CN113844566B - Wheel-foot type robot leg structure capable of automatically switching power and wheel-foot type robot - Google Patents
Wheel-foot type robot leg structure capable of automatically switching power and wheel-foot type robot Download PDFInfo
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- CN113844566B CN113844566B CN202111054015.2A CN202111054015A CN113844566B CN 113844566 B CN113844566 B CN 113844566B CN 202111054015 A CN202111054015 A CN 202111054015A CN 113844566 B CN113844566 B CN 113844566B
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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 leg structure of a wheel-foot type robot capable of autonomously switching power, which comprises a power switching auxiliary block, a power mechanism, a thigh mechanism, a shank mechanism and a wheel type mechanism, wherein the power switching auxiliary block is connected with the power mechanism; a wheeled-legged robot is disclosed, which comprises a leg structure and a robot main body structure. The invention can realize the switching between the foot type movement and the wheel type movement while realizing the integral rotation of the legs through the combined action of the two power sources, the robot can stably move forwards and cross obstacles in muddy and rugged terrains through the foot type movement, the robot can rapidly move forwards on a flat road surface through the wheel type movement, and the wheel type movement and the foot type movement are mutually matched, so that the robot can be well adapted to various complex working environments, and the working efficiency is improved; compared with the traditional wheel-legged robot, the wheel-type movement and the legged movement of the robot only need one power source to provide power, so that the weight and the cost of the robot are effectively reduced.
Description
Technical Field
The invention relates to a wheel-foot type robot leg structure capable of autonomously switching power and a wheel-foot type robot, and belongs to the technical field of robots.
Background
The wheel-foot type robot is one of the foremost directions in the field of robots at present, has the advantages of both the foot type robot and the wheel type robot, can stably move forwards and cross obstacles in muddy and rugged terrains, can quickly move forwards on a flat road surface, and can be well adapted to various complex working environments; secondly, most wheel-foot robots in the market do not have the function of power switching, and the foot type motion and the wheel type motion are respectively powered by one motor, so that the weight and the cost of the robot are increased.
Disclosure of Invention
The invention provides a leg structure of a wheel-foot type robot capable of autonomously switching power, which realizes the rotation of legs through two power sources and can realize the switching between foot type motion and wheel type motion; further, a wheel-foot type robot is constructed through the leg knot, so that the walking can be switched in two different movement modes of wheel type and foot type.
The technical scheme of the invention is as follows: a leg structure of a wheel-foot type robot capable of automatically switching power comprises a power switching auxiliary block 2, a power mechanism 3, a thigh mechanism 4, a shank mechanism 5 and a wheel type mechanism 6; the power mechanism 3 comprises two power sources: the first power source is used for driving the shank mechanism 5 and the wheel type mechanism 6 to rotate along with the thigh mechanism 4, driving the thigh mechanism 4 to be in contact with the power switching auxiliary block 2, and assisting the second power source to realize switching the rotation of the thigh mechanism 4 driving the wheel type mechanism 6 into the rotation of the thigh mechanism 4 driving the shank mechanism 5; the second power source is used for driving the thigh mechanism 4 to drive the shank mechanism 5 to rotate for foot type movement/driving the thigh mechanism 4 to drive the wheel mechanism 6 to rotate for wheel type movement; the rotation for driving the thigh mechanism 4 to drive the shank mechanism 5 to lift realizes that the rotation for driving the shank mechanism 5 by the thigh mechanism 4 is switched to the rotation for driving the wheel mechanism 6 by the thigh mechanism 4.
The power mechanism 3 takes the thigh motor 7 as a first power source, takes the shank and wheel motor 11 as a second power source, the output end of the thigh motor 7 is connected with the shank and wheel motor 11 through the motor connector 10, and the shank and wheel motor 11 provides power for the power output shaft 12.
The thigh mechanism 4 provides power through a shank in the power mechanism 3 and a wheel type motor 11 to drive a synchronous pulley 17 at the upper end of the rotating rod to rotate, and then the power is transmitted to a synchronous pulley 19 at the lower end of the rotating rod through a synchronous belt 18 to drive a power transmission gear 28 to rotate, wherein the power transmission gear 28 is used for being meshed with a shank power gear 68 in the shank mechanism 5 to realize foot type motion and is used for being meshed with a wheel type power gear 75 in the wheel type mechanism 6 to realize wheel type motion;
the thigh motor 7 in the power mechanism 3 provides power to enable the thigh mechanism 4 to rotate along the direction B, further the contact between the thigh collision block 24 and the power switching auxiliary block 2 is realized, the contact force enables the rotating rod 23 to rotate along the direction A, the power transmission gear 28 is meshed with the shank power gear 68 to provide power for foot type movement, and the rotating rod 23 rotates along the direction A, the reversing rod 43 transmits the force to the reversing gear 42 to enable the reversing gear 42 to rotate along the direction B, further the rack 37 is driven to move; when the extending end of the rack 37 is pushed by a small leg striking block 65 in the small leg mechanism 5, the rack 37 moves to drive the reversing gear 42 to rotate along the direction A, the reversing rod 43 transmits force to the rotating rod 23 to drive the rotating rod 23 to rotate along the direction B, so that the power transmission gear 28 is meshed with the wheel type power gear 75 to provide power for wheel type movement; wherein, the direction A is clockwise, and the direction B is anticlockwise; or the direction A is anticlockwise, and the direction B is clockwise;
the elastic system in the thigh mechanism 4 is firstly compressed and then restored to the original state in the power switching process, the sliding shaft 50 on one side of the sliding plate 32 firstly slides downwards along the sliding track 53 and then slides upwards, the rotating rod limiting shaft 52 on the other side of the sliding plate 32 is firstly matched with the rear end 30 of the rotating rod positioning hole and then matched with the front end 29 of the rotating rod positioning hole, and the meshing of the power transmission gear 28 and the shank power gear 68 is realized, or the rotating rod limiting shaft 52 on the other side of the sliding plate 32 is firstly matched with the front end 29 of the rotating rod positioning hole and then matched with the rear end 30 of the rotating rod positioning hole, and the meshing of the power transmission gear 28 and the wheel type power gear 75 is realized; wherein the direction in which the rear end 30 of the positioning hole of the rotating rod points to the front end 29 of the positioning hole of the rotating rod is the direction B.
