CN109606498B - Robot deformation leg with wheel foot transformation capability - Google Patents
Robot deformation leg with wheel foot transformation capability Download PDFInfo
- Publication number
- CN109606498B CN109606498B CN201910089321.6A CN201910089321A CN109606498B CN 109606498 B CN109606498 B CN 109606498B CN 201910089321 A CN201910089321 A CN 201910089321A CN 109606498 B CN109606498 B CN 109606498B
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- China
- Prior art keywords
- joint driving
- knee joint
- driving shaft
- ring
- thigh
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- 230000009466 transformation Effects 0.000 title claims abstract description 8
- 210000000689 upper leg Anatomy 0.000 claims abstract description 47
- 210000002414 leg Anatomy 0.000 claims abstract description 30
- 210000000629 knee joint Anatomy 0.000 claims description 81
- 210000004394 hip joint Anatomy 0.000 claims description 48
- 230000003014 reinforcing effect Effects 0.000 claims description 7
- 238000006243 chemical reaction Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000005265 energy consumption Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 244000309466 calf Species 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 210000001624 hip Anatomy 0.000 description 1
- 210000003127 knee Anatomy 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a robot deformation leg with wheel-foot transformation capability, which comprises a thigh half ring and a shank half ring, wherein the thigh half ring and the shank half ring are circular rings when being folded and can be used as wheels to realize wheel-type movement; when the shank semi-ring and the thigh semi-ring form a certain included angle, the foot-type walking device can be used as a thigh and a shank, and foot-type walking is realized. The two configurations can be changed at any time, so that the robot has the advantages of two moving modes of wheels and feet, does not increase the weight of the leg structure and the complexity of control, and can be used for two-foot, four-foot or six-foot robots.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot deformation leg with wheel foot transformation capability.
Background
The wheel type moving mode has the advantages of low energy consumption, high moving speed and the like, and the foot type moving mode has the advantages of strong obstacle crossing capability and the like due to the adoption of a big leg structure and a small leg structure, so that a plurality of prototypes are used for combining the two, and the advantages of the two are expected to be considered.
As shown in fig. 1, CN109018058A (document 1) discloses a wheel-foot integrated robot leg structure including a yaw mechanism of a robot, a thigh, a shank, and a foot end; the whole leg is provided with three groups of hydraulic cylinders which are controlled by servo valves and have the same structure, so that the yaw of the leg, the forward and backward movements of the thigh and the shank can be realized, the foot end of the robot is of a wheel type structure, the direction of the wheels can be randomly adjusted, and the foot end is provided with an independent power source, and a stepping driving integrated machine is adopted to integrate driving and controlling together; when the vehicle runs on a flat road section, the foot motor driving wheel can be independently used for rotation, so that the vehicle can move more quickly, and energy sources are saved; when the robot moves on a rough road section, the robot can be driven by a hydraulic device to help the robot to surmount the obstacle.
As shown in fig. 2, a test version of the ultimate motor vehicle elerate of korean modern automobile company, which is the scheme adopted by most wheel-foot robots at present, has also been adopted to arrange wheels at the ends of the lower legs.
As shown in fig. 3, CN208007139U (document 2) discloses a multi-adaptive wheel-foot switching mobile platform, in which wheels are arranged at knee joints, when the angle between the knee joints and a vertical shaft is small, a robot adopts a foot-type walking mode, when the angle between the knee joints and the vertical shaft is large, a shank is lifted, the wheels are in contact with the ground, and the robot adopts a wheel-type moving mode.
The placement of the wheels at the foot end is most common and simplest wheel-foot type leg structure, but has the disadvantages: (1) The wheels need independent drivers, so that the weight of the leg structure is increased, the number of drivers of the whole robot is increased, and the control is more complex; (2) The foot end of the robot is a wheel, so that the robot cannot realize the operation capability of the robot by adding a simple manipulator to the foot end; (3) When the wheel band-type brake is abnormal, the robot in walking can slip or fall down.
There are also some disadvantages to arranging the wheels in the knee joint: (1) The weight of the leg structure is increased, and the energy consumption of the robot is increased when the robot adopts a foot-type moving mode; (2) When the robot adopts a wheeled moving mode, the lower leg needs to keep a certain pose, and an additional pose keeping mechanism is needed, so that the leg structure is complex, and the reliability is reduced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a robot deformation leg with wheel foot conversion capability, which has no wheels, integrates the leg and the wheels and does not increase the weight and the complexity of the leg.
The technical scheme of the invention is as follows: a robot deformation leg with wheel-foot transformation capability comprises a thigh half ring and a shank half ring, wherein the thigh half ring and the shank half ring are circular rings when being folded and can be used as wheels to realize wheel-type movement; when the shank semi-ring and the thigh semi-ring form a certain included angle, the foot-type walking device can be used as a thigh and a shank, and foot-type walking is realized.
