Walking mechanism of wheel-foot transformation robot

Abstract

The invention relates to a wheel-foot transformation robot walking mechanism which comprises a base and a robot body, a driving mechanism is installed on the lower side of the base, wheel-foot modules are installed at the two ends of a driving shaft of the driving mechanism, a flatness measuring module is installed on the inner side of the base and comprises a rod shell, and supporting blocks are symmetrically connected to the lower side of the rod shell; the lower end face of the supporting block is fixed to the inner wall of the base, balls are slidably connected into the rod shell, contact buttons are connected into the hole positions in the left end and the right end, a balance weight module is installed on the base and comprises a motor, the motor is fixed to the left side of the base, and the tail end of an output shaft of the motor penetrates through the wall thickness of the base to be fixedly connected with a threaded rod. A threaded block is spirally connected to the outer side of the threaded rod, connecting frames are connected to the front side and the rear side of the threaded block, sleeve shells are connected to the lower ends of the connecting frames, and high-density balance weight rollers are movably connected to the inner sides of the sleeve shells. The balance weight of the robot when the robot travels on the stairs is adjusted, and the capacity of adjusting the balance weight according to the displacement traveling direction is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a walking mechanism of a wheel-foot deformable robot. Background Art

[0002] The walking mechanism of a robot can be divided into crawler type, foot type, and wheel type walking mechanism. The crawler type walking mechanism has high transmission efficiency, a highly stable center of gravity, and is applicable to a wide range of terrains. However, the mechanism is inconvenient to turn and causes excessive damage to the edge of the stairs during climbing. The foot type walking mechanism is a bionic mechanism, suitable for a variety of road conditions. It requires a large number of mechanisms to participate in coordination during walking or climbing stairs, and it is difficult to stably control the center of gravity. It requires extremely high accuracy of the control system, is complex to operate, and is inefficient. It walks slowly on flat ground. The wheel type walking mechanism directly uses wheel rotation to achieve the purpose of crawling. It is flexible in movement, but the stability of going up and down stairs is not high, the center of gravity fluctuates greatly, and the walking mechanism is large in size, which is not suitable for use in ordinary complex residential buildings. Therefore, in order to improve the robot's stair movement ability, it is necessary to combine the advantages of foot type and wheel type to obtain a wheel-foot type walking mechanism.

[0003] The wheel-foot walking mechanism is in wheel form when walking on flat ground, and is transformed into foot form by deformation when it needs to move on stairs. However, the general structure of the existing wheel-foot walking mechanism can cope with the situations of walking or climbing stairs, but it is still difficult to control the center of gravity stably during the process of climbing stairs. Summary of the invention

[0004] The purpose of the present invention is to provide a walking mechanism of a wheel-footed deformable robot, which can solve the problem that the wheel-footed walking mechanism generally has an overly complex and precise structure and an unstable center of gravity during the process of climbing stairs.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a walking mechanism of a wheel-foot deformable robot, comprising a base and a robot body, a driving mechanism is installed on the lower side of the base, a driving shaft is arranged on the front and rear sides of the driving mechanism, wheel-foot modules with switchable shapes are installed on both ends of the driving shaft of the driving mechanism, a leveling module is installed on the inner side of the base, the leveling module comprises a rod shell, a support block is symmetrically fixedly connected to the lower side of the rod shell, the lower end surface of the support block is fixedly connected to the inner wall of the base, a ball is slidably connected to the inner side of the rod shell, and the holes at the left and right ends of the rod shell are fixedly connected to the inner wall of the base, a ball is slidably connected to the inner side of the rod shell, and the holes at the left and right ends of the rod shell are fixedly connected to the inner wall of the base. A contact button is fixedly connected inside the rod shell, and resistance springs are fixedly connected to the inner walls of the left and right ends of the rod shell. A counterweight module is installed at the base, and the counterweight module includes a motor, which is fixed to the left side of the base. The end of the output shaft of the motor passes through the wall thickness of the base and is fixedly connected to a threaded rod, and the other end of the threaded rod is rotatably connected to the inner wall of the base, and a threaded block is spirally connected to the outer side of the threaded rod, and the front and rear sides of the threaded block are fixedly connected to a connecting frame, and the lower end of the connecting frame is fixedly connected to a sleeve shell, and the inner side of the sleeve shell is movably connected to a high-density counterweight roller.

