车轮3对应一个行走驱动件5进行示例。
基于上述所述，该机械腿在平坦的地面上运动时，机架1和车轮3之间的伸缩件2可以处于伸长状态，也可以处于收缩状态，车轮3在行走驱动件5的驱动下运动。在运动中，遇到障碍物时，如果伸缩件2处于收缩状态，则伸缩驱动件4控制伸缩件2快速伸开，如果伸缩件2处于伸开状态，则伸缩驱动件4先控制伸缩件2收缩，再控制伸缩件2快速伸开。这样，在伸缩件2快速伸开的过程中，机械腿可以发生向上弹跳，跨越障碍物。
在一种示例中，如图2所示，该机械腿还包括辅助腿6和辅助轮7，辅助轮7连接在辅助腿6的第一端，辅助腿6的第二端位于机架1上；伸缩件2压缩至辅助轮7与地面相接触时，机械腿在车轮3和辅助轮7的滚动下运动。
其中，辅助腿6也可以称为该机械腿的配重腿，可以用来调整该机械腿的重心以维持机械腿的稳定性。
其中，伸缩件2可以伸长至辅助轮7离开地面，伸缩件2也可以压 缩至辅助轮7与地面相接触。
在一种示例中，辅助腿6的一端与辅助轮7相连，辅助腿6的另一端安装在机架1上。为了提高该机械腿的稳定性，辅助腿6可以位于两个伸缩件2之间，例如，两个伸缩件2位于机架1的左右两侧，辅助腿6可以位于机架1的前侧或者后侧，两个车轮3和辅助轮7三者不共线。这样，当辅助轮7位于地面上时，两个车轮和辅助轮三者可以组成三角形，三角形具有较高的稳定性，进而可以提升该机械腿的稳定性。
这样，该机械腿的辅助轮7离开地面时，机械腿通过两个车轮3在地面上运动。该机械腿的辅助轮7与地面相接触时，机械腿通过两个车轮3和辅助轮7三者轮子在地面上运动。进而，该机械腿可以在两轮模式和三轮模式下切换。例如，在需要机械腿快速运动时，可以切换至两轮模式，在需要机械腿承重时，可以切换至三轮模式。从而，可以提升该机械腿的应用灵活性。
其中，辅助轮7不仅可以通过伸缩件2的压缩来实现与地面接触，还可以通过辅助腿6相对于机架1的旋转来实现与地面接触，实现方式在下文介绍辅助腿6能够相对于机架1旋转时再介绍。
如上述所述，车轮3的数量可以为两个，可以分别称为左车轮和右车轮，可以位于机架1的位置相对的两个侧部，辅助轮7可以位于机架1的侧部且位于两个车轮3之间，例如，辅助轮7位于机架1的前侧部或者后侧部。这样，如图3所示，与同一个车轮3相连的两个伸缩件2的腿关节朝相对方向弯折时，机械腿处于第一三轮模式，如图4所示，与同一个车轮3相连的两个伸缩件2的腿关节朝同一方向弯折时，机械腿处于第二三轮模式。
其中，伸缩件2的腿关节为伸缩件2的大腿杆21和小腿杆22的转动连接处。
在一种示例中，如图3所示，对于同一车轮3处的两个伸缩件2，这两个伸缩件2的腿关节均朝外弯折时，可以使伸缩件2处于压缩状态，辅助腿6连接的辅助轮7可以与地面相接触，该状态下可以称为机械腿的第一三轮模式。其中，两个伸缩件2的腿关节朝外弯折，例如，两个伸缩件2的腿关节朝相互远离的方向弯折。
如图4所示，对于同一车轮3处的两个伸缩件2，这两个伸缩件2的腿关节均朝同一个方向弯折时，也可以使伸缩件2处于压缩状态，辅助腿6连接的辅助轮7也可以与地面相接触，该状态下可以称为机械腿的第二三轮模式。其中第二三轮模式也可以是该机械腿的爬行模式，第二三轮模式下的稳定性更强，可以应用在承重较大的工作环境中。
在一种示例中，如图5所示，该机械腿还包括辅助驱动件8，辅助驱动件8位于机架1的侧部，辅助腿6的第二端与辅助驱动件8的输出轴相连；辅助腿6能在辅助驱动件8的驱动下伸出至机架1的侧部和收缩至机架1的下方。
