CN114852207A - Shaft-driven three-degree-of-freedom wheel foot walking mechanism - Google Patents
Shaft-driven three-degree-of-freedom wheel foot walking mechanism Download PDFInfo
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- CN114852207A CN114852207A CN202210448000.2A CN202210448000A CN114852207A CN 114852207 A CN114852207 A CN 114852207A CN 202210448000 A CN202210448000 A CN 202210448000A CN 114852207 A CN114852207 A CN 114852207A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/22—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or type of main drive shafting, e.g. cardan shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K7/0007—Disposition of motor in, or adjacent to, traction wheel the motor being electric
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/003—Disposition of motor in, or adjacent to, traction wheel with two or more motors driving a single wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0046—Disposition of motor in, or adjacent to, traction wheel the motor moving together with the vehicle body, i.e. moving independently from the wheel axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K7/00—Disposition of motor in, or adjacent to, traction wheel
- B60K2007/0069—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle
- B60K2007/0084—Disposition of motor in, or adjacent to, traction wheel the motor axle being perpendicular to the wheel axle the motor axle being vertical
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Rehabilitation Tools (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a shaft-driven three-degree-of-freedom wheel-foot walking mechanism. The knee joint motor is integrated inside the trunk of the robot by mainly utilizing a link mechanism, and the wheel motor is integrated at the upper end of the thigh by utilizing a transmission shaft. The moment of inertia generated when the wheel-foot mechanism moves is reduced, and the maneuvering performance of the wheel-foot mechanism is improved. Compared with a wheel-side motor, the invention has the advantages of light moving end weight, small rotational inertia, small motor load, low control difficulty and the like, so that the shaft transmission can greatly reduce the performance requirement and the use burden of the joint motor and improve the integral reliability of the wheel-foot mechanism.
Description
Technical Field
The invention belongs to the field of wheel-foot robots, and particularly relates to a three-degree-of-freedom wheel-foot walking mechanism driven by a shaft.
Background
In recent years, wheel-foot mobile robots are a hot spot of current robot research due to their fast and flexible maneuvering forms. The existing wheel-foot type robot is mainly characterized in that a wheel-side motor is directly added at a foot end on the basis of the configuration of the existing foot type robot, and wheel-type walking of the wheel-foot type robot is realized through the wheel-side motor.
The driving motor of the arrangement mode is close to the moving end, the rotary inertia of the whole mechanical leg is large, the control precision is low, and the load is low. Currently, less research is directed to the power transmission form of the wheel foot mechanism.
Disclosure of Invention
The invention provides a shaft-driven three-degree-of-freedom wheel foot walking mechanism, which aims to solve the technical problems that: the existing wheel-foot mechanism has the problems of large rotational inertia, low control precision and low load.
In order to solve the technical problems, the invention provides a shaft-driven three-degree-of-freedom wheel foot walking mechanism which is characterized in that: comprises a joint motor assembly 1, a thigh assembly 2, a wheel motor assembly 3, a shank assembly 4 and foot end wheels; the joint motor assembly is connected to the robot body through a lateral expansion joint motor 1.1 and rotates around the axial line of the lateral expansion joint motor to realize the lateral expansion freedom degree of the leg; a thigh shell 2.2 and a connecting rod 2.4 of the thigh assembly 2 are respectively connected with the fixed end and the rotating end of the knee joint motor 1.3; the wheel motor assembly 3 is arranged at the upper part of the thigh shell 2.2, the lower end of the thigh assembly is connected with the upper end of the shank assembly, the lower end of the shank assembly is connected with the foot end wheel, and the wheel motor drives the foot end wheel through the transmission shafts in the thigh assembly and the shank assembly.
The joint motor assembly 1 comprises a side-unfolding joint motor 1.1, a front-swinging joint motor 1.2, a knee joint motor 1.3 and an assembly frame 1.4, wherein the three motors are all fixed on the assembly frame, the other end of the side-unfolding joint motor 1.1 is connected with the robot body, the assembly frame 1.4 can rotate around the axis of the side-unfolding joint motor relative to the robot body, the front-swinging joint motor 1.2 is fixedly connected with the knee joint motor 1.3 in a coaxial manner, the other end of the front-swinging joint motor 1.2 is connected with the assembly frame 1.4, the front-swinging joint motor 1.3 drives the knee joint motor 1.3 to rotate around the axis of the front-swinging joint motor when rotating, the fixed end of the knee joint motor is connected with a thigh shell 2.2 of the thigh assembly 2, the rotating end of the knee joint motor is connected with a connecting rod of the thigh assembly 2, and the knee joint motor rotates to drive the shank through the connecting rod, so as to change the angle between the shank and the thigh.
