Jumping flying posture adjusting device and wheel-legged vehicle

Abstract

The invention discloses a jumping flying posture adjusting device, and relates to the technical field of wheel-legged vehicles, the jumping flying posture adjusting device comprises a body, the body comprises two driving mechanisms which are respectively arranged at the front part and the rear part of a vehicle body along the direction of the vehicle body, and the mass center of the body and the mass center of the vehicle body are positioned on the same vertical axis; each driving mechanism comprises a first driving assembly, a second driving assembly and a rotating body, and the first driving assembly is coaxial with the rotating body, fixedly connected with the rotating body and capable of driving the rotating body to rotate around the horizontal axis of the rotating body. The second driving assembly is fixedly connected with the first driving assembly and can drive the first driving assembly and the rotating body to synchronously rotate around a vertical axis; the rotation of the rotating body is controlled through the first driving assembly and the second driving assembly, and the stable, side-tipping and pitching attitude of the vehicle body is controlled; according to the jumping flying posture adjusting device, posture adjustment can be conveniently carried out in the jumping flying process, and the stability and the posture control capacity are improved. The invention further provides a wheel-legged vehicle.

Description

Technical Field

[0001] The invention relates to the technical field of wheel-legged vehicles, and in particular to a jumping posture adjustment device and a wheel-legged vehicle. Background Art

[0002] Wheel-legged vehicles are platforms with multiple forms of mobility, including wheels, legs, and combined forms. They have the advantages of both wheeled platforms and bionic leg-foot platforms, and are more maneuverable and flexible than a single form of mobility. As the scope of human activities continues to expand, the need to explore unstructured terrain has become more obvious. Therefore, jumping, an action that relies on short bursts of energy to climb over obstacles several times the length of the body, has become one of the development directions of new robots.

[0003] The stable jumping of a robot is the primary prerequisite for its controllability. During the jumping process, existing wheeled legged robot vehicles often have problems such as unstable take-off and uncontrollable posture in the air, which have limitations. Summary of the invention

[0004] The purpose of the present invention is to provide a jumping posture adjustment device and a wheel-legged vehicle to solve the problems existing in the above-mentioned prior art, facilitate posture adjustment during the jumping process, and improve stability and posture control capabilities.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a jumping posture adjustment device, comprising a body, wherein the body comprises two driving mechanisms, the two driving mechanisms are used to be arranged at the front and rear of the vehicle body respectively along the vehicle body direction, and the center of mass of the body is used to be on the same vertical axis as the center of mass of the vehicle body; each of the driving mechanisms comprises a first driving assembly, a second driving assembly and a rotating body, the first driving assembly is coaxial with the rotating body and fixedly connected to the rotating body and can drive the rotating body to rotate around its own horizontal axis, and the second driving assembly is fixedly connected to the first driving assembly and can drive the first driving assembly and the rotating body to rotate synchronously around a vertical axis;

[0007] When the horizontal axes of the two rotating bodies are collinear and parallel to the direction of the vehicle body, each of the first drive components can drive the corresponding rotating body to rotate so as to control the vehicle body in a stable state; when the horizontal axes of the two rotating bodies are collinear and parallel to the direction of the vehicle body, each of the first drive components can drive the corresponding rotating body to rotate, and the two second drive components can respectively drive the corresponding rotating body to rotate in opposite directions around the vertical axis so as to control the pitch attitude of the vehicle body; when the horizontal axes of the two rotating bodies are parallel and perpendicular to the direction of the vehicle body, each of the first drive components can drive the corresponding rotating body to rotate around the horizontal axis, and the two second drive components can respectively drive the corresponding rotating body to rotate in opposite directions around the vertical axis so as to control the roll attitude of the vehicle body.

[0008] Preferably, each of the first driving components includes a first rotating part and a driving shell, the driving shell is fixedly connected to the second driving component, a first rotating shaft is rotatably arranged inside the driving shell, the rotating body is coaxially fixedly sleeved outside the first rotating shaft, the first rotating part is fixedly arranged on the driving shell, and the output end of the first rotating part is fixedly connected to the first rotating shaft, the first rotating part is used to drive the first rotating shaft to rotate around a horizontal axis and drive the rotating body to rotate synchronously.