The thigh mechanism 4 comprises a thigh upper end shell 14, a thigh lower end outer side plate 16, a rotating rod upper end synchronous pulley 17, a synchronous belt 18, a rotating rod lower end synchronous pulley 19, a thigh lower end inner side plate 20, a power output shaft bearing 21, a rotating rod 23, a thigh collision block 24, a power transmission shaft 26, a power transmission shaft bearing 27, a power transmission gear 28, a sliding plate 32, an elastic system fixing plate 33, a reversing auxiliary cylinder 36, a rack 37, a rack guide rail 38, a reversing gear 42, a reversing rod 43, a reversing rod tail end bearing 46, a reversing gear bearing 47, a reversing rod front end bearing 49, a sliding shaft 50, an elastic system positioning shaft 51, a rotating rod limiting shaft 52, a sliding rail 53, an elastic system and a sliding shaft nut 85; one end of the thigh upper end shell 14 is fixedly connected with a shank and a wheel type motor 11 in the power mechanism 3, and a thigh lower end outer side plate 16 and a thigh lower end inner side plate 20 are fixedly connected with the other end of the thigh upper end shell 14; the rotating rod 23 and the power output shaft bearing 21 form a rotating pair, the inner ring of the power output shaft bearing 21 is matched with the power output shaft 12, and one end of the rotating rod 23 is positioned through the shaft shoulder of the power output shaft 12 and is matched with the outer ring of the power output shaft bearing 21; the synchronous belt pulley 17 at the upper end of the rotating rod is fixedly connected with the other end of the power output shaft 12, and the synchronous belt pulley 17 at the upper end of the rotating rod transmits power to the synchronous belt pulley 19 at the lower end of the rotating rod through a synchronous belt 18 so as to drive the power transmission shaft 26 to rotate; the power transmission gear 28 is arranged at one end of the power transmission shaft 26, the inner ring of the power transmission shaft bearing 27 is matched with the power transmission shaft 26, the outer ring of the power transmission shaft bearing 27 is matched with the other end of the rotating rod 23, and the synchronous belt pulley 19 at the lower end of the rotating rod is fixedly connected with the power transmission shaft 26, so that the synchronous belt 18 transmits power to the power transmission gear 28 through the power transmission shaft 26 to drive the power transmission gear 28 to rotate; one end of the thigh striking block 24 is fixedly connected with the rotating rod 23, the other end of the thigh striking block 24 extends out of the thigh upper end shell 14, and the rotating rod 23 rotates along the direction A through the contact force of the thigh striking block 24 and the power switching auxiliary block 2; the elastic system fixing plate 33 is fixedly connected with the inner side plate 20 at the lower end of the thigh, the other end of an elastic system mounting seat 54 in the elastic system is matched with a shaft on the elastic system fixing plate 33, and the limit is realized by an elastic system check ring 45; the sliding shaft 50 at one side of the sliding plate 32 is inserted into the sliding track 53 on the inner side plate 20 at the lower end of the thigh, the end of the sliding shaft 50 is limited by the sliding shaft nut 85, the elastic system positioning shaft 51 at the other side of the sliding plate 32 is matched with the other end of the other elastic system mounting seat 54 in the elastic system, and the rotating rod limiting shaft 52 at the other side of the sliding plate 32 is inserted into the arc-shaped positioning hole on the rotating rod 23; the rack guide rail 38 is fixedly connected with the inner side plate 20 at the lower end of the thigh, and the rack 37 is matched with the rack guide rail 38 to form a moving pair; the reversing gear 42, the reversing gear bearing 47 and a shaft protruding from the inner side plate 20 at the lower end of the thigh are matched to form a rotating pair; one end of the reversing rod 43 is matched with a front end bearing 49 of the reversing rod to connect the reversing rod 43 with the reversing gear 42 to form a rotating pair, the tail end of the reversing rod 43 is matched with a tail end bearing 46 of the reversing rod to connect the reversing rod 43 with the rotating rod 23, and the rotating rod 23 is connected with the reversing rod 43 in an auxiliary mode through the reversing auxiliary cylinder 36.
The elastic force system comprises two elastic force system installation seats 54, an elastic force system nut 55, two spring installation seats 56, a spring 57 and an elastic force system bolt 58, one end of each of the two elastic force system installation seats 54 is fixedly connected with the two spring installation seats 56 through threads to form a cavity, a space for moving the elastic force system bolt 58 is provided when the spring 57 is compressed, the spring 57 is installed between the two spring installation seats 56 through the elastic force system bolt 58 and the elastic force system nut 55, and the spring 57 is limited through the head of the elastic force system bolt 58 and the elastic force system nut 55 in a normal state.
The shank mechanism 5 drives the shank power gear 68 to rotate through the meshing of the power transmission gear 28 in the thigh mechanism 4 and the shank power gear 68 so as to realize the lifting and the lowering of the shank 61; the thigh mechanism 4 is assisted in switching the foot-type motion to the wheel-type motion by the raising of the lower leg 61 such that the lower leg striking block 65 acts on the rack 37 in the thigh mechanism 4.
The wheel type mechanism 6 drives the wheel type power gear 75 to rotate through the meshing of the power transmission gear 28 in the thigh mechanism 4 and the wheel type power gear 75, so as to realize the rotation of the wheel hub 77 and realize wheel type movement.
The utility model provides a wheel sufficient formula robot of independently switching power, includes the shank structure, still includes robot major structure 1, and robot major structure 1 is used for installing the shank structure.
The leg structures are arranged symmetrically on the robot main machine structure 1.
The invention has the beneficial effects that: the invention can realize the switching between the foot type movement and the wheel type movement while realizing the integral rotation of the legs through the combined action of the two power sources, the robot can stably move forwards and cross obstacles in muddy and rugged terrains through the foot type movement, the robot can rapidly move forwards on a flat road surface through the wheel type movement, and the wheel type movement and the foot type movement are mutually matched, so that the robot can be well adapted to various complex working environments, and the working efficiency is improved; compared with the traditional wheel-foot type robot, the wheel-type motion and the foot-type motion of the robot only need one power source to provide power, so that the weight and the cost of the robot are effectively reduced; and the power switching mechanism and other mechanisms are all arranged inside the thigh, so the robot has compact and simple structure and strong bearing capacity.