Has the beneficial effects that: according to the invention, the wheel-side motor is moved upwards, the driving motor is integrated at the upper end of the mechanical leg by using the shaft transmission mechanism, and the three joint motors of the mechanical leg are integrated in the machine body, so that the rotational inertia generated during the motion of the mechanical leg assembly is reduced, and the maneuvering performance of the wheel-foot mechanism is improved.
Drawings
FIG. 1 is a schematic view of the entire wheel-foot walking mechanism;
FIG. 2 is a schematic view of an articulation motor assembly;
FIG. 3 is a schematic view of a thigh assembly;
FIG. 4 is a schematic view of a foot end wheel motor assembly;
FIG. 5 is a schematic view of a lower leg assembly;
wherein:
1. a joint motor assembly, 1.1, a lateral expansion joint motor, 1.2, a front swing joint motor, 1.3, a knee joint motor, 1.4, an assembly frame, 1.4.1, a lateral expansion joint motor end cover, 1.4.2, an assembly support, 1.4.3, an assembly shaft, 1.4.4, a front swing motor end cover, 1.4.5, a motor connecting plate, 1.4.6, a knee joint fixing plate, 1.4.7, a knee joint rotating shaft, 2, a thigh assembly, 2.1, a thigh fixing plate, 2.2, a thigh shell, 2.3, a knee joint shaft sleeve, 2.4, a connecting rod, 2.5, a thigh transmission shaft, 2.6, a transmission ball, 2.7, a knee joint small connecting rod, 2.8, a knee joint calf shaft, 3, a wheel motor assembly, 3.1, a foot end wheel motor, 3.2, a motor base, 3.3, a left support column, 3.4, a right support column, a foot wheel, a left support shaft, a calf wheel, a left support shaft, a right support column, a calf wheel, a left support shaft, a right support, a calf wheel, a left support, a right support, a calf wheel, a left support, a calf wheel, a right wheel, a calf wheel, a left support, a right wheel, a left shaft, a right wheel, a left shaft, a right wheel, a left shaft, a calf wheel, a left wheel, a right wheel, a left wheel, a right wheel, a calf wheel, a left shaft, a right wheel, a calf wheel, a left wheel, a calf wheel, a right wheel, a left shaft, a calf wheel, a right wheel, a left shaft, a right wheel, a left bevel wheel, a left shaft, a right wheel, a left bevel wheel, a right wheel, a left bevel wheel, a right wheel, a left shaft, a right wheel, 4.5, foot end wheel cover plate, 4.6.1, 4.6.2, gasket, 5.1, 5.2 foot end wheel.
Detailed Description
In order to make the objects, contents and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention is provided.
The invention provides a shaft-driven three-degree-of-freedom wheel-foot walking mechanism, which comprises a joint motor assembly 1, a thigh assembly 2, a wheel motor assembly 3, a shank assembly 4 and foot end wheels; the three degrees of freedom refer to the lateral expansion degree of freedom, the forward swing degree of freedom, and the hip degree of freedom of the leg. The joint motor assembly 1 is connected to the robot body through a side-unfolding joint motor 1.1 and can rotate around the axis of the side-unfolding joint motor to realize the side-unfolding freedom degree of the legs. The thigh assembly is connected at the fixed end and the rotating end of the knee joint motor 1.3 through the thigh shell 2.2 and the connecting rod 2.4 respectively, and the knee joint degree of freedom can be realized through a connecting rod mechanism. The forward swing degree of freedom is realized by the joint motor assembly 1 itself. The wheel motor assembly 3 is arranged at the upper part of the thigh shell 2.2, the lower end of the thigh shell 2 is connected with the upper end of the shank assembly 4, and the lower end of the shank assembly 4 is connected with the foot end wheels 5.1 and 5.2. The foot end wheel motor 3.1 drives the foot end wheel through the transmission shafts and the universal joints in the thigh assembly 2 and the shank assembly 4. For reducing the moment of inertia of the foot end that occurs when the mechanical legs move.