[0009] Preferably, the drive shell includes a shell and a cover body, the bottom wall of the shell is fixedly connected to the second drive assembly, one end of the shell is open and the cover body is detachably provided; the two ends of the first rotating shaft are respectively rotatably connected to the inner wall of the shell and the inner wall of the cover body; the first rotating part is fixedly arranged on a side wall of the shell facing away from the cover body.

[0010] Preferably, the second driving assembly includes a second rotating part and a mounting bracket, the mounting bracket is used to be fixedly mounted on the vehicle body, the second rotating part is fixedly mounted on the mounting bracket, the output end of the second rotating part is fixedly connected to the first driving assembly via a vertically arranged second rotating shaft, and the second rotating part is used to drive the second rotating shaft to rotate around a vertical axis and drive the first driving assembly and the rotating body to rotate synchronously.

[0011] Preferably, the rotating body is configured as a flywheel.

[0012] Preferably, the first rotating part is configured as a first motor.

[0013] Preferably, the second rotating part is configured as a second motor.

[0014] The present invention also provides a wheel-legged vehicle, comprising a vehicle body and the jumping and flying posture adjusting device as described above, wherein the jumping and flying posture adjusting device is arranged on the vehicle body.

[0015] Compared with the prior art, the present invention has achieved the following technical effects:

[0016] The jumping posture adjustment device provided by the present invention is arranged on the vehicle body, and its center of mass is on the same vertical axis as the center of mass of the vehicle body, and two driving mechanisms are respectively located at the front and rear of the vehicle body to ensure the overall stability; wherein the first driving component drives the rotating body to rotate to control the vehicle body stably, and can cooperate with the second rotating component to drive the first driving component and the rotating body to rotate around the vertical axis to change the axial direction of the rotating body to achieve control of the pitch posture and roll posture of the vehicle body; wherein, after the vehicle body jumps into the air, if the body posture of the vehicle body has reached the desired angle, the horizontal axes of the two rotating bodies are made to be collinear and parallel to the direction of the vehicle body, and then each first driving component drives the corresponding rotating body to rotate, and according to the fixed axis property of the gyroscope, the rotation of the two rotating bodies can ensure that the body posture angle remains constant during the jump process, so as to control the vehicle body in a stable state; after the vehicle body jumps into the air, the corresponding first driving component and the rotating body are controlled to rotate by the second driving component, so that the horizontal axes of the two rotating bodies are made to be collinear and parallel to the direction of the vehicle body. In the direction of the vehicle body, the two first drive components respectively drive the corresponding rotating bodies to rotate around the axis to a certain speed, and the two second drive components respectively drive the corresponding rotating bodies to rotate around the vertical axis in opposite directions for a certain angle, and the precession of the gyroscope is used to make the precession directions of the two rotating bodies opposite, thereby realizing the pitch attitude adjustment of the vehicle body during the jump; after the vehicle body jumps into the air, the second drive component controls the corresponding first drive component and the rotating body to rotate, so that the horizontal axes of the two rotating bodies are parallel and perpendicular to the direction of the vehicle body, and then the two first drive components respectively drive the corresponding rotating bodies to rotate around the axis to a certain speed, and the two second drive components respectively drive the corresponding rotating bodies to rotate around the vertical axis in opposite directions for a certain angle, and the precession of the gyroscope is used to make the precession directions of the two rotating bodies the same, thereby realizing the pitch attitude adjustment of the vehicle body during the jump; in this way, the jumping attitude adjustment device provided by the present invention is convenient for adjusting the attitude of the vehicle body during the jump and improves stability and attitude control ability.

[0017] The present invention also provides a wheel-legged vehicle, on which a jumping posture adjustment device is arranged, which can stably control the vehicle body and adjust the pitch posture and roll posture after the vehicle body jumps into the air. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of the coordination between the jumping posture adjustment device and the vehicle body provided in the first embodiment;

[0020] Figure 2 A schematic diagram of steady state control of the jumping posture adjustment device provided in Example 1;

[0021] Figure 3 A schematic diagram of the initial position of the jumping attitude adjustment device under pitch attitude control provided in the first embodiment;

[0022] Figure 4 A schematic diagram of the initial position of the jumping and taking-off posture adjustment device under the roll posture control provided in the first embodiment;

[0023] Figure 5 A cross-sectional schematic diagram of the driving mechanism provided in Example 1;

[0024] Figure 6 A schematic diagram of the rotation of each driving mechanism when the vehicle body pitch state is adjusted provided in the first embodiment;

[0025] Figure 7 This is a schematic diagram of the rotation of each driving mechanism when the vehicle body roll state is adjusted according to the first embodiment.

