A variable stance wheel-legged device, mobile mechanism and control method

Abstract

The application provides a variable posture wheel-foot device, a moving mechanism and a control method, which comprise a bionic foot, a wheel-foot posture conversion mechanism and a wheel; the bionic foot is installed on the wheel-foot posture conversion mechanism, and the wheel-foot posture conversion mechanism is connected with the side of the wheel; the wheel-foot posture conversion mechanism comprises a plurality of wheel legs, a sliding block, a wheel hub guide rail, an electric push rod and a swing rod disc; the wheel legs are radially arranged along the circumference of the swing rod disc, one end of the wheel leg is rotationally connected with the swing rod disc, the other end of the wheel leg is fixedly connected with the bionic foot, the side of the wheel leg is rotationally connected with the sliding block, the wheel hub guide rail is radially arranged along the circumference of the wheel hub, and the sliding block is installed on the wheel hub guide rail. The bionic foot toe disc and the bionic foot web are combined to form a V-shaped groove, the V-shaped groove has the characteristics of sand fixation and flow limitation, and the ground holding performance and the anti-sliding ability of the variable posture wheel-foot device are improved.

Description

Technical Field

[0001] This invention belongs to the field of biomimetic engineering technology, and in particular relates to a variable posture wheel foot device, a moving mechanism, and a control method. Background Technology

[0002] Jiangsu Province is a major province for marine tidal flat resources, with its tidal flat area accounting for approximately 25% of the national total. This represents a vast reserve of land resources with immense development potential for Jiangsu. Tidal flat development and utilization is the most labor-intensive and resource-intensive activity undertaken on barren tidal flats. Tidal flats are typically soft ground, primarily composed of a mud-water mixture, resulting in poor shear strength and load-bearing capacity, making mechanized operations challenging.

[0003] The primary challenge for mechanized operations in tidal flat areas is mobility. Conventional wheeled mobility mechanisms are prone to slipping and sinking on soft ground, while conventional legged mobility mechanisms are suitable for complex terrain but have poor speed limits on hard surfaces. In addition, there are wheel-leg conversion mechanisms, but current wheel-leg conversion mechanisms are complex, slow, and require manual control. Existing Chinese invention patents, such as an adaptive sand-inspired bionic mechanical foot (application number CN201610996333.3), focus on mimicking the opening and closing of ostrich toes. Each toe is a separate unit without a control system and does not autonomously adapt to different ground conditions. Another Chinese invention patent, a bionic two-toed mechanical foot with sole sensing capabilities (application number CN201710211882.X), uses the ostrich foot as a bionic prototype and primarily considers the opening and closing of the two toes based on foot pressure distribution to improve the stability, smoothness, and energy efficiency of walking. The opening of the two toes provides auxiliary support for the mechanical foot. The mechanical feet were designed without considering specific application scenarios. Furthermore, the bottom of the mechanical feet is flat and made of rigid materials, and issues such as sand fixation and flow restriction, as well as rigid-flexible coupling to prevent subsidence, were not addressed. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the aforementioned technical problems. To this end, the present invention proposes a variable-posture wheel-foot device, a moving mechanism, and a control method. The mechanical foot enables rapid switching between wheeled and foot-based modes, thereby improving the moving mechanism's passability and anti-sinking ability on soft ground and increasing its speed on hard ground.

[0005] The technical solution of this invention is:

[0006] A posture-changing wheel-foot device includes a bionic foot, a wheel-foot posture conversion mechanism, and a wheel;

[0007] The bionic foot is mounted on the wheel-foot posture conversion mechanism, which is connected to the side of the wheel.

[0008] The wheel-foot posture conversion mechanism includes multiple wheel legs, sliders, wheel hub guide rails, electric push rods, and swing rod discs;

[0009] The wheel legs are arranged radially along the circumference of the swing arm disc, with one end of the wheel leg rotatably connected to the swing arm disc and the other end of the wheel leg fixedly connected to the bionic foot. The side of the wheel leg is rotatably connected to the slider. The hub guide rail is arranged radially along the circumference of the wheel hub, and the slider is mounted on the hub guide rail. One end of the electric push rod is connected to the hub guide rail, and the other end of the electric push rod is connected to the swing arm disc. The extension and retraction of the electric push rod drives the swing arm disc to rotate relative to the hub guide rail, thereby driving the extension and retraction of the wheel legs.

[0010] In the above scheme, the bionic foot includes a connector, a servo motor, bionic webs, an upper bionic toe disc, and a lower bionic toe disc;

[0011] The connector is connected to one side of the upper bionic toe disc, and the other side of the upper bionic toe disc is rotatably connected to the lower bionic toe disc. The servo motor is installed in the middle groove of the connector. One end of the upper side of the bionic web is connected to the upper bionic toe disc, and the other end of the lower side of the bionic web is connected to the lower bionic toe disc. The lower bionic toe disc is higher than the lower surface of the bionic web. The lower surface of the lower bionic toe disc and the lower surface of the bionic web form a V-shaped groove. The servo motor output shaft is connected to the lower bionic toe disc, so that the servo motor output shaft can drive the lower bionic toe disc to rotate relative to the upper bionic toe disc, thereby causing the bionic web to open or close.

[0012] In the above scheme, the biomimetic webbed material is a propylene-based elastomer.