Drawings
FIG. 1 is an isometric view of the robot of the present invention;
FIG. 2 is an isometric view of a power mechanism according to the present invention;
FIG. 3 is an isometric view of the motor connector of the present invention;
fig. 4 is a front view of the thigh mechanism of the present invention;
fig. 5 is a first isometric view of the interior of the thigh mechanism of the invention;
fig. 6 is a second isometric view of the interior of the thigh mechanism of the invention;
FIG. 7 is an isometric view of a thigh striker of the present invention;
FIG. 8 is an isometric view of the power transmission shaft of the present invention;
FIG. 9 is an isometric view of a swivel lever of the present invention;
fig. 10 is an isometric view three of the interior of the thigh mechanism of the present invention;
fig. 11 is an isometric view of the interior of the thigh mechanism of the present invention;
FIG. 12 is an isometric view of the rack and rail mechanism of the present invention;
fig. 13 is an isometric view of the interior of the thigh mechanism of the invention;
figure 14 is an isometric view of the slide plate of the present invention;
FIG. 15 is an isometric view of the lower thigh inner panel of the present invention;
FIG. 16 is a cross-sectional view of the spring system of the present invention;
FIG. 17 is an isometric view of a lower leg mechanism of the present invention;
FIG. 18 is an isometric view of a lower leg striker of the present invention;
FIG. 19 is an exploded view of the lower leg mechanism of the present invention;
figure 20 is an isometric view one of the inside of the thigh mechanism in the foot position of the invention;
fig. 21 is a second isometric view of the thigh mechanism interior in a foot position of the present invention;
fig. 22 is a first isometric view of the inside of the thigh mechanism in the wheeled state of the invention;
fig. 23 is a second isometric view of the inside of the thigh mechanism in a wheeled state of the invention;
figure 24 is an isometric view of the wheel mechanism of the present invention;
figure 25 is an exploded view of the wheeled mechanism of the invention;
the reference numbers in the figures are: 1-robot body mechanism, 2-power switching auxiliary block, 3-power mechanism, 4-thigh mechanism, 5-shank mechanism, 6-wheel mechanism, 7-thigh motor, 8-thigh motor bolt, 9-motor connector bolt, 10-motor connector, 11-shank and wheel motor, 12-power output shaft, 13-thigh bolt, 14-upper thigh shell, 15-lower thigh outer side plate bolt, 16-lower thigh outer side plate, 17-upper turning bar end synchronous pulley, 18-synchronous belt, 19-lower turning bar end synchronous pulley, 20-lower thigh inner side plate, 21-power output shaft bearing, 22-bearing retainer ring, 23-turning bar, 24-thigh collision block, 25-thigh collision block bolt, 26-power transmission shaft, 27-power transmission shaft bearing, 28-power transmission gear, 29-front end of rotating rod positioning hole, 30-rear end of rotating rod positioning hole, 31-bolt of inner side plate at lower end of thigh, 32-sliding plate, 33-fixing plate of elastic system, 34-fixing plate of elastic system, 35-bolt of reversing rod, 36-reversing auxiliary cylinder, 37-rack, 38-rack guide rail, 39-bolt of rack guide rail, 40-rack limiting plate, 41-bolt of rack limiting plate, 42-reversing gear, 43-reversing rod, 44-bolt of reversing gear, 45-retainer of elastic system, 46-end bearing of reversing rod, 47-bearing of reversing gear, 48-retainer of reversing gear bearing, 49-reversing bar front end bearing, 50-sliding shaft, 51-elastic system positioning shaft, 52-rotating bar limit shaft, 53-sliding rail, 54-elastic system mounting seat, 55-elastic system nut, 56-spring mounting seat, 57-spring, 58-elastic system bolt, 59-thigh outer bearing cover bolt, 60-thigh lower end outer bearing cover, 61-calf, 62-calf foot end bolt, 63-calf foot end, 64-calf ram bolt, 65-calf ram, 66-calf shaft, 67-calf power gear bolt, 68-calf power gear, 69-thigh inner bearing cover bolt, 70-thigh inner bearing, 71-thigh inner bearing cover, 72-calf power gear positioning key, 73-calf inner bearing cover, 74-calf inner bearing cover bolt, 75-wheeled power gear, 76-wheeled shaft, 77-hub, 78-tire, 79-wheeled power gear inner bearing, 80-wheeled power gear positioning key, 81-calf outer bearing, 82-calf outer bearing cover, 82-hexagonal nut, 83-hexagonal nut, 84-calf inner bearing locking nut, 85-calf shaft locking nut, 85-thigh outer bearing cover bolt, and 80-calf inner bearing locking ring.
Detailed Description
The invention will be further described with reference to the following figures and examples, without however restricting the scope of the invention thereto.
Example 1: as shown in fig. 1-25, a leg structure of a wheel-foot robot capable of autonomously switching power comprises a power switching auxiliary block 2, a power mechanism 3, a thigh mechanism 4, a shank mechanism 5 and a wheel mechanism 6; the power mechanism 3 comprises two power sources: the first power source is used for driving the shank mechanism 5 and the wheel type mechanism 6 to rotate along with the thigh mechanism 4, driving the thigh mechanism 4 to be in contact with the power switching auxiliary block 2, and the auxiliary second power source realizes the switching of the rotation of the thigh mechanism 4 driving the wheel type mechanism 6 into the rotation of the thigh mechanism 4 driving the shank mechanism 5, namely the wheel type motion is switched into the foot type motion; the second power source is used for driving the thigh mechanism 4 to drive the shank mechanism 5 to rotate for foot type movement/driving the thigh mechanism 4 to drive the wheel mechanism 6 to rotate for wheel type movement; the rotation for driving the thigh mechanism 4 to drive the shank mechanism 5 to lift realizes that the rotation for driving the shank mechanism 5 by the thigh mechanism 4 is switched into the rotation for driving the wheel mechanism 6 by the thigh mechanism 4, namely, the foot type motion is switched into the wheel type motion.
Further, the power mechanism 3 may be configured to use the thigh motor 7 as a first power source, use the shank and wheel motor 11 as a second power source, connect the output end of the thigh motor 7 with the shank and wheel motor 11 through the motor connector 10, and provide power for the power output shaft 12 by the shank and wheel motor 11.
Still further, the power mechanism 3 comprises a thigh motor 7, a thigh motor bolt 8, a motor connector bolt 9, a motor connector 10, a shank and wheel type motor 11 and a power output shaft 12; the thigh motor 7 is fixed on the robot main body mechanism 1 through a thigh motor bolt 8, and an inner rotor of the thigh motor 7 is fixedly connected with one end of a motor connector 10; the shank and the wheel type motor 11 are fixedly connected with the other end of the motor connector 10 through a motor connector bolt 9, and the inner rotor of the shank and the wheel type motor 11 is fixedly connected with one end of a power output shaft 12. The thigh motor 7, the shank and the wheel motor 11 can adopt a joint module motor.
