CN110271622B - Wheel-foot type structure and wheel-foot type robot - Google Patents
Wheel-foot type structure and wheel-foot type robot Download PDFInfo
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- CN110271622B CN110271622B CN201810212730.6A CN201810212730A CN110271622B CN 110271622 B CN110271622 B CN 110271622B CN 201810212730 A CN201810212730 A CN 201810212730A CN 110271622 B CN110271622 B CN 110271622B
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- 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
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Abstract
The invention discloses a wheel-foot type structure and a wheel-foot type robot, wherein the wheel-foot type structure comprises: the walking foot assembly is connected with the walking foot in a rotating mode and comprises a sole and a driving wheel assembled on the sole; when the sole rotates to a first position relative to the walking foot, the sole is supported on the bearing surface, and a gap is formed between the driving wheel and the bearing surface; when the sole rotates to a second position relative to the walking foot, the sole is separated from the bearing surface, and the driving wheel is supported on the bearing surface and can be driven to roll on the bearing surface. The invention designs a wheel-foot type structure and a wheel-foot type robot with the same, wherein the wheel-foot type structure can be switched into wheel type movement or foot type movement according to the use requirements of users, so that the wheel-foot type robot can walk on different road surfaces quickly, and the application field of the wheel-foot type robot is expanded.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wheel-foot type structure and a wheel-foot type robot.
Background
At present, the application field of the mobile robot is more and more extensive, for example, the fields of terrain exploration, military transportation, mining and the like have potential application prospects. The mobile robot generally includes a legged robot and a wheeled robot. The foot type robot can walk on complex terrains by taking walking, running and jumping as moving modes, has the characteristics of strong mobility, strong load capacity and the like, but has a slow moving speed on complex terrains such as mining and the like, and the walking stability needs to be improved. Wheeled robots are suitable for flat ground, are fast, but are difficult to move over complex terrain.
Therefore, how to design a robot with a completely new structure to enable the robot to walk on different road surfaces quickly is a problem that needs to be solved urgently by those skilled in the art.
Disclosure of Invention
In view of the above, the present invention provides a wheel-foot type structure and a wheel-foot type robot capable of satisfying different road surface fast movement to solve the above technical problems.
In order to achieve the purpose, the technical scheme adopted by the invention is as follows:
according to a first aspect of embodiments of the present invention, there is provided a wheel-foot structure comprising: the walking foot assembly is connected with the walking foot in a rotating mode and comprises a sole and a driving wheel assembled on the sole;
when the sole rotates to a first position relative to the walking foot, the sole is supported on the bearing surface, and a gap is formed between the driving wheel and the bearing surface; when the sole rotates to a second position relative to the walking foot, the sole is separated from the bearing surface, and the driving wheel is supported on the bearing surface and can be driven to roll on the bearing surface.
The invention further improves the wheel-foot type structure, the driving wheel comprises a driving part and a wheel connected with the driving part, and a first included angle alpha is formed between the axis of the wheel and the plane of the sole; when the sole rotates from the first position to the second position, the rotation angle of the sole is alpha.
The wheel-foot type structure is further improved in that the driving piece comprises a driving main body and a driving shaft extending out of one end of the driving main body, the driving shaft is connected to the wheel to drive the wheel to rotate, and the other end of the driving main body is fixed to the sole of the foot.
The wheel-foot type structure is further improved in that a second included angle beta is formed between the central shaft of the driving main body and the plane where the sole is located; wherein the second included angle β is greater than the first included angle α.
A further improvement of the wheel-foot configuration of the present invention is that the top of the wheel is positioned proximate the centerline of the ball of the foot relative to the bottom of the wheel when the ball of the foot is in the first position.
The wheel-foot type structure is further improved in that the wheel-foot type structure further comprises a driving device, the driving device comprises a main body part and a connecting shaft extending from the main body part, the main body part is fixed on the sole, and the connecting shaft is fixedly connected to the connecting part of the walking foot.
The invention further improves the wheel-foot type structure in that the driving device is a steering engine.
The invention further improves the wheel-foot type structure, and the driving wheels are respectively arranged on the same side or opposite side surfaces of the sole.
The invention further improves the wheel-foot type structure, and the number of the driving wheels is two, and the two driving wheels are arranged on the outer side of the sole.
According to a second aspect of embodiments of the present invention, there is provided a wheeled-foot robot comprising: a robot body portion and a wheel-foot structure as defined in any of the above, the wheel-foot structure being assembled to the robot body portion.