Further, a thigh cross rod is arranged in the middle of the thigh semi-ring, the thigh cross rod is fixedly connected with a hip joint driving shaft through a connecting piece, the hip joint driving shaft drives the thigh semi-ring to rotate, one end of the shank semi-ring is hinged with one end of the thigh semi-ring through a knee joint rotating shaft, the knee joint rotating shaft is connected with a knee joint driving shaft, and the knee joint driving shaft drives the knee joint rotating shaft to rotate so as to drive the shank semi-ring to rotate.
Further, the free end of the shank half ring is provided with a protruding portion, the free end of the thigh half ring is provided with a recessed portion, and when the thigh half ring and the shank half ring are folded, the protruding portion is inserted into the recessed portion to form a circular ring.
Further, the knee joint driving shaft is connected with the knee joint rotating shaft through a belt, a belt wheel is arranged between the belt and the knee joint driving shaft, and a belt wheel is also arranged between the belt and the knee joint rotating shaft.
Further, the knee joint driving device further comprises a knee joint driving motor and a hip joint driving motor, wherein an output shaft of the knee joint driving motor is connected with the knee joint driving shaft, an output shaft of the hip joint driving motor is connected with the hip joint driving shaft, and the knee joint driving shaft and the hip joint driving shaft are coaxially arranged.
Further, an output shaft of the hip joint driving motor is connected with the hip joint driving shaft through a worm gear mechanism, a worm gear driven by the hip joint driving motor is hollow, and the worm gear and the knee joint driving motor are coaxially arranged; it is also possible that: the hip joint driving motor is hollow and is coaxially arranged with the knee joint driving motor.
Further, the hip joint driving shaft is a hollow cylinder, the knee joint driving shaft is arranged in the hip joint driving shaft, one end of the knee joint driving shaft extends out of the hip joint driving shaft, and a bearing is arranged between the knee joint driving shaft and the hip joint driving shaft through a belt wheel driving belt.
Further, a reinforcing rod is connected between the knee joint driving shaft and the knee joint rotating shaft, one end of the knee joint driving shaft extending out of the hip joint driving shaft is movably connected to the thigh cross rod, and the reinforcing rod, the knee joint driving shaft, the knee joint rotating shaft and the thigh cross rod form a closed frame.
The invention has the following beneficial effects: the invention can be used for two-foot, four-foot or six-foot robots by designing the thighs and the calves as semi-rings, wheels when folding and big and small legs when opening, the wheels are not used, the transformation is free, and the weight of the leg structure and the complexity of control are not increased. When the knee joint driving shaft is arranged in the hip joint driving shaft, the hip joint driving shaft and the knee joint driving shaft are coaxial, and the whole structure is small.
Drawings
Fig. 1 is a schematic diagram of a prior art wheel-foot robot.
Fig. 2 is a schematic diagram of a prior art wheel-foot robot.
Fig. 3 is a schematic diagram of a prior art wheel-foot robot.
Fig. 4 is a schematic view of the deformed leg-foot walking structure of the present invention.
Fig. 5 is a schematic view showing the state of the deformed leg wheeled walking structure of the present invention.
Fig. 6 is a schematic diagram of a drive system of the present invention.
Fig. 7 is a schematic view of a four-legged robot wheeled walking.
Fig. 8 is a schematic diagram of a four-legged robot foot walking.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Referring to fig. 1-8, a robot deformation leg with wheel-foot transformation capability comprises a thigh half ring 1 and a shank half ring 2, wherein the thigh half ring 1 and the shank half ring 2 are circular rings when being folded and can be used as wheels to realize wheel-type movement; when the shank half ring 2 and the thigh half ring 1 form a certain included angle, the foot-type walking device can be used as a thigh and a shank, and foot-type walking is realized.
The middle of the thigh semi-ring 1 is provided with a thigh cross rod 3, the thigh cross rod 3 is fixedly connected with a hip joint driving shaft 5 through a connecting piece 4, the hip joint driving shaft 5 drives the thigh semi-ring 1 to rotate, one end of the shank semi-ring 2 is hinged with one end of the thigh semi-ring 1 through a knee joint rotating shaft 6, the knee joint rotating shaft 6 is connected with a knee joint driving shaft 7, and the knee joint driving shaft 7 drives the knee joint rotating shaft 6 to rotate so as to drive the shank semi-ring 2 to rotate.
The free end of the shank half ring 2 is provided with a protruding part 8, the free end of the thigh half ring 1 is provided with a recessed part 9, and when the thigh half ring 1 and the shank half ring 2 are folded, the protruding part 8 is inserted into the recessed part 9 to form a circular ring.
