CN112077822B

CN112077822B - A wheel diameter mechanism and a manipulator

Info

Publication number: CN112077822B
Application number: CN202010999649.4A
Authority: CN
Inventors: 熊泰熠; 刘羽祚; 吴昊; 杨名洋; 严清华
Original assignee: Wuhan Polytechnic University
Current assignee: Taijing Technology Co ltd
Priority date: 2020-09-22
Filing date: 2020-09-22
Publication date: 2021-12-21
Anticipated expiration: 2040-09-22
Also published as: CN112077822A

Abstract

The application provides a wheel diameter mechanism and a manipulator, and relates to the technical field of wheel carrier structures. The wheel diameter mechanism comprises a plurality of first wheel sheets, a plurality of second wheel sheets, a plurality of connecting sheets and an adjusting mechanism. The first wheel plate annular arrays and the second wheel plate annular arrays are arranged. The connecting piece is respectively and rotatably connected with the adjacent first wheel piece and the second wheel piece. The adjusting mechanism comprises a connecting rod assembly and a telescopic assembly, the connecting rod assembly is connected with the first wheel piece, and the telescopic assembly is connected with the second wheel piece. When the connecting rod assembly and the telescopic assembly act, the plurality of first wheel sheets, the plurality of second wheel sheets and the plurality of connecting sheets form a circumference with the largest wheel diameter; or a plurality of first wheel segments forming a circumference having a minimum wheel diameter. The manipulator includes a plurality of finger moving mechanisms and a wheel diameter mechanism. The plurality of finger moving mechanisms are respectively connected with the plurality of first wheel sheets. The wheel diameter of the wheel diameter mechanism is variable, the adaptability to the road surface is strong, and the obstacle crossing capability is good. The fingers of the manipulator can be embedded into a rock wall, so that the manipulator can walk on a cliff.

Description

Wheel diameter mechanism and manipulator

Technical Field

The application relates to the technical field of wheel carrier structures, in particular to a wheel diameter mechanism and a manipulator.

Background

In the prior art, the wheel diameter of the wheel diameter structure is not adjustable, and the obstacle crossing capability is poor when the wheel diameter structure faces an obstacle or a rugged road surface.

Disclosure of Invention

An object of the embodiment of the present application is to provide a wheel diameter mechanism, which aims to improve the problems of the related art that the wheel diameter of a wheel diameter structure is not adjustable and the obstacle crossing capability is poor.

The embodiment of the application provides a wheel diameter mechanism, this wheel diameter mechanism includes a plurality of first wheel pieces, a plurality of second wheel pieces, a plurality of connection piece and adjustment mechanism, a plurality of first wheel piece annular arrays, a plurality of second wheel piece annular arrays, the connection piece is respectively rotationally connected adjacent first wheel piece and second wheel piece, adjustment mechanism includes link assembly and telescopic component, link assembly is connected with first wheel piece, telescopic component is connected with the second wheel piece, when link assembly and telescopic component move, a plurality of first wheel pieces, a plurality of second wheel pieces and a plurality of connection piece form the circumference, the biggest wheel diameter has, or a plurality of first wheel pieces form the circumference, the smallest wheel diameter has.

The wheel diameter mechanism is provided with a connecting rod assembly and a telescopic assembly, wherein the connecting rod assembly is used for driving the first wheel sheet to move along the annular radial direction and supporting the first wheel sheet. The telescopic assembly is used for driving the second wheel sheet to move along the annular radial direction and supporting the second wheel sheet. The connecting piece rotationally connects adjacent first wheel piece and second wheel piece respectively, and when link assembly and flexible subassembly drive first wheel piece and second wheel piece respectively and retract, a plurality of first wheel pieces formed the circumference, and a plurality of second wheel pieces and a plurality of connecting piece are enclosed in this circumference. When the connecting rod assembly and the telescopic assembly drive the first wheel piece and the second wheel piece to extend out respectively, a gap is formed between every two adjacent first wheel pieces, the two connecting pieces and the second wheel piece are contained in the gap, and the plurality of first wheel pieces, the plurality of second wheel pieces and the plurality of connecting pieces form a circumference. The wheel diameter of the wheel diameter mechanism is variable, the adaptability to the road surface is strong, and the obstacle crossing capability is good.

