Multi-driving-mode walking mechanism

Abstract

The invention belongs to the field of mechanical automation engineering, and particularly relates to a multi-drive-mode traveling mechanism which is characterized in that motion modules are respectively mounted at four corners of a base of the traveling mechanism, and each motion module has the same structure and comprises a motor, a speed reducer, a transmission module and a multifunctional wheel; the front movement module and the rear movement module on the left side and the right side are in supporting connection through connecting bearing seats; the multifunctional wheels are arranged at the output end of the transmission module, and multiple motion modes with high environmental adaptability can be achieved according to actual motion scenes. The multi-drive-mode walking mechanism can achieve good adaptability under application scenes of multiple terrains, non-structures and the like, and can be further expanded to an amphibious motion mode; the robot integrates the advantages of various conventional movement modes such as a wheel type movement mode, a track movement mode, a leg-foot movement mode, a paddle movement mode and a propeller movement mode, and is simple in structure and easy to control.

Description

Technical Field

[0001] The invention belongs to the field of mechanical automation engineering, in particular to a multi-drive mode walking mechanism. Background Art

[0002] With the development of the environment and the demand for complex tasks, mechanisms that can adapt to multiple environments have gradually received widespread attention. Mechanisms that have the ability to move on land and water, and can also pass smoothly in the complex environment at the junction of land and water, can greatly expand their working scope and ability to perform tasks. At present, the application value of robots that can adapt to multi-environment tasks in the fields of resource exploration, post-disaster rescue, inspection and maintenance, military reconnaissance, etc. has been fully demonstrated. Therefore, multi-drive mode walking mechanisms can not only adapt to land and underwater environments, but also move and perform tasks in non-structural environments such as obstacles and sand and gravel, which has great research significance. Summary of the invention

[0003] In order to meet the robot's task operation requirements in different environments and improve the robot's movement ability and environmental adaptability in an uncertain unstructured environment, the purpose of the present invention is to provide a walking mechanism with multiple drive modes.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention includes a sealed shell and a motion module, wherein the front and rear ends of the left and right sides of the sealed shell are sealed with motion modules of the same structure, that is, the right side of the sealed shell is sealed with a right front motion module and a right rear motion module, and the left side of the sealed shell is sealed with a left front motion module and a left rear motion module, respectively. The movement and steering of the walking mechanism are realized by the movement and differential of the right front motion module, the right rear motion module, the left front motion module and the left rear motion module; the motion module includes a power source, a transmission module and a multi-functional wheel, the power source is installed in the sealed shell, and the output shaft of the power source is connected to the multi-functional wheel through the transmission module; the outer contour envelope of the multi-functional wheel is a wheel structure, with a plurality of legs equidistantly divided from the center, the end of each leg forms a foot structure, and the outer side surface of each leg is provided with track teeth, and a spoke plate is connected between two adjacent legs.

[0006] Wherein: the foot structure is a leg that is extended outward along the outer contour envelope and then cut off, and the cross section expands outward to form a square foot. When the walking mechanism performs a climbing action, a large area of ​​contact with the object being climbed is achieved through the foot structure.

[0007] The height of the track grouser gradually decreases from the end of the leg to the area where the foot structure is reached, so as to achieve the roundness of the overall outer contour envelope.

[0008] The spokes are propeller blades.

[0009] The transmission module includes a motion shaft, a bearing cover, a rotating bevel gear, a bushing, a driving bevel gear, a driving bearing and a fixed frame. The bottom of the fixed frame is fixedly connected to the sealed housing. The power source is installed on one side of the top of the fixed frame. The other side of the top of the fixed frame is embedded with a driving bearing. The driving bevel gear is rotatably installed on the fixed frame through the driving bearing and is connected to the output shaft of the power source. The motion shaft is rotatably installed on the sealed housing. The motion shaft is respectively connected with a rotating bevel gear and a multi-function wheel that rotate with the motion shaft. The multi-function wheel is located outside the sealed housing, and the rotating bevel gear is located inside the sealed housing and meshes with the driving bevel gear to achieve power transmission.

[0010] The inner ring of the driving bearing abuts against the boss on the driving bevel gear to achieve axial positioning, and the inner hole of the driving bearing is connected to the output shaft of the power source through a key.

[0011] Connecting bearing seats are respectively installed at the front and rear ends of the sealing shell. The connecting bearing seat located at the front end is rotationally connected to the motion shaft in the right front motion module and the motion shaft in the left front motion module to achieve a supporting effect. The connecting bearing seat located at the rear end is rotationally connected to the motion shaft in the right rear motion module and the motion shaft in the left rear motion module to achieve a supporting effect.