[0026] In the figure: 10-driving mechanism; 11-first driving assembly; 111-first rotating part; 112-driving shell; 113-shell; 114-cover; 115-first rotating shaft; 12-second driving assembly; 121-second rotating part; 122-mounting bracket; 123-second rotating shaft; 13-rotating body; 20-vehicle body. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0028] The purpose of the present invention is to provide a jumping posture adjustment device and a wheel-legged vehicle to solve the problems existing in the above-mentioned prior art, facilitate posture adjustment during the jumping process, and improve stability and posture control capabilities.

[0029] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0030] Embodiment 1

[0031] The present invention provides a jumping posture adjustment device, see Figure 1 , including a main body, the main body includes two driving mechanisms 10, the two driving mechanisms 10 are used to be arranged at the front and rear of the vehicle body 20 respectively along the direction of the vehicle body 20, and the center of mass of the main body is used to be on the same vertical axis as the center of mass of the vehicle body 20; each driving mechanism 10 includes a first driving component 11, a second driving component 12 and a rotating body 13, the first driving component 11 is coaxial with the rotating body 13 and is fixedly connected and can drive the rotating body 13 to rotate around its own horizontal axis, and the second driving component 12 is fixedly connected to the first driving component 11 and can drive the first driving component 11 and the rotating body 13 to rotate synchronously around a vertical axis.

[0032] Among them, for the convenience of explanation, a spatial rectangular coordinate system XYZ is established for the vehicle body 20, wherein the direction of the vehicle body 20 is the X-axis direction; a spatial rectangular coordinate system X1Y1Z1 and a spatial rectangular coordinate system X2Y2Z2 are respectively established for the driving mechanisms 10 at the front and rear of the vehicle body 20, wherein X1 and X2 are collinear and parallel to the X-axis, Y1 and Y2 are parallel to the Y-axis, and Z1 and Z2 are parallel to the Z-axis; and the pitch posture is defined as the rotation of the vehicle body 20 around the Y-axis, and the roll posture is defined as the rotation of the vehicle body 20 around the X-axis.

[0033] Specifically, see Figure 2 After the vehicle body 20 jumps into the air, if the posture of the vehicle body 20 has reached the desired angle, the horizontal axes of the two rotating bodies 13 are collinear and parallel to the direction of the vehicle body 20, and then each first driving assembly 11 drives the corresponding rotating body 13 to rotate around X1 and X2 respectively, and controls the rotation direction and rotation speed of the two rotating bodies 13 to be the same. According to the fixed axis of the gyroscope, the rotation of the two rotating bodies 13 can ensure that the body posture angle remains constant during the jump, so as to control the vehicle body 20 in a stable state.

[0034] In addition, after the vehicle body jumps into the air, the corresponding first driving assembly 11 and the rotating body 13 are controlled by each second driving assembly 12 to rotate around Z1 or Z2, so that the horizontal axes of the two rotating bodies 13 are collinear and parallel to the direction of the vehicle body 20, such as Figure 3 As shown, the two first drive components 11 then drive the corresponding rotating bodies 13 to rotate around X1 (angular velocity ω 11 ) and X2(angular velocity ω 12 ) rotates to a certain speed, where ω 11 And ω 12 The two second drive components 12 drive the corresponding rotating body 13 around Z1 (angular velocity ω 21 ) or Z2(angular velocity ω 22 ) is rotated by a certain angle, where ω 21and the angular velocity ω 22 The directions of the two rotating bodies 13 are opposite and the sizes are the same. By utilizing the precession of the gyroscope, the precession directions of the two rotating bodies 13 are opposite, thereby enabling the vehicle body 20 to adjust its pitch posture during the flight, such as Figure 6 As shown;