As an optional technical scheme of the embodiment of the application, the connecting rod assembly comprises a rotating piece and a plurality of connecting rods. The rotating member has a plurality of extending portions extending in a plurality of directions, respectively. The extending parts correspond to the connecting rods one to one, the extending parts are connected with the connecting rods, and the connecting rods are connected with the first wheel sheets. When the rotating member rotates, two adjacent first wheel sheets are close to or far away from each other. One rotating piece is provided with a plurality of extending parts which can be connected with a plurality of connecting rods and correspondingly control a plurality of first wheel sheets, so that the structure is simplified, and the movement of the first wheel sheets can be conveniently and simultaneously controlled.

As an optional technical scheme of the embodiment of the application, the adjusting mechanism comprises a central block, the rotating piece is rotatably connected with the central block, and the telescopic assembly is connected with the central block. The axis of the central block coincides with the axis of the rotating piece, and the axis of the rotating piece is the axis of the wheel diameter mechanism. A center block is provided to support the telescoping assembly and the rotating member. The axis of the central block is overlapped with the axis of the rotating piece, and the axis of the rotating piece is the axis of the wheel diameter mechanism, so that the first wheel piece can be symmetrically unfolded when the rotating piece rotates conveniently.

As an optional technical scheme of the embodiment of the application, the wheel diameter mechanism comprises a first plate body, and a first gear set is eccentrically arranged on the first plate body. The first gear set is connected with a second gear set on the central block through a first transmission rod, and the second gear set is in transmission connection with a second transmission rod arranged on the central block. The second transmission rod penetrates through the rotating piece, and the first gear set is used for being connected with the driving device. Through setting up first gear train, first transfer line, second gear train and second transfer line, the drive arrangement drive rotating member of being convenient for rotates, drives a plurality of first wheel pieces and removes.

As an optional technical scheme of the embodiment of the application, the telescopic assembly comprises a plurality of sleeves which are sequentially sleeved. The first sleeve is connected with the center block, and the last sleeve is connected with the second wheel sheet. Set up a plurality of sleeves, be convenient for realize flexible, be convenient for realize the removal of second round piece. And because a plurality of sleeves are sleeved, the occupied space is small after the sleeves are contracted.

The embodiment of the application also provides a manipulator, which comprises a plurality of finger moving mechanisms and the wheel diameter mechanism in any one of the finger moving mechanisms. The plurality of finger moving mechanisms are respectively connected to the plurality of first wheel sheets, and the finger moving mechanisms can realize the action of fingers. The manipulator is provided with a wheel diameter mechanism with a variable wheel diameter, and has strong adaptability to the road surface and better obstacle crossing capability. The fingers of the manipulator can be embedded into a rock wall, and the wheel diameter mechanism is assisted to realize walking on the cliff.

As an optional technical scheme of the embodiment of the application, the finger moving mechanism comprises a finger folding mechanism, and the finger folding mechanism comprises a finger front end, a finger rear end, a first connecting piece, a moving rod, an installation piece and a second connecting piece. The front end of the finger is rotatably connected with the rear end of the finger, and the movable rod penetrates through the rear end of the finger. The movable rod is rotatably connected with the first connecting piece, and the first connecting piece is rotatably connected with the front end of the finger. The installed part passes through the second connecting piece and is connected with first round piece, and the finger rear end is connected with the installed part is movably. When the movable rod is driven to move relative to the rear end of the finger, the front end of the finger rotates relative to the rear end of the finger. The front end of the finger and the rear end of the finger are rotatably connected, and the movable rod is rotatably connected with the front end of the finger through a first connecting piece. When the fingers need to be turned over, the movable rod only needs to be pulled, and the movable rod moves relative to the rear ends of the fingers. In addition, if the rear end of the finger moves relative to the mounting member and the movable rod moves relative to the mounting member, and the rear end of the finger and the movable rod do not move relative to each other, the finger can be lifted and lowered without being turned over.

As an optional technical scheme of the embodiment of the application, the finger turnover mechanism comprises a lifting assembly and a connecting assembly. The lifting component is connected with the connecting component and drives the connecting component to lift. The connecting component is connected with the movable rod. Through setting up lifting unit and coupling assembling, drive the movable rod and remove for the installed part.

As an optional technical scheme of this application embodiment, lifting unit includes the second plate body, and coupling assembling connects movable rod and second plate body. The wheel diameter mechanism comprises a first plate body, a second plate body and a rotating shaft, wherein the second plate body is arranged opposite to the first plate body, and a third gear set and the rotating shaft are installed on the first plate body. The adjusting mechanism comprises a center block, and the second plate body is sleeved on a plurality of limiting rods on the center block. The rotating shaft is in threaded connection with the second plate body, the third gear set is in transmission connection with the rotating shaft, and the third gear set is used for being connected with the driving device. The driving device drives the third gear set to rotate, the third gear set drives the rotating shaft to rotate, and when the rotating shaft rotates, the second plate body can only move up and down due to the fact that the rotation of the second plate body is limited, and the second plate body is lifted up and down.