[0013] In the above scheme, the upper bionic toe disc includes an upper bionic toe disc and a lower bionic toe disc, and the upper bionic toe disc and the lower bionic toe disc correspond one-to-one.

[0014] The upper bionic toe disc has 6 bionic toes, and the lower bionic toe disc has 6 bionic toes.

[0015] A mobile mechanism includes the aforementioned posture-changing wheel foot device and chassis assembly;

[0016] The wheels are mounted on the chassis assembly.

[0017] The above solution also includes an infrared ranging sensor;

[0018] The infrared ranging sensor is installed on the lower side of the chassis assembly near the wheels to measure the distance between the chassis assembly and the ground.

[0019] In the above scheme, the number of infrared ranging sensors is 4, and the infrared ranging sensors are located at each wheel on the lower side of the chassis assembly.

[0020] The above solution also includes a signal conditioning device and a microprocessor;

[0021] The signal conditioning device and the microprocessor are both mounted on the chassis assembly. The infrared ranging sensor is connected to the signal conditioning device and the microprocessor. The microprocessor is connected to the electric push rod. The microprocessor controls the extension and retraction of the electric push rod, thereby driving the swing arm disc to rotate relative to the wheel hub guide rail, thereby driving the wheel legs to extend and retract.

[0022] A method for controlling a moving mechanism includes the following steps:

[0023] When the moving mechanism starts working, the infrared ranging sensor measures the distance between the chassis assembly and the ground. The infrared ranging sensor transmits the measured data to the signal conditioning device. The signal conditioning device conditions the signal and transmits it to the microprocessor. The microprocessor calculates the average value of the distance information sensed by the infrared ranging sensor and compares it with a preset value. Based on different comparison results, the microprocessor controls the extension and retraction of the electric push rod, thereby driving the swing arm disc to rotate relative to the wheel hub guide rail, thereby driving the extension and retraction of the wheel legs, and thus controlling the variable posture wheel foot device to change to a foot posture or a wheel posture.

[0024] In the above scheme, the microprocessor controls the different morphological changes of the variable posture wheel foot device according to different comparison results, including the following steps:

[0025] S1: When the average value of the distance information between the chassis assembly and the ground sensed by the infrared ranging sensor is less than the preset value, the microprocessor controls the electric push rod to extend, thereby rotating the swing arm disc relative to the wheel hub, so that the slider slides along the wheel hub guide rail towards the edge, thereby causing the wheel leg to unfold outward, thereby controlling the change posture wheel foot device to change to a foot posture.

[0026] At the same time, the microprocessor controls the servo motor to rotate forward by the corresponding angle, causing the lower bionic toe disk to rotate relative to the upper bionic toe disk until the upper bionic toe disk, which corresponds to the direction of rotation, overlaps vertically.

[0027] S2: When the average value of the distance information sensed by the infrared ranging sensor is greater than the preset value, the microprocessor controls the electric push rod to shorten, thereby rotating the swing arm disc relative to the wheel hub, causing the slider to slide along the wheel hub guide rail towards the center, thereby causing the wheel leg to retract inward, thus controlling the change posture wheel foot device to change to a wheel posture.

[0028] At the same time, the microprocessor controls the servo motor to reverse the signal at the corresponding angle, causing the lower bionic toe disk to rotate relative to the upper bionic toe disk until it coincides with the original upper bionic toe disk.

[0029] Compared with the prior art, the beneficial effects of the present invention are:

[0030] 1. The bionic foot of this invention is designed based on the foot of a mallard duck, which improves the bionic foot's ability to resist sinking, slippage, and sand fixation and flow restriction. The variable posture wheel-foot device has a simple structure and can realize rapid conversion between wheel and foot posture. When the moving mechanism moves on soft ground, the wheel legs in the wheel-foot posture conversion mechanism unfold, converting to a foot posture for movement, which improves the mobility and movement efficiency of the moving mechanism on soft and hard ground. When the moving mechanism moves on hard ground, the wheel legs in the posture conversion mechanism retract, converting to a wheel posture for movement, which increases the movement speed.

[0031] 2. This invention uses an infrared ranging sensor to sense road surface information, which is then conditioned and transmitted to a microprocessor. The microprocessor controls the variable attitude wheel-foot device to switch between wheeled and footed attitudes, thereby achieving intelligent and rapid autonomous conversion of wheel-foot attitude. This improves the ground adaptability of the mobile mechanism and enhances its mobility.

[0032] 3. The bionic webbed feet of this invention can be unfolded. After unfolding, the bionic sand-fixing and flow-limiting mechanical feet have an increased contact area, which improves the mobility of the moving mechanism on soft ground and its resistance to subsidence.

[0033] 4. The bionic toe disc and bionic webbed foot of the present invention are combined to form a V-shaped groove. The V-shaped groove has the characteristics of sand fixation and flow restriction, which improves the grip performance and anti-slip ability of the variable posture wheel foot device. Attached Figure Description

[0034] Figure 1 This is a perspective view of a variable posture wheel foot device according to an embodiment of the present invention.

[0035] Figure 2 This is a side view of a variable posture wheel foot device according to an embodiment of the present invention.

[0036] Figure 3 This is a schematic diagram of the retracted posture of the posture conversion mechanism of the posture-changing wheel foot device according to one embodiment of the present invention.