Further, the thigh mechanism 4 can be arranged to provide power through a shank in the power mechanism 3 and the wheel type motor 11 to drive the synchronous pulley 17 at the upper end of the rotating rod to rotate, and then the power is transmitted to the synchronous pulley 19 at the lower end of the rotating rod through the synchronous belt 18 to drive the power transmission gear 28 to rotate, wherein the power transmission gear 28 is used for being meshed with a shank power gear 68 in the shank mechanism 5 to realize foot type motion and being meshed with a wheel type power gear 75 in the wheel type mechanism 6 to realize wheel type motion;
the thigh motor 7 in the power mechanism 3 provides power to enable the thigh mechanism 4 to rotate along the direction B, so that the thigh collision block 24 is in contact with the power switching auxiliary block 2, the contact force enables the rotating rod 23 to rotate along the direction A, the power transmission gear 28 is meshed with the shank power gear 68, power is provided for foot type movement, the robot can automatically switch wheel type movement to foot type movement, the rotating rod 23 rotates along the direction A, the reversing rod 43 transmits the force to the reversing gear 42 to enable the reversing gear 42 to rotate along the direction B, and the rack 37 is driven to move towards one end of the advancing direction of the leg mechanism (in the upward direction shown in the figure); when the extending end of the rack 37 is pushed by a small leg collision block 65 in the small leg mechanism 5, the rack 37 moves to drive the reversing gear 42 to rotate along the direction A, the reversing rod 43 transmits force to the rotating rod 23 to enable the rotating rod 23 to rotate along the direction B, so that the power transmission gear 28 is meshed with the wheel type power gear 75 to provide power for wheel type motion, and the robot can autonomously switch foot type motion to wheel type motion; wherein, the direction A is clockwise, and the direction B is anticlockwise; or the direction A is anticlockwise, and the direction B is clockwise;
the elastic system in the thigh mechanism 4 is firstly compressed and then restored to the original state in the power switching process, the sliding shaft 50 on one side of the sliding plate 32 firstly slides downwards along the sliding track 53 and then slides upwards, the rotating rod limiting shaft 52 on the other side of the sliding plate 32 is firstly matched with the rear end 30 of the rotating rod positioning hole and then matched with the front end 29 of the rotating rod positioning hole, and the meshing of the power transmission gear 28 and the shank power gear 68 is realized, or the rotating rod limiting shaft 52 on the other side of the sliding plate 32 is firstly matched with the front end 29 of the rotating rod positioning hole and then matched with the rear end 30 of the rotating rod positioning hole, and the meshing of the power transmission gear 28 and the wheel type power gear 75 is realized; wherein the direction in which the rear end 30 of the positioning hole of the rotating lever points to the front end 29 of the positioning hole of the rotating lever is the direction B.
Still further, the thigh mechanism 4 may be provided with a thigh bolt 13, a thigh upper end housing 14, a thigh lower end outer side plate bolt 15, a thigh lower end outer side plate 16, a rotating rod upper end synchronous pulley 17, a synchronous belt 18, a rotating rod lower end synchronous pulley 19, a thigh lower end inner side plate 20, a power output shaft bearing 21, a bearing retainer 22, a rotating rod 23, a thigh impact block 24, a thigh impact block bolt 25, a power transmission shaft 26, a power transmission shaft bearing 27, a power transmission gear 28, a thigh lower end inner side plate bolt 31, a sliding plate 32, an elastic system fixing plate 33, an elastic system fixing plate bolt 34, a reversing rod bolt 35, a reversing auxiliary cylinder 36, a rack 37, a rack guide rail 38, a rack guide rail bolt 39, a rack retainer plate 40, a rack retainer plate bolt 41, a reversing gear 42, a reversing rod 43, a reversing gear bolt 44, an elastic system retainer 45, a reversing rod tail end bearing 46, a reversing gear bearing 47, a reversing gear bearing retainer 48, a reversing rod front end bearing 49, a sliding shaft 50, an elastic system positioning shaft 51, a rotating rod retainer shaft 52, a sliding rail 53, an elastic system mounting seat 54, an elastic system mounting seat bolt 56, a hexagon spring seat nut 55, a conical spring seat screw 85, and a fastening screw nut 85; one end of the thigh upper end shell 14 is fixedly connected with a shank and a wheel type motor 11 in the power mechanism 3 through a thigh bolt 13, and a thigh lower end outer side plate 16 is fixedly connected with the other end of the thigh upper end shell 14 through a thigh lower end outer side plate bolt 15 and a thigh lower end inner side plate 20 through a thigh lower end inner side plate bolt 31; the rotating rod 23 and the power output shaft bearing 21 form a rotating pair, one end of the power output shaft bearing 21 is positioned through a shaft shoulder of the power output shaft 12 in the power mechanism 3, the other end of the power output shaft bearing 21 is positioned through a bearing retainer 22, an inner ring of the power output shaft bearing 21 is in interference fit with the power output shaft 12, and one end of the rotating rod 23 is positioned through the shaft shoulder of the power output shaft 12 and is in interference fit with an outer ring of the power output shaft bearing 21; the synchronous belt pulley 17 at the upper end of the rotating rod is fixedly connected with the other end of the power output shaft 12 through an inner hexagonal cone end set screw 84, and the synchronous belt pulley 17 at the upper end of the rotating rod transmits power to the synchronous belt pulley 19 at the lower end of the rotating rod through a synchronous belt 18, so that the power transmission shaft 26 is driven to rotate; the power transmission gear 28 installed at one end of the power transmission shaft 26 realizes axial positioning through a shoulder of the power transmission shaft 26 and a retainer ring, radial positioning is realized through a key, the axial positioning of the power transmission shaft bearing 27 also depends on the shoulder of the power transmission shaft 26 and a bearing retainer ring 22, the inner ring of the power transmission shaft bearing 27 and the power transmission shaft 26, the outer ring of the power transmission shaft bearing 27 and the other end of the rotating rod 23 are in interference fit, the synchronous belt pulley 19 at the lower end of the rotating rod is fixedly connected with the power transmission shaft 26 through an inner hexagonal conical end set screw 84, and the synchronous