As shown in fig. 2, the joint motor assembly 1 includes three motors, namely a lateral expansion joint motor 1.1, a forward swing joint motor 1.2 and a knee joint motor 1.3, and an assembly frame 1.4, the three motors are all fixed on the assembly frame, the other end of the lateral expansion joint motor 1.1 is connected with the robot body, and the assembly frame 1.4 can rotate around the axis of the lateral expansion joint motor relative to the robot body, so as to realize the lateral expansion degree of freedom of the leg. The front swing joint motor 1.2 and the knee joint motor 1.3 are fixedly connected with each other in a coaxial line mode, the other end of the front swing joint motor 1.2 is connected with the assembly frame 1.4, the knee joint motor 1.3 can be driven to rotate around the axis of the front swing joint motor when the front swing joint motor 1.2 rotates, and the fixed end of the knee joint motor is connected with a thigh to achieve the front swing freedom degree of a leg. The rotating end of the knee joint motor is connected with the connecting rod mechanism, the knee joint motor can rotate to drive the shank through the connecting rod mechanism, the angle between the shank and the thigh is changed, and the knee joint freedom degree of the leg is realized.
As shown in fig. 2, the assembly frame 1.4 includes a lateral extension joint motor end cover 1.4.1, an assembly support 1.4.2, an assembly shaft 1.4.3, a forward swing motor end cover 1.4.4, a motor connecting plate 1.4.5, a knee joint fixing plate 1.4.6, and a knee joint rotating shaft 1.4.7, one end of the lateral extension joint motor end cover 1.4.1 is connected with the lateral extension joint motor 1.1, the other end is connected with the assembly support 1.4.2 through the assembly shaft 1.4.3, the lateral extension joint motor 1.1 can drive the assembly support 1.4.2 to rotate around the assembly shaft 1.4.3 when rotating, the forward swing joint motor 1.2 is fixedly connected to the assembly support 1.4.2 through the forward swing motor end cover 1.4.4, and the other end of the forward swing joint motor 1.2 is fixedly and coaxially connected to the motor 1.3 through the motor connecting plate 1.4.5. The fixed end of the knee joint motor 1.3 is connected with the thigh shell 2.2 through a knee joint fixing plate 1.4.6, and the rotating end of the knee joint motor is connected with the connecting rod 2.4 through a knee joint rotating shaft 1.4.7.
As shown in fig. 3, the thigh assembly 2 comprises a thigh fixing plate 2.1, a thigh shell 2.2, a knee joint sleeve 2.3 and a connecting rod 2.4, thigh transmission shaft 2.5, transmission ball 2.6, knee joint little connecting rod 2.7, knee joint shank axle 2.8, thigh shell 2.2 passes through thigh fixed plate 2.1 fixed connection on knee joint fixed plate 1.4.6, knee joint axle sleeve 2.3 is connected at knee joint rotation axis 1.4.7, knee joint axle sleeve 2.3 other end passes through connecting rod 2.4 and connects the shank, knee joint motor 1.3 rotates and can change the angle between thigh and shank through link mechanism, realize the knee joint degree of freedom, there is rotatable thigh transmission shaft 2.5 in thigh shell 2.2, thigh transmission shaft 2.5 passes through transmission ball 2.6 and connects shank transmission shaft 4.2, constitute a universal joint drive mechanism, knee joint shank shell 2.2.2 is connected to knee joint little connecting rod 2.7 one end, one end passes through knee joint shank axle 2.8 and connects connecting rod 2.4 and shank, play the effect of strengthening the support.
As shown in fig. 4, the foot end wheel motor assembly 3 includes a foot end wheel motor 3.1, a motor base 3.2, a left support column 3.3, a right support column 3.4, a bracket 3.5, a left support ear 3.6, and a right support ear 3.7. Foot end wheel motor 3.1 fixed connection is on motor cabinet 3.2, and motor cabinet 3.2 links to each other through left and right support column 3.3, 3.4 with left and right support ear 3.6, 3.7, and left and right support ear 3.6, 3.7 fixed connection are on thigh shell 2.2 of thigh assembly, and left and right support ear 3.6, 3.7 link to each other through bracket 3.5. The rotating end of the foot end wheel motor is connected with a transmission shaft of the thigh assembly and can rotate around the motor base.
