CN111361660B - A wheel-leg moving mechanism with variable topology operation - Google Patents

A wheel-leg moving mechanism with variable topology operation Download PDF

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CN111361660B
CN111361660B CN202010191356.3A CN202010191356A CN111361660B CN 111361660 B CN111361660 B CN 111361660B CN 202010191356 A CN202010191356 A CN 202010191356A CN 111361660 B CN111361660 B CN 111361660B
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motor
wheel
push rod
rod
connecting rod
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CN111361660A (en
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刘超
谭稀岑
王子谦
孙学敏
李佳磊
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Beijing Jiaotong University
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs

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Abstract

一种变拓扑操作轮腿式移动机构由第一电机、机架、第一连杆、第二电机、输出杆、第二连杆、推杆、推杆连接块和曲柄轮组成，第一电机与机架上的固定孔通过螺栓固定连接，第一电机的D型输出轴与曲柄轮中心D型孔固定连接，曲柄轮与推杆连接块实现转动连接，推杆连接块一端的安装槽与推杆的固定端通过螺栓实现固定连接，推杆的输出端与输出杆上安装槽实现固定连接，且与第二连杆实现转动连接，第二电机与第一连杆上的固定孔通过螺栓固定连接，第二电机的输出轴通过顶丝与第二连杆固定连接，第一连杆(3)与机架(2)实现转动连接。本发明具有轮式和腿式两种工作模式，具有高速性和高适应性的特点。

Figure 202010191356

A variable topology operation wheel-leg moving mechanism is composed of a first motor, a frame, a first connecting rod, a second motor, an output rod, a second connecting rod, a push rod, a push rod connecting block and a crank wheel, and the first motor It is fixedly connected with the fixing hole on the frame by bolts, the D-type output shaft of the first motor is fixedly connected with the D-type hole in the center of the crank wheel, the crank wheel and the push rod connecting block are connected in rotation, and the installation slot at one end of the push rod connecting block is connected with the connecting block. The fixed end of the push rod is fixedly connected by bolts, the output end of the push rod is fixedly connected with the installation groove on the output rod, and is connected in rotation with the second connecting rod, and the second motor and the fixing hole on the first connecting rod are connected by bolts Fixed connection, the output shaft of the second motor is fixedly connected with the second connecting rod through the jacking wire, and the first connecting rod (3) and the frame (2) are connected in rotation. The invention has two working modes of wheel type and leg type, and has the characteristics of high speed and high adaptability.

