A pneumatic soft wheel-leg mechanism

Abstract

The present invention discloses a pneumatic soft wheel-leg mechanism, which belongs to the field of robots; the pneumatic soft wheel-leg mechanism includes an air pump and an air valve 2 fixed at the upper end of a body, and the air pump and the air valve 2 are connected and communicated through an air pipe 1; one end of the air valve 2 is rotatably connected to a hollow rotating shaft, and one end of the rotating shaft is vertically installed with a hollow spoke, and the rotating shaft is respectively communicated with the air valve 2 and the spoke; one end of the rotating shaft is connected to a flexible cavity, and is communicated with each other; a small wheel 2 with a one-way bearing is installed at the lower end of the flexible cavity; the air pump inflates the flexible cavity, and can make the upper and lower ends of the flexible cavity fit together to form a whole circle; the conversion between the leg mode and the wheel mode can be achieved by the deformation of the flexible cavity in the inflated and deflated states, and the conversion method is simple and efficient.

Description

Technical Field

[0001] The invention belongs to the field of robots, and in particular relates to a pneumatic soft wheel-leg mechanism. Background Art

[0002] The rapid development of the robotics industry has driven improvements in robotic locomotion. Most robots utilize only one type of locomotion mechanism: wheels or legs, resulting in limited adaptability to terrain. Some robots integrate both wheeled and legged locomotion, but this requires a large number of actuators to achieve this combined motion, resulting in complex structures and increased weight. Summary of the Invention

[0003] In view of the deficiencies in the prior art, the present invention aims to provide a pneumatic soft wheel-leg mechanism.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] A pneumatic soft wheel-leg mechanism includes an air pump and an air valve fixed to the upper end of a body, the air pump and the air valve being connected and communicated via an air pipe; one end of the air valve is rotatably connected to a hollow rotating shaft, one end of which is vertically mounted with hollow spokes, the rotating shaft communicating with the air valve and the spokes; one end of the rotating shaft is connected to a flexible cavity, and the two are communicated with each other; a small wheel with a one-way bearing is mounted at the lower end of the flexible cavity;

[0006] The air pump inflates the flexible cavity and enables the upper and lower ends of the flexible cavity to fit together to form a complete circle.

[0007] Furthermore, air valve one and air valve three are fixed to the upper end of the body, and both air valve one and air valve three are connected to and conducted with air pipe one; one end of air valve one is connected to air pipe two, and one section of air valve three is connected to air pipe three, and a plurality of wind shields are evenly arranged on the outer circle of the rotating shaft, and the air output from air pipe two and air pipe three can be blown toward the wind shields respectively, and can respectively drive the wind shields to rotate in opposite directions.

[0008] Furthermore, the rotating shaft is connected to the second air valve via a rotatable air pipe joint.

[0009] Furthermore, magnets and iron sheets are respectively installed at both ends of the flexible cavity, and the magnets and iron sheets are used to position and fix the joints at both ends when the flexible cavity is filled with air to form a full circle and deform into a wheel mode.

[0010] A robot comprising the wheel-leg mechanism according to any one of the claims.

[0011] The above-mentioned creeping method of the wheel-leg mechanism in the leg mode comprises the following steps:

[0012] S1: The air pump starts to inflate, and the second air valve opens. The flexible cavity begins to inflate and deform into a backward-bending arc. The second small wheel with a one-way bearing cannot rotate, and the friction between the wheel and the ground is large, enabling the robot to move forward.

[0013] In step S2, the air pump starts pumping air, and the air in the flexible cavity is discharged. The flexible cavity returns to its vertical shape, and the small wheel with a one-way bearing rotates. However, there is rolling friction between the wheel and the ground, and the robot cannot move backward.

[0014] S3, repeats S1 and S2, and can perform continuous peristalsis.

[0015] Furthermore, the air pump can deform the flexible cavity into a forward bending state by pumping air, thereby increasing the step length of the single-step movement.

[0016] The above-mentioned method for moving the wheel-leg mechanism in the wheel mode comprises the following steps:

[0017] S1, the air pump inflates and opens the second air valve, the air enters the flexible cavity and spreads evenly to both ends to form a full circle;

[0018] S2, close the second air valve to keep the flexible cavity in the wheel shape; open the first air valve and close the third air valve, and the gas is blown to the windshield through the second air pipe to drive the shaft to rotate;

[0019] S3, close valve 1 and open valve 3, the gas will be blown to the windshield through gas pipe 3, driving the shaft to rotate in the opposite direction to the rotation direction of the shaft in S2.

[0020] Beneficial effects of the present invention:

[0021] 1. The conversion between leg mode and wheel mode can be achieved through the deformation of the flexible cavity in the inflated and deflated states. The conversion method is simple and efficient.