As an optional technical scheme of the embodiment of the application, the finger moving mechanism comprises a finger telescopic mechanism, and the finger telescopic mechanism comprises a telescopic piece, a driving mechanism and a moving rod. The driving mechanism is arranged on the central block and used for driving the first plate body to be close to or far away from the central block. One end of the movable rod is connected with the first plate body, and the other end of the movable rod is connected with one end of the telescopic piece. The other end of the telescopic piece is connected with the rear end of the finger, and the two ends of the telescopic piece are hinged with the central block. When the driving mechanism drives the first plate body to be close to or far away from the central block, the telescopic piece drives the rear ends of the fingers to slide relative to the mounting piece. Through setting up actuating mechanism, the first plate body of drive is close to or keeps away from the center block, realizes the lift to the carriage release lever. The other end of the movable rod is connected with one end of the telescopic piece, the other end of the telescopic piece is connected with the rear end of the finger, the two ends of the telescopic piece are hinged with the central block to form a lever mechanism, and when the movable rod descends, the rear end of the finger is jacked up by the telescopic piece. When the travel bar is raised, the telescoping member depresses the rear end of the finger.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

Fig. 1 is a schematic overall structural diagram of a wheel diameter mechanism provided in an embodiment of the present application;

fig. 2 is a schematic structural diagram of a wheel diameter mechanism provided in an embodiment of the present application at a first viewing angle;

fig. 3 is a schematic overall structural diagram of a robot provided in an embodiment of the present application;

fig. 4 is a schematic structural diagram of a robot provided in an embodiment of the present application at a second viewing angle;

fig. 5 is a simplified schematic diagram of a finger flipping mechanism of a robot provided in an embodiment of the present application;

FIG. 6 is a schematic view of the overall structure of the finger moving mechanism according to the embodiment of the present application;

fig. 7 is a schematic structural diagram of a finger moving mechanism in a third viewing angle according to an embodiment of the present application.

Icon: 10-wheel diameter mechanism; 20-a manipulator; 30-a finger moving mechanism; 110-a first wheel; 120-a second wheel; 130-connecting pieces; 140-a linkage assembly; 141-a rotating member; 142-a connecting rod; 143-fixed blocks; 150-a telescoping assembly; 151-sleeve; 160-center block; 161-a second gear set; 162-a stop lever; 163-first mounting hole; 164-hinge projections; 170-a first plate body; 171 — a first gear set; 172-a first transfer lever; 310-finger front; 311-gripping teeth; 320-finger back end; 330-a movable rod; 340-a first connector; 350-a lifting assembly; 351-a second plate body; 3511-second mounting holes; 352-a rotating shaft; 353-third gear set; 360-a connection assembly; 361-connecting rod; 362-connecting block; 363-telescopic rods; 364-a conversion block; 370-a mount; 380-a second connector; 390-finger telescoping mechanism; 391-a telescopic member; 392-a drive mechanism; 393-moving bar.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, generally described and illustrated in the figures herein, can be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it is to be understood that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like, refer to the orientation or positional relationship as shown in the drawings, or as conventionally placed in use of the product of the application, or as conventionally understood by those skilled in the art, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and therefore should not be considered as limiting the present application.

Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Examples

Referring to fig. 1 and fig. 2 in combination, the present embodiment provides a wheel diameter mechanism 10, where the wheel diameter mechanism 10 includes a plurality of first wheel plates 110, a plurality of second wheel plates 120, a plurality of connecting plates 130 and an adjusting mechanism, the plurality of first wheel plates 110 are annularly arrayed, the plurality of second wheel plates 120 are annularly arrayed, the connecting plates 130 are respectively rotatably connected to the adjacent first wheel plates 110 and second wheel plates 120, the adjusting mechanism includes a connecting rod assembly 140 and a telescopic assembly 150, the connecting rod assembly 140 is connected to the first wheel plates 110, the telescopic assembly 150 is connected to the second wheel plates 120, and when the connecting rod assembly 140 and the telescopic assembly 150 are actuated, the plurality of first wheel plates 110, the plurality of second wheel plates 120 and the plurality of connecting plates 130 form a circumference having a maximum wheel diameter, or the plurality of first wheel plates 110 form a circumference having a minimum wheel diameter.