[0006] Furthermore, the wheel-foot module includes a base shell, a side of the base shell close to the driving mechanism is fixedly connected to an axle shell, an outer end surface of the axle shell is fixedly connected to the end of the driving shaft of the driving mechanism, the inner side of the axle shell is connected to a motor, the end of the output shaft of the motor is fixedly connected to a first bevel gear, the outer side of the base shell is fixedly connected to a support leg, the inner side of the support leg is provided with a track, the outer side of the support leg is provided with a side track connected to the track, the inner side of the track is rotatably connected to a screw rod, the other end of the screw rod passes through the base shell and is fixedly connected to a second bevel gear, the second bevel gears are meshed with the first bevel gear, the ends of the support legs away from the base shell are rotatably connected to a wheel plate through a rotating member, the outer sides of the screw rods are spirally connected to a wire block, the inner curved surface of the wheel plate is fixedly connected to a transmission rod, the other end of the transmission rod passes through the side track and is fixed on the wire block.

[0007] Furthermore, the base housing, the shaft housing and the driving shaft of the driving mechanism are all arranged with the same center, the first bevel gear is arranged on the inner side of the base housing, and the center of the first bevel gear and the center of the shaft housing are arranged with the same axis.

[0008] Furthermore, the width of the wire block is the same as the width of the track, and the left and right end faces of the wire block are both in contact with the inner wall of the track.

[0009] Furthermore, the transmission rod is a three-section connecting rod structure, and the three sections of the transmission rod are movably arranged.

[0010] Furthermore, three of the legs and three of the wheel plates are provided, and the legs and the wheel plates are arranged at equal angles with the center of the base shell as the center, and a group of the wheel plates cooperate with each other to form a circular wheel body.

[0011] Furthermore, the resistance springs are sleeved on the outside of the contact button, and the resistance springs are spring body structures with a small diameter at one end and a large diameter at the other end. The large diameter end of the resistance springs faces the ball, and the rod shell and the base are arranged in parallel in the horizontal direction.

[0012] Furthermore, the bottom end surface of the high-density counterweight roller is in contact with the inner wall of the base, and an observation port is provided on the inner side of the base, and the height position of the observation port is consistent with the height position of the threaded block.

[0013] The beneficial effects of the present invention are as follows: the present invention provides structures such as a base, a leveling module and a counterweight module, so that the leveling module can level the base, and then detect whether the robot is traveling on stairs. The leveling operation is as follows: when the robot is traveling on stairs, the leveling module will tilt with the tilt of the base, and the ball in the rod shell will move downward with gravity. The large-angle tilt of the rod shell will squeeze the resistance spring, cross the restriction of the resistance spring and contact the contact button, and the counterweight module is started by the contact button to control the high-density counterweight roller to move in the opposite direction of the ball movement direction, so as to adjust the counterweight of the robot when traveling on stairs, and realize the ability of the robot to adjust the counterweight according to the displacement direction when traveling on stairs, which solves the problem that the existing robot is prone to tipping over due to uneven counterweight and top-heavy due to tilting when traveling on stairs if the main body is higher and the chassis is narrower. The problem that tipping over and falling while traveling on stairs can easily cause damage to the robot.