The technical scheme provided by the embodiment of the invention can have the following beneficial effects: the invention designs a wheel-foot type structure and a wheel-foot type robot with the same, wherein the wheel-foot type structure can be switched into wheel type movement or foot type movement according to the use requirements of users, so that the wheel-foot type robot can walk on different road surfaces quickly, and the application field of the wheel-foot type robot is expanded.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
FIG. 1 is a schematic diagram of a wheeled foot configuration in foot-type movement, in accordance with an exemplary embodiment of the present invention;
FIG. 2 is a schematic partial structure view of a wheel-foot configuration during foot-type movement in accordance with an exemplary embodiment of the present invention;
FIG. 3 is a side view of a partial structure of a wheeled foot construction as it moves in a foot configuration in accordance with an exemplary embodiment of the present invention;
FIG. 4 is a schematic diagram of a wheeled foot configuration as wheeled about in motion in accordance with an exemplary embodiment of the present invention;
fig. 5 is a schematic view of a wheel-foot configuration according to an exemplary embodiment of the present invention, wherein the wheel-foot configuration is partially configured during wheeled movement.
Detailed Description
The present invention will be described in detail below with reference to specific embodiments shown in the drawings. These embodiments are not intended to limit the present invention, and structural, methodological, or functional changes made by those skilled in the art according to these embodiments are included in the scope of the present invention.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in this specification and the appended claims, the singular forms "a", "an", and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.
In the following, some embodiments of the present invention will be described in detail with reference to the accompanying drawings, and features in the following examples and examples may be combined with each other without conflict.
As shown in fig. 1 and 4, the wheel-foot robot according to the embodiment of the present invention includes a robot body (not shown) and a wheel-foot structure 100, and the wheel-foot structure 100 is attached to the robot body. The wheel-foot type structure 100 can be switched to wheel type movement or foot type movement under the control of the control unit, so that the wheel-foot type robot can adapt to various terrains. Of course, the wheel-foot type structure 100 of the present invention is not limited to be applied to a wheel-foot type robot, and the wheel-foot type structure 100 can also be applied to any other type of mobile device, and the application of the wheel-foot type structure 100 to a wheel-foot type robot is specifically described in the present invention.
As shown in fig. 1 to 5, the wheel-foot structure 100 includes a walking foot 1 and a wheel-foot assembly 2 rotatably connected to the walking foot 1, and the wheel-foot assembly 2 is controlled to rotate relative to the walking foot 1 to adjust different moving states of the wheel-foot assembly 2. Specifically, the wheel foot assembly 2 comprises a sole 21 and a driving wheel 22 assembled on the sole 21, and the wheel foot assembly 2 can walk on the bearing surface through the sole 21, namely, move in a foot type; the drive wheels 22 can slide, i.e. move in wheels, on the support surface.
When the sole 21 rotates to a first position (as shown in fig. 1) relative to the walking foot 1, the sole 21 is supported on the supporting surface, and a gap is formed between the driving wheel 22 and the supporting surface, that is, the driving wheel 22 is in a retracted state, and the wheel-foot structure 100 walks on the supporting surface through the sole 21. When the sole 21 rotates to a second position (as shown in fig. 2) relative to the walking foot 1, the sole 21 is separated from the bearing surface, and the driving wheel 22 is supported on the bearing surface and can be driven to roll on the bearing surface, that is, the sole 21 is adjusted to be separated from the bearing surface by rotating the foot assembly 2, and the driving wheel 22 is supported on the bearing surface.
In one embodiment, the driving wheel 22 includes a driving member 221 and a wheel 222 connected to the driving member 221, and the driving member 221 is configured to drive the wheel 222 to rotate, so as to move the wheel-foot robot. In this embodiment, the driving member 221 can be a plurality of types of motors. When the sole 21 rotates to the second position relative to the walking foot 1, the axis of the wheel 222 is parallel to the bearing surface, i.e. the wheel 222 is in a normal rolling state. In this embodiment, the axis of the wheel 222 and the plane of the sole 21 form a first included angle α. When the sole 21 rotates from the first position to the second position, the rotation angle of the sole 21 is α. Optionally, the first included angle α ranges from 15 ° to 85 °. In a preferred embodiment, the first included angle α is 30 °.
