Reconfigurable moving mechanism capable of achieving wheel-leg transformation through forward and reverse rotation

Abstract

The reconfigurable moving mechanism comprises a first chain link, a second chain link and a plurality of auxiliary chain links, the first chain link, the second chain link and the auxiliary chain links are rotationally connected in sequence, the first chain link is formed by combining a pair of circular plates, and the circular plates are provided with circular-arc-shaped protrusions facing the clockwise direction or the anticlockwise direction; the second chain link and the auxiliary chain links are C-shaped circular rings, the second chain link is connected with the topmost end of the arc-shaped protrusion, concave tables matched with one another are arranged on the side portions of the second chain link and the auxiliary chain links, when the concave tables on the first chain link, the second chain link and the auxiliary chain links are sequentially matched and abut against one another, a C-shaped chain can be formed, and the C-shaped chain corresponds to an obstacle crossing scene. When the first chain link, the second chain link and all the auxiliary chain links are sequentially curled and attached, a round wheel can be formed and corresponds to a plane moving scene. The reconfigurable wheel-leg conversion moving mechanism can adapt to different complex terrains, and driving wheel-leg conversion and wheel advancing are achieved through driving of a single motor.

Description

Technical Field

[0001] This invention relates to the field of wheel-leg switching devices, and in particular to a reconfigurable mobile mechanism that achieves wheel-leg switching through forward and reverse steering. Background Technology

[0002] In complex environments such as field exploration, disaster relief, and military reconnaissance, mobile platforms such as robots and unmanned vehicles need to have good terrain adaptability to meet diverse mission requirements, including navigating rugged terrain, overcoming obstacles, and traversing confined spaces. While wheeled structures with fixed wheel diameters are highly efficient on flat surfaces, they lack the ability to overcome obstacles such as steps and ditches; legged structures, on the other hand, have stronger obstacle-crossing capabilities, but their mobility is low and their control is complex.

[0003] To address the aforementioned issues, various wheel-leg composite designs have emerged in existing technologies, adapting to different terrains by changing wheel-leg modes. Most current wheel-leg changing devices are structurally complex, requiring multiple drive motors to control both wheel-leg changing and wheel movement. This not only increases the overall weight, size, and energy consumption of the equipment but also raises the complexity of the control logic and the failure rate. Furthermore, the few wheel-leg changing devices that use a single motor to drive both wheel-leg changing and wheel movement often employ passive deformation, requiring control of specific ground contact friction, motor drive torque, or specific structural triggers to successfully change wheel-leg modes, introducing randomness and uncertainty. Therefore, there is an urgent need for a reconfigurable wheel-leg changing mobile mechanism that can adapt to various complex terrains and achieve active wheel-leg changing and wheel movement through a single motor drive. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and to provide a reconfigurable wheel-leg switching movement mechanism that can adapt to different complex terrains and achieve active wheel-leg switching and wheel movement through a single motor drive.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solution:

[0006] A reconfigurable mobile mechanism that enables wheel-leg switching via forward and reverse steering includes a first link, a second link, and multiple auxiliary links rotatably connected in sequence. The first link is a combination of a pair of circular plates, each with an arc-shaped protrusion facing clockwise or counterclockwise. The second link and each auxiliary link are C-shaped rings. The second link connects to the top of the arc-shaped protrusion. A first recess is provided on the side of the second link against the first link, and a second recess is provided on the side of the second link against the next auxiliary link. The sides of the link are alternately provided with a third or fourth recessed platform; the first recessed platform has an arc-shaped surface that abuts against the arc-shaped protrusion, the second recessed platform has an arc-shaped surface and a broken surface that abuts against the next sub-link, the third recessed platform has an arc-shaped surface in the middle and forms a tangent surface from both sides of the arc-shaped surface to the edge, and the fourth recessed platform has an arc-shaped surface and a broken surface that abuts against the third recessed platform. The recessed platforms on the first link, the second link and each sub-link can be fitted together in sequence to form a C-shaped chain, and the first link, the second link and each sub-link can be curled and fitted together in sequence to form a wheel.

[0007] Furthermore, a rudder disc is provided on the side of the first link, and a stepped stud is connected between the rudder disc and the first link and fixed by a first screw.

[0008] Furthermore, each of the chain links is alternately connected by a rotating shaft, and a sleeve is provided between the inner chain links. The rotating shaft passes through the sleeve and is fixedly provided with a second screw and a washer at the end of each chain link.

[0009] Furthermore, the end of the last sub-link of the chain has a concave notch.