The wheel diameter mechanism 10 is provided with a connecting rod assembly 140 and a telescopic assembly 150, wherein the connecting rod assembly 140 is used for driving the first wheel sheet 110 to move along the annular radial direction and supporting the first wheel sheet 110. The telescopic assembly 150 is used for driving the second wheel 120 to move along the annular radial direction and supporting the second wheel 120. The connecting plate 130 rotatably connects the adjacent first wheel piece 110 and the second wheel piece 120, respectively, and when the connecting rod assembly 140 and the telescopic assembly 150 drive the first wheel piece 110 and the second wheel piece 120 to retract, respectively, the plurality of first wheel pieces 110 form a circumference within which the plurality of second wheel pieces 120 and the plurality of connecting plates 130 are enclosed. When the link assembly 140 and the telescopic assembly 150 respectively drive the first wheel piece 110 and the second wheel piece 120 to extend, a gap is formed between two adjacent first wheel pieces 110, two connecting pieces 130 and one second wheel piece 120 are accommodated in the gap, and the plurality of first wheel pieces 110, the plurality of second wheel pieces 120 and the plurality of connecting pieces 130 form a circumference. The wheel diameter of the wheel diameter mechanism 10 is variable, and the wheel diameter mechanism has strong adaptability to the road surface and good obstacle crossing capability.

Referring to fig. 1 and fig. 2, in the present embodiment, the first wheel sheet 110, the second wheel sheet 120 and the connecting sheet 130 are all arc-shaped sheet structures. The arc length of the second wheel 120 and the connecting plate 130 is smaller than that of the first wheel 110, and the second wheel 120 and the connecting plate 130 can be regarded as linear plate-shaped structures. In the present embodiment, the link assembly 140 is connected to the first wheel 110 for driving the first wheel 110 to move along the radial direction of the wheel diameter mechanism 10, and the telescopic assembly 150 is connected to the second wheel 120 for driving the second wheel 120 to move along the radial direction of the wheel diameter mechanism 10. One end of the connecting piece 130 is rotatably connected to the first wheel 110, and the other end of the connecting piece 130 is rotatably connected to the second wheel 120. When the connecting rod assembly 140 and the telescopic assembly 150 respectively drive the first wheel piece 110 and the second wheel piece 120 to move towards the direction close to the center of the wheel diameter mechanism 10, two adjacent first wheel pieces 110 gradually approach each other, the plurality of first wheel pieces 110 are finally spliced into a circle, and the second wheel piece 120 and the connecting piece 130 are folded in the circle. When the link assembly 140 and the telescopic assembly 150 respectively drive the first wheel piece 110 and the second wheel piece 120 to move in a direction away from the center of the wheel diameter mechanism 10, two adjacent first wheel pieces 110 gradually move away, the second wheel piece 120 is gradually pushed out, the connecting piece 130 is unfolded under the driving of the first wheel pieces 110 and the second wheel pieces 120, and the plurality of first wheel pieces 110, the plurality of second wheel pieces 120 and the plurality of connecting pieces 130 form a circumference.

Referring to fig. 1 and 2, and fig. 3 and 4, in the present embodiment, the connecting rod assembly 140 includes a rotating member 141 and a plurality of connecting rods 142. The rotating member 141 has a plurality of extending portions extending in a plurality of directions, respectively. The extending portions correspond to the connecting rods 142 one by one, the extending portions are connected to the connecting rods 142, and the connecting rods 142 are connected to the first wheel sheet 110. When the rotating member 141 rotates, two adjacent first wheel sheets 110 approach or move away from each other. One rotating member 141 has a plurality of extending portions, which can be connected to a plurality of connecting rods 142 to correspondingly control a plurality of first wheel sheets 110, thereby simplifying the structure and conveniently controlling the movement of a plurality of first wheel sheets 110 at the same time. Referring to fig. 4, in the present embodiment, a shaft hole is formed at the rotation shaft center of the rotating member 141, and the rotating member 141 has 3 extending portions, and the 3 extending portions extend toward 3 directions respectively. In this embodiment, 3 extensions bisect the circumference, and two extensions that are close to each other have an included angle of 120 °. In other alternative embodiments, the rotating member 141 has 2 extensions, 4 extensions, or more than 4 extensions. For ease of control, the plurality of extensions are equally circumferential.

Referring to fig. 1 and fig. 2 again, in the present embodiment, in order to facilitate supporting and controlling the first wheel piece 110 and increase the stability of force transmission, a fixing block 143 is further disposed at one end of the connecting rod 142 away from the rotating member 141, one side of the fixing block 143 close to the connecting rod 142 is hinged to the connecting rod 142, and one side of the fixing block 143 away from the connecting rod 142 is fixedly connected to the first wheel piece 110.