[0037] Figure 4 This is a side view of the retracted posture of the variable posture wheel foot device mechanism according to an embodiment of the present invention.

[0038] Figure 5 This is a schematic diagram of the wheel-foot posture conversion mechanism of a variable posture wheel-foot device according to an embodiment of the present invention.

[0039] Figure 6 This is a side view of the wheel-foot posture conversion mechanism of a variable posture wheel-foot device according to an embodiment of the present invention.

[0040] Figure 7 This is a schematic diagram of the wheel-foot posture conversion mechanism connection of a variable posture wheel-foot device according to an embodiment of the present invention.

[0041] Figure 8 This is a partially enlarged schematic diagram of the wheel-foot posture conversion mechanism of a variable posture wheel-foot device according to an embodiment of the present invention.

[0042] Figure 9 This is a schematic diagram of the bionic webbed feet of a variable posture wheel foot device according to an embodiment of the present invention in the open state.

[0043] Figure 10 This is a schematic diagram of the closed state of the bionic webbed feet of the variable posture wheel foot device according to an embodiment of the present invention.

[0044] Figure 11 This is a front view schematic diagram of a variable posture wheel foot device according to an embodiment of the present invention.

[0045] Figure 12 This is a schematic diagram of a bionic webbed foot according to one embodiment of the present invention.

[0046] Figure 13 This is a schematic diagram of the moving mechanism structure according to one embodiment of the present invention.

[0047] Figure 14 This is a front view schematic diagram of a moving mechanism according to an embodiment of the present invention.

[0048] Figure 15 This is a schematic diagram of the left side of the moving mechanism according to an embodiment of the present invention.

[0049] Figure 16 This is a top view schematic diagram of a moving mechanism according to an embodiment of the present invention.

[0050] Figure 17 This is a bottom view schematic diagram of the moving mechanism according to an embodiment of the present invention.

[0051] Figure 18 This is a schematic cross-sectional view of a biomimetic toe disc according to one embodiment of the present invention.

[0052] Figure 19 This is a three-dimensional view of a biomimetic toe disc according to one embodiment of the present invention.

[0053] Figure 20 This is a schematic diagram of the front view of a bionic toe disc according to one embodiment of the present invention.

[0054] Figure 21 This is a three-dimensional view of a biomimetic toe disc according to one embodiment of the present invention.

[0055] Figure 22 This is a perspective view of the wheel leg according to an embodiment of the present invention.

[0056] Figure 23 This is a perspective view of a connector according to an embodiment of the present invention.

[0057] Figure 24 This is a schematic diagram of the microprocessor control principle according to one embodiment of the present invention.

[0058] In the diagram: 1. Bionic foot; 11. Connector; 111. Middle groove of the connector; 112. Boss on the lower end face of the connector; 113. Cylindrical hole on the lower end face of the connector; 12. Servo motor; 13. Bionic webbed foot; 14. Upper bionic toe disc; 141. Cylindrical boss on the upper end face of the upper bionic toe disc; 142. Cylindrical groove on the lower end face of the upper bionic toe disc; 143. Cylindrical hole on the upper bionic toe disc; 144. Bionic toe on the upper bionic toe disc; 15. Lower bionic toe disc; 151. Boss on the upper end face of the lower bionic toe disc; 152. 1. Bionic toe disc and bionic toe; 2. Wheel-foot posture conversion mechanism; 21. Wheel leg; 211. Wheel leg proximal end connection hole; 212. Wheel leg middle end slider connection hole; 213. Wheel leg distal end posture changing wheel foot device connection hole; 214. Wheel leg proximal end groove; 22. Slider; 23. Wheel hub guide rail; 24. Electric push rod; 25. Swing rod disc; 3. Chassis assembly; 41. First infrared ranging sensor; 42. Second infrared ranging sensor; 43. Third infrared ranging sensor; 44. Fourth infrared ranging sensor; 5. Wheel; Detailed Implementation

[0059] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0060] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "front," "rear," "left," "right," "upper," "lower," "axial," "radial," "vertical," "horizontal," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0061] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] Figure 1 , 2 The image shows a preferred embodiment of the variable posture wheel-foot device, which includes a bionic foot 1, a wheel-foot posture conversion mechanism 2, and a wheel 5.

[0063] The bionic foot 1 is mounted on the wheel-foot posture conversion mechanism 2, which is connected to the side of the wheel 5.

[0064] like Figure 3 , 4 As shown in 5, 6, 7, and 8, the wheel-foot posture conversion mechanism 2 includes multiple wheel legs 21, a slider 22, a wheel hub guide rail 23, an electric push rod 24, and a swing rod disc 25;

[0065] The wheel legs 21 are arranged radially along the circumference of the swing arm disk 25, with one end of the wheel leg 21 rotatably connected to the swing arm disk 25 and the other end of the wheel leg 21 fixedly connected to the bionic foot 1. The side of the wheel leg 21 is rotatably connected to the slider 22. The hub guide rail 23 is arranged radially along the circumference of the wheel hub 5. The slider 22 is mounted on the hub guide rail 23 and can perform reciprocating linear motion on the hub guide rail 23. The electric push rod 24 is located between the hub guide rail 23 and the swing arm disk 25, with one end of the electric push rod 24 connected to the hub guide rail 23 by means of... The connection is via a hinge. The other end of the electric push rod 24 is connected to the swing rod disk 25 via a hinge. The extension and retraction of the electric push rod 24 drives the swing rod disk 25 to rotate relative to the hub guide rail 23. Under the constraint of the hub guide rail 23 and the slider 22, the wheel leg 21 extends outward or retracts inward. When the electric push rod 24 extends, the swing rod disk 25 rotates counterclockwise, causing the wheel leg 21 to swing. The slider 22 moves linearly along the hub guide rail 23 from the end near the axis to the end away from the axis, thereby causing the wheel leg 21 to extend outward. When the electric push rod 24 retracts, the swing rod disk 25 rotates clockwise, causing the wheel leg 21 to swing. The slider 22 moves linearly along the hub guide rail 23 from the end away from the axis to the end near the axis, thereby causing the wheel leg 21 to retract inward.