Figure 202010191356

Description

Variable topology operation wheel leg type moving mechanism
Technical Field
The invention relates to a walking robot technology, in particular to a variable topology operation wheel-leg type moving mechanism.
Background
Chinese patent CN108995728A discloses a "high-mobility wheel-foot composite robot", in which a moving wheel-foot module is formed by designing the shape of a shank rod of a leg structure into an arc shape, and adjusting the outer contour of the shank rod by a motor to form a circular wheel shape, and the motor is self-locked to form the switching of a foot-wheel mode. But the required leg structure of its constitution single round is more, requires the precision higher.
Disclosure of Invention
The invention aims at the problems that the existing foot type robot has strong terrain adaptability and obstacle crossing capability, but the movement speed is slow; the wheel type robot has high speed when running on a flat road surface, but has poor terrain adaptability and obstacle crossing performance, and provides a variable topology operation wheel leg type moving mechanism for combining the advantages of the wheel type robot and a foot type robot.
The technical scheme of the invention is as follows: a variable topology operation wheel leg type moving mechanism is designed, and is characterized in that the moving mechanism comprises a first motor, a frame, a first connecting rod, a second motor, an output rod, a second connecting rod, a push rod connecting block and a crank wheel; the first motor is fixedly connected with a fixed hole in the rack through a bolt, a D-shaped output shaft of the first motor is fixedly connected with a D-shaped hole in the center of the crank wheel, the crank wheel is rotatably connected with the push rod connecting block, a mounting groove at one end of the push rod connecting block is fixedly connected with a fixed end of the push rod through a bolt, an output end of the push rod is fixedly connected with a mounting groove in the output rod and rotatably connected with a second connecting rod, the second motor is fixedly connected with the fixed hole in the first connecting rod through a bolt, an output shaft of the second motor is fixedly connected with the second connecting rod through a jackscrew, and the first connecting rod is rotatably connected with the rack; the first motor, the second motor and the push rod are all connected with a control system.
The cross section of the rack is of an L-shaped structure, a fixing hole is formed in the large plane and used for mounting and fixing the first motor, and a through hole is formed in the left end and used for manual locking during mode switching;
one end of the first connecting rod is provided with a fixing hole for mounting and fixing a second motor, and a through hole is arranged at a position close to the center and used for manual locking during mode switching;
the section of the output rod is rectangular, and one end of the output rod is provided with an installation groove for connecting and fixing the output end of the push rod;
one end of the second connecting rod is provided with a through hole for manual locking during mode switching;
the section of the push rod connecting block is rectangular, and one end of the push rod connecting block is provided with a mounting groove for connecting and mounting a push rod fixing end;
the crank wheel is of a flat plate structure with a circular section, and a D-shaped hole is formed in the center and used for being connected with a first motor.
The control system can control the mechanism to realize the movement of two modes, the first mode is that the second motor is electrified, the included angle between the first connecting rod and the second connecting rod is changed, the push rod is in the original length, the through hole on the first connecting rod and the through hole on the second connecting rod are aligned and locked manually, the mechanism is in a closed chain leg type structure, and the first motor drives the crank wheel to rotate in the whole circle to realize the movement of the leg type mode; in the second mode, the second motor is electrified, the included angle between the first connecting rod and the second connecting rod is changed, the push rod extends to the maximum, the through hole in the first connecting rod and the through hole in the rack are aligned and locked manually, the mechanism is of a wheel type structure based on a parallelogram, the first motor drives the crank wheel to rotate in the whole circle, and the second motor drives the first connecting rod to rotate in the whole circle, so that the movement in the wheel type mode is realized.
The first motor is a direct current motor, and the second motor is a small servo motor.
The wheel-leg moving mechanism with variable topology operation is characterized in that the moving mechanism can be used as a modular moving unit for forming a wheel-leg moving platform.
The invention has the beneficial effects that: the variable topology operation wheel-leg type moving mechanism has two working modes of leg type and wheel type, wherein the leg type working mode has the characteristics of good obstacle crossing performance and capability of passing through uneven road surfaces, the wheel type mode can move on the flat road surfaces at high speed, and the two working modes can be switched according to different road surface conditions and working requirements.
Drawings