The knee joint driving shaft 7 is connected with the knee joint rotating shaft 6 through a belt 10, a belt wheel is arranged between the belt 10 and the knee joint driving shaft 7, and a belt wheel 11 is also arranged between the belt 10 and the knee joint rotating shaft 6.
The knee joint driving motor 12 and the hip joint driving motor 13 are further included, an output shaft of the knee joint driving motor 12 is connected with the knee joint driving shaft 7, an output shaft of the hip joint driving motor 13 is connected with the hip joint driving shaft 5 through a worm gear mechanism 16, the knee joint driving shaft 7 and the hip joint driving shaft 5 are coaxially arranged, the hip joint driving motor 13 is installed on the worm gear mechanism 16, the worm gear mechanism 16 and the knee joint driving motor 12 are installed on a fixing device 14, deformation legs are fixed to other parts through the fixing device 14, and the fixing device 14 can be integrally formed with the other parts. The thigh half ring 1 is rotatable by the hip joint driving motor 13, and the shank half ring 2 is swingable by the knee joint driving motor 12.
The hip joint driving motor 13 may be a common motor, as shown in fig. 4, the hip joint driving shaft 5 is driven to rotate by a worm gear mechanism 16, a worm gear driven by the hip joint driving motor 13 is hollow, and the worm gear and the knee joint driving motor 12 are coaxially arranged; the hip drive motor 13 may also be a hollow motor coaxially arranged with the knee drive motor 12 to further reduce the overall bulk of the structure.
In order to further reduce the overall volume of the structure, the hip joint driving shaft 5 is a hollow cylinder, the knee joint driving shaft 7 is arranged inside the hip joint driving shaft 5, one end of the knee joint driving shaft 7 extends out of the hip joint driving shaft 5, and bearings, preferably two bearings, are arranged between the knee joint driving shaft 7 and the hip joint driving shaft 5 through the belt wheel driving belt 10.
In order to further strengthen the rigidity of the knee joint driving shaft 7 and the knee joint rotating shaft 6, a reinforcing rod 15 is movably connected between the knee joint driving shaft 7 and the knee joint rotating shaft 6, one end of the knee joint driving shaft 7 extending out of the hip joint driving shaft 5 is movably connected to the thigh cross rod 3, the reinforcing rod 15 forms a closed frame with the knee joint driving shaft 7, the knee joint rotating shaft 6 and the thigh cross rod 3, and the connection rigidity of the knee joint driving shaft 7 and the knee joint rotating shaft 6 is enhanced.
As shown in fig. 4, the connecting member 4 may be centrally slotted to accommodate pulleys and allow the belt 10 and reinforcing bar 15 to pass therethrough.
The above examples are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above examples, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principle of the present invention should be made in the equivalent manner, and the embodiments are included in the protection scope of the present invention.
Claims (6)
1. A robot deformation leg with wheel foot transformation capability, characterized in that: the device comprises a thigh semi-ring (1) and a shank semi-ring (2), wherein the thigh semi-ring (1) and the shank semi-ring (2) are circular rings when being folded, and can be used as wheels to realize wheeled movement;
when the shank semi-ring (2) and the thigh semi-ring (1) form a certain included angle, the shank semi-ring can be used as a thigh and a shank to realize foot-type walking; the middle of the thigh semi-ring (1) is provided with a thigh cross rod (3), the thigh cross rod (3) is fixedly connected with a hip joint driving shaft (5) through a connecting piece (4), the hip joint driving shaft (5) drives the thigh semi-ring (1) to rotate, one end of the shank semi-ring (2) is hinged with one end of the thigh semi-ring (1) through a knee joint rotating shaft (6), the knee joint rotating shaft (6) is connected with a knee joint driving shaft (7), and the knee joint driving shaft (7) drives the knee joint rotating shaft (6) to rotate so as to drive the shank semi-ring (2) to rotate;
the robot deformation leg further comprises a knee joint driving motor (12) and a hip joint driving motor (13), wherein an output shaft of the knee joint driving motor (12) is connected with the knee joint driving shaft (7), an output shaft of the hip joint driving motor (13) is connected with the hip joint driving shaft (5), and the knee joint driving shaft (7) and the hip joint driving shaft (5) are coaxially arranged;
the hip joint driving shaft (5) is hollow cylinder, the knee joint driving shaft (7) is arranged in the hip joint driving shaft (5), one end of the knee joint driving shaft extends out of the hip joint driving shaft (5), and a bearing is arranged between the knee joint driving shaft (7) and the hip joint driving shaft (5) through a belt wheel driving belt (10); the middle of the connecting piece (4) is grooved, and the belt wheel is accommodated in the connecting piece (4); the knee joint driving shaft (7) is connected with the knee joint rotating shaft (6) through a belt (10), a belt wheel is arranged between the belt (10) and the knee joint driving shaft (7), and a belt wheel is also arranged between the belt (10) and the knee joint rotating shaft (6).