[0066] Preferred, such as Figure 22 As shown, the wheel leg 21 is provided with connecting holes, including a wheel leg near end connecting hole 211, a wheel leg middle end slider connecting hole 212, a wheel leg far end posture changing wheel foot device connecting hole 213, and a wheel leg near end groove 214; the wheel leg middle end slider connecting hole 212 and the upper end of the slider 22 are connected by a hinge and can rotate relative to each other; the connecting piece 11 and the wheel leg far end posture changing wheel foot device connecting hole 213 are fastened by bolts; the wheel leg near end groove 214 fits with the swing rod disk 25; the wheel leg near end connecting hole 211 and the swing rod disk 25 are connected by a hinge and can rotate relative to each other.

[0067] Preferably, the wheel-foot posture conversion mechanism 2 is provided with multiple wheel legs 21, and the wheel legs 21 and the swing rod disk 25 are all connected by hinges.

[0068] In one embodiment of the present invention, preferably, the number of wheel legs 21 is 6, so that walking is smoother when the device switches to a foot posture.

[0069] Preferably, the wheel-foot posture conversion mechanism 2 is installed on the outside of the wheel 5, and the wheel-foot posture conversion mechanism 2 is connected to the wheel 5 by the slider 22 and the electric push rod 24.

[0070] In one embodiment of the present invention, preferably, the number of sliders 22 is 6, the sliders 22 and the wheel legs 21 are connected by hinges, and the upper end and the lower end of the slider are fastened together by bolts to form a slider.

[0071] like Figure 9 , 10 As shown in 11 and 12, preferably, the above-mentioned bionic foot 1 includes a connector 11, a servo motor 12, a bionic foot web 13, an upper bionic toe disc 14 and a lower bionic toe disc 15;

[0072] The connector 11 is connected to one side of the upper bionic toe disc 14, and the other side of the upper bionic toe disc 14 is rotatably connected to the lower bionic toe disc 15. The servo motor 12 is installed in the middle groove of the connector 11. One end of the upper side of the bionic web 13 is connected to the upper bionic toe disc 14, and the other end of the lower side of the bionic web 13 is connected to the lower bionic toe disc 15. The lower bionic toe disc 15 is higher than the lower surface of the bionic web 13. The lower surfaces of the lower bionic toe disc 15 and the lower surfaces of the bionic web 13 form a V-shaped groove. The output shaft of the servo motor 12 is connected to the lower bionic toe disc 15, so that the output shaft of the servo motor 12 can drive the lower bionic toe disc 15 to rotate relative to the upper bionic toe disc 14, thereby driving the bionic web 13 to unfold or close. The side of the bionic web 13 connected to the lower bionic toe disc 15 is in contact with the ground.

[0073] like Figure 18 , 19 As shown in 20 and 21, preferably, the upper bionic toe disc 14 includes a cylindrical protrusion 141 on the upper end face of the upper bionic toe disc, a cylindrical groove 142 on the lower end face of the upper bionic toe disc, a cylindrical hole 143 on the upper bionic toe disc, and a bionic toe 144 on the upper bionic toe disc.

[0074] Preferably, the lower bionic toe disc 15 includes a boss 151 on the upper end face of the lower bionic toe disc and a bionic toe 152 on the lower bionic toe disc;

[0075] like Figure 23 As shown, preferably, the connector 11 includes a middle groove 111, a lower end face boss 112, and a lower end face cylindrical hole 113.

[0076] The lower end face boss 112 of the connector 11 is welded together with the upper end face boss 141 of the upper bionic toe disc. The servo motor 12 is installed in the middle groove 111 of the connector. The lower end face of the upper bionic toe disc 14 is provided with a cylindrical groove 142. The upper end face of the lower bionic toe disc 15 is provided with a boss 151. The cylindrical groove 142 and the boss 151 are connected together by a bearing, so that the upper bionic toe disc 14 and the lower bionic toe disc 15 can rotate relative to each other. The upper bionic toe disc 14 and the lower bionic toe disc 15 are adjacent to each other and correspond one-to-one. One end of the bionic web 13 is fitted onto the upper bionic toe disc bionic toe 144, and the other end is fitted onto the lower bionic toe disc bionic toe 152 which is adjacent to the upper bionic toe disc bionic toe 144. At this time, the bionic web 13 is in a closed state. The output shaft of the servo motor 12 passes through the cylindrical hole 113 on the lower end face of the connector 11 and the cylindrical hole 143 of the upper bionic toe disk, and is connected to the lower bionic toe disk 15 via a spline, thereby driving the lower bionic toe disk 15 to rotate relative to the upper bionic toe disk 14. When rotating, the lower bionic toe disk 152 rotates to the underside of another bionic toe adjacent to the circumference of the upper bionic toe disk 144. The pulling action of the upper bionic toe disk 144 and the lower bionic toe disk 152 causes the bionic webs 13 to unfold.