[0014] The wheel plate, bevel gear, screw rod and transmission rod are set up to make the wheel-foot module meet the movement requirements of the robot. When moving on a plane, the normal wheel shape of the wheel-foot module can meet the movement requirements of the robot. When moving on stairs, the wheel-foot module can be transformed from a wheel shape to a foot shape as needed to meet the movement requirements of the robot. The deformation operation is as follows: the first bevel gear is driven to rotate by a motor, and the second bevel gear and the screw rod are driven to rotate by the first bevel gear, so that each wire block is displaced toward the base shell. The displacement of the wire block will pull one end of the wheel plate inward toward the base shell through the transmission rod, so that each wheel plate spliced ​​into a circle is unfolded, and the transformation of the wheel-foot module from the wheel shape to the foot shape is completed. The wheel-foot walking mechanism of the robot can be transformed from the wheel shape to the foot shape through a simple structure under the premise of ensuring the stability of stair travel, which is convenient for later maintenance and reduces the production cost, and solves the problem that the wheel-foot walking mechanism of the existing robot is complex and precise in structure, resulting in difficulty and high cost in later maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0016] Figure 2 For the present invention Figure 1 Schematic diagram of the structure viewed from above;

[0017] Figure 3 This is a schematic diagram of the wheel shape structure of the wheel foot module of the present invention;

[0018] Figure 4 For the present invention Figure 3 Schematic diagram of the structure of the base shell removed;

[0019] Figure 5 It is a schematic diagram of the cutaway structure of the base of the present invention;

[0020] Figure 6 It is a half-section structural schematic diagram of the leveling module of the present invention;

[0021] Figure 7 It is a structural schematic diagram of the counterweight module of the present invention;

[0022] Figure 8 For the present invention Figure 1 Schematic diagram of the foot morphology structure of the wheel-foot module;

[0023] Fig. 9 It is a schematic diagram of the stair travel action of the wheel-foot module of the present invention.

[0024] Among them: 1. base; 2. driving mechanism; 3. wheel foot module; 301. base shell; 302. shaft shell; 303. motor; 304. first bevel gear; 305. support leg; 306. track; 307. side track; 308. screw rod; 309. second bevel gear; 310. wheel plate; 311. screw block; 312. transmission rod; 4. leveling module; 401. support block; 402. rod shell; 403. ball; 404. contact button; 405. spring; 5. counterweight module; 501. motor; 502. threaded rod; 503. threaded block; 504. connecting frame; 505. sleeve shell; 506. high-density counterweight roller; 6. observation port; 7. robot body, 8. driving shaft. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings.

[0026] See also Figures 1 to 9The present invention provides an embodiment: a walking mechanism of a wheel-foot deformable robot, comprising a base 1 and a robot body 7, a driving mechanism 2 is installed on the lower side of the base 1, a driving shaft 8 is provided on the front and rear sides of the driving mechanism 2, wheel-foot modules 3 with switchable forms are installed on both ends of the driving shaft 8 of the driving mechanism 2, a leveling module 4 is installed on the inner side of the base 1, and the leveling module 4 comprises a rod shell 402, a support block 401 is symmetrically fixedly connected to the lower side of the rod shell 402, the lower end surface of the support block 401 is fixedly connected to the inner wall of the base 1, a ball 403 is slidably connected to the inner side of the rod shell 402, and contact buttons 404 are fixedly connected in the holes at both ends of the left and right ends of the rod shell 402. , the inner walls of the left and right ends of the rod shell 402 are fixedly connected with a blocking spring 405, and the base 1 is equipped with a counterweight module 5, which includes a motor 501, which is fixed on the left side of the base 1, and the end of the output shaft of the motor 501 passes through the wall thickness of the base 1 and is fixedly connected with a threaded rod 502, and the other end of the threaded rod 502 is rotatably connected to the inner wall of the base 1, and the outer side of the threaded rod 502 is spirally connected with a threaded block 503, and the front and rear sides of the threaded block 503 are fixedly connected with a connecting frame 504, and the lower end of the connecting frame 504 is fixedly connected with a sleeve 505, and the inner side of the sleeve 505 is movably connected with a high-density counterweight roller 506. When the wheel-foot deformable robot needs to be used for stair travel, the driving mechanism 2 in the present invention is a common power mechanism, which is a technology known to those skilled in the art to provide power to drive the wheel-foot module 3 to rotate through a DC, AC or servo motor, and will not be described in detail here. The wheel-foot module 3 can switch the wheel shape to the foot shape. The present invention can level the base 1 through the leveling module 4, and then detect whether the robot is traveling up the stairs. The counterweight module 5 is controlled to operate through the detection, so that the counterweight module 5 controls the high-density counterweight roller 506 to move in the opposite direction of the moving direction of the ball 403, so as to adjust the counterweight of the robot when traveling up the stairs; the bottom end face of the high-density counterweight roller 506 is in contact with the inner wall of the base 1, and an observation port 6 is provided on the inner side of the base 1. The height position of the observation port 6 is consistent with the height position of the threaded block 503. During maintenance, the base 1 can be tilted to observe whether the counterweight module 5 is operating through the observation port 6.