Further, the driving member 221 includes a driving body and a driving shaft (not shown) extending from one end of the driving body, the driving shaft is connected to the wheel to drive the wheel 222 to rotate, and the other end of the driving body is fixed to the sole 21. In this embodiment, the axis of the drive body is not parallel to the axis of the wheel 222. The central axis of the driving body and the plane of the sole 21 form a second included angle beta. The second included angle β is larger than the first included angle α, and the driving member 221 is disposed at an edge of the sole 21, so that the wheel 222 can be disposed close to the sole 21, thereby preventing the wheel 222 from being exposed and easily damaged, and reducing the size of the driving body.
In one embodiment, when the ball 21 is in the first position, the top of the wheel 222 is positioned near the centerline of the ball 21 relative to the bottom of the wheel 222. That is, when the sole 21 is in the first position, the wheel 222 is inclined toward the sole 21, and the wheel 222 can be protected when the drive wheel 22 is not used.
Wherein, on the same walking foot 1, a plurality of driving wheels 22 can be arranged, and the plurality of driving wheels 22 are respectively arranged on the same side or opposite side surfaces of the sole 21, so that the walking foot 1 can stably slide when moving in a wheel type. Normally, the walking foot 1 includes two or four walking feet, and the plurality of driving wheels 22 on any walking foot 1 are disposed on the outer side of the sole 21, i.e., on both sides in the traveling direction of the walking foot 1, but of course, the plurality of driving wheels 22 may be disposed on the inner side or both sides of the walking foot 1 in different application environments.
In this embodiment, the wheel-foot robot is configured with two walking feet 1, and two driving wheels 22 are disposed on each walking foot 1, and the two driving wheels 22 are disposed on the same side of the sole 21, specifically, the two driving wheels 22 are disposed on the outer side of the sole 21. Wherein, when the sole 21 is at the first position, the wheels 222 on the two walking feet 1 are splayed; when the sole 21 is in the second position, the two soles 21 on the two walking feet 1 are splayed.
Further, the wheel-foot structure 100 further includes a driving device 23, and the driving device 23 includes a main body 231 and a connecting shaft 232 extending from the main body 231. The body 231 is fixed to the sole 21, and the connecting shaft 232 is fixed to a connecting portion of the walking foot 1. The driving device 23 is used for driving the sole 21 to rotate relative to the walking foot 1, so as to control the sole 21 to rotate to a first position or a second position relative to the walking foot 1. In the embodiment of the invention, the driving device 23 is a steering engine. Of course, the driving device 23 is not limited to a steering engine, and other driving devices 23 capable of controlling the rotation of the sole 21 relative to the walking foot 1 are all suitable for use in the invention.
The wheel-foot type robot can automatically judge the walking mode of wheel-type movement or foot-type movement according to the detected terrain data, and can also control and switch the walking mode by a user through means of wireless remote control and the like.
The wheel-foot robot having the wheel-foot structure 100 in the present embodiment specifically operates as follows: when the wheel-foot robot moves in a foot-type manner, the sole 21 contacts the ground (i.e., the bearing surface), and the wheel 222 is located on the side surface of the sole 21 and does not contact the ground, so that the walking action of the wheel-foot robot is not interfered. When the wheel-foot type robot is switched from a walking state to a wheel-type moving state, the wheel-foot type robot stands upright at the moment and drives the joints of the walking feet 1 to lower the gravity center, the driving device 23 drives the sole 21 to rotate to the second position at the moment so that the wheels 222 reach positions vertical to the ground, the sole 21 is not in contact with the ground at the moment, and the wheel-foot type robot slides through the driving wheels 22.
The invention designs a wheel-foot type structure and a wheel-foot type robot with the same, the wheel-foot type structure can be switched into wheel type movement or foot type movement according to the use requirements of users, and the movement freedom degree of the wheel-foot type structure cannot be lost after the movement mode is switched, so that the wheel-foot type robot can walk on different road surfaces quickly, and the application field of the wheel-foot type robot is expanded.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.
Claims (9)
1. A wheel and foot construction comprising: the walking foot assembly is connected with the walking foot in a rotating mode and comprises a sole and a driving wheel assembled on the sole; the driving wheel comprises a driving part and a wheel connected to the driving part, a first included angle alpha is formed between the axis of the wheel and the plane of the sole, and the plane of the sole is a plane on which the sole can be supported on the bearing surface;
when the sole rotates to a first position relative to the walking foot, the sole is supported on the bearing surface, and a gap is formed between the driving wheel and the bearing surface; when the sole rotates to a second position relative to the walking foot, the sole is separated from the bearing surface, the driving wheel is supported on the bearing surface and can be driven to roll on the bearing surface, when the sole rotates from the first position to the second position, the rotating angle of the sole is alpha, the position of the axis of the wheel and the plane of the sole always maintains a first included angle alpha, and the range of the first included angle alpha is 15-85 degrees.