[0077] In one embodiment of the present invention, preferably, the upper bionic toe disc 14 includes six upper bionic toe discs and bionic toes 144, which are evenly arranged in a circle, with a 60° angle between adjacent bionic toes; the lower bionic toe discs and bionic toes 152 are six in number and are evenly arranged in a circle, with a 60° angle between adjacent bionic toes. The upper bionic toe discs 14 and the lower bionic toe discs and bionic toes 152 correspond one-to-one, so that when the bionic foot 1 touches the ground, the force between each bionic toe is uniform and has sufficient strength.

[0078] Preferably, in order to mimic the foot shape of a mallard, the upper end surface of the upper bionic toe disc 144 and the lower end surface of the lower bionic toe disc 152 are both set as arc surfaces. When the bionic web 13 is fitted onto the upper bionic toe disc 144 and the lower bionic toe disc 152, the lower bionic toe disc 152 protrudes from the plane of the bionic web 13, so the bionic web 13 and the lower bionic toe disc 152 form a V-shaped groove.

[0079] Preferably, the bionic foot 1 is fitted with multiple bionic webs 13.

[0080] Preferably, the biomimetic webbed foot 13 is made of a high-strength acrylic elastomer, which improves durability and facilitates folding.

[0081] like Figure 13 , 14 Figures 15, 16, and 17 show a type of mobile mechanism, including the aforementioned posture-changing wheel foot device.

[0082] Preferably, it also includes chassis assembly 3;

[0083] The wheel 5 is mounted on the chassis assembly 3.

[0084] Preferably, it also includes an infrared ranging sensor;

[0085] The infrared ranging sensor is installed on the lower side of the chassis assembly 3 near the wheel 5 to measure the distance between the chassis assembly 3 and the ground.

[0086] like Figure 17 As shown, preferably, the number of infrared ranging sensors is 4. The infrared ranging sensors are located at each wheel 5 on the lower side of the chassis assembly 3. The four infrared ranging sensors are the first infrared ranging sensor 41, the second infrared ranging sensor 42, the third infrared ranging sensor 43, and the fourth infrared ranging sensor 44. The purpose of setting multiple infrared ranging sensors is to avoid misjudgment by the adaptive sensing device due to uneven ground.

[0087] Preferably, it also includes a signal conditioning device and a microprocessor, wherein the signal conditioning device is used to receive the data value detected by the infrared ranging sensor and condition it into a data value that the microprocessor can recognize;

[0088] The signal conditioning device and the microprocessor are both mounted on the chassis assembly 3. The infrared ranging sensor is connected to the signal conditioning device and the microprocessor. The microprocessor is connected to the electric push rod 24. The microprocessor controls the extension and retraction of the electric push rod 24, thereby driving the swing rod disc 25 to rotate relative to the wheel hub guide rail 23, thereby driving the wheel leg 21 to unfold and retract.

[0089] In one embodiment of the present invention, preferably, the first infrared ranging sensor 41, the second infrared ranging sensor 42, the third infrared ranging sensor 43, and the fourth infrared ranging sensor 44 sense ground information. The sensed signals are processed by a signal conditioning device and transmitted to a microprocessor. The microprocessor calculates the average value of the distance information sensed by the infrared ranging sensors and compares it with a preset value. The wheel-foot attitude conversion mechanism 2 is deployed and retracted, and the bionic flippers 3 are opened and closed, controlled by extending and retracting the electronic push rod 24 and rotating the servo motor 12. After the infrared ranging sensors start working, the microprocessor automatically initializes. After initialization, the ground information sensed by the four infrared ranging sensors is processed by the signal conditioning device, and the conditioned signal is transmitted to the microprocessor to calculate the average value of the four infrared ranging sensors. The calculated average value is then compared with a preset value in the microprocessor.

[0090] like Figure 24 As shown, the control principle of the microprocessor is as follows: before each calculation, a reset is performed, then the values ​​of the first infrared ranging sensor 41, the second infrared ranging sensor 42, the third infrared ranging sensor 43, and the fourth infrared ranging sensor 44 are scanned and the average is calculated. Then the average is compared with the preset value. If the average value is less than or equal to the preset value, the microprocessor generates a control signal to control the electric push rod 24 to extend a preset distance and rotate the servo motor forward by a preset angle, such as rotating the servo motor forward by 60°. If the average value is greater than the preset value, the microprocessor generates a control signal to control the electric push rod 24 to retract to its original position and rotate the servo motor forward by a preset angle, such as rotating the servo motor backward by 60°.

[0091] In one embodiment of the present invention, preferably, the microprocessor determines that the average distance sensed by the infrared ranging sensor is lower than a preset value, and the microprocessor generates a control signal to control the extension of the electric push rod 24 and the rotation angle of the servo motor 12, controlling the extension of the electric push rod 24 and the rotation of the servo motor 12 by 60°. The extension of the electric push rod 24 causes the swing rod disk 25 to rotate by 60°, thereby unfolding the wheel-foot posture conversion mechanism 2. The rotation of the servo motor 12 by 60° drives the lower bionic toe disk 15 to rotate by 60° relative to the upper bionic toe disk 14, and the bionic webs 13 installed on the upper and lower adjacent bionic toes open.