[0027] Please continue reading Figure 3 , Figure 4As shown, in one embodiment of the present invention, the wheel foot module 3 includes a base shell 301, and the base shell 301 is fixedly connected to a shaft shell 302 on one side close to the driving mechanism 2, and the outer end surface of the shaft shell 302 is fixedly connected to the end of the driving shaft 8 of the driving mechanism 2, and the inner side of the shaft shell 302 is connected to a motor 303, and the end of the output shaft of the motor 303 is fixedly connected to a first bevel gear 304, and the outer side of the base shell 301 is fixedly connected to a support leg 305, and the inner side of the support leg 305 is provided with a track 306, and the outer side of the support leg 305 is provided with a The side track 307, the inner side of the track 306 is rotatably connected with a screw rod 308, the other end of the screw rod 308 passes through the base shell 301 and is fixedly connected to a second bevel gear 309, the second bevel gear 309 is meshed with the first bevel gear 304, the end of the leg 305 away from the base shell 301 is rotatably connected to a wheel plate 310 through a rotating member, the outer side of the screw rod 308 is spirally connected to a wire block 311, the inner curved surface of the wheel plate 310 is fixedly connected to a transmission rod 312, the other end of the transmission rod 312 passes through the side track 307 and is fixed on the wire block 311. The motor 303 drives the first bevel gear 304 to rotate forward or reverse, and the first bevel gear 304 meshes with the second bevel gear 309, driving the second bevel gear 309 to rotate, and at the same time driving the wire block 311 to rotate forward or reverse, and can control the wire block 311 to move forward or backward in the track 306. The support leg 305 is movably connected to the wheel plate 310 through a rotating member. At the same time, the wheel plate 310 is unfolded through the cooperation of the support leg 305, the motor 303 and the transmission rod 312 and other components, and the wheel plate 310 is completed. The transformation of the wheel form to the foot form of the wheel-foot module 3 is completed, wherein the rotating member is a common hinge, and the wire block 311 is located in the track 306. The wire block 311 can only move in the screw rod 308 part in the guide rail, and the track 306 can limit the wire block 311 so that the wire block 311 can only be displaced guided by the track 306.

[0028] Please continue to refer to the figure Figure 3 , Figure 4 As shown, in one embodiment of the present invention, the base shell 301, the shaft shell 302 and the driving shaft 8 of the driving mechanism 2 are all arranged with the same center, the first bevel gear 304 is arranged on the inner side of the base shell 301, and the center of the first bevel gear 304 and the center of the shaft shell 302 are arranged with the same axis.

[0029] Please continue to refer to the figure Figure 3 , Figure 4 As shown, in one embodiment of the present invention, the width dimension of the wire block 311 is the same as the track width dimension of the track 306, and the left and right end surfaces of the wire block 311 are both in contact with the inner wall of the track 306. The inner wall of the track 306 can limit the movement of the wire block 311.

[0030] Please continue to refer to the figure Figure 3 , Figure 4 As shown, in one embodiment of the present invention, the transmission rod 312 is a three-section connecting rod structure, and the three sections of the transmission rod 312 are movably arranged.