2. The wheel-foot structure according to claim 1, wherein the driving member comprises a driving body and a driving shaft extending from one end of the driving body, the driving shaft is connected to the wheel to drive the wheel to rotate, and the other end of the driving body is fixed to the sole of the foot.
3. The wheel-foot structure according to claim 2, wherein the central axis of the driving body and the plane of the sole form a second included angle β; wherein the second included angle β is greater than the first included angle α.
4. The wheel foot structure according to claim 1, wherein when the ball is in the first position, the top of the wheel is proximate to a centerline of the ball relative to the bottom of the wheel.
5. The wheel-foot structure according to claim 1, further comprising a driving device, wherein the driving device comprises a main body portion and a connecting shaft extending from the main body portion, the main body portion is fixed on the sole, and the connecting shaft is fixedly connected to the connecting portion of the walking foot.
6. The wheel-foot structure according to claim 5, wherein the driving device is a steering engine.
7. The wheel-foot structure according to claim 1, wherein the driving wheels are provided in plurality and are respectively provided on the same side or opposite sides of the sole.
8. The wheel-foot construction according to claim 1 wherein there are two drive wheels, two of said drive wheels being disposed on the lateral side of the ball of the foot.
9. A wheeled legged robot, comprising: a robot body portion and a wheel-foot structure according to any one of claims 1 to 8, the wheel-foot structure being fitted to the robot body portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212730.6A CN110271622B (en) | 2018-03-15 | 2018-03-15 | Wheel-foot type structure and wheel-foot type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810212730.6A CN110271622B (en) | 2018-03-15 | 2018-03-15 | Wheel-foot type structure and wheel-foot type robot |
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| Publication Number | Publication Date |
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| CN110271622A CN110271622A (en) | 2019-09-24 |
| CN110271622B true CN110271622B (en) | 2021-02-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810212730.6A Active CN110271622B (en) | 2018-03-15 | 2018-03-15 | Wheel-foot type structure and wheel-foot type robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113911231B (en) * | 2021-11-26 | 2022-12-06 | 合肥工业大学 | Wheel-leg combined type unmanned metamorphic vehicle |
| CN113911230B (en) * | 2021-11-26 | 2022-12-02 | 合肥工业大学 | Folding wheel mechanism for foot mechanism of unmanned metamorphic vehicle and foot mechanism |
| CN116215692A (en) * | 2023-03-28 | 2023-06-06 | 上海智元新创技术有限公司 | Leg structure of wheel foot robot and wheel foot robot |
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| CN101428655A (en) * | 2008-12-19 | 2009-05-13 | 哈尔滨工业大学 | Wheeled mobile device for foot for humanoid robot, polypodia walking vehicle |
| CN104369790A (en) * | 2014-09-04 | 2015-02-25 | 中国科学院合肥物质科学研究院 | Double-foot robot walking mechanism |
| CN106240669A (en) * | 2016-07-27 | 2016-12-21 | 江苏安格尔机器人有限公司 | Robot walking device |
| CN106995017A (en) * | 2017-04-11 | 2017-08-01 | 上海岭先机器人科技股份有限公司 | A kind of robot motion mechanism with double feet walking with wheel type mobile translation function |
| CN206719353U (en) * | 2017-05-10 | 2017-12-08 | 深圳大学 | One kind sports battle robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009113135A (en) * | 2007-11-05 | 2009-05-28 | Hitachi Ltd | Biped mobile mechanism |
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2018
- 2018-03-15 CN CN201810212730.6A patent/CN110271622B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101428655A (en) * | 2008-12-19 | 2009-05-13 | 哈尔滨工业大学 | Wheeled mobile device for foot for humanoid robot, polypodia walking vehicle |
| CN104369790A (en) * | 2014-09-04 | 2015-02-25 | 中国科学院合肥物质科学研究院 | Double-foot robot walking mechanism |
| CN106240669A (en) * | 2016-07-27 | 2016-12-21 | 江苏安格尔机器人有限公司 | Robot walking device |
| CN106995017A (en) * | 2017-04-11 | 2017-08-01 | 上海岭先机器人科技股份有限公司 | A kind of robot motion mechanism with double feet walking with wheel type mobile translation function |
| CN206719353U (en) * | 2017-05-10 | 2017-12-08 | 深圳大学 | One kind sports battle robot |
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| CN110271622A (en) | 2019-09-24 |
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