[0092] In one embodiment of the present invention, preferably, the microprocessor determines that the average distance sensed by the four infrared ranging sensors is higher than a preset value. The microprocessor then generates a control signal to control the retraction of the electric push rod 24 and the rotation angle of the servo motor 12. The electric push rod 24 retracts and the servo motor 12 rotates 60°. The retraction of the electric push rod 24 causes the swing arm disk 25 to rotate 60° in the opposite direction, retracting the wheel-foot posture conversion mechanism 2. The servo motor 12 rotates 60° in the opposite direction, driving the lower bionic toe disk 15 to rotate 60° in the opposite direction relative to the upper bionic toe disk 14, thereby causing the bionic webbed feet 13 to close.

[0093] Bionic principle:

[0094] To address the problem of existing mobile mechanisms' inability to adapt well to transitions between hard and soft ground, this invention presents a bottom-contact actuator for a variable-posture wheel-foot device. The mallard's leg is used as a biomimetic prototype, as mallards have long inhabited soft ground such as mudflats, exhibiting excellent mobility and resistance to subsidence on such surfaces.

[0095] Analysis of the mallard's movement posture and foot morphology revealed that when the mallard's foot touches the ground, its toes actively open, and the webbed feet unfold under the pull of the toes, increasing the contact area between the foot and the ground and achieving an anti-sinking function. After the webbed feet unfold, a V-shaped groove is formed between the toes and the webs. This V-shaped groove has sand-fixing and flow-limiting properties, thereby improving the mallard's grip and, to some extent, its anti-slip ability. When leaving the ground, the toes actively close, and the webbed feet close, reducing air resistance when the mallard's feet swing in the air.

[0096] Based on this research, this invention designs a variable-posture wheeled foot device. To mimic the opening and closing process of a mallard's webbed toes, an upper bionic toe disc 14 and a lower bionic toe disc 15 are designed. The lower bionic toe disc 15 can rotate relative to the upper bionic toe disc 14 under the drive of a servo motor. This causes the lower bionic toe disc's bionic toes 152 to rotate alternately relative to the upper bionic toe disc's bionic toes 144. Under the pulling force of the upper and lower bionic toe discs' bionic toes 144 and 152, the bionic webs 13 mounted on the bionic toes open. Both the upper and lower bionic toe discs 14 and 15 have six bionic toes arranged circumferentially, allowing for the installation of six bionic webs 13. When the bionic webs open, the contact area with the ground is increased, improving the resistance to sinking. The V-shaped groove formed by the bionic toes and bionic webs enhances the grip and anti-slip capabilities of the dynamic wheel foot device.

[0097] To mimic the biological morphology of mallard duck toes, the upper end face of the upper bionic toe disc 144 and the lower end face of the lower bionic toe disc 152 are both designed as arc surfaces.

[0098] To mimic the action of a mallard's feet—opening before contact with the ground and closing upon liftoff—a movement mechanism was designed. This mechanism actively controls the relative rotation of the lower bionic toe disc 15. When the mechanism enters soft ground, an infrared ranging sensor detects the change in ground conditions and, after signal conditioning, transmits the signal to a microprocessor. The microprocessor then controls a servo motor to rotate, driving the lower bionic toe disc 15 to rotate, thereby pulling the bionic webbed feet 13 open. When the mechanism enters hard ground, the attitude-changing wheel-foot device is no longer needed as a ground-contact actuator; the microprocessor controls the bionic webbed feet 13 to close.

[0099] Working principle:

[0100] When the mobile mechanism is on a hard surface, the distance between the chassis assembly 3 and the ground is measured by an infrared ranging sensor and is the preset value for determining whether the wheel-foot posture should be changed. When the mobile mechanism enters a soft surface, the infrared ranging sensor detects that the distance from the ground is lower than the preset value due to the sinking of the wheels 5. The microprocessor sends a signal to the wheel-foot posture conversion mechanism 2 and the opening and closing mechanism of the bionic foot 1, driving the electric push rod 24 and the servo motor 12 to move. Driven by the extension of the electric push rod 24, the wheel-foot posture conversion mechanism 2 causes the swing arm disk 25 to rotate. Under the constraint of the wheel hub guide rail 23 and the slider 22, the wheel-foot posture conversion mechanism 2 opens. Driven by the servo motor 12, the bionic webs 13 open, and the posture-changing wheel-foot device changes from wheel type to foot type. This increases the contact area between the posture-changing wheel-foot device and the ground, giving it advantages such as anti-slip and anti-sinking on soft ground. This improves the mobility of the mobile mechanism on soft ground.

[0101] When the moving mechanism leaves the soft ground and enters the hard ground, because the bionic foot 1 is larger than the rim radius of the wheel 5, the infrared ranging sensor detects that the distance from the ground is higher than the preset value. The microprocessor sends a signal to the wheel-foot posture conversion mechanism 2 and the opening and closing mechanism of the bionic foot 1, driving the electric push rod 24 and the servo motor 12 to move. Driven by the extension of the electric push rod 24, the wheel-foot posture conversion mechanism 2 causes the swing arm disk 25 to rotate. The wheel-foot posture conversion mechanism 2 retracts under the restriction of the wheel hub guide rail 23 and the slider 22. Driven by the servo motor 12, the bionic webbed feet 13 close, and the posture-changing wheel-foot device changes from a foot-type to a wheel-type moving mechanism, thereby enabling the moving mechanism to move at a higher speed on the hard ground.