belt 18 transmits power to the power transmission gear 28 through the power transmission shaft 26 to drive the power transmission gear 28 to rotate; one end of a thigh collision block 24 is fixedly connected with a rotating rod 23 through a thigh collision block bolt 25, the thigh collision block 24 is provided with a bulge, one side of the bulge is tightly attached to the side of the rotating rod 23, the other end of the thigh collision block 24 extends out of a thigh upper end shell 14, the rotating rod 23 rotates along the direction A through the contact force of the thigh collision block 24 and a power switching auxiliary block 2, so that a power transmission gear 28 is meshed with a small leg power gear 68 in a shank mechanism 5, the robot autonomously switches wheel type motion to foot type motion, the rotating rod 23 rotates along the direction A, a reversing rod 43 transmits force to a reversing gear 42, the reversing gear 42 moves along the direction B, and a rack 37 is driven to move; the two elastic force system mounting seats 54, the elastic force system nut 55, the two spring mounting seats 56, the spring 57 and the elastic force system bolt 58 jointly form an elastic force system, one end of each elastic force system mounting seat 54 is fixedly connected with the two spring mounting seats 56 through threads to form a cavity, a space for the elastic force system bolt 58 to move is provided for the spring 57 to compress, the spring 57 is mounted between the two spring mounting seats 56 through the elastic force system bolt 58 and the elastic force system nut 55, and the spring 57 is limited by the head of the elastic force system bolt 58 and the elastic force system nut 55 in a normal state; the elastic system fixing plate 33 is fixedly connected with the thigh lower end inner side plate 20 through an elastic system fixing plate bolt 34, the other end of an elastic system mounting seat 54 in the elastic system is matched with a shaft on the elastic system fixing plate 33, and the limit is realized by an elastic system check ring 45; the sliding shaft 50 on one side of the sliding plate 32 is inserted into the sliding track 53 on the inner side plate 20 at the lower end of the thigh, and the tail end of the sliding shaft 50 is limited by the sliding shaft nut 85, the sliding shaft nut 85 does not lock the sliding plate 32 and the inner side plate 20 at the lower end of the thigh until the sliding plate and the inner side plate 20 cannot move relatively, but one side surface of the sliding plate 32 is stably attached to the inner side surface of the inner side plate 20 at the lower end of the thigh, so that the sliding plate 32 can slide up and down along the sliding track 53 without turning over, the elastic system positioning shaft 51 on the other side of the sliding plate 32 is matched with the other end of the other elastic system mounting base 54 in the elastic system, and is limited by the elastic system retainer ring 45, the rotating rod limiting shaft 52 on the other side of the sliding plate 32 is inserted into the arc-shaped positioning hole on the rotating rod 23, and the rotating rod limiting shaft 52 on the sliding plate 32 is matched with the arc-shaped positioning hole to limit the rotating rod 23; the rack guide rail 38 is fixedly connected with the thigh lower end inner side plate 20 through a rack guide rail bolt 39 and is installed at one end, close to the shank mechanism 5, of the thigh lower end inner side plate 20, the rack 37 and the rack guide rail 38 are matched to form a moving pair, the tail end of the rack 37 is larger than the rack guide rail 38 (the tail end is the end matched with the shank collision block 65), and the front end of the rack 37 is fixedly connected with the rack limiting plate 40 through a rack limiting plate bolt 41 to ensure that the rack cannot slide off the rack guide rail 38; the reversing gear 42, the reversing gear bearing 47 and a shaft protruding from the inner side plate 20 at the lower end of the thigh form a rotating pair in a matching way, and a shaft shoulder and a reversing gear bearing retainer ring 48 are adopted for limiting the reversing gear bearing 47; one end of a reversing rod 43 is matched with a front end bearing 49 of the reversing rod and then the reversing rod 43 is connected with a reversing gear 42 through a reversing gear bolt 44 to form a rotating pair, the tail end of the reversing rod 43 is matched with a tail end bearing 46 of the reversing rod and then the reversing rod 43 is connected with a rotating rod 23 through a reversing rod bolt 35, the rotating rod 23 is connected with the reversing rod 43 in an auxiliary mode through a reversing auxiliary cylinder 36, the axial positioning of the rotating rod 23 is guaranteed, the upper surface of the reversing rod 43 is not coplanar with the lower surface of the rotating rod 23, and no gap exists between the two surfaces through the reversing auxiliary cylinder 36 in the middle; when the rack 37 is subjected to leftward thrust from the small leg collision block 65 in the small leg mechanism 5, the rack 37 moves leftward to drive the reversing gear 42 to rotate along the direction A, the reversing rod 43 transmits force to the rotating rod 23 to enable the rotating rod 23 to rotate along the direction B, so that the power transmission gear 28 is meshed with the wheel type power gear 75 in the wheel type mechanism 6, and the robot autonomously switches the foot type motion to wheel type motion; wherein, the direction A is clockwise, and the direction B is anticlockwise; or the direction A is anticlockwise and the direction B is clockwise.
Further, the elastic force system may be configured to include two elastic force system mounting seats 54, an elastic force system nut 55, two spring mounting seats 56, a spring 57, and an elastic force system bolt 58, one end of each of the two elastic force system mounting seats 54 is fixedly connected to the two spring mounting seats 56 through a thread to form a cavity, so as to provide a space for movement of the elastic force system bolt 58 when the spring 57 is compressed, and the spring 57 is mounted between the two spring mounting seats 56 through the elastic force system bolt 58 and the elastic force system nut 55, and is limited by the head of the elastic force system bolt 58 and the elastic force system nut 55 in a normal state of the spring 57.
Further, the shank mechanism 5 can be arranged to drive the shank power gear 68 to rotate through the meshing of the power transmission gear 28 in the thigh mechanism 4 and the shank power gear 68, so as to realize the lifting and the lowering of the shank 61; the thigh mechanism 4 is assisted in switching the foot-type motion to the wheel-type motion by the raising of the lower leg 61 such that the lower leg striking block 65 acts on the rack 37 in the thigh mechanism 4.