其中，辅助驱动件8配置为驱动辅助腿6相对于机架1运动。
在一种示例中，辅助驱动件8可以位于机架1的前侧，或者，辅助驱动件8也可以位于机架1的后侧等。辅助驱动件8的输出轴与辅助腿6的第二端连接，辅助腿6的第一端与辅助轮7转动连接。辅助驱动件8的输出轴与辅助腿6的第二端连接，例如，辅助驱动件8的输出轴与辅助腿6的第二端固定连接，使得辅助驱动件8的输出轴旋转时可以带动辅助腿6相对于机架1的位置调整，例如可以伸出机架1或者收回机架1的下方。
这样，该机械腿在不需要辅助腿6承重时，辅助驱动件8可以驱动辅助腿6旋转，使辅助腿6收回至机架1的下方，其中，辅助腿6收回至机架1的下方的示意图可以参考图5所示。
该机械腿在需要辅助腿6承重时，或者，在需要切换至三轮模式时，辅助驱动件8可以驱动辅助腿6相对于机架1旋转至伸出于机架1，再配合伸缩件2的压缩，可以使辅助轮7接触到地面，可以参考图3和图4所示。可见，辅助轮7可以在伸缩件2压缩和辅助腿6相对于机架1旋转下，实现与地面接触。当然，在辅助腿6比较长的情况下，也可以只通过辅助腿6相对于机架1的旋转，实现与地面接触。其中，本实施例对实现辅助轮7与地面接触的方式不做限定，可以根据实际需求灵活设置。
在一种示例中，辅助驱动件8还可以驱动辅助腿6调整相对于机架1的位置，以调整机械腿的重心，使机械腿维持在稳定状态。例如，机械腿在向上跳跃的过程中，可能会发生重心位置的变化，可以通过调整辅助腿6相对于机架1的位置，来调整机械腿的重心。又例如，如果该机械腿的机架1上还具有躯干和机械臂等部件，那么机械腿在运动中，随着机械臂的前后摆动，该机械腿所属的轮式移动设备也会出现重心位置的变化，那么也可以通过辅助驱动件8调整辅助腿6相对于机架1的位置，来动态调整轮式移动设备的重心，以维持轮式移动设备的稳定性。
在一种示例中，该机械腿在向上跳跃时，为了积蓄能量，也为了提供跳跃缓冲，相应的，如图6并参考图7所示，该机械腿还包括弹性件9，弹性件9连接在两个伸缩件2中的第一伸缩件23的小腿杆22和两个伸缩件2中的第二伸缩件24的小腿杆22之间。
其中，如上述所述，一个车轮3可以对应两个伸缩件2，为了区分这两个伸缩件2，如图7所示，可以分别称为第一伸缩件23和第二伸缩件24。
在一种示例中，弹性件9可以是扭簧，如图6所示，扭簧套在车轮3的驱动轴上，扭簧的第一扭臂91与第一伸缩件23的小腿杆22相连，扭 簧的第二扭臂92与第二伸缩件24的小腿杆22相连。
在一种示例中，扭簧包括螺旋筒、第一扭臂91和第二扭臂92，螺旋筒可以套在车轮3的驱动轴上，第一扭臂91与第一伸缩件23的小腿杆22相连，第二扭臂92与第二伸缩件24的小腿杆22相连。例如，第一扭臂91可以抵靠在第一伸缩件23的小腿杆22上，第二扭臂92可以抵靠在第二伸缩件24的小腿杆22上。又例如，如图6所示，第一伸缩件23的小腿杆22上具有供第一扭臂91穿过的长条状通孔，第二伸缩件24的小腿杆22上具有供第二扭臂92穿过的长条状通孔，第一扭臂91和第二扭臂92可以分别位于相对于的长条状通孔中，并且在第一伸缩件23的小腿杆22和第二伸缩件24的小腿杆22相互远离时，第一扭臂91的位于长条状通孔中的端部可以在长条状通孔中移动，第二扭臂92的位于长条状通孔中的端部可以在长条状通孔中移动。