As shown in fig. 5, the lower leg assembly 4 includes a lower leg shell 4.1, a lower leg transmission shaft 4.2, a transmission shaft bevel gear 4.3, a foot end wheel axle 4.4, a foot end wheel cover plate 4.5 and two washers 4.6.1, 4.6.2, the lower leg shell 4.1 is connected with a connecting rod 2.4 through a knee joint lower leg axle 2.8, and can rotate around a knee joint axis under the control of a knee joint motor, the upper end of the lower leg transmission shaft 4.2 is connected with a transmission ball 2.6, the lower end is connected with a coaxial transmission shaft bevel gear 4.3, and is connected with the foot end wheel axle 4.4 through a bevel gear to change the transmission direction and drive the foot end wheels 5.1, 5.2 to rotate. The foot end wheel cover plate 4.5 is fixedly connected to the lower leg shell 4.1 to play a role in reinforcement.
As shown in fig. 5, the foot end wheels comprise a left foot end wheel 5.1 and a right foot end wheel 5.2 which are connected with the tail ends of the wheel foot mechanical legs through foot end wheel axles 4.4.
In the prior art, the most common method is to directly add a wheel-side motor at the foot end on the basis of the configuration of a foot type robot, and realize the wheel type walking of the foot type robot through the wheel-side motor. The driving motor of the arrangement mode is close to the moving end, the rotary inertia of the whole mechanical leg is large, the control precision is low, and the load is low. The wheel-side motor is moved upwards and is driven by the shaft to transmit power, compared with a wheel-side driving mode, the wheel-side motor has the advantages of light weight of a foot end, small rotational inertia, low control difficulty and the like, the maneuvering performance of the wheel-side mechanism is improved, and a foundation is laid for further improving the control precision.
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. The utility model provides a sufficient running gear of three degree of freedom wheel of shaft drive which characterized in that: comprises a joint motor assembly 1, a thigh assembly 2, a wheel motor assembly 3, a shank assembly 4 and foot end wheels; the joint motor assembly is connected to the robot body through a lateral expansion joint motor 1.1 and rotates around the axial line of the lateral expansion joint motor to realize the lateral expansion freedom degree of the leg; a thigh shell 2.2 and a connecting rod 2.4 of the thigh assembly 2 are respectively connected with the fixed end and the rotating end of the knee joint motor 1.3; the wheel motor assembly 3 is arranged at the upper part of the thigh shell 2.2, the lower end of the thigh assembly is connected with the upper end of the shank assembly, the lower end of the shank assembly is connected with the foot end wheel, and the wheel motor drives the foot end wheel through the transmission shafts in the thigh assembly and the shank assembly.
2. The axle-driven three-degree-of-freedom wheel-foot walking mechanism of claim 1, wherein: the joint motor assembly 1 comprises a side-unfolding joint motor 1.1, a front-swinging joint motor 1.2, a knee joint motor 1.3 and an assembly frame 1.4, wherein the three motors are all fixed on the assembly frame, the other end of the side-unfolding joint motor 1.1 is connected with the robot body, the assembly frame 1.4 can rotate around the axis of the side-unfolding joint motor relative to the robot body, the front-swinging joint motor 1.2 is fixedly connected with the knee joint motor 1.3 in a coaxial manner, the other end of the front-swinging joint motor 1.2 is connected with the assembly frame 1.4, the front-swinging joint motor 1.3 drives the knee joint motor 1.3 to rotate around the axis of the front-swinging joint motor when rotating, the fixed end of the knee joint motor is connected with a thigh shell 2.2 of the thigh assembly 2, the rotating end of the knee joint motor is connected with a connecting rod of the thigh assembly 2, and the knee joint motor rotates to drive the shank through the connecting rod, so as to change the angle between the shank and the thigh.
3. The axle-driven three-degree-of-freedom wheel-foot walking mechanism of claim 2, wherein: the assembly frame comprises a side-unfolding joint motor end cover 1.4.1, an assembly support 1.4.2, an assembly shaft 1.4.3, a front swing motor end cover 1.4.4, a motor connecting plate 1.4.5, a knee joint fixing plate 1.4.6 and a knee joint rotating shaft 1.4.7, one end of the side-unfolding joint motor end cover 1.4.8 is connected with the side-unfolding joint motor 1.1, the other end of the side-unfolding joint motor end cover is connected with the assembly support 1.4.2 through the assembly shaft 1.4.3, the side-unfolding motor can drive the assembly support to rotate around the assembly shaft when rotating, the front swing motor is fixedly connected to the assembly support 1.4.2 through the front swing motor end cover 1.4.1, and the other end of the front swing motor is fixedly and coaxially connected with the knee joint motor through the motor connecting plate; the fixed end of the knee joint motor is connected with the thigh shell through a knee joint fixing plate, and the rotating end of the knee joint motor is connected with the connecting rod through a knee joint rotating shaft.