Still further, the shank mechanism 5 may be provided with a shank outer bearing cap bolt 59, a shank lower end outer bearing cap 60, a shank 61, a shank foot end bolt 62, a shank foot end 63, a shank striking block bolt 64, a shank striking block 65, a shank shaft 66, a shank power gear bolt 67, a shank power gear 68, a shank inner bearing cap bolt 69, a shank inner bearing 70, a shank inner bearing cap 71, a shank power gear positioning key 72, a shank outer bearing 86, and a shank limit retainer ring 87; two ends of the shank shaft 66 are respectively matched with the thigh outer side bearing 86 and the thigh inner side bearing 70 and then are matched with the thigh lower end outer side plate 16 and the thigh lower end inner side plate 20 in the thigh mechanism 4, the thigh lower end outer side bearing cover 60 is fixedly connected with the thigh lower end outer side plate 16 through the thigh outer side bearing cover bolts 59, and the thigh inner side bearing cover 71 is fixedly connected with the thigh lower end inner side plate 20 through the thigh inner side bearing cover bolts 69, so that the shank shaft 66 is axially positioned; one end of the lower leg 61 is U-shaped, one side of the U-shaped end of the lower leg 61 is positioned through a shaft shoulder of the lower leg shaft 66, the other side of the U-shaped end of the lower leg 61 is positioned through a lower leg limiting retainer ring 87, the lower leg power gear 68 is positioned in the radial direction through a lower leg power gear positioning key 72, and is fixedly connected with the lower leg 61 through a lower leg power gear bolt 67, and when the power transmission gear 28 in the thigh mechanism 4 is meshed with the lower leg power gear 68, the power transmission gear 28 rotates to drive the lower leg power gear 68 to rotate so as to lift and put down the lower leg 61; the lower leg foot end 63 is fixedly connected with the other end of the lower leg 61 through a lower leg foot end bolt 62, the lower leg collision block 65 is fixedly connected with the lower leg 61 through a lower leg collision block bolt 64, and the front end of the lower leg collision block 65 has a certain inclination so as to ensure that the component force in the vertical direction is small enough and not enough to generate the self-locking condition when the lower leg collision block 65 pushes the rack 37.
Further, the wheel mechanism 6 can be configured to drive the wheel power gear 75 to rotate through the engagement of the power transmission gear 28 in the thigh mechanism 4 and the wheel power gear 75, so as to realize the rotation of the hub 77 and realize the wheel motion.
Still further, the wheel mechanism 6 may be provided with a lower leg inner bearing end cover 73, a lower leg inner bearing end cover bolt 74, a wheel type power gear 75, a wheel type shaft 76, a wheel hub 77, a tire 78, a lower leg inner bearing 79, a wheel type power gear positioning key 80, a lower leg outer bearing 81, a hub sleeve 82, and a lock nut 83; one end of the wheel-type shaft 76 is matched with one side of the U-shaped end of the lower leg 61 in the lower leg mechanism 5 after being matched with the lower leg bearing 79 (the wheel-type shaft 76 is in interference fit with the inner ring of the lower leg bearing 79, the outer ring of the lower leg bearing 79 is in interference fit with the lower leg 61), the lower leg inner side bearing end cover 73 is fixedly connected with the lower leg 61 through the lower leg inner side bearing end cover bolt 74 to realize the positioning of the wheel-type shaft 76, and the other end of the wheel-type shaft 76 extends out of the other side of the U-shaped end of the lower leg 61 after being positioned by adopting a shaft shoulder to be used for installing a hub 77; the wheel type power gear 75 is positioned through a shaft shoulder and a wheel type power gear positioning key 80, a hub sleeve 82 is arranged on the outer ring of the hub 77, a tire 78 is arranged on the outer ring of the hub sleeve 82, the wheel type shaft 76 matched with the hub 77 is in a hexagonal prism shape, the hexagonal prism is inserted into the hub 77, and the tail end of the wheel type shaft 76 is connected with a locking nut 83.
A wheel-foot type robot capable of autonomously switching power comprises a leg structure and a robot main body structure 1, wherein the robot main body structure 1 is used for mounting the leg structure.
Furthermore, the leg structure and the robot main body structure 1 can be connected by bolts, so that the robot main body structure is convenient to disassemble and assemble; the number of leg structures is 4, the 4 leg structures are arranged symmetrically on the robot main machine structure 1. The power switching auxiliary block 2 is fixed on the robot main body structure 1 by adopting a bolt.
The working principle of the invention is as follows: the leg structure is used for the wheel-foot integrated robot, so that the robot can be used in different situations, and the description is given by taking the direction A as the clockwise direction and the direction B as the counterclockwise direction:
when the robot works on the ground, the sensor senses the surrounding environment, and transmits sensed information to the microcontroller for analysis, if the microcontroller judges that no obstacles exist around and the road surface is flat, the microcontroller respectively sends enabling signals to the thigh motor 7, the lower leg and the wheel motor 11 of four legs, so that the power transmission gear 28 on the rotating rod 23 is meshed with the wheel type power gear 75, the motion mode of the robot is wheel type motion, the lower leg and the wheel motor 11 provide power to drive the power output shaft 12 to rotate, thereby driving the synchronous pulley 17 at the upper end of the rotating rod to rotate, then transmitting the power to the synchronous pulley 19 at the lower end of the rotating rod through the synchronous belt 18 to drive the power transmission gear 28 to rotate, further driving the wheel type power gear 75 to rotate, and finally transmitting the power to the hub 77 through the wheel type shaft 76 to realize wheel type motion, keeping the postures of the thigh mechanism 4 and the lower leg mechanism 5 unchanged, and realizing efficient, quick and stable wheel type motion on the flat road surface according to a set track route.
When the robot works on the ground, if the microcontroller judges that obstacles exist around or a rugged road surface exists, the microcontroller respectively sends enabling signals to a thigh motor 7, a shank and a wheel motor 11 of four legs according to a set track route, so that a power transmission gear 28 on a rotating rod 23 is meshed with a shank power gear 68, the motion mode of the robot is a foot type motion, power is provided through the shank and the wheel motor 11 to drive a power output shaft 12 to rotate, so that a synchronous belt pulley 17 at the upper end of the rotating rod is driven to rotate, power is transmitted to a synchronous belt pulley 19 at the lower end of the rotating rod through a synchronous belt 18 to drive the power transmission gear 28 to rotate, further the shank power gear 68 is driven to rotate, the shank power gear 68 transmits power to a shank 61 through a shank power gear bolt, so that the shank 61 is lifted and lowered, corresponding postures of leg structures in an asynchronous state are finished, and obstacle crossing or walking on the rugged ground is realized.