[0102] Preferably, the attitude-changing wheel foot device is bolted to the chassis assembly 3. The moving mechanism is driven by an electric motor, which transmits power to the attitude-changing wheel foot device, thereby driving the moving mechanism to move.

[0103] A control method for the above-mentioned moving mechanism, characterized by comprising the following steps:

[0104] When the moving mechanism starts working, the infrared ranging sensor measures the distance between the chassis assembly 3 and the ground. The infrared ranging sensor transmits the measured data to the signal conditioning device. The signal conditioning device conditions the signal and transmits it to the microprocessor. The microprocessor calculates the average value of the distance information sensed by the infrared ranging sensor and compares it with a preset value. Based on different comparison results, the microprocessor controls the different shape changes of the variable posture wheel foot device.

[0105] Preferably, the microprocessor controls the different morphological changes of the variable posture wheel foot device based on different comparison results, including the following steps:

[0106] S1: When the average value of the distance information sensed by the infrared ranging sensor is less than the preset value, the microprocessor controls the electric push rod 24 to extend, thereby rotating the swing rod disc 25 relative to the wheel hub 5, thereby causing the slider 22 to slide along the wheel hub guide rail 23 towards the edge, thereby causing the wheel leg 21 to unfold outward, thereby controlling the change posture wheel foot device to change to a foot posture.

[0107] At the same time, the microprocessor controls the servo motor 12 to rotate forward by the corresponding angle, causing the lower bionic toe disk 15 to rotate relative to the upper bionic toe disk 14 until the upper bionic toe disk 14, which corresponds to the direction of rotation, overlaps vertically.

[0108] S2: When the average distance information sensed by the infrared ranging sensor is greater than a preset value, the microprocessor controls the electric push rod 24 to shorten, thereby rotating the swing arm disk 25 relative to the wheel hub 5. This causes the slider 22 to slide along the hub guide rail 23 towards the center, causing the wheel leg 21 to retract inward. This controls the variable posture wheel foot device to change to a wheel posture, such as... Figure 3 , 4 As shown;

[0109] At the same time, the microprocessor controls the servo motor 12 to reverse the signal at the corresponding angle, so that the lower bionic toe disk 15 rotates relative to the upper bionic toe disk 14 until it overlaps with the original upper bionic toe disk 14.

[0110] Currently, existing wheel-foot conversion-type mobile mechanisms and ground-contact actuators do not address the issue of anti-sinking in the direction of biomimetic sand-fixing and flow-limiting. Mallards, which have long inhabited soft ground conditions such as mudflats, are amphibious walking birds capable of intermittent flight. Their foot movement is primarily accomplished by three toes with webbing. When the mallard's foot touches the ground, the toes and webbing open; when it leaves the ground, they close. The joint angle between the toes gradually decreases, simultaneously causing the webbing to close and then rapidly increase before the next touch, causing it to open again. The closure of the mallard's webbing reduces air resistance during swinging. The opening of the webbing maximizes the ground contact area for the next touch, enhancing the mallard's anti-sinking ability. Through research and analysis of the mallard's movement posture and foot morphology, based on the mallard's anti-sinking and anti-slip movement characteristics, a variable-posture wheel-foot device, a soft-to-hard ground adaptive sensing wheel-foot posture conversion mechanism, and a mobile mechanism were designed, achieving soft-to-hard ground adaptation of the mobile mechanism. The variable-posture wheel-foot device enhances the anti-sinking and anti-slip capabilities of the moving mechanism when moving on soft ground. It provides a solution to problems such as sinking and slippage that occur when mobile machinery moves on soft ground. It can be applied to mobile machinery operating on soft ground.

[0111] It should be understood that although this specification is described according to various embodiments, not every embodiment contains only one independent technical solution. This way of describing the specification is only for clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

[0112] The detailed descriptions listed above are merely specific illustrations of feasible embodiments of the present invention and are not intended to limit the scope of protection of the present invention. All equivalent embodiments or modifications made without departing from the spirit of the present invention should be included within the scope of protection of the present invention.