Referring to fig. 1 and fig. 2, in the present embodiment, the adjusting mechanism includes a central block 160, a rotating member 141 is rotatably connected to the central block 160, and a telescopic assembly 150 is connected to the central block 160. The axis of the center block 160 coincides with the axis of the rotary 141, and the axis of the rotary 141 is the axis of the wheel diameter mechanism 10. A center block 160 is provided to support the retraction assembly 150 and the rotary member 141. The axis of the central block 160 is set to coincide with the axis of the rotating member 141, and the axis of the rotating member 141 is the axis of the wheel diameter mechanism 10, so that the first wheel sheet 110 is symmetrically unfolded when the rotating member 141 rotates. Referring to fig. 6 and 7, in the present embodiment, a first mounting hole 163 is formed on the central block 160, one end of the telescopic assembly 150 is accommodated in the first mounting hole 163, and the other end of the telescopic assembly 150 is connected to the second wheel 120. Referring to fig. 1 and 2 again, in the present embodiment, the center block 160 is a hexagonal prism, each side surface of the center block 160 is provided with a first mounting hole 163, and one end of each of the six telescopic assemblies 150 is mounted in the first mounting hole 163. In other alternative embodiments, the center block 160 may also be cylindrical or other irregular shapes.

Referring to fig. 1 and fig. 2, in the present embodiment, the wheel diameter mechanism 10 includes a first plate 170, and the first plate 170 is disposed opposite to the central block 160. A first gear set 171 is eccentrically disposed on the first plate 170. The first gear set 171 is connected to the second gear set 161 of the center block 160 via a first transmission rod 172, and the second gear set 161 is in transmission connection with a second transmission rod mounted on the center block 160. The second driving rod is disposed through the rotating member 141 at the axial hole, and the first gear set 171 is used for connecting with the driving device. By arranging the first gear set 171, the first transmission rod 172, the second gear set 161 and the second transmission rod, the driving device can drive the rotating member 141 to rotate, so as to drive the plurality of first wheel blades 110 to move. In an alternative embodiment, the second transmission rod is connected to a pulley mechanism, and the driving device drives the second transmission rod to rotate by driving the pulley mechanism, and further drives the rotating member 141 to rotate. In another alternative embodiment, the driving device directly drives the second gear set 161 to rotate.

In the present embodiment, six first wheel sheets 110 are provided, and one rotating member 141 is provided with only three extending portions, so that two rotating members 141 are required to control six first wheel sheets 110. In order to avoid interference between the two rotary members 141, in this embodiment, the second transmission rod penetrates through the upper and lower surfaces of the central block 160, the upper end of the second transmission rod is keyed to the first rotary member 141, and the lower end of the second transmission rod is keyed to the second rotary member 141, i.e., the first rotary member 141 and the second rotary member 141 are respectively adjacent to the upper and lower surfaces of the central block 160.

In the present embodiment, one rotating member 141 and a plurality of connecting rods 142 are used to simultaneously control a plurality of first wheel sheets 110. In an alternative embodiment, the linkage assembly 140 includes a plurality of first links and a plurality of second links, one end of the first links being connected to one end of the second links, and the other end of the second links being connected to the first wheel plate 110.

Referring to fig. 1 and fig. 2, in the present embodiment, the telescopic assembly 150 includes a plurality of sleeves 151, and the sleeves 151 are sequentially sleeved. The first sleeve 151 is coupled to the center block 160 and received in the first mounting hole 163 of the center block 160, and the last sleeve 151 is coupled to the second wheel 120. The plurality of sleeves 151 are arranged, so that extension and retraction are facilitated, and movement of the second wheel piece 120 is facilitated. Moreover, the sleeves 151 are sleeved, so that the occupied space after contraction is small. In an alternative embodiment, retraction assembly 150 is a linear motor.