[0012] One end of the motion shaft is rotatably connected to the bearing in the bearing seat, and the motion shaft passes through the bushing, the rotating bevel gear and the bearing cover in sequence, and is rotatably connected to the sealing housing through the bearing. The other end of the motion shaft is connected to the multi-functional wheel to transmit the driving force generated by the rotating bevel gear to the multi-functional wheel. The bushing and the bearing cover are used to connect the bearing in the bearing seat and the axial limit of the bearing rotating with the sealing housing.

[0013] The sealed shell is divided into a top cover and a base, and the top cover and the base are sealed by an O-ring. The right front motion module, the right rear motion module, the left rear motion module, and the left front motion module are respectively installed on the base, and a step seal structure is adopted between the base to realize the overall sealing of the walking mechanism.

[0014] The advantages and positive effects of the present invention are:

[0015] 1. The present invention has strong environmental adaptability, can achieve good adaptability in multiple terrain, non-structure and other application scenarios, and can be further expanded to amphibious movement mode, with simple structure and easy control.

[0016] 2. The present invention can realize multiple driving modes, combining the advantages of various conventional movement modes such as wheels, tracks, legs, paddles and propellers, and can automatically adapt to various environments such as horizontal surfaces, obstacles, gravel and water according to actual working scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 It is a schematic diagram of the internal structure of the present invention;

[0019] Figure 3 This is one of the structural schematic diagrams of the motion module of the present invention;

[0020] Figure 4 This is the second structural schematic diagram of the motion module of the present invention;

[0021] Figure 5 It is a schematic diagram of the structure of the multifunctional wheel of the present invention;

[0022] Among them: 1 is a top cover, 2 is a base, 3 is a right front motion module, 4 is a right rear motion module, 5 is a left rear motion module, 6 is a left front motion module, 7 is a connecting bearing seat, 8 is a transmission module, 9 is a motor, 10 is a reducer, 11 is a motion shaft, 12 is a bearing cover, 13 is a rotary bevel gear, 14 is a shaft sleeve, 15 is a driving bevel gear, 16 is a driving bearing, 17 is a fixing frame, 18 is a multi-functional wheel, 19 is a leg, 20 is a foot structure, 21 is a track tooth, and 22 is a spoke plate. DETAILED DESCRIPTION

[0023] The present invention will be further described below in conjunction with the accompanying drawings.

[0024] like Figure 1 , Figure 2 As shown, the present invention includes a sealed shell and a motion module, wherein the front and rear ends of the left and right sides of the sealed shell are sealed with motion modules of the same structure, that is, the right front end of the sealed shell is sealed with a right front motion module 3, and the right rear end is sealed with a right rear motion module 4, the left front end of the sealed shell is sealed with a left front motion module 6, and the left rear end is sealed with a left rear motion module 5, and the movement and steering of the walking mechanism are realized by the movement and differential of the right front motion module 3, the right rear motion module 4, the left front motion module 6, and the left rear motion module 5.

[0025] The sealed housing of the present embodiment is divided into a top cover 1 and a base 2, an O-ring sealing structure is used between the top cover 1 and the base 2, the right front motion module 3, the right rear motion module 4, the left rear motion module 5, and the left front motion module 6 are respectively installed on the base 2, and a step seal sealing structure is used between the base 2 to achieve the overall sealing of the walking mechanism to ensure the overall adaptability of the walking mechanism to the underwater environment. In the present embodiment, a connecting bearing seat 7 is installed at the front and rear ends of the base 2, respectively. The connecting bearing seat 7 at the front end is rotatably connected to the right front motion module 3 and the left front motion module 6 to achieve a supporting effect, and the connecting bearing seat 7 at the rear end is rotatably connected to the right rear motion module 4 and the left rear motion module 5 to achieve a supporting effect.

[0026] like Figures 1 to 3 As shown, the motion module of this embodiment includes a power source, a transmission module 8 and a multifunctional wheel 18. The power source is installed in a sealed housing, and the output shaft of the power source is connected to the multifunctional wheel 18 through the transmission module 8. The power source of this embodiment includes a motor 9 and a reducer 10. The output end of the motor 9 is fixedly connected to the input end of the reducer 10 to achieve power transmission. One end of the transmission module 8 is connected to the output end of the reducer 10, and the other end is connected to the multifunctional wheel 18, so that the driving torque is transmitted to the end.