Claims

1. A variable posture wheel foot device, characterized in that, It includes a bionic foot (1), a wheel-foot posture conversion mechanism (2), and a wheel (5); The bionic foot (1) is mounted on the wheel-foot posture conversion mechanism (2), and the wheel-foot posture conversion mechanism (2) is connected to the side of the wheel (5); The wheel-foot posture conversion mechanism (2) includes multiple wheel legs (21), slider (22), wheel hub guide rail (23), electric push rod (24) and swing rod disc (25). The wheel legs (21) are arranged radially along the circumference of the swing arm disc (25), and one end of the wheel legs (21) is rotatably connected to the swing arm disc (25), the other end of the wheel legs (21) is fixedly connected to the bionic foot (1), the side of the wheel legs (21) is rotatably connected to the slider (22), the hub guide rail (23) is arranged radially along the circumference of the wheel hub (5), the slider (22) is installed on the hub guide rail (23), one end of the electric push rod (24) is connected to the hub guide rail (23), and the other end of the electric push rod (24) is connected to the swing arm disc (25). The extension and retraction of the electric push rod (24) drive the swing arm disc (25) to rotate relative to the hub guide rail (23), thereby driving the wheel legs (21) to unfold and retract. The bionic foot (1) includes a connector (11), a servo motor (12), bionic webs (13), an upper bionic toe disc (14), and a lower bionic toe disc (15). The connector (11) is connected to one side of the upper bionic toe disc (14), and the other side of the upper bionic toe disc (14) is rotatably connected to the lower bionic toe disc (15). The servo motor (12) is installed in the middle groove of the connector (11). One end of the upper side of the bionic web (13) is connected to the upper bionic toe disc (14), and the other end of the lower side of the bionic web (13) is connected to the lower bionic toe disc (15). The lower bionic toe disc (15) is higher than the lower surface of the bionic web (13). The lower surface of the lower bionic toe disc (15) and the lower surface of the bionic web (13) form a V-shaped groove. The output shaft of the servo motor (12) is connected to the lower bionic toe disc (15), so that the output shaft of the servo motor (12) can drive the lower bionic toe disc (15) to rotate relative to the upper bionic toe disc (14), thereby driving the bionic web (13) to open or close.

2. The variable posture wheel foot device according to claim 1, characterized in that, The biomimetic webs (13) are made of a propylene-based elastomer.

3. The variable posture wheel foot device according to claim 1, characterized in that, The upper bionic toe disc (14) includes an upper bionic toe disc and a bionic toe (144), and the lower bionic toe disc (15) includes a lower bionic toe disc and a bionic toe (152). The upper bionic toe disc and the lower bionic toe disc and the bionic toe (144) and the lower bionic toe disc and the bionic toe (152) are in one-to-one correspondence. The number of bionic toes (144) on the upper bionic toe disc is 6, and the number of bionic toes (152) on the lower bionic toe disc is 6.

4. A moving mechanism, characterized in that, Includes the variable attitude wheel foot device and chassis assembly as described in any one of claims 1-3 (3); The wheel (5) is mounted on the chassis assembly (3).

5. The moving mechanism according to claim 4, characterized in that, It also includes infrared ranging sensors; The infrared ranging sensor is mounted on the chassis assembly (3) and is used to measure the distance between the chassis assembly (3) and the ground.

6. The moving mechanism according to claim 5, characterized in that, The number of infrared ranging sensors is 4, and the infrared ranging sensors are located at each wheel (5) on the lower side of the chassis assembly (3).

7. The moving mechanism according to claim 5, characterized in that, It also includes signal conditioning devices and microprocessors; The signal conditioning device and the microprocessor are both mounted on the chassis assembly (3). The infrared ranging sensor is connected to the signal conditioning device and the microprocessor. The microprocessor is connected to the electric push rod (24). The microprocessor controls the extension and retraction of the electric push rod (24), thereby driving the swing rod disc (25) to rotate relative to the wheel hub guide rail (23), thereby driving the wheel leg (21) to unfold and retract.

8. A control method for a moving mechanism according to any one of claims 4 to 7, characterized in that, Includes the following steps: When the moving mechanism starts working, the infrared ranging sensor measures the distance between the chassis assembly (3) and the ground. The infrared ranging sensor transmits the measured data to the signal conditioning device. The signal conditioning device conditions the signal and transmits it to the microprocessor. The microprocessor calculates the average value of the distance information sensed by the infrared ranging sensor and compares it with the preset value. The microprocessor controls the extension and retraction of the electric push rod (24) according to different comparison results, drives the swing rod disc (25) to rotate relative to the wheel hub guide rail (23), thereby driving the wheel leg (21) to unfold and retract, so that the variable posture wheel foot device can be transformed into a foot posture or a wheel posture.

9. The control method for the moving mechanism according to claim 8, characterized in that, The microprocessor controls the different morphological changes of the variable posture wheel foot device based on different comparison results, including the following steps: S1: When the average value of the distance information between the chassis assembly (3) and the ground sensed by the infrared ranging sensor is less than the preset value, the microprocessor controls the electric push rod (24) to extend, thereby rotating the swing rod disc (25) relative to the wheel (5) hub, thereby causing the slider (22) to slide along the hub guide rail (23) towards the edge, thereby causing the wheel leg (21) to unfold outward, thereby controlling the change posture wheel foot device to change to a foot posture; At the same time, the microprocessor controls the servo motor (12) to rotate the signal of the corresponding angle, so that the lower bionic toe disk (15) rotates relative to the upper bionic toe disk (14) until the upper bionic toe disk (14) corresponding to the rotation direction overlaps vertically. S2: When the average value of the distance information sensed by the infrared ranging sensor is greater than the preset value, the microprocessor controls the electric push rod (24) to shorten, thereby rotating the swing rod disc (25) relative to the wheel (5) hub, thereby causing the slider (22) to slide along the hub guide rail (23) towards the center, thereby causing the wheel leg (21) to retract inward, thereby controlling the change posture wheel foot device to change to a wheel posture; At the same time, the microprocessor controls the servo motor (12) to reverse the signal of the corresponding angle, so that the lower bionic toe disk (15) rotates relative to the upper bionic toe disk (14) until it overlaps with the original upper bionic toe disk (14).

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