FIG. 1 is a three-dimensional diagram of a wheel-leg type moving mechanism with variable topology operation
FIG. 2 three-dimensional view of a frame
FIG. 3 three-dimensional view of the first link
FIG. 4 three-dimensional drawing of the output shaft
FIG. 5A three-dimensional view of a second link
FIG. 6 is a three-dimensional view of a push rod connection block
FIG. 7 three-dimensional drawing of a crank wheel
FIG. 8 three-dimensional view of the leg mode of operation of the mechanism
Figure 9 three-dimensional view of the mechanism in the wheel mode of operation
FIG. 10 is a schematic diagram of a hexapod robot composed of a variable topology operating wheel-leg type moving mechanism
Detailed Description
The invention will be further explained with reference to the drawings. The scope of the claims of the present application is not limited to the description of the embodiments.
As shown in fig. 1, the present invention provides a variable topology operating wheel leg type moving mechanism, which is characterized in that: a variable topology operation wheel leg type moving mechanism comprises: the device comprises a first motor (1), a frame (2), a first connecting rod (3), a second motor (4), an output rod (5), a second connecting rod (6), a push rod (7), a push rod connecting block (8) and a crank wheel (9); the first motor (1) is fixedly connected with a fixed hole (2-b) on the frame (2) through a bolt, a D-shaped output shaft of the first motor (1) is fixedly connected with a D-shaped hole at the center of a crank wheel (9), the crank wheel (9) is rotatably connected with a push rod connecting block (8), a mounting groove (8-a) at one end of the push rod connecting block (8) is fixedly connected with the fixed end of a push rod (7) through a bolt, the output end of the push rod (7) is fixedly connected with a mounting groove (5-a) on the output rod (5), the second motor (4) is fixedly connected with a fixing hole (3-a) on the first connecting rod (3) through a bolt, an output shaft of the second motor (4) is fixedly connected with the second connecting rod (6) through a jackscrew, and the first connecting rod (3) is rotatably connected with the rack (2); the first motor (1), the second motor (4) and the push rod (7) are connected with a control system.
As shown in figure 2, the section of the frame (2) is of an L-shaped structure, a fixing hole (2-b) is arranged on a large plane and used for installing and fixing the first motor (1), and a through hole (2-a) is arranged at the left end and used for manual locking during mode switching.
As shown in fig. 3, one end of the first connecting rod (3) is provided with a fixing hole (3-a) for mounting and fixing the second motor (4), and through holes (3-b, c) are provided near the center for manual locking during mode switching;
as shown in fig. 4, the section of the output rod (5) is rectangular, and one end of the output rod is provided with an installation groove (5-a) for connecting and fixing the output end of the push rod;
as shown in fig. 5, one end of the second connecting rod (6) is provided with a through hole (6-b) for manual locking during mode switching;
as shown in fig. 6, the section of the push rod connecting block (8) is rectangular, and one end of the push rod connecting block is provided with an installation groove (8-a) for connecting and installing the push rod fixing end;
as shown in fig. 7, the crank wheel (9) is a flat plate structure with a circular section, and a D-shaped hole is formed in the center of the crank wheel and used for connecting the first motor (1).
The first motor (1) is a direct current motor, and the second motor (4) is a small servo motor.
The wheel-leg moving mechanism with variable topology operation is characterized in that the moving mechanism can be used as a modular moving unit for forming a wheel-leg moving platform, and a schematic diagram of a hexapod robot formed by the wheel-leg moving mechanism is shown in fig. 10.
The working principle and the process of the invention are as follows: the variable topology operation wheel leg type moving mechanism realizes the movement of two modes, the first mode is that the second motor (4) is electrified, the included angle between the first connecting rod (3) and the second connecting rod (6) is changed, the push rod (7) is in the original length, when the through hole (3-b) on the first connecting rod (3) and the through hole (6-b) on the second connecting rod (6) are in alignment and manually locked, the mechanism is in a closed chain leg type structure, the first motor (1) drives the crank wheel (9) to rotate in the whole circle, the movement of the leg type mode is realized, and as shown in a three-dimensional drawing of the mechanism in the leg type working mode in figure 8; in the second mode, the second motor (4) is electrified, the included angle between the first connecting rod (3) and the second connecting rod (6) is changed, the push rod (7) extends to the maximum, so that the through hole (3-c) in the first connecting rod (3) and the through hole (2-a) in the rack (2) are aligned and locked manually, the mechanism is a wheel type structure based on a parallelogram, the first motor (1) drives the crank wheel (9) to rotate in the whole circle, the second motor (4) drives the first connecting rod (3) to rotate in the whole circle, and the movement in the wheel type mode is realized, and as shown in fig. 9, the mechanism is a three-dimensional diagram in the wheel type working mode.