[0027] like Figures 1 to 4As shown, the transmission module 8 of this embodiment includes a motion shaft 11, a bearing cover 12, a rotary bevel gear 13, a sleeve 14, a driving bevel gear 15, a driving bearing 16 and a fixed frame 17. The bottom of the fixed frame 17 is fixedly connected to the base 2, one side of the top of the fixed frame 17 is connected to the reducer 10, and the other side of the top of the fixed frame 17 is embedded with a driving bearing 16. The driving bevel gear 15 is rotatably mounted on the fixed frame 17 through the driving bearing 16. The inner ring of the driving bearing 16 abuts against the boss on the driving bevel gear 15 to achieve axial positioning. The inner hole of the driving bearing 16 is connected to the output shaft of the reducer 10 through a key. The connecting bearing seat 7 at the front end is rotatably connected to the motion shaft 11 in the right front motion module 3 and the motion shaft 11 in the left front motion module 6 to achieve a supporting effect. The connecting bearing seat 7 at the rear end is rotatably connected to the motion shaft 11 in the right rear motion module 4 and the motion shaft 11 in the left rear motion module 5 to achieve a supporting effect. One end of the motion shaft 11 is rotatably connected to the bearing in the bearing seat 7. The motion shaft 11 passes through the sleeve 14, the rotating bevel gear 13 and the bearing cover 12 in sequence, and is rotatably connected to the base 2 through the bearing. The other end of the motion shaft 11 is connected to the multi-function wheel 18, and the driving force generated by the rotating bevel gear 13 is transmitted to the multi-function wheel 18; the rotating bevel gear 13 and the multi-function wheel 18 rotate with the motion shaft 11, and the multi-function wheel 18 is located outside the sealed housing, and the rotating bevel gear 13 is located inside the sealed housing and meshes with the driving bevel gear 15 to achieve power transmission. The sleeve 14 and the bearing cover 12 are used to connect the bearing in the bearing seat 7 and the axial limit of the bearing rotating with the base 2.

[0028] The rotary bevel gear 13 and the driving bevel gear 15 of this embodiment are both straight bevel gears with a transmission ratio of 1:1 and a gear ratio of 1:15 teeth.

[0029] like Figures 1 to 5As shown, the multifunctional wheel 18 of this embodiment has a composite structure of a wheel, a crawler, a leg foot, a paddle and a propeller. The outer contour envelope of the multifunctional wheel 18 is a wheel structure, and it has the state characteristics of a moving wheel when walking on a horizontal plane with a relatively high flatness; the multifunctional wheel 18 is divided into a plurality of legs 19 (four in this embodiment) equidistantly from the center, and the end of each leg 19 forms a foot structure 20, which has the characteristics of leg and foot movement when crossing obstacles and climbing stairs; the foot structure 20 is a leg 19 that is extended outward along the outer contour envelope and then cut off, and the cross section expands outward to form a square foot. When the walking mechanism performs a climbing action, the foot structure 20 realizes a large area contact with the object being climbed, thereby improving the climbing performance. A crawler grouser 21 is provided on the outer surface of each leg 19, and the crawler grouser 21 extends from the end of the leg 19 to the area where it reaches the foot structure 20, and the height of the crawler grouser 21 gradually decreases, so as to realize the roundness of the overall outer contour envelope, and has the state characteristics of crawler movement on sandy or gravel roads. The leg and foot structure on the multifunctional wheel 18 can push the water flow by rotating in the water, and has the state characteristics of the blade moving in the water. A spoke 22 is connected between two adjacent legs 19, and the spoke 22 is a propeller blade structure, which has the state characteristics of the propeller moving in the mud or water.

[0030] The working principle of the present invention is:

[0031] The present embodiment is a four-wheel drive multi-mode walking mechanism, which can realize adaptive movement in a multi-media environment. The driving force is provided by the motor 9. One end of the reducer 10 is fixedly connected to the output shaft of the motor 9, and the output shaft of the other end is connected to the driving bevel gear 15 by a key, so that the output torque is transmitted to the transmission module 8. The driving bevel gear 15 is meshed with the rotating bevel gear 13, and the power is deflected by 90° and transmitted to the rotating bevel gear 13. The motion shaft 11 passes through the shaft sleeve 14, the rotating bevel gear 13 and the bearing cover 12 in sequence. The other end of the motion shaft 11 is connected to the multi-functional wheel 18. The motion shaft 11 cooperates with the rotating bevel gear 13 and the multi-functional wheel 18 respectively through the D-shaped structure on the shaft to transmit the power to the multi-functional wheel 18.

[0032] The multifunctional wheel 18 of this embodiment has a composite structure of wheels, tracks, legs, feet, paddles and propellers. When the walking mechanism walks on the horizontal ground, the outer contour of the multifunctional wheel 18 is a circle, so wheeled movement can be achieved; when there is an obstacle blocking the movement, the foot structure 20 at the end of the four legs 19 of the multifunctional wheel 18 can be attached to the edge of the obstacle by rotating to achieve the obstacle crossing function. When the walking mechanism moves on an irregular surface such as gravel, the crawler thorn structure adopted at the end of the leg on the multifunctional wheel 18, and the height of the crawler thorn 21 gradually decreases, can achieve smooth movement. When the walking mechanism moves underwater, the rotation of the multifunctional wheel 18 drives the water flow to move, pushing the walking mechanism to move forward and backward, and at the same time, the spoke plate 22 of the propeller blade structure between the legs of the multifunctional wheel 18 can provide power by rotating to achieve horizontal left and right movement of the walking mechanism underwater, thereby achieving all-round underwater movement of the walking mechanism.