2. A deformed leg of a robot with wheel foot conversion capability according to claim 1, wherein: the free end of the shank semi-ring (2) is provided with a protruding portion (8), the free end of the thigh semi-ring (1) is provided with a recessed portion (9), and when the thigh semi-ring and the shank semi-ring are folded, the protruding portion (8) is inserted into the recessed portion (9) to form a circular ring.
3. A deformed leg of a robot with wheel foot conversion capability according to claim 1, wherein: an output shaft of the hip joint driving motor (13) is connected with the hip joint driving shaft (5) through a worm gear mechanism (16), a worm gear driven by the hip joint driving motor (13) is hollow, and the worm gear and the knee joint driving motor (12) are coaxially arranged.
4. A deformed leg of a robot with wheel foot conversion capability according to claim 1, wherein: the hip joint driving motor (13) is hollow and is arranged coaxially with the knee joint driving motor (12).
5. A deformed leg of a robot with wheel foot conversion capability according to claim 1, wherein: a reinforcing rod (15) is movably connected between the knee joint driving shaft (7) and the knee joint rotating shaft (6), one end of the knee joint driving shaft (7) extending out of the hip joint driving shaft (5) is movably connected to the thigh cross rod (3), and the reinforcing rod (15), the knee joint driving shaft (7), the knee joint rotating shaft (6) and the thigh cross rod (3) form a closed frame.
6. A robot comprising a deformed leg of a robot as claimed in any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089321.6A CN109606498B (en) | 2019-01-30 | 2019-01-30 | Robot deformation leg with wheel foot transformation capability |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910089321.6A CN109606498B (en) | 2019-01-30 | 2019-01-30 | Robot deformation leg with wheel foot transformation capability |
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| Publication Number | Publication Date |
|---|---|
| CN109606498A CN109606498A (en) | 2019-04-12 |
| CN109606498B true CN109606498B (en) | 2024-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910089321.6A Active CN109606498B (en) | 2019-01-30 | 2019-01-30 | Robot deformation leg with wheel foot transformation capability |
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| Country | Link |
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| CN (1) | CN109606498B (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111391935A (en) * | 2020-03-19 | 2020-07-10 | 上海工程技术大学 | A self-deformable and reconfigurable multi-terrain robot |
| CN111976855B (en) * | 2020-07-10 | 2022-08-26 | 北京交通大学 | Single-drive six-rod mechanism deformable wheel obstacle crossing robot |
| CN114275072B (en) * | 2022-01-19 | 2023-04-07 | 西湖机器人科技(杭州)有限公司 | Device capable of realizing switching of two states of wheel foot of robot |
| CN115123418B (en) * | 2022-06-30 | 2024-01-16 | 杭州云深处科技有限公司 | Wheel leg replacement mechanism and replacement method for quadruped robot |
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| CN102717847A (en) * | 2012-06-28 | 2012-10-10 | 中国科学院自动化研究所 | Leg-foot mechanism with low rotational inertia configuration for four-footed robot |
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| CN209535272U (en) * | 2019-01-30 | 2019-10-25 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070186713A1 (en) * | 2006-02-12 | 2007-08-16 | Michael Trzecieski | Transforming Limb |
| TWI370796B (en) * | 2009-10-29 | 2012-08-21 | Univ Nat Taiwan | Leg-wheel hybrid mobile platform |
| SK562012A3 (en) * | 2012-08-02 | 2014-02-04 | Technická Univerzita V Košiciach | Reconfigurable wheel of mobile platform for walking leg |
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2019
- 2019-01-30 CN CN201910089321.6A patent/CN109606498B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102717847A (en) * | 2012-06-28 | 2012-10-10 | 中国科学院自动化研究所 | Leg-foot mechanism with low rotational inertia configuration for four-footed robot |
| CN203381702U (en) * | 2013-07-17 | 2014-01-08 | 电子科技大学 | One-legged jumping robot |
| CN104085458A (en) * | 2014-07-03 | 2014-10-08 | 电子科技大学 | Leg-wheel type quadruped robot |
| CN104773226A (en) * | 2015-04-20 | 2015-07-15 | 哈尔滨工业大学 | Wheel-foot conversion type mobile robot system |
| CN106004281A (en) * | 2016-05-24 | 2016-10-12 | 西北工业大学 | Amphibious robot with multiple movement modes |
| CN209535272U (en) * | 2019-01-30 | 2019-10-25 | 清华大学 | A kind of robot deformation leg with the sufficient ability to transform of wheel |
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| CN109606498A (en) | 2019-04-12 |
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