[0010] Furthermore, when the links fit together to form a wheel, the link that fits with the last secondary link has a compensating protrusion that matches the notch.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] This invention controls the wheel and leg transformation and movement by switching the forward and reverse rotation of a single motor. The form switching is proactive and deterministic, employing a purely geometric self-limiting method that eliminates the need for additional motors, reducing device weight and control complexity. When the chain is coiled and flat, it forms a circular wheel shape; when the chain is reversed, the links abut against each other, forming a C-shaped leg shape. The circular wheel shape is suitable for simple environments with wheel movement and adapts to high-speed, high-load scenarios on platform surfaces. The C-shaped leg shape is suitable for obstacle-crossing environments, providing a large support span. When the C-shaped leg rotates, it can lift the robot body in the opposite direction, resulting in strong obstacle-crossing ability. Compared to upright legs, the C-shaped leg reduces the risk of tipping over, meeting the needs of complex environment operations. Attached Figure Description

[0013] Figure 1 This is a diagram showing the state of the C-shaped leg in this invention;

[0014] Figure 2 for Figure 1 Enlarged view of part A;

[0015] Figure 3 for Figure 1 Enlarged view of part B;

[0016] Figure 4 for Figure 1 Side view;

[0017] Figure 5 This is a state diagram of the circular wheel in this invention;

[0018] Figure 6 for Figure 5 Side view;

[0019] Figure 7 This is a schematic diagram of the structure of the second link in this invention;

[0020] Figure 8 for Figure 7 Side view;

[0021] Figure 9 This is a diagram showing the contact state between the third and fourth links in this invention.

[0022] Figure 10 for Figure 9 Side view;

[0023] Figure 11 This is a schematic diagram of the structure of the third link in this invention;

[0024] Figure 12 for Figure 11 Side view;

[0025] Figure 13 This is a schematic diagram of the structure of the fourth link in this invention;

[0026] Figure 14 for Figure 13 Side view.

[0027] Figure label:

[0028] 1-First link, 2-Rudder, 3-Stepped stud, 4-First screw, 5-Second link, 6-Washer, 7-Second screw, 8-Third link, 9-Sleeve, 10-Fourth link, 11-Shaft, 12-Fifth link, 13-Sixth link, 14-Seventh link, 15-Eighth link, 16-Ninth link, 17-First recess, 18-Second recess, 19-Third recess, 20-Fourth recess, 21-Arc-shaped protrusion, 22-Compensation protrusion, 23-Notch. Detailed Implementation

[0029] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0030] like Figures 1 to 14 As shown, a reconfigurable mobile mechanism that achieves wheel-leg switching through forward and reverse steering includes a first link 1, a second link 5, and multiple auxiliary links connected in sequence. The first link 1 is a combination of a pair of circular plates, and the circular plates have arc-shaped protrusions 21 facing clockwise or counterclockwise. The second link 5 and each auxiliary link are C-shaped rings. The second link 5 is connected to the top of the arc-shaped protrusion 21. The second link 5 has a first recess 17 on its side against the first link 1, and a second recess 18 on its side against the next auxiliary link. Each auxiliary link... The sides are alternately provided with a third recess 19 or a fourth recess 20; the first recess 17 has an arc-shaped surface that abuts against the arc-shaped protrusion 21, the second recess 18 has an arc-shaped surface and a broken surface that abuts against the next sub-link, the third recess 19 has an arc-shaped surface in the middle and forms a tangent surface from both sides of the arc-shaped surface to the edge, and the fourth recess 20 has an arc-shaped surface and a broken surface that abuts against the third recess 19. The recesses on the first link 1, the second link 5 and each sub-link can be fitted together in sequence to form a C-shaped chain, and the first link 1, the second link 5 and each sub-link can be rolled and attached in sequence to form a wheel.

[0031] The first link 1 has a rudder disc 2 on its side. A stepped stud 3 connects the rudder disc 2 to the first link 1 and is fixed by a first screw 4. The optical axis section of the stepped stud 3 engages with the chain plate of the first link 1 and is fixed by the first screw 4. The external thread section of the stepped stud 3 passes through the chain plate of the first link 1 and engages with the internal thread hole of the rudder disc 2, ensuring that the rudder disc 2 drives the first link 1 at the center of the chain to rotate.

[0032] In this assembly, each chain link is alternately connected by a rotating shaft 11. A sleeve 9 is positioned between the inner chain links. The rotating shaft 11 passes through the sleeve 9 and is fixedly fitted with a second screw 7 and a washer 6 at the end of each chain link. During assembly, the rotating shaft 11 connects the through holes of each chain link and the open holes of the sleeve 9 in sequence, and is then tightened at the end with the second screw 7 and washer 6. The axial preload can be adjusted by adjusting the tightness of the screw 7, thereby adjusting the relative rotation of the chain links around the rotating shaft 11.

[0033] This invention can control the wheel leg transformation and movement by switching the forward and reverse rotation of a single motor, and has both round wheel and C-shaped leg shapes.