[0035] In addition, after the vehicle body 20 jumps into the air, the second driving assembly 12 controls the corresponding first driving assembly 11 and the rotating body 13 to rotate around Z1 or Z2, so that the horizontal axes of the two rotating bodies 13 are parallel and perpendicular to the direction of the vehicle body 20, that is, the horizontal axes of the two rotating bodies 13 are respectively along Y1 or Y2, such as Figure 4 Then the two first drive components 11 drive the corresponding rotating body 13 around the axis Y1 (angular velocity ω 11 ) or Y2(angular velocity ω 12 ) rotates to a certain speed, where ω 11 And ω 12 The two second drive components 12 drive the corresponding rotating body 13 around the vertical axis, namely Z1 (angular velocity ω 21 ) or Z2(angular velocity ω 22 ) is rotated by a certain angle, where ω 21 and the angular velocity ω 22 The directions of the two rotating bodies 13 are opposite and the sizes are the same. By utilizing the precession of the gyroscope, the precession directions of the two rotating bodies 13 are made the same, thereby enabling the vehicle body 20 to adjust its roll posture during the flight, such as Figure 7 As shown; the jumping posture adjustment device provided by the present invention is convenient for adjusting the posture of the vehicle body during the jumping process, thereby improving stability and posture control capabilities.

[0036] Among the optional solutions of this embodiment, it is more preferred to refer to Figure 5 Each first driving component 11 includes a first rotating part 111 and a driving shell 112. The driving shell 112 is fixedly connected to the second driving component 12. A first rotating shaft 115 is rotatably arranged inside the driving shell 112. A rotating body 13 is coaxially fixedly sleeved outside the first rotating shaft 115. The first rotating part 111 is fixedly arranged on the driving shell 112, and the output end of the first rotating part 111 is fixedly connected to the first rotating shaft 115. The first rotating part 111 is used to drive the first rotating shaft 115 to rotate around the horizontal axis and drive the rotating body 13 to rotate synchronously. By setting up the driving shell 112, it is convenient to protect the rotating body 13 and at the same time facilitate the connection with the second driving component 12.

[0037] In the optional scheme of this embodiment, it is more preferred that the drive shell 112 includes a shell body 113 and a cover body 114, the bottom wall of the shell body 113 is fixedly connected to the second drive component 12, one end of the shell body 113 is open and is detachably provided with a cover body 114, which is convenient for installation and disassembly, wherein the cover body 114 can be threadedly connected to the shell body 113; the two ends of the first rotating shaft 115 are respectively rotatably connected to the inner wall of the shell body 113 and the inner wall of the cover body 114 through bearings; the first rotating part 111 is fixedly arranged on a side wall of the shell body 113 away from the cover body 114, and the output end of the first rotating part 111 extends into the shell body 113 and is fixedly connected to the first rotating shaft 115 to drive the rotation.

[0038] In the optional scheme of this embodiment, more preferably, the second drive component 12 includes a second rotating part 121 and a mounting bracket 122, the mounting bracket 122 is used to be fixedly set on the vehicle body 20, the second rotating part 121 is fixedly set on the mounting bracket 122, the output end of the second rotating part 121 is fixedly connected to the first drive component 11 through a vertically arranged second rotating shaft 123, the second rotating part 121 is used to drive the second rotating shaft 123 to rotate around the vertical axis and drive the first drive component 11 and the rotating body 13 to rotate synchronously; specifically, the mounting bracket 122 can be fixedly installed on the upper platform of the vehicle body 20 by screws, which is convenient for installation and disassembly without changing the original structure of the vehicle body 20.

[0039] In the optional solution of this embodiment, more preferably, the rotating body 13 is configured as a flywheel.

[0040] In the optional scheme of this embodiment, it is more preferred that the first rotating part 111 is set as a first motor; the second rotating part 121 is set as a second motor; it can be electrically driven to rotate, and in addition, the first rotating part 111 and the second rotating part 121 can also be set as other conventional electric rotation drive mechanisms.

[0041] Embodiment 2

[0042] The present embodiment provides a wheel-legged vehicle, comprising a vehicle body 20 and a jumping and air posture adjustment device as in the first embodiment, wherein the jumping and air posture adjustment device is arranged on the vehicle body 20, and comprises two driving mechanisms 10, wherein the two driving mechanisms 10 are used to be arranged at the front and rear of the vehicle body 20 respectively along the direction of the vehicle body 20, and the center of mass of the main body is used to be on the same vertical axis as the center of mass of the vehicle body 20, and by arranging two driving mechanisms 10 and installing them on the upper platform of the vehicle body 20, it is convenient to control the stable posture, pitch and roll posture; wherein the specific structure of the vehicle body 20 is the same as that of a conventional wheel-legged vehicle, and no further elaboration is made here.