这样，当连接在同一个车轮3处的第一伸缩件23和第二伸缩件24，由处于收缩状态切换为伸长状态的过程中，扭簧的第一扭臂91会向第一伸缩件23的小腿杆22施加拉力，第二扭臂92会向第二伸缩件24的小腿杆22施加拉力。上述过程中，还具有伸缩驱动件4的驱动作用。所以，在伸缩驱动件4驱动第一伸缩件23和第二伸缩件24快速伸开的过程中，扭簧可以加剧第一伸缩件23和第二伸缩件24迅速由完全压缩状态向完全伸开状态切换，使得机械腿由蹲下状态迅速向站立状态切换，机械腿向上弹跳，弹性件9可以为机械腿的向上跳跃积蓄能量。
在另一种示例中，弹性件9也可以是弹簧，弹簧的一端连接在第一伸缩件23的小腿杆22上，弹簧的另一端连接在第二伸缩件24的小腿杆22上。当连接在同一个车轮3处的第一伸缩件23和第二伸缩件24，由处于收缩状态切换为伸长状态的过程中，弹簧由拉伸状态回弹的过程中，会向第一伸缩件23施加拉力，向第二伸缩件24施加拉力。所以，在伸 缩驱动件4驱动第一伸缩件23和第二伸缩件24快速伸开的过程中，连接在第一伸缩件23的小腿杆22和第二伸缩件24的小腿杆22之间的弹簧，可以加剧第一伸缩件23和第二伸缩件24迅速由完全压缩状态向完全伸开状态切换，机械腿向上弹跳，弹性件9可以为机械腿的向上跳跃积蓄能量。
其中，本实施例对弹性件9的结构形式不做限定，能够实现加快伸缩件2快速伸开，促使机械腿向上跳跃即可，附图中可以以弹性件9为扭簧进行示例。
在一种示例中，对于连接在同一个车轮3上的第一伸缩件23和第二伸缩件24，两者的大腿杆21之间的夹角比较小时，例如，如图8所示，连接在同一个车轮3上的第一伸缩件23的大腿杆21和第二伸缩件24的大腿杆21之间的夹角比较小时，扭簧有可能处于自然状态，如果扭簧处于自然状态下，那么弹性件9不会向第一伸缩件23的小腿杆22和第二伸缩件24的小腿杆22施加作用力，故配置为驱动第一伸缩件23的伸缩驱动件4和配置为驱动第二伸缩件24的伸缩驱动件4可以不处于工作状态，也即是，处于不驱动状态。
而对于连接在同一个车轮3上的第一伸缩件23和第二伸缩件24，两者的大腿杆21之间的夹角比较大时，例如，如图9所示，连接在同一个车轮3上的第一伸缩件23的大腿杆21和第二伸缩件24的大腿杆21之间的夹角比较大时，扭簧很可能处于拉伸状态，如果扭簧处于拉伸状态下，那么弹性件9的第一扭臂91会向第一伸缩件23的小腿杆22施加拉力，弹性件9的第二扭臂92会向第二伸缩件24的小腿杆22施加拉力，为了维持第一伸缩件23和第二伸缩件24的稳定性，相应的，配置为驱动第一伸缩件23的伸缩驱动件4和配置为驱动第二伸缩件24的伸缩驱动件4处于工作状态，也即是，处于驱动状态，以平衡弹性件9向第一 伸缩件23和第二伸缩件24施加的作用力。
基于上述所述，该机械腿包括机架1、多个伸缩件2、多个车轮3、辅助腿6和辅助轮7，其中，每个车轮3与两个伸缩件2相连，辅助腿6和辅助轮7一一对应。例如，机械腿可以具有双腿，车轮3的数量为两个，伸缩件2的数量为四个，辅助腿6和辅助轮7的数量均为一个。
其中，两个伸缩件2连接在机架1和车轮3之间可以作为机械腿的左腿，另外两个伸缩件2连接在机架1和车轮3之间可以作为机械腿的右腿。
机械腿还包括配置为驱动伸缩件2伸缩的伸缩驱动件4和配置为驱动车轮3运动的行走驱动件5。这样，两个车轮3在各自对应的行走驱动件5的驱动下在地面上运动，遇到障碍物时，各个伸缩驱动件4驱动各自对应的伸缩件2由完全压缩状态快速切换为完全伸开状态，促使机械腿向上跳跃，跨越障碍物。可见，该机械腿既可以在平坦地面上快速运动，在遇到障碍物时，又可以跳跃通过障碍物，进而可以提高该机械腿的通行能力。