[0034] like Figures 1 to 4As shown, the recesses on the first link 1, the second link 5, and each auxiliary link sequentially engage to form a C-shaped chain. In this embodiment, the arc-shaped protrusion 21 faces counterclockwise. When the motor reverses, the chain opens and lies flat from a wheel shape. As the motor continues to rotate, each link continues to open clockwise, sequentially completing the engagement of the first recess 17 of the second link 5 with the outer periphery of the arc-shaped protrusion 21, the engagement of the third recess 19 of the third link 8 with the second recess 18 of the second link 5, and the engagement of the fourth recess 20 of the fourth link 10 with the third recess 19 of the third link 8. The remaining links form the above engagement relationship by alternately providing the third recess 19 or the fourth recess 20, that is, the sides of the fifth link 12, the seventh link 14, and the ninth link 16 are all third recesses 19, and the sides of the sixth link 13 and the eighth link 15 are all fourth recesses 20. Because the recessed platforms at the chain link connections abut against each other to form C-shaped legs, the motor is passively lifted by the entire chain as it rotates. When the motor rotates to the point of falling, the chain opens and lays flat again, repeating the obstacle-crossing process. The last sub-link of the chain has a concave notch 23 at its end. This is the ninth chain 16 in this embodiment. The concave notch 23 enhances the grip of the ninth chain 16 at its end, thereby improving obstacle crossing and forward movement.

[0035] like Figures 7 to 14 As shown, the shapes of the first recess 17, the second recess 18, the third recess 19, and the fourth recess 20 ensure that the links can not only abut against each other, but also form a C-shaped leg for the entire chain. The first recess 17 has an arc-shaped surface that abuts against the arc-shaped protrusion 21, allowing it to conform to the shape of the protrusion 21 while maintaining abutment. The second recess 18 has an arc-shaped surface and a folded surface; the arc-shaped surface conforms to the annular outer periphery of the third link 8, and the folded surface abuts against the tangent of the third recess 19. The third recess 19 has an arc-shaped surface in its middle, with tangents forming from both sides towards the edge. The arc-shaped surface ensures that the end of the third recess 19 can rotate freely within the range of the second and fourth recesses 18 and 20, preventing them from getting stuck and unable to change shape. The abutment process is accomplished by the tangent of the third recess 19 and the folded surfaces of the second and fourth recesses 18 and 20.

[0036] like Figure 5 and Figure 6 As shown, the concave platforms on the first link 1, the second link 5, and each secondary link curl and fit together to form a wheel. In this embodiment, the arc-shaped protrusion 21 faces counterclockwise. When the motor rotates clockwise, each link curls and fits together sequentially to form a wheel. When the links fit together to form the wheel, the link that fits with the last secondary link has a compensating protrusion 22 that matches the notch 23. That is, in this embodiment, the fifth link 12 has a compensating protrusion 22 corresponding to the notch 23, which improves the integrity of the wheel's shape and enhances its forward movement on a flat surface.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A reconfigurable mobile mechanism that achieves wheel-leg switching through forward and reverse steering, characterized in that: The system includes a first link (1), a second link (5), and multiple auxiliary links that are rotatably connected in sequence. The first link (1) is a combination of two circular plates with an arc-shaped protrusion (21) facing clockwise or counterclockwise on the circular plates. The second link (5) and each auxiliary link are C-shaped rings. The second link (5) is connected to the top of the arc-shaped protrusion (21). The second link (5) has a first recess (17) on its side against the first link (1), and a second recess (18) on its side against the next auxiliary link. Each auxiliary link has a third recess (18) alternately on its side. 19) or the fourth concave platform (20); the first concave platform (17) has an arc-shaped surface that abuts against the arc-shaped protrusion (21), the second concave platform (18) has an arc-shaped surface and a broken surface that abuts against the next sub-link, the third concave platform (19) has an arc-shaped surface in the middle and forms a tangent from both sides of the arc-shaped surface to the edge, the fourth concave platform (20) has an arc-shaped surface and a broken surface that abuts against the third concave platform (19), the first link (1), the second link (5) and the concave platforms on each sub-link can be fitted together in sequence to form a C-shaped chain, the first link (1), the second link (5) and the sub-link can be rolled up and attached in sequence to form a wheel.

2. The reconfigurable mobile mechanism for achieving wheel-leg switching through forward and reverse steering according to claim 1, characterized in that: The first link (1) is provided with a rudder (2) on its side. The rudder (2) is connected to the first link (1) by a stepped stud (3) and fixed by a first screw (4).

3. The reconfigurable mobile mechanism for achieving wheel-leg switching through forward and reverse steering according to claim 1, characterized in that: Each of the chain links is alternately connected by a pivot (11). A sleeve (9) is provided between the inner chain links. The pivot (11) passes through the sleeve (9) and is fixedly provided with a second screw (7) and a washer (6) at the end of each chain link.

4. A reconfigurable mobile mechanism for achieving wheel-leg switching through forward and reverse steering according to claim 1, characterized in that: The end of the last link of the chain has a concave notch (23).

5. A reconfigurable mobile mechanism for achieving wheel-leg switching through forward and reverse steering according to claim 4, characterized in that: When the links fit together to form a wheel, the link that fits with the last secondary link has a compensating protrusion (22) that matches the notch (23).

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