Claims (5)

1.一种变拓扑操作轮腿式移动机构，其特征在于：一种变拓扑操作轮腿式移动机构包括：第一电机(1)、机架(2)、第一连杆(3)、第二电机(4)、输出杆(5)、第二连杆(6)、推杆(7)、推杆连接块(8)、曲柄轮(9)；第一电机(1)与机架(2)上的固定孔(2-b)通过螺栓固定连接，第一电机(1)的D型输出轴与曲柄轮(9)中心D型孔固定连接，曲柄轮(9)与推杆连接块(8)实现转动连接，推杆连接块(8)一端的安装槽(8-a)与推杆(7)的固定端通过螺栓实现固定连接，推杆(7)的输出端与输出杆(5)上安装槽(5-a)实现固定连接，且与第二连杆(6)实现转动连接，第二电机(4)与第一连杆(3)上的固定孔(3-a)通过螺栓固定连接，第二电机(4)的输出轴通过顶丝与第二连杆(6)固定连接，第一连杆(3)与机架(2)实现转动连接；所述的第一电机(1)、第二电机(4)和推杆(7)均与控制系统连接。1. A wheel-leg moving mechanism with variable topology operation is characterized in that: a wheel-leg moving mechanism with variable topology operation comprises: a first motor (1), a frame (2), a first connecting rod (3), The second motor (4), the output rod (5), the second connecting rod (6), the push rod (7), the push rod connecting block (8), the crank wheel (9); the first motor (1) and the frame The fixing holes (2-b) on (2) are fixedly connected by bolts, the D-shaped output shaft of the first motor (1) is fixedly connected with the central D-shaped hole of the crank wheel (9), and the crank wheel (9) is connected with the push rod The block (8) realizes rotational connection, the installation groove (8-a) at one end of the push rod connecting block (8) and the fixed end of the push rod (7) are fixedly connected by bolts, and the output end of the push rod (7) is connected with the output rod (5) The upper mounting groove (5-a) realizes fixed connection, and realizes rotational connection with the second connecting rod (6), and the second motor (4) is connected with the fixing hole (3-a) on the first connecting rod (3). ) is fixedly connected by bolts, the output shaft of the second motor (4) is fixedly connected with the second connecting rod (6) through the jacking wire, and the first connecting rod (3) is connected with the frame (2) in rotation; A motor (1), a second motor (4) and a push rod (7) are all connected with the control system. 2.如权利要求1所述的一种变拓扑操作轮腿式移动机构，其特征在于：2. a kind of variable topology operation wheel leg type moving mechanism as claimed in claim 1 is characterized in that: 所述的机架(2)截面为L型结构，大平面上设有固定孔(2-b)，用于安装和固定第一电机(1)，左端设有通孔(2-a)，用于模式切换时手动锁死；The cross-section of the frame (2) is an L-shaped structure, the large plane is provided with a fixing hole (2-b) for installing and fixing the first motor (1), and the left end is provided with a through hole (2-a), It is used for manual locking when the mode is switched; 所述的第一连杆(3)一端设有固定孔(3-a)，用于安装和固定第二电机(4)，靠近中心位置设有通孔(3-b、c)，用于模式切换时手动锁死；One end of the first connecting rod (3) is provided with a fixing hole (3-a) for installing and fixing the second motor (4), and a through hole (3-b, c) is provided near the center position for installing and fixing the second motor (4). Manual lock when the mode is switched; 所述的输出杆(5)截面为矩形，一端设有安装槽(5-a)，用于连接和固定推杆输出端；The cross section of the output rod (5) is rectangular, and one end is provided with a mounting groove (5-a) for connecting and fixing the output end of the push rod; 所述的第二连杆(6)一端设有通孔(6-b)，用于模式切换时手动锁死；One end of the second connecting rod (6) is provided with a through hole (6-b) for manual locking during mode switching; 所述的推杆连接块(8)截面为矩形，一端设有安装槽(8-a)，用于连接和安装推杆固定端；The push rod connecting block (8) has a rectangular cross section, and one end is provided with a mounting groove (8-a) for connecting and installing the push rod fixed end; 所述的曲柄轮(9)为圆形截面的平板结构，中心设有D型孔，用于连接第一电机(1)。The crank wheel (9) is a flat plate structure with a circular section, and a D-shaped hole is arranged in the center for connecting the first motor (1). 3.如权利要求1所述的一种变拓扑操作轮腿式移动机构，其特征在于：3. a kind of variable topology operation wheel leg type moving mechanism as claimed in claim 1 is characterized in that: 所述控制系统可控制机构实现两种模式的运动，第一种模式是第二电机(4)通电，改变第一连杆(3)和第二连杆(6)的夹角，推杆(7)处于原长，使第一连杆(3)上的通孔(3-b)与第二连杆(6)上的通孔(6-b)对心且手动锁死时，该机构为闭链腿式结构，第一电机(1)驱动曲柄轮(9)整周旋转，实现腿式模式的运动；第二种模式是第二电机(4)通电，改变第一连杆(3)和第二连杆(6)的夹角，推杆(7)伸长至最大，使第一连杆(3)上的通孔(3-c)与机架(2)上的通孔(2-a)对心且手动锁死时，该机构为基于平行四边形的轮式结构，第一电机(1)驱动曲柄轮(9)整周旋转，第二电机(4)驱动第一连杆(3)整周旋转，实现轮式模式的运动。The control system can control the mechanism to realize two modes of movement. The first mode is that the second motor (4) is energized to change the angle between the first link (3) and the second link (6), and the push rod ( 7) At the original length, the through hole (3-b) on the first link (3) is aligned with the through hole (6-b) on the second link (6) and manually locked, the mechanism For the closed-chain leg structure, the first motor (1) drives the crank wheel (9) to rotate in a full circle to realize the motion of the leg mode; the second mode is that the second motor (4) is energized to change the first connecting rod (3). ) and the included angle of the second connecting rod (6), the push rod (7) is extended to the maximum, so that the through hole (3-c) on the first connecting rod (3) and the through hole on the frame (2) (2-a) When centered and manually locked, the mechanism is a wheel-type structure based on a parallelogram, the first motor (1) drives the crank wheel (9) to rotate around the entire circumference, and the second motor (4) drives the first connection The rod (3) rotates all round to realize the movement in wheel mode. 4.如权利要求3所述的一种变拓扑操作轮腿式移动机构，其特征在于：所述第一电机(1)为直流电机，第二电机(4)为小型伺服电机。4 . The wheel-leg moving mechanism with variable topology operation according to claim 3 , wherein the first motor ( 1 ) is a DC motor, and the second motor ( 4 ) is a small servo motor. 5 . 5.如权利要求1所述的一种变拓扑操作轮腿式移动机构，其特征在于所述移动机构可用作构成轮腿式移动平台的模块化移动单元。5 . The wheel-leg moving mechanism with variable topology operation according to claim 1 , wherein the moving mechanism can be used as a modular moving unit constituting a wheel-leg moving platform. 6 .
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CN111942492B (en) * 2020-08-10 2025-07-11 深圳市香蕉智能科技有限公司 Mechanical leg assembly and robot
CN115674950B (en) * 2022-11-24 2024-05-31 北京交通大学 A deformation wheel mechanism based on Bricard mechanism
WO2024195309A1 (en) * 2023-03-23 2024-09-26 ソニーグループ株式会社 Mobile body

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