4. The axle-driven three-degree-of-freedom wheel-foot walking mechanism of claim 1, wherein: the thigh assembly 2 comprises a thigh fixing plate 2.1, a thigh shell 2.2, a knee joint shaft sleeve 2.3, a connecting rod 2.4, a thigh transmission shaft 2.5, a transmission ball 2.6, a knee joint small connecting rod 2.7 and a knee joint small leg shaft 2.8, wherein the knee joint shaft sleeve 2.3 is connected with the rotating end of a knee joint motor through a knee joint rotating shaft 1.4.7, the other end of the knee joint shaft sleeve 2.3 is connected with a small leg through the connecting rod 2.4, a rotatable thigh transmission shaft 2.5 is arranged in the thigh shell 2.2, the thigh transmission shaft 2.5 is connected with the small leg transmission shaft 4.2 through the transmission ball 2.6 to form a universal joint transmission mechanism, one end of the knee joint small connecting rod 2.7 is connected with the thigh shell 2.2, and the other end is connected with the connecting rod 2.4 and the small leg through the knee joint small leg shaft 2.8.
5. The axle-driven three-degree-of-freedom wheel-foot walking mechanism of claim 4, wherein: the thigh shell 2.2 is fixedly connected to the fixed end of the knee joint motor through a thigh fixing plate 2.1.
6. The axle-driven three-degree-of-freedom wheel-foot walking mechanism of claim 1, wherein: the wheel motor assembly 3 comprises a foot end wheel motor 3.1 and a motor base 3.2, and the foot end wheel motor 3.1 is connected with a thigh shell 2.2 of the leg assembly through the motor base 3.2.
7. The axle-driven three-degree-of-freedom wheel-foot walking mechanism of claim 6, wherein: a foot end wheel motor 3.1 is fixedly connected to a motor base 3.2, the motor base 3.2 is connected with a left supporting ear and a right supporting ear through a left supporting column and a right supporting column, the left supporting ear and the right supporting ear are fixedly connected to a thigh shell 2.2 of a thigh assembly, and the left supporting ear and the right supporting ear are connected through a bracket 3.5; the rotating end of the foot end wheel motor is connected with a thigh transmission shaft of the thigh assembly.
8. The axle-driven three-degree-of-freedom wheel foot walking mechanism of any one of claims 1-7, characterized in that: the shank assembly 4 comprises a shank shell 4.1, a shank transmission shaft 4.2, a transmission shaft bevel gear 4.3 and a foot end wheel axle 4.4; the crus shell 4.1 is connected with a connecting rod 2.4 through a knee joint crus shaft 2.8, the upper end of a crus transmission shaft 4.2 is connected with a transmission ball 2.6, the lower end is connected with a coaxial transmission shaft bevel gear 4.3, and the transmission shaft bevel gear is connected with a foot end wheel shaft 4.4 to drive a foot end wheel to rotate.
9. The axle-driven three-degree-of-freedom wheel-foot walking mechanism of claim 8, wherein: the foot end wheel cover plate 4.5 is fixedly connected with the lower end of the lower leg shell 4.1.
10. The axle-driven three-degree-of-freedom wheel foot walking mechanism of any one of claims 1-7, characterized in that: the foot end wheels comprise a left foot end wheel and a right foot end wheel, and are connected to the tail ends of the wheel foot mechanical legs through foot end wheel axles 4.4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210448000.2A CN114852207A (en) | 2022-04-26 | 2022-04-26 | Shaft-driven three-degree-of-freedom wheel foot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210448000.2A CN114852207A (en) | 2022-04-26 | 2022-04-26 | Shaft-driven three-degree-of-freedom wheel foot walking mechanism |
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| Publication Number | Publication Date |
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| CN114852207A true CN114852207A (en) | 2022-08-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210448000.2A Pending CN114852207A (en) | 2022-04-26 | 2022-04-26 | Shaft-driven three-degree-of-freedom wheel foot walking mechanism |
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| CN (1) | CN114852207A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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| 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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