The embodiment provides a wheel diameter mechanism 10, the wheel diameter mechanism 10 includes a plurality of first wheel sheets 110, a plurality of second wheel sheets 120, a plurality of connecting sheets 130 and an adjusting mechanism, the plurality of first wheel sheets 110 are annularly arrayed, the plurality of second wheel sheets 120 are annularly arrayed, the connecting sheets 130 are respectively and rotatably connected with the adjacent first wheel sheets 110 and second wheel sheets 120, the adjusting mechanism includes a connecting rod assembly 140 and a telescopic assembly 150, the connecting rod assembly 140 is connected with the first wheel sheets 110, the telescopic assembly 150 is connected with the second wheel sheets 120, when the connecting rod assembly 140 and the telescopic assembly 150 act, the plurality of first wheel sheets 110, the plurality of second wheel sheets 120 and the plurality of connecting sheets 130 form a circumference, and have a maximum wheel diameter, or the plurality of first wheel sheets 110 form a circumference, and have a minimum wheel diameter. The wheel diameter mechanism 10 is provided with a connecting rod assembly 140 and a telescopic assembly 150, wherein the connecting rod assembly 140 is used for driving the first wheel sheet 110 to move along the annular radial direction and supporting the first wheel sheet 110. The telescopic assembly 150 is used for driving the second wheel 120 to move along the annular radial direction and supporting the second wheel 120. The connecting plate 130 rotatably connects the adjacent first wheel piece 110 and the second wheel piece 120, respectively, and when the connecting rod assembly 140 and the telescopic assembly 150 drive the first wheel piece 110 and the second wheel piece 120 to retract, respectively, the plurality of first wheel pieces 110 form a circumference within which the plurality of second wheel pieces 120 and the plurality of connecting plates 130 are enclosed. When the link assembly 140 and the telescopic assembly 150 respectively drive the first wheel piece 110 and the second wheel piece 120 to extend, a gap is formed between two adjacent first wheel pieces 110, two connecting pieces 130 and one second wheel piece 120 are accommodated in the gap, and the plurality of first wheel pieces 110, the plurality of second wheel pieces 120 and the plurality of connecting pieces 130 form a circumference. The wheel diameter of the wheel diameter mechanism 10 is variable, and the wheel diameter mechanism has strong adaptability to the road surface and good obstacle crossing capability.

Referring to fig. 3 in conjunction with fig. 4, the present embodiment further provides a manipulator 20, where the manipulator 20 includes a plurality of finger moving mechanisms 30 and the wheel diameter mechanism 10. The plurality of finger moving mechanisms 30 are respectively connected to the plurality of first wheel plates 110, and in the present embodiment, the finger moving mechanisms 30 are connected to a side of the first wheel plates 110 away from the connecting rod assembly 140. The finger activity mechanism 30 enables finger motion. The manipulator 20 has the wheel diameter mechanism 10 with a variable wheel diameter, and has strong adaptability to the road surface and good obstacle crossing capability. The fingers of the robot 20 can be inserted into the rock wall to assist the wheel diameter mechanism 10 and travel on the cliff.

Referring to fig. 5 in conjunction with fig. 6 and 7, in the present embodiment, the finger-moving mechanism 30 includes a finger-folding mechanism, which includes a finger-front end 310, a finger-rear end 320, a first connecting member 340, a moving rod 330, a mounting member 370 and a second connecting member 380. The front end 310 of the finger is rotatably connected with the back end 320 of the finger, and the movable rod 330 is inserted into the back end 320 of the finger. The movable lever 330 is rotatably connected to the first link 340, and the first link 340 is rotatably connected to the finger front end 310. The mounting member 370 is coupled to the first wheel 110 by a second coupling member 380 and the finger rear end 320 is movably coupled to the mounting member 370. When the actuating lever 330 is moved relative to the finger rear end 320, the finger front end 310 rotates relative to the finger rear end 320. The front finger end 310 and the rear finger end 320 are rotatably connected, and the movable rod 330 is rotatably connected to the front finger end 310 by a first connecting member 340. When the finger folding needs to be realized, only the movable rod 330 needs to be pulled, so that the movable rod 330 moves relative to the finger rear end 320. In addition, if the rear end 320 of the finger moves relative to the attachment 370 and the movable lever 330 moves relative to the attachment 370, the rear end 320 of the finger and the movable lever 330 do not move relative to each other, the finger can be lifted and lowered without being folded. Referring to fig. 5, in the embodiment, the front ends 310 of the fingers are provided with gripping teeth 311, and when the movable rod 330 is pulled to move the movable rod 330 relative to the rear ends 320 of the fingers, the front ends 310 of the fingers are folded, so that the gripping teeth 311 grip the rock wall.

Referring to fig. 6, in the present embodiment, the finger-flipping mechanism includes a lifting assembly 350 and a connecting assembly 360. The lifting assembly 350 is connected with the connecting assembly 360 to drive the connecting assembly 360 to lift. The coupling assembly 360 is coupled to the movable bar 330. The lifting assembly 350 and the connecting assembly 360 are configured to move the movable rod 330 relative to the mounting member 370.