对应同一个车轮3的两个伸缩件2的小腿杆22之间还连接有弹性件9，弹性件9，一方面可以促进伸缩件2由完全压缩状态切换为完全伸开状态，为机械腿向上跳跃积蓄能量，另一方面弹性件还可以为机械腿弹跳后与地面相接触提供缓冲力。
机械腿还包括辅助腿6和辅助轮7，辅助轮7安装在辅助腿6的一端，辅助腿6的另一端安装在机架1上。辅助轮7与地面相接触时，该机械腿处于三轮模式，可以在三轮模式下在地面上运动，稳定性更强。辅助轮7与地面不相接触时，该机械腿处于两轮模式，可以在两轮模式下在地面上运动，运动速度更快。
而且，该机械腿的三轮模式下，还具有如图3所示的第一三轮模式 和如图4所示的第二三轮模式，提升了机械腿的使用灵活性。
其中，辅助轮7与地面相接触时，也可以起到承重作用，使得该机械腿可以承载较重的躯干或者货物等。
机械腿还包括辅助驱动件8，辅助驱动件8可以驱动辅助腿6相对于机架1旋转，动态调整辅助腿6相对于机架1的位置，以动态调整机械腿的重心，提高机械腿的稳定性。如果该机械腿属于轮式移动设备的腿部，则辅助腿6相对于机架1的位置调整，也可以动态调整轮式移动设备的重心，提高轮式移动设备的稳定性。而且，在不需要辅助腿6的情况下，可以将辅助腿6收回至机架1的下方。
在本申请实施例中，在平坦的地面上，机械腿的行走驱动件可以驱动车轮在地面上运动，遇到障碍物时，伸缩驱动件可以快速向伸缩件施加作用力，使伸缩件快速伸长，机械腿快速向上跳跃，再配合行走驱动件的对车轮的作用力，该机械腿可以跳跃跨越障碍物。可见，该机械腿既可以在平坦地面上快速运动，在遇到障碍物时，又可以跳跃通过障碍物，进而可以提高该机械腿的通行能力。
本申请实施例还提供了一种轮式移动设备，该轮式移动设备包括上述所述的机械腿。其中，该轮式移动设备可以是移动机器人。如上述所述，该轮式移动设备在平坦的地面上，机械腿的行走驱动件可以驱动车轮在地面上运动，遇到障碍物时，伸缩驱动件可以快速向伸缩件施加作用力，使伸缩件快速伸长，机械腿快速向上跳跃，再配合行走驱动件的对车轮的作用力，该机械腿可以跳跃跨越障碍物。可见，该机械腿既可以在平坦地面上快速运动，在遇到障碍物时，又可以跳跃通过障碍物，进而可以提高该机械腿的通行能力。
以上所述仅为本申请的可选实施例，并不用以限制本申请，凡在本 申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (12)

  1. 一种机械腿，所述机械腿包括机架(1)、伸缩件(2)、车轮(3)、伸缩驱动件(4)、行走驱动件(5)、辅助腿(6)和辅助轮(7)；
    所述伸缩驱动件(4)位于所述机架(1)的侧部，所述伸缩件(2)与所述伸缩驱动件(4)相连，所述车轮(3)与所述伸缩件(2)相连，所述车轮(3)还与所述行走驱动件(5)相连，所述辅助腿(6)的第一端连接所述辅助轮(7)，所述辅助腿(6)的第二端位于所述机架(1)上；
    所述伸缩件(2)在所述伸缩驱动件(4)的驱动下伸缩，以带动所述车轮(3)跳跃，所述车轮(3)在所述行走驱动件(5)的驱动下运动，所述辅助轮(7)与地面相接触时，所述机械腿在所述车轮(3)和所述辅助轮(7)的滚动下运动。