[0022] 2. Only a single air pump and air valve control is used to provide power for the rotation of the wheel mode, the deformation of the flexible cavity in the leg mode, and the transition between the two modes, which simplifies the drive mechanism and reduces the weight of the robot.

[0023] 3. The creeping motion of the legs allows the robot to pass through highly confined spaces;

[0024] 4. The wheel-leg mechanism is symmetrical up and down, so the robot can perform the same movement without resetting after overturning. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 Schematic diagram of the flexible cavity of the pneumatic soft wheel-leg mechanism of the present invention in a normal state;

[0027] Figure 2 Schematic diagram of the flexible cavity of the pneumatic soft wheel-leg mechanism of the present invention in an inflated state;

[0028] Figure 3 is a schematic diagram of the pneumatic soft wheel-leg mechanism of the present invention in wheel mode;

[0029] Figure numerals: 1-body, 2-air pump, 3-air pipe 1, 4-air valve 1, 5-air pipe 2, 6-wind shield, 7-shaft, 8-magnet, 9-small wheel 1 with one-way bearing, 10-small wheel 2 with one-way bearing, 11-flexible cavity, 12-spoke, 13-air valve 2, 14-air pipe 3, 15-air valve 3, 16-direction 1, 17-direction 2. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0031] like Figure 1 As shown, a pneumatic soft wheel leg mechanism includes an air pump 2 and an air valve 2 13 fixed to the upper end of a body 1. The air pump 2 and the air valve 2 13 are connected and communicated via an air pipe 1 3. A hollow rotating shaft 7 is installed at the end of the air valve 2 13 facing away from the air pipe 1 3. The rotating shaft 7 and the air valve 2 13 are connected via a rotatable air pipe joint. A hollow spoke 12 is vertically installed at one end of the rotating shaft 7, and the spoke 12 is communicated with the rotating shaft 7. One end of the rotating shaft 7 is connected to a flexible cavity 11, and the two ends are communicated with each other. A small wheel 1 9 with a one-way bearing and a small wheel 2 10 with a one-way bearing are respectively installed at the upper and lower ends of the flexible cavity 11.

[0032] The specific implementation scheme of the peristaltic motion of the leg mode is as follows: the air pump 2 starts to inflate, the air valve 2 13 opens the valve, the flexible cavity 11 starts to inflate and deform, and the deformation of the flexible cavity 11 becomes a circular arc that bends backward, as shown in FIG. Figure 2As shown, the small wheel 2 10 with a one-way bearing cannot rotate, and the friction between the wheel and the ground is large, which enables the robot to move forward; the air pump 2 starts to pump air, and the gas in the air chamber of the flexible cavity 11 is discharged, and the flexible cavity 11 becomes vertical again, and the small wheel 2 10 with a one-way bearing rotates, and there is rolling friction between the wheel and the ground, which cannot push the robot to move backward. Repeating this operation can perform continuous peristalsis; the air pump 2 can also continue to pump air, and the flexible cavity 11 deforms and bends forward, which can increase the step length of the single-step movement and achieve large-step forward movement; the inflation deformation characteristics of the flexible cavity 11 and the one-way rotation characteristics of the one-way bearing enable the robot to peristalsis, thereby allowing the robot to pass through highly restricted spaces.

[0033] The specific implementation scheme of the wheeled motion of the wheel mode is as follows: when the air pump 2 is running, the gas enters the flexible cavity 11 by opening the second air valve 13, and the gas is evenly dispersed to both ends. The air chamber in the flexible cavity 11 begins to store gas, and the flexible cavity 11 undergoes a vertically symmetrical deformation, and the flexible cavity 11 presents an arc shape, as shown in FIG. Figure 2 As the gas continues to fill the flexible cavity 11, the air chamber in the flexible cavity 11 is filled with gas, a large degree of deformation occurs, forming a full circle, such as Figure 3 As shown, this is the wheel mode; by controlling the rotation of the rotating shaft 7, walking in the wheel mode can be achieved; the flexible cavity 11 in the full circle state moves more smoothly when performing wheeled movement, and downhill sections and smooth sections with good road conditions are more labor-saving and more efficient than leg-type movement.

[0034] In this embodiment, magnets 8 and iron sheets are respectively installed at both ends of the flexible cavity 11. The magnets 8 and iron sheets are used to position and fix the fitting parts at both ends when the flexible cavity 11 is filled with air to form a full circle and deformed into a wheel mode; and at this time, the small wheel 1 9 with a one-way bearing and the small wheel 2 10 with a one-way bearing are also respectively inserted into the grooves at both ends of the flexible cavity 11.