Referring to fig. 6 in combination with fig. 7, in the present embodiment, the lifting assembly 350 includes a second plate 351, and the connecting assembly 360 connects the movable rod 330 and the second plate 351. The wheel diameter mechanism 10 includes a first plate 170, a second plate 351 disposed opposite to the first plate 170, and the first plate 170 is provided with a third gear unit 353 and a rotating shaft 352. The adjusting mechanism includes a center block 160, the first plate 170 is located between the second plate 351 and the center block 160, and the second plate 351 is sleeved on a plurality of limiting rods 162 on the center block 160. The rotating shaft 352 is in threaded connection with the second plate 351, the third gear set 353 is in driving connection with the rotating shaft 352, and the third gear set 353 is used for being connected with a driving device. The driving device drives the third gear set 353 to rotate, the third gear set 353 drives the rotating shaft 352 to rotate, and when the rotating shaft 352 rotates, the second plate body 351 can only move up and down due to the fact that the rotation of the second plate body 351 is limited, and the second plate body 351 is lifted up and down.

In the present embodiment, the first gear set 171 and the third gear set 353 are both mounted on the first plate 170, so that the driving device can drive the first gear set 171 and the third gear set 353 to operate simultaneously. The lower half of the rotating shaft 352 is an optical axis for keying with the third gear set 353; the upper half of the rotation shaft 352 is a screw shaft for screw-coupling with the second plate 351. Three limiting rods 162 are arranged on the central block 160, the limiting rods 162 are polished rods, the second plate body 351 is sleeved on the three limiting rods 162 at the same time, and the limiting rods 162 are used for limiting the rotation of the second plate body 351. When the driving device drives the third gear set 353 to rotate, the rotating shaft 352 also rotates, and since the rotation of the second plate 351 is limited, the second plate 351 can only move along the axial direction of the rotating shaft 352, so that the second plate 351 can ascend or descend. In an alternative embodiment, the lift assembly 350 is a linear motor.

In this embodiment, a second mounting hole 3511 is formed on the second plate 351, and the connecting assembly 360 is connected to the second plate 351 through the second mounting hole 3511. Referring to fig. 6 and fig. 7, in the present embodiment, the connection assembly 360 includes a connection rod 361, a connection block 362, a telescopic rod 363, and a conversion block 364, wherein one end of the telescopic rod 363 is received in the second installation hole 3511, and the other end of the telescopic rod 363 is connected to the connection block 362. One end of the connection rod 361 is connected to the connection block 362, the other end of the connection rod 361 is connected to one side of the conversion block 364, the conversion block 364 is slidably received in the mounting member 370, and the lower end of the conversion block 364 is connected to the movable rod 330. In this embodiment, the mounting member 370 has three movable rods 330, three finger rear ends 320 and three finger front ends 310. In order to facilitate the simultaneous control of the folding of the three fingers, three connecting rods 361 are correspondingly arranged. When the third gear set 353 rotates, the second plate 351 rises to drive the telescopic sleeve 363, the connecting block 362 and the connecting rod 361 to rise, and further drive the converting block 364 to rise, so as to lift the movable rod 330, thereby realizing that the movable rod 330 moves relative to the finger rear end 320, and the finger front end 310 rotates relative to the finger rear end 320.

Referring to fig. 7, in the present embodiment, the finger-moving mechanism 30 includes a finger-retracting mechanism 390, and the finger-retracting mechanism 390 includes a telescopic member 391, a driving mechanism 392 and a moving rod 393. A drive mechanism 392 is mounted to the central block 160, the drive mechanism 392 being configured to drive the first plate 170 toward or away from the central block 160. One end of the moving bar 393 is connected to the first plate 170, and the other end of the moving bar 393 is connected to one end of the expansion member 391. The other end of the telescopic member 391 is connected with the finger rear end 320, and the two ends of the telescopic member 391 are hinged with the central block 160. When the driving mechanism 392 drives the first plate 170 to move closer to or away from the central block 160, the telescopic member 391 slides the finger rear end 320 relative to the mounting member 370. By providing the driving mechanism 392, the first plate 170 is driven to move closer to or away from the central block 160, so as to lift the movable rod 393. The other end of the moving bar 393 is connected with one end of a telescopic member 391, the other end of the telescopic member 391 is connected with the finger rear end 320, the two ends of the telescopic member 391 are hinged with the center block 160 to form a lever mechanism, and when the moving bar 393 descends, the telescopic member 391 jacks up the finger rear end 320. When the travel bar 393 is raised, the expansion piece 391 depresses the finger rear end 320.