  2. 根据权利要求1所述的机械腿，其中，所述机械腿还包括辅助驱动件(8)，所述辅助驱动件(8)位于所述机架(1)的侧部，所述辅助腿(6)的第二端与所述辅助驱动件(8)的输出轴相连；
    所述辅助腿(6)能在所述辅助驱动件(8)的驱动下伸出至所述机架(1)的侧部和收缩至所述机架(1)的下方。
  3. 根据权利要求2所述的机械腿，其中，所述辅助腿(6)还能在所述辅助驱动件(8)的驱动下相对于所述机架(1)旋转，来调整所述机械腿的重心。
  4. 根据权利要求1所述的机械腿，其中，所述伸缩件(2)为连杆机构，包括大腿杆(21)和小腿杆(22)；
    所述大腿杆(21)的第一端与所述伸缩驱动件(4)的输出轴转动连接，所述大腿杆(21)的第二端与所述小腿杆(22)的第一端转动连接，所述小腿杆(22)的第二端通过轴承安装在所述车轮(3)的驱动轴上。
  5. 根据权利要求4所述的机械腿，其中，每个车轮(3)对应两个所述伸缩件(2)和两个所述伸缩驱动件(4)，所述伸缩件(2)和所述伸缩驱动件(4)一一对应。
  6. 根据权利要求5所述的机械腿，其中，所述机械腿还包括弹性件(9)，所述弹性件(9)连接在所述两个伸缩件(2)中的第一伸缩件(23)的小腿杆(22)和所述两个伸缩件(2)中的第二伸缩件(24)的小腿杆(22)之间。
  7. 根据权利要求6所述的机械腿，其中，所述弹性件(9)为扭簧，所述扭簧套在所述车轮(3)的驱动轴上，所述扭簧的第一扭臂(91)与所述第一伸缩件(23)的小腿杆(22)相连，所述扭簧的第二扭臂(92)与所述第二伸缩件(24)的小腿杆(22)相连。
  8. 根据权利要求6所述的机械腿，其中，所述弹性件(9)为弹簧，所述弹簧的一端与所述第一伸缩件(23)的小腿杆(22)相连，所述弹簧的另一端与所述第二伸缩件(24)的小腿杆(22)相连。
  9. 根据权利要求5所述的机械腿，其中，所述机架(1)的侧部包括凸起部分和非凸起部分；
    每个车轮(3)所对应的两个伸缩驱动件(4)错位设置于所述凸起部分和非凸起部分，使得所述机械腿在行走时所连接的大腿杆(21)之间不会产生摩擦力。
  10. 根据权利要求4所述的机械腿，其中，所述大腿杆(21)上靠近第二端的部分设置有卡槽；
    当所述大腿杆(21)与地面平行时，所述小腿杆(22)靠近第一端的部分处于所述卡槽内与所述大腿杆(21)卡接。
  11. 根据权利要求4所述的机械腿，其中，所述车轮(3)的数量为两个，两个所述车轮(3)位于所述机架(1)的位置相对的两个侧部， 所述辅助轮(7)位于所述机架(1)的侧部且位于两个所述车轮(3)之间；
    与同一个车轮(3)相连的两个伸缩件(2)的腿关节朝相对方向弯折时，所述机械腿处于第一三轮模式，与同一个车轮(3)相连的两个伸缩件(2)的腿关节朝同一方向弯折时，所述机械腿处于第二三轮模式；
    其中，所述伸缩件(2)的腿关节为所述伸缩件(2)的大腿杆(21)和小腿杆(22)的转动连接处。
  12. 一种轮式移动设备，所述轮式移动设备包括权利要求1至11任一所述的机械腿。
PCT/CN2021/101882 2020-08-12 2021-06-23 机械腿和轮式移动设备 WO2022033189A1 (zh)

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