When the robot works on the ground by wheel type movement, if the microcontroller judges that obstacles or rugged road surfaces exist around, the microcontroller respectively sends enabling signals to thigh motors 7, crus and wheel motors 11 of four legs, so that the movement mode of the robot is switched from wheel type movement to foot type movement; at the moment, the rotor of the thigh motor 7 rotates to drive the motor connector 10 to rotate, power is transmitted to the shank and wheel motor 11 through the motor connector bolt 9, then the rotation of the shank and wheel motor 11 is transmitted to the thigh mechanism 4 through the thigh bolt 13, the thigh mechanism 4 rotates anticlockwise and upwards, the rotating rod 23 rotates clockwise through the contact force of the thigh collision block 24 and the power switching auxiliary block 2, and therefore the power transmission gear 28 is meshed with the shank power gear 68, and power is provided for foot type movement; during the process of switching from wheel type motion to foot type motion, the elastic system spring 57 is compressed and then restored, the sliding shaft 50 slides downwards along the sliding track 53 and then slides upwards, the rear end 30 of the rotating rod positioning hole and the rotating rod limiting shaft 52 are matched and move to the front end 29 of the rotating rod positioning hole and the rotating rod limiting shaft 52 to be matched so as to limit the continuous rotation of the rotating rod 23, the power switching is completed, the elastic system spring restores the original state, and when the rotating rod limiting shaft 52 and the front end 29 of the rotating rod positioning hole are matched, the power transmission gear 28 is just meshed with the shank power gear 68; meanwhile, in the switching process, the rotating rod 23 rotates clockwise, the reversing rod 43 transmits force to the reversing gear 42 to enable the reversing gear 42 to move anticlockwise so as to drive the rack 37 to move rightwards, and after power switching is finished, the rack 37 keeps still; in the process of power switching, the rotation angle of the reversing gear 42 is less than 180 degrees, so in the process, the reversing rod 43 does not reach the left limit position and the right limit position, and no dead point occurs. If the robot works on the ground in a foot type motion mode, the microcontroller judges that no obstacles exist around and the road surface is flat, the microcontroller sends enabling signals to the thigh motor 7, the lower leg and the wheel motor 11 of the four legs respectively to enable the motion mode of the robot to be switched from the foot type motion to wheel type motion, at the moment, the lower leg 61 is lifted to enable the lower leg collision block 65 to act on the rack 37, the rack 37 is forced to move leftwards to drive the reversing gear 42 to rotate clockwise, the reversing rod 43 transmits the force to the rotating rod 23 to enable the rotating rod 23 to rotate anticlockwise, so that the power transmission gear 28 is meshed with the wheel type power gear 75 to provide power for the wheel type motion of the robot; during the process of switching from the foot type motion to the wheel type motion, the elastic system spring 57 is compressed and then restored, the sliding shaft 50 slides downwards and then slides upwards along the sliding track 53, the front end 29 of the rotating rod positioning hole and the rotating rod limiting shaft 52 are matched and move to the rear end 30 of the rotating rod positioning hole along the middle track to be matched with the rotating rod limiting shaft 52 so as to limit the continuous rotation of the rotating rod 23, the power switching is completed, the elastic system spring restores the original state, and when the rotating rod limiting shaft 52 is matched with the rear end 30 of the rotating rod positioning hole, the power transmission gear 28 is just meshed with the wheel type power gear 75.
While the present invention has been described in detail with reference to the embodiments, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (8)
1. The utility model provides a wheel sufficient formula robot leg structure of independently switching power which characterized in that: comprises a power switching auxiliary block (2), a power mechanism (3), a thigh mechanism (4), a shank mechanism (5) and a wheel mechanism (6);
the power mechanism (3) comprises two power sources:
the first power source is used for driving the shank mechanism (5) and the wheel type mechanism (6) to rotate along with the thigh mechanism (4) to drive the thigh mechanism (4) to be in contact with the power switching auxiliary block (2), and the auxiliary second power source is used for switching the rotation of the thigh mechanism (4) driving the wheel type mechanism (6) into the rotation of the thigh mechanism (4) driving the shank mechanism (5);
the second power source is used for driving the thigh mechanism (4) to drive the shank mechanism (5) to rotate to perform foot type movement/driving the thigh mechanism (4) to drive the wheel mechanism (6) to rotate to perform wheel type movement; the device is used for driving the thigh mechanism (4) to drive the rotation of the shank mechanism (5) to lift, so that the rotation of the thigh mechanism (4) driving the shank mechanism (5) is switched to the rotation of the thigh mechanism (4) driving the wheel mechanism (6);
the thigh mechanism (4) provides power through a shank in the power mechanism (3) and the wheel type motor (11), drives a synchronous pulley (17) at the upper end of the rotating rod to rotate, and then transmits the power to a synchronous pulley (19) at the lower end of the rotating rod through a synchronous belt (18), so as to drive a power transmission gear (28) to rotate, wherein the power transmission gear (28) is used for being meshed with a shank power gear (68) in the shank mechanism (5) to realize foot type motion and is used for being meshed with a wheel type power gear (75) in the wheel type mechanism (6) to realize wheel type motion;
the thigh motor (7) in the power mechanism (3) provides power to enable the thigh mechanism (4) to rotate along the direction B, then the thigh collision block (24) is in contact with the power switching auxiliary block (2), the rotating rod (23) rotates along the direction A due to the contact force, a power transmission gear (28) is meshed with a shank power gear (68) to provide power for foot type movement, the rotating rod (23) rotates along the direction A, and the reversing rod (43) transmits the force to the reversing gear (42) to enable the reversing gear (42) to rotate along the direction B, so that the rack (37) is driven to move; when the extending end of the rack (37) is pushed by a shank striking block (65) in the shank mechanism (5), the rack (37) moves to drive the reversing gear (42) to rotate along the direction A, the reversing rod (43) transmits force to the rotating rod (23) to enable the rotating rod (23) to rotate along the direction B, and therefore the power transmission gear (28) is meshed with the wheel type power gear (75) to provide power for wheel type movement; wherein, the direction A is clockwise, and the direction B is anticlockwise; or the direction A is anticlockwise, and the direction B is clockwise;
an elastic system in the thigh mechanism (4) is firstly compressed and then restored to an original state in the power switching process, a sliding shaft (50) on one side of a sliding plate (32) firstly slides downwards along a sliding track (53) and then slides upwards, a rotating rod limiting shaft (52) on the other side of the sliding plate (32) is firstly matched with the rear end (30) of a rotating rod positioning hole and then matched with the front end (29) of the rotating rod positioning hole, so that the power transmission gear (28) is meshed with a shank power gear (68), or the rotating rod limiting shaft (52) on the other side of the sliding plate (32) is firstly matched with the front end (29) of the rotating rod positioning hole and then matched with the rear end (30) of the rotating rod positioning hole, so that the power transmission gear (28) is meshed with a wheel type power gear (75); wherein the direction of the rear end (30) of the rotating rod positioning hole pointing to the front end (29) of the rotating rod positioning hole is the direction B.
2. The leg structure of an autonomous power-switching wheel-foot robot according to claim 1, characterized in that: the power mechanism (3) takes the thigh motor (7) as a first power source, takes the shank and wheel type motor (11) as a second power source, the output end of the thigh motor (7) is connected with the shank and wheel type motor (11) through the motor connector (10), and the shank and wheel type motor (11) provides power for the power output shaft (12).