Referring to fig. 7, in the present embodiment, a hinge protrusion 164 is disposed on a lower surface of the central block 160, and the hinge protrusion 164 is hinged to the expansion member 391. The moving bar 393 is inserted into the center block 160, and both ends of the moving bar 393 are connected to the first plate 170 and the expansion piece 391, respectively. The driving mechanism 392 is used for driving the first plate 170 to ascend and descend. The drive mechanism 392 may be a linear motor, linear air cylinder, or the like. The end of telescoping member 391 remote from travel bar 393 is connected to finger rear end 320. In the present embodiment, since the rear finger ends 320 have three, the three rear finger ends 320 are connected together for easy control. When the driving mechanism 392 lowers the first plate 170, the moving bar 393 is lowered and the finger tips 320 are raised by the telescopic member 391. When the driving mechanism 392 raises the first plate 170, the moving bar 393 is raised and the finger tips 320 are lowered by the telescopic member 391.

In this embodiment, if the finger needs to be flipped over, only the first plate 170 or the second plate 351 needs to be driven separately, so that the movable rod 330 moves relative to the rear end 320 of the finger. If the extension and retraction of the fingers are required, the first plate 170 and the second plate 351 can be driven to lift at the same time, a certain lifting rate is maintained, and the movable rod 330 and the rear end 320 of the fingers can lift or descend at the same time without relative movement. In addition, if the first plate 170 and the second plate 351 are lifted at the same time at other lifting rates, the fingers can be folded while being extended.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A manipulator is characterized by comprising a plurality of finger moving mechanisms and a wheel diameter mechanism;

the wheel diameter mechanism comprises a plurality of first wheel sheets, a plurality of second wheel sheets, a plurality of connecting sheets and an adjusting mechanism, the first wheel sheets are annularly arrayed, the second wheel sheets are annularly arrayed, the connecting sheets are respectively and rotatably connected with the adjacent first wheel sheets and second wheel sheets, the adjusting mechanism comprises a connecting rod assembly and a telescopic assembly, the connecting rod assembly is connected with the first wheel sheets, the telescopic assembly is connected with the second wheel sheets, and when the connecting rod assembly and the telescopic assembly act, the first wheel sheets, the second wheel sheets and the connecting sheets form a circumference and have the largest wheel diameter or the first wheel sheets form the circumference and have the smallest wheel diameter;

the plurality of finger moving mechanisms are respectively connected to the plurality of first wheel sheets, and the finger moving mechanisms can realize the action of fingers;

the finger moving mechanism comprises a finger turning mechanism, the finger turning mechanism comprises a finger front end, a finger rear end, a first connecting piece, a moving rod, an installation piece and a second connecting piece, the finger front end is rotatably connected with the finger rear end, the moving rod penetrates through the finger rear end, the moving rod is rotatably connected with the first connecting piece, the first connecting piece is rotatably connected with the finger front end, the installation piece is connected with the first wheel piece through the second connecting piece, the finger rear end is movably connected with the installation piece, and when the moving rod is driven to move relative to the finger rear end, the finger front end rotates relative to the finger rear end;

the finger turnover mechanism comprises a lifting assembly and a connecting assembly, the lifting assembly is connected with the connecting assembly to drive the connecting assembly to lift, and the connecting assembly is connected with the movable rod;

lifting unit includes the second plate body, coupling assembling connects the movable rod with the second plate body, wheel footpath mechanism includes the first plate body, the second plate body with the first plate body sets up relatively, install third gear train and axis of rotation on the first plate body, adjustment mechanism includes the center block, second plate body cover is located a plurality of gag lever posts on the center block, the axis of rotation with second plate body threaded connection, the third gear train with axis of rotation transmission is connected, the third gear train is used for being connected with drive arrangement.

2. The manipulator according to claim 1, wherein the finger moving mechanism includes a finger retracting mechanism, the finger retracting mechanism includes a retractable member, a driving mechanism and a moving rod, the driving mechanism is mounted on the central block, the driving mechanism is configured to drive the first plate to move toward or away from the central block, one end of the moving rod is connected to the first plate, the other end of the moving rod is connected to one end of the retractable member, the other end of the retractable member is connected to the rear end of the finger, the two ends of the retractable member are hinged to the central block, and when the driving mechanism drives the first plate to move toward or away from the central block, the retractable member drives the rear end of the finger to slide relative to the mounting member.