Claims

1. A multi-drive mode walking mechanism, characterized in that: The invention comprises a sealed housing and a motion module, wherein the front and rear ends of the left and right sides of the sealed housing are both sealed with motion modules of the same structure, that is, the right side of the sealed housing is respectively sealed with a right front motion module (3) and a right rear motion module (4), and the left side of the sealed housing is respectively sealed with a left front motion module (6) and a left rear motion module (5), and the movement and steering of the walking mechanism are realized through the movement and differential speed of the right front motion module (3), the right rear motion module (4), the left front motion module (6), and the left rear motion module (5); the motion module The module comprises a power source, a transmission module (8) and a multifunctional wheel (18); the power source is installed in a sealed housing; the output shaft of the power source is connected to the multifunctional wheel (18) through the transmission module (8); the outer contour of the multifunctional wheel (18) is a wheel structure, with a plurality of legs (19) equidistantly separated from the center; the end of each leg (19) forms a foot structure (20), and a track tooth (21) is provided on the outer side surface of each leg (19); and a spoke plate (22) is connected between two adjacent legs (19).

2. The multi-drive mode walking mechanism according to claim 1, characterized in that: The foot structure (20) is a leg (19) that is extended outward along the outer contour envelope and then cut off, with the cross section expanding outward to form a square foot. When the walking mechanism performs a climbing action, a large area of ​​contact with the object being climbed is achieved through the foot structure (20).

3. The multi-drive mode walking mechanism according to claim 1, characterized in that: The height of the track grouser (21) gradually decreases from the end of the leg (19) to the area where the foot structure (20) is reached, thereby achieving the roundness of the overall outer contour envelope.

4. The multi-drive mode walking mechanism according to claim 1, characterized in that: The spoke plate (22) is a propeller blade.

5. The multi-drive mode walking mechanism according to claim 1, characterized in that: The transmission module (8) comprises a motion shaft (11), a bearing cover (12), a rotary bevel gear (13), a shaft sleeve (14), a driving bevel gear (15), a driving bearing (16) and a fixing frame (17); the bottom of the fixing frame (17) is fixedly connected to a sealed housing; the power source is mounted on one side of the top of the fixing frame (17); the other side of the top of the fixing frame (17) is embedded with a driving bearing (16); the driving bevel gear (15) is rotatably mounted on the fixing frame (17) through the driving bearing (16) and is connected to the output shaft of the power source; the motion shaft (11) is rotatably mounted on the sealed housing; the motion shaft (11) is respectively connected to a rotary bevel gear (13) and a multifunctional wheel (18) that rotate with the motion shaft (11); the multifunctional wheel (18) is located outside the sealed housing; the rotary bevel gear (13) is located inside the sealed housing and meshes with the driving bevel gear (15) to achieve power transmission.

6. The multi-drive mode walking mechanism according to claim 5, characterized in that: The inner ring of the driving bearing (16) abuts against the boss on the driving bevel gear (15) to achieve axial positioning, and the inner hole of the driving bearing (16) is connected to the output shaft of the power source via a key.

7. The multi-drive mode walking mechanism according to claim 5, characterized in that: The front and rear ends of the sealing shell are respectively provided with connecting bearing seats (7); the connecting bearing seat (7) located at the front end is rotationally connected to the moving shaft (11) in the right front moving module (3) and the moving shaft (11) in the left front moving module (6) to achieve a supporting function; the connecting bearing seat (7) located at the rear end is rotationally connected to the moving shaft (11) in the right rear moving module (4) and the moving shaft (11) in the left rear moving module (5) to achieve a supporting function.

8. The multi-drive mode walking mechanism according to claim 7, characterized in that: One end of the motion shaft (11) is rotatably connected to a bearing in a connecting bearing seat (7); the motion shaft (11) passes through a shaft sleeve (14), a rotary bevel gear (13) and a bearing cover (12) in sequence, and is rotatably connected to a sealed housing via a bearing; the other end of the motion shaft (11) is connected to a multi-functional wheel (18) to transmit a driving force generated by the rotary bevel gear (13) to the multi-functional wheel (18); the shaft sleeve (14) and the bearing cover (12) are used to connect the bearing in the bearing seat (7) and the axial limit of the bearing that rotates with the sealed housing.

9. The multi-drive mode walking mechanism according to claim 1, characterized in that: The sealed housing is divided into a top cover (1) and a base (2), the top cover (1) and the base (2) are sealed by an O-ring, the right front motion module (3), the right rear motion module (4), the left rear motion module (5), and the left front motion module (6) are respectively mounted on the base (2), and step seal structures are respectively used between the base (2) to achieve overall sealing of the walking mechanism.

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