[0031] Please continue reading Figure 5 As shown, in one embodiment of the present invention, the legs 305 and the wheel plates 310 are each provided with three, and the legs 305 and the wheel plates 310 are both arranged at equal angles with the center of the base shell 301 as the center of the circle, and a group of the wheel plates 310 cooperate with each other to form a circular wheel body. The legs 305 and the wheel plates 310 are both arranged at equal angles with the center of the base shell 301 as the center of the circle, and a group of the wheel plates 310 cooperate with each other to form a circular wheel body, so that the wheel foot module 3 has the ability to move in the wheel form.

[0032] Please continue reading Figure 6 As shown, in one embodiment of the present invention, the blocking spring 405 is sleeved on the outside of the contact button 404, and the blocking spring 405 is a spring body structure with a small diameter at one end and a large diameter at the other end. The end with a large diameter of the blocking spring 405 faces the ball 403, and the rod shell 402 and the base 1 are arranged in a horizontal parallel manner. The blocking spring 405 is sleeved on the outside of the contact button 404, and the blocking spring 405 is a spring body structure with a small diameter at one end and a large diameter at the other end. The end with a large diameter of the blocking spring 405 faces the ball 403, and the rod shell 402 and the base 1 are arranged in a horizontal parallel manner. The setting of the blocking spring 405 can prevent the ball 403 from accidentally touching the contact button 404 when the plane moves;

[0033] Please continue reading Figure 7 As shown, in one embodiment of the present invention, the bottom end surface of the high-density counterweight roller 506 is in contact with the inner wall of the base 1 , and an observation port 6 is provided on the inner side of the base 1 , and the height position of the observation port 6 is consistent with the height position of the threaded block 503 .

[0034] The present invention has the following working principle: when it is necessary to use a wheel-foot deformable robot to travel up stairs, the normal wheel form of the wheel-foot module 3 during plane movement can meet the robot's movement requirements, and the wheel-foot module 3 can be transformed from a wheel form to a foot form as needed to meet the robot's movement requirements during stair movement. The deformation operation is as follows: the first bevel gear 304 is driven to rotate by the motor 303, and the meshing second bevel gear 309 and the screw rod 308 are driven to rotate by the rotation of the first bevel gear 304. The rotation of the screw rod 308 causes each wire block 311 to move toward the base shell 301. The displacement of the wire block 311 will pull one end of the wheel plate 310 inward toward the base shell 301 through the transmission rod 312, so that each wheel plate 310 spliced ​​into a circle is unfolded, completing the transformation of the wheel form to the foot form of the wheel-foot module 3. The above structure is relatively simple, so that the wheel-foot walking mechanism of the robot can complete the transformation of the wheel-foot walking mechanism from the wheel form to the foot form through a simple structure while ensuring the stability of stair travel, which is convenient for later maintenance and reduces the manufacturing cost; on the other hand, the robot can use the leveling module 4 to The base 1 is leveled, and then the robot can be detected whether it is traveling on stairs. The leveling operation is as follows: when the robot is traveling on stairs, the leveling module 4 will tilt with the tilt of the base 1, and the ball 403 in the rod shell 402 will move downward with gravity. The large-angle tilt of the rod shell 402 will squeeze the resistance spring 405, so that the ball 403 can cross the restriction of the resistance spring 405 and contact the contact button 404 (the setting of the resistance spring 405 can prevent the ball 403 from accidentally touching the contact button 404 when the plane moves). 04 Start the counterweight module 5, so that the counterweight module 5 controls the high-density counterweight roller 506 to move in the opposite direction to the moving direction of the ball 403 (the motor 501 drives the threaded rod 502 to rotate to displace the threaded block 503, and the displacement of the threaded block 503 drives the connection frame 504, the casing 505 and the high-density counterweight roller 506 to move). In this way, the counterweight of the robot when traveling on the stairs can be adjusted according to the displacement direction when the robot is traveling on the stairs, so as to avoid the possibility of the robot tipping over due to uneven counterweight and top-heavy caused by tilting when traveling on the stairs.

[0035] The above description is only a preferred embodiment of the present invention and should not be construed as limiting the present application. All equivalent changes and modifications made within the scope of the patent application of the present invention should fall within the scope of the present invention.