3. The leg structure of an autonomous power-switching wheel-foot robot according to claim 1, characterized in that: the thigh mechanism (4) comprises a thigh upper end shell (14), a thigh lower end outer side plate (16), a rotating rod upper end synchronous pulley (17), a synchronous belt (18), a rotating rod lower end synchronous pulley (19), a thigh lower end inner side plate (20), a power output shaft bearing (21), a rotating rod (23), a thigh collision block (24), a power transmission shaft (26), a power transmission shaft bearing (27), a power transmission gear (28), a sliding plate (32), an elastic system fixing plate (33), a reversing auxiliary cylinder (36), a rack (37), a rack guide rail (38), a reversing gear (42), a reversing rod (43), a reversing rod tail end bearing (46), a reversing gear bearing (47), a reversing rod front end bearing (49), a sliding shaft (50), an elastic system positioning shaft (51), a rotating rod limiting shaft (52), a sliding rail (53), an elastic system and a sliding shaft nut (85); one end of the thigh upper end shell (14) is fixedly connected with a shank and a wheel type motor (11) in the power mechanism (3), and a thigh lower end outer side plate (16) and a thigh lower end inner side plate (20) are fixedly connected with the other end of the thigh upper end shell (14) together; the rotating rod (23) and the power output shaft bearing (21) form a rotating pair, the inner ring of the power output shaft bearing (21) is matched with the power output shaft (12), and one end of the rotating rod (23) is positioned through the shaft shoulder of the power output shaft (12) and is matched with the outer ring of the power output shaft bearing (21); a synchronous belt wheel (17) at the upper end of the rotating rod is fixedly connected with the other end of the power output shaft (12), and the synchronous belt wheel (17) at the upper end of the rotating rod transmits power to a synchronous belt wheel (19) at the lower end of the rotating rod through a synchronous belt (18), so that a power transmission shaft (26) is driven to rotate; the power transmission gear (28) is arranged at one end of the power transmission shaft (26), the inner ring of the power transmission shaft bearing (27) is matched with the power transmission shaft (26), the outer ring of the power transmission shaft bearing (27) is matched with the other end of the rotating rod (23), and the synchronous belt pulley (19) at the lower end of the rotating rod is fixedly connected with the power transmission shaft (26), so that the synchronous belt (18) transmits power to the power transmission gear (28) through the power transmission shaft (26) to drive the power transmission gear (28) to rotate; one end of the thigh collision block (24) is fixedly connected with the rotating rod (23), the other end of the thigh collision block (24) extends out of the upper end shell (14) of the thigh, and the rotating rod (23) rotates along the direction A through the contact force of the thigh collision block (24) and the power switching auxiliary block (2); the elastic system fixing plate (33) is fixedly connected with the inner side plate (20) at the lower end of the thigh, the other end of an elastic system mounting seat (54) in the elastic system is matched with a shaft on the elastic system fixing plate (33), and the limit is realized by an elastic system check ring (45); a sliding shaft (50) at one side of the sliding plate (32) is inserted into a sliding track (53) on an inner side plate (20) at the lower end of the thigh, the tail end of the sliding shaft (50) is limited by a sliding shaft nut (85), an elastic system positioning shaft (51) at the other side of the sliding plate (32) is matched with the other end of another elastic system mounting seat (54) in the elastic system, and a rotating rod limiting shaft (52) at the other side of the sliding plate (32) is inserted into an arc-shaped positioning hole in the rotating rod (23); the rack guide rail (38) is fixedly connected with the inner side plate (20) at the lower end of the thigh, and the rack (37) is matched with the rack guide rail (38) to form a sliding pair; the reversing gear (42) and the reversing gear bearing (47) are matched with a shaft protruding from the inner side plate (20) at the lower end of the thigh to form a rotating pair; one end of the reversing rod (43) is matched with a front end bearing (49) of the reversing rod to connect the reversing rod (43) with the reversing gear (42) to form a rotating pair, the tail end of the reversing rod (43) is matched with a tail end bearing (46) of the reversing rod to connect the reversing rod (43) with the rotating rod (23), and the rotating rod (23) is connected with the reversing rod (43) in an auxiliary mode through a reversing auxiliary cylinder (36).
4. The leg structure of an autonomous power-switching wheel-foot robot according to claim 1, characterized in that: the elasticity system comprises two elasticity system installation seats (54), an elasticity system nut (55), two spring installation seats (56), a spring (57) and an elasticity system bolt (58), one end of each of the two elasticity system installation seats (54) is fixedly connected with the two spring installation seats (56) through threads to form a cavity, a space for moving the elasticity system bolt (58) is provided when the spring (57) is compressed, the spring (57) is installed between the two spring installation seats (56) through the elasticity system bolt (58) and the elasticity system nut (55), and the head of the spring (57) in a normal state is limited through the elasticity system bolt (58) and the elasticity system nut (55).
5. The leg structure of the autonomous power-switching wheel-foot robot according to claim 1, characterized in that: the shank mechanism (5) drives the shank power gear (68) to rotate through the meshing of the power transmission gear (28) in the thigh mechanism (4) and the shank power gear (68) so as to realize the lifting and the lowering of the shank (61); the leg striking block (65) acts on the rack (37) in the thigh mechanism (4) through the lifting of the leg (61), so that the thigh mechanism (4) is assisted to switch the foot type motion into the wheel type motion.
6. The leg structure of the autonomous power-switching wheel-foot robot according to claim 1, characterized in that: the wheel type mechanism (6) drives the wheel type power gear (75) to rotate through the meshing of the power transmission gear (28) in the thigh mechanism (4) and the wheel type power gear (75), so that the rotation of the hub (77) is realized, and wheel type movement is realized.
7. A wheel-foot type robot capable of autonomously switching power is characterized in that: comprising a leg structure according to claims 1-6, further comprising a robot body structure (1), the robot body structure (1) being used for mounting the leg structure.
8. The autonomously power-switching wheel-foot robot according to claim 7, characterized in that: the leg structures are symmetrically arranged on the robot main body structure (1).
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| CN202111054015.2A CN113844566B (en) | 2021-09-09 | 2021-09-09 | Wheel-foot type robot leg structure capable of automatically switching power and wheel-foot type robot |
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| WO2019130303A1 (en) * | 2017-12-28 | 2019-07-04 | B.G. Negev Technologies And Applications Ltd., At Ben-Gurion University | Robot maneuverable by combined sprawl and four-bar extension mechanisms |
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| CN106181959A (en) * | 2016-08-24 | 2016-12-07 | 黄仕 | A kind of carrier robot |
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