[0043] In addition, the driving mechanism 10 can also be set to four or six, with two or three symmetrical front and rear parts respectively; the jumping posture adjustment device can also be applied to other platforms that need to adjust their posture in the air for posture control.

[0044] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A jumping posture adjustment device, characterized in that: The vehicle comprises a main body, wherein the main body comprises two driving mechanisms (10), wherein the two driving mechanisms (10) are respectively arranged at the front and rear of the vehicle body (20) along the direction of the vehicle body (20), and the center of mass of the main body is arranged at the same vertical axis as the center of mass of the vehicle body (20); each of the driving mechanisms (10) comprises a first driving assembly (11), a second driving assembly (12) and a rotating body (13), wherein the first driving assembly (11) is coaxial with and fixedly connected to the rotating body (13) and is capable of driving the rotating body (13) to rotate around its own horizontal axis, and the second driving assembly (12) is fixedly connected to the first driving assembly (11) and is capable of driving the first driving assembly (11) and the rotating body (13) to rotate synchronously around a vertical axis; When the horizontal axes of the two rotating bodies (13) are in a colinear state and are used to be parallel to the direction of the vehicle body (20), each of the first drive assemblies (11) can drive the corresponding rotating body (13) to rotate so as to control the vehicle body (20) in a stable state; when the horizontal axes of the two rotating bodies (13) are in a colinear state and are used to be parallel to the direction of the vehicle body (20), each of the first drive assemblies (11) can drive the corresponding rotating body (13) to rotate, and the two second drive assemblies (12) can respectively drive the corresponding The rotating bodies (13) rotate in opposite directions around a vertical axis, so as to control the pitch posture of the vehicle body (20); when the horizontal axes of the two rotating bodies (13) are parallel and perpendicular to the direction of the vehicle body (20), each of the first drive components (11) can drive the corresponding rotating body (13) to rotate around the horizontal axis, and the two second drive components (12) can respectively drive the corresponding rotating bodies (13) to rotate in opposite directions around the vertical axis, so as to control the roll posture of the vehicle body (20).

2. The jumping posture adjustment device according to claim 1, characterized in that: Each of the first driving components (11) comprises a first rotating part (111) and a driving shell (112); the driving shell (112) is fixedly connected to the second driving component (12); a first rotating shaft (115) is rotatably arranged inside the driving shell (112); the rotating body (13) is coaxially fixedly sleeved outside the first rotating shaft (115); the first rotating part (111) is fixedly arranged on the driving shell (112); and an output end of the first rotating part (111) is fixedly connected to the first rotating shaft (115); the first rotating part (111) is used to drive the first rotating shaft (115) to rotate around a horizontal axis and drive the rotating body (13) to rotate synchronously.

3. The jumping posture adjustment device according to claim 2, characterized in that: The drive housing (112) comprises a shell (113) and a cover (114); the bottom wall of the shell (113) is fixedly connected to the second drive assembly (12); one end of the shell (113) is open and detachably provided with the cover (114); two ends of the first rotating shaft (115) are rotatably connected to the inner wall of the shell (113) and the inner wall of the cover (114) respectively; and the first rotating portion (111) is fixedly arranged on a side wall of the shell (113) facing away from the cover (114).

4. The jumping posture adjustment device according to claim 1, characterized in that: The second driving assembly (12) comprises a second rotating part (121) and a mounting bracket (122); the mounting bracket (122) is used to be fixedly arranged on the vehicle body (20); the second rotating part (121) is fixedly arranged on the mounting bracket (122); the output end of the second rotating part (121) is fixedly connected to the first driving assembly (11) via a second vertically arranged rotating shaft (123); the second rotating part (121) is used to drive the second rotating shaft (123) to rotate around a vertical axis and drive the first driving assembly (11) and the rotating body (13) to rotate synchronously.

5. The jumping posture adjustment device according to claim 1, characterized in that: The rotating body (13) is configured as a flywheel.

6. The jumping posture adjustment device according to claim 2, characterized in that: The first rotating part (111) is configured as a first motor.

7. The jumping posture adjustment device according to claim 4, characterized in that: The second rotating part (121) is configured as a second motor.

8. A wheel-legged vehicle, characterized in that: It comprises a vehicle body (20) and a jumping and air posture adjusting device as claimed in any one of claims 1 to 7, wherein the jumping and air posture adjusting device is arranged on the vehicle body (20).

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