Claims

1. A walking mechanism of a wheel-foot deformable robot, characterized in that: The robot comprises a base and a robot body, wherein a driving mechanism is installed on the lower side of the base, a driving shaft is provided on the front and rear sides of the driving mechanism, wheel-foot modules with switchable forms are installed on both ends of the driving shaft of the driving mechanism, a leveling module is installed on the inner side of the base, the leveling module comprises a rod shell, a support block is symmetrically fixedly connected to the lower side of the rod shell, the lower end surface of the support block is fixedly connected to the inner wall of the base, a ball bearing is slidably connected to the inner side of the rod shell, contact buttons are fixedly connected in the holes at both ends of the left and right ends of the rod shell, and resistance springs are fixedly connected to the inner walls of the left and right ends of the rod shell, a counterweight module is installed at the base, the counterweight module comprises a motor, the motor is fixed to the left side of the base, the output shaft end of the motor is fixedly connected to a threaded rod through the wall thickness of the base, the other end of the threaded rod is rotatably connected to the inner wall of the base, the outer side of the threaded rod is spirally connected to a threaded block, the front and rear sides of the threaded block are fixedly connected to a connecting frame, the lower end of the connecting frame is fixedly connected to a sleeve shell, and the inner side of the sleeve shell is movably connected to a high-density counterweight roller.

2. The walking mechanism of a wheel-foot transformable robot according to claim 1, characterized in that: The wheel-foot module includes a base shell, a side of the base shell close to the driving mechanism is fixedly connected to an axle shell, an outer end surface of the axle shell is fixedly connected to the end of the driving shaft of the driving mechanism, the inner side of the axle shell is connected to a motor, the end of the output shaft of the motor is fixedly connected to a first bevel gear, the outer side of the base shell is fixedly connected to a support leg, a track is opened on the inner side of the support leg, a side track connected to the track is opened on the outer side of the support leg, a screw rod is rotatably connected to the inner side of the track, the other end of the screw rod passes through the base shell and is fixedly connected to the second bevel gear, the second bevel gear is meshed with the first bevel gear, the end of the support leg away from the base shell is rotatably connected to a wheel plate through a rotating member, the outer side of the screw rod is spirally connected to a wire block, the inner curved surface of the wheel plate is fixedly connected to a transmission rod, and the other end of the transmission rod passes through the side track and is fixed on the wire block.

3. The walking mechanism of a wheel-foot transformable robot according to claim 2, characterized in that: The base housing, the shaft housing and the driving shaft of the driving mechanism are all arranged with the same center, the first bevel gear is arranged on the inner side of the base housing, and the center of the first bevel gear and the center of the shaft housing are arranged with the same axis.

4. The walking mechanism of a wheel-foot transformable robot according to claim 2, characterized in that: The width of the wire block is the same as the track width, and the left and right end faces of the wire block are both in contact with the inner wall of the track.

5. The walking mechanism of a wheel-foot transformable robot according to claim 1, characterized in that: The transmission rod is a three-section connecting rod structure, and the three sections of the transmission rod are movably arranged.

6. The walking mechanism of a wheel-foot transformable robot according to claim 2, characterized in that: The supporting legs and wheel plates are each provided with three, and the supporting legs and wheel plates are both arranged at equal angles with the center of the base shell as the center of the circle, and a group of wheel plates cooperate with each other to form a circular wheel body.

7. The walking mechanism of a wheel-foot transformable robot according to claim 2, characterized in that: The resistance springs are sleeved on the outside of the contact button, and are spring body structures with a small diameter at one end and a large diameter at the other end. The large diameter end of the resistance spring faces the ball, and the rod shell and the base are arranged in parallel transversely.

8. The walking mechanism of a wheel-foot transformable robot according to claim 2, characterized in that: The bottom end surface of the high-density counterweight roller is in contact with the inner wall of the base, and an observation port is provided on the inner side of the base, and the height position of the observation port is consistent with the height position of the threaded block.

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