[0035] Air valve 1 4 and air valve 3 15 are fixed to the upper end of the body 1, and both are connected to and in communication with air pipe 1 3. One end of air valve 1 4 is connected to air pipe 2 5, and one end of air valve 3 15 is connected to air pipe 3 14. Multiple windshields 6 are evenly arranged on the outer circumference of the rotating shaft 7. The air output from air pipe 2 5 and air pipe 3 14 can respectively blow the windshields 6 and drive them to rotate in opposite directions, thereby driving them to roll in the wheel mode.

[0036] Under the inflation action of the air pump 2, the wheel leg mechanism switches to the wheel mode. At this time, the air valve 2 13 is closed so that the flexible cavity 11 maintains the wheel shape. Figure 3As shown; at this time, by opening the air valve 14 and closing the air valve 3 15, the gas is blown to the windshield 6 through the air pipe 2 5, and the windshield 6 drives the shaft 7 to rotate, thereby driving the flexible cavity 11 to rotate, and performing a wheeled motion around the direction 2 17; and if the air valve 14 is closed and the air valve 3 15 is opened, the gas is blown to the windshield 6 through the air pipe 3 14, driving the shaft 7 to rotate, and driving the flexible cavity 11 to rotate, thus performing a wheeled motion around the direction 16.

[0037] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0038] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and modifications fall within the scope of the invention as claimed.

Claims

1. A pneumatic soft wheel leg mechanism, characterized in that: The invention comprises an air pump (2) and an air valve (13) fixed at the upper end of the machine body, wherein the air pump (2) and the air valve (13) are connected and communicated with each other through an air delivery pipe (3); one end of the air valve (13) is rotatably connected to a hollow rotating shaft (7), one end of the rotating shaft (7) is vertically mounted with a hollow spoke (12), and the rotating shaft (7) is respectively communicated with the air valve (13) and the spoke (12); one end of the rotating shaft (7) is connected to a flexible cavity (11), and the two are communicated with each other; the lower end of the flexible cavity (11) is mounted with a small wheel (10) with a one-way bearing; The air pump (2) inflates the flexible cavity (11) and enables the upper and lower ends of the flexible cavity (11) to fit together to form a complete circle; An air valve 1 (4) and an air valve 3 (15) are fixed to the upper end of the body, and both the air valve 1 (4) and the air valve 3 (15) are connected to and communicated with the air pipe 1 (3); one end of the air valve 1 (4) is connected to the air pipe 2 (5), and one end of the air valve 3 (15) is connected to the air pipe 3 (14); a plurality of windshields (6) are evenly arranged on the outer circle of the rotating shaft (7); the air output from the air pipe 2 (5) and the air pipe 3 (14) can be blown toward the windshields (6) respectively, and can drive the windshields (6) to rotate in opposite directions respectively; The creeping method of the wheel-leg mechanism in the leg mode comprises the following steps: S1, the air pump (2) starts to inflate, the air valve 2 (13) opens, the flexible cavity (11) starts to inflate and deforms into a circular arc shape that bends backwards, the small wheel 2 (10) with a one-way bearing cannot rotate, and the friction between the wheel and the ground is large, so the robot moves forward; S2, the air pump (2) starts to pump air, the air in the air chamber of the flexible cavity (11) is discharged, the flexible cavity (11) returns to a vertical state, and the small wheel 2 (10) with a one-way bearing rotates. There is rolling friction between the wheel and the ground, and the robot cannot move backward; S3, repeats S1 and S2, and can perform continuous peristalsis.

2. A pneumatic soft wheel-leg mechanism according to claim 1, characterized in that: The rotating shaft (7) is connected to the second air valve (13) via a rotatable air pipe joint.

3. The pneumatic soft wheel-leg mechanism according to claim 1, characterized in that: The flexible cavity (11) is provided with a magnet (8) and an iron sheet at both ends, respectively. The magnet (8) and the iron sheet are used to position and fix the joints at the two ends when the flexible cavity (11) is filled with air to form a full circle and deform into a wheel mode.

4. The creeping method of the wheel-leg mechanism in the leg mode according to claim 1, characterized in that: The air pump (2) can deform the flexible cavity (11) into a forward bending state by pumping air, thereby increasing the step length of the single-step movement.

5. A robot comprising the wheel-leg mechanism according to any one of claims 1 to 4.

6. The motion method of the wheel-leg mechanism in wheel mode according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step 1: Inflate the air pump (2) and open the second air valve (13), so that the air enters the flexible cavity (11) and spreads evenly toward both ends to form a full circle; Step 2, close the second air valve (13) so that the flexible cavity (11) remains in the wheel shape; open the first air valve (4), close the third air valve (15), and blow the gas toward the windshield (6) through the second air pipe (5), driving the shaft (7) to rotate; In step 3, the gas valve 1 (4) is closed and the gas valve 3 (15) is opened. The gas is blown toward the windshield (6) through the gas pipe 3 (14), driving the shaft (7) to rotate in the opposite direction to the rotation direction of the shaft (7) in step 2.

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