Claw type wheel leg mechanism based on cycloid rotor and robot

Abstract

The invention belongs to the technical field of robots, and discloses a claw type wheel leg mechanism based on a cycloid rotor and a robot, the claw type wheel leg mechanism comprises a rack, a wheel is arranged on the inner side of the rack, a wheel shaft of the wheel is rotatably connected with one side wall of the rack, and the other side face, away from the wheel shaft, of the wheel is provided with two symmetrically distributed claws; the claws are in an arch shape, openings of the claws face downwards, the tip ends of the bottom ends of the sides, close to each other or away from each other, of the two claws are rotationally connected with the side face of the wheel, connecting rods are arranged on the sides, away from the wheel, of the top ends of the two claws, and the ends of the connecting rods are rotationally connected with the side faces of the claws. The middle of the side, away from the hook claw, of the connecting rod is rotationally connected with the other side wall of the rack. When the wheels rotate, four connecting points of the wheels and the hook claws and four connecting points of the connecting rods and the hook claws can keep a parallelogram, the hook claws do circular motion without changing the posture under the constraint of the connecting rods, and the motion of the tail ends of the hook claws is similar to the climbing motion towards the front upper side.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a hook-claw type wheel-leg mechanism and a robot based on a cycloid rotor. Background Art

[0002] Wheeled and legged are the two most common modes of robot movement, and each has its own characteristics. The advantages of wheeled robots are: low energy consumption, simple structure, easy control, and fast movement in open areas. However, wheeled robots are difficult to cope with uneven terrain, such as potholes and steps. In contrast, legged robots can cope with their respective environments, but they have high energy consumption, complex structure, and difficult control. Therefore, combining the two to achieve complementary advantages has become a major research hotspot. The existing wheel-legged robots have various structures, among which the spoke-wheeled wheel-legged robots have the simplest structure and control. However, the wheeled motion of spoke-wheeled robots is oscillating, which reduces the robot's motion performance. Therefore, some spoke-wheeled robots are equipped with a deformation mechanism, and the spoke wheel can switch between wheel mode and spoke wheel mode. This method achieves smooth wheeled motion, but also increases the complexity of the mechanism. Summary of the invention

[0003] In view of the deficiencies in the prior art, an object of the present invention is to provide a hook-claw type wheel-leg mechanism and a robot based on a cycloidal rotor, which solves the problems in the background technology.

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

[0005] A hook-claw type wheel-leg mechanism based on a cycloidal rotor comprises a frame, a wheel is arranged on the inner side of the frame, the wheel axle is rotatably connected to one of the side walls of the frame, two symmetrically distributed hooks are arranged on the other side of the wheel away from the wheel axle, the hooks are arched and opened downward, the tips of the bottom ends of the two hooks on the side close to or away from each other are rotatably connected to the side of the wheel, a connecting rod is arranged on the top of the two hooks and on the side away from the wheel, the end of the connecting rod is rotatably connected to the side of the hook, and the middle of the side of the connecting rod away from the hook is rotatably connected to the other side wall of the frame.

[0006] In a preferred example, the present invention can be further configured as follows: a bracket is fixedly connected to the outer side of the side wall of the frame that is rotatably connected to the wheel, a motor is fixedly connected to the inner side of the bracket, and the output end of the motor is fixedly connected to the axle of the wheel.

[0007] In a preferred example, the present invention can be further configured as follows: the two hooks are symmetrically distributed relative to the center of the wheel.

[0008] In a preferred example, the present invention can be further configured as follows: the connection points between the two hooks and the wheel are on the same straight line as the center of the wheel.

[0009] In a preferred example, the present invention can be further configured as follows: the connection points between the hook and the wheel and the connection points between the hook and the connecting rod are distributed in a parallelogram shape.

[0010] In a preferred example, the present invention can be further configured as follows: half of the distance between the two connection points between the hook and the connecting rod is greater than the distance from the tip of the bottom end of the hook to the connection point between the hook and the wheel.

[0011] A robot comprises a hook-claw type wheel-leg mechanism based on a cycloidal rotor.

[0012] The nouns, conjunctions or adjectives involved in the above technical solution are explained as follows:

[0013] Fixed connection refers to a connection in which parts or components are fixed without any relative movement. There are two types of connection: detachable and non-detachable.

[0014] (1) A removable connection is a connection that uses screws, splines, wedge pins, etc. to hold parts together. This type of connection can be disassembled for maintenance without damaging the parts. However, the specifications of the connectors used must be correct (such as the length of the bolts, keys, and wedge pins) and they must be properly tightened.

[0015] (2) Non-detachable connections mainly refer to welding, riveting and tenoning. Since they need to be disassembled by forging, sawing or oxygen cutting for maintenance or replacement, spare parts generally cannot be reused. At the same time, when making connections, attention should be paid to process quality, technical inspection and remedial measures (such as calibration, polishing, etc.).

[0016] A threaded connection refers to a detachable connection in which the connected parts are connected together using threaded parts (or the threaded parts of the connected parts).

[0017] A sliding connection is when two objects are in contact but not fixed and can slide relative to each other.

[0018] A rotational connection is a connection between parts that allows the parts to rotate relative to each other.

[0019] Beneficial effects of the present invention:

[0020] When the motor drives the wheel to rotate, the four connection points between the wheel and the hook and between the connecting rod and the hook will maintain a parallelogram. The hook maintains its posture unchanged under the constraint of the connecting rod and moves in a circular motion. The movement of the end of the hook is similar to climbing movement toward the front and upward. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] 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 or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 It is a stereoscopic diagram of the hook-claw type wheel-leg mechanism based on the cycloid rotor design of the present invention;

[0023] Figure 2 It is a front view of the hook-claw type wheel-leg mechanism based on the cycloid rotor design of the present invention;

[0024] Figure 3 It is a side view of the hook-claw type wheel-leg mechanism based on the cycloid rotor design of the present invention;

[0025] Figure 4 It is a top view of the hook-claw type wheel-leg mechanism based on the cycloid rotor design of the present invention;

[0026] Figure 5 It is a schematic diagram of the motion of the hook-claw type wheel-leg mechanism based on the cycloid rotor design of the present invention;

[0027] Figure 6 A schematic diagram of a hook-claw wheel-leg mechanism based on a cycloidal rotor design of the present invention applied to a four-wheel robot;

[0028] Figure 7 Schematic diagram of the four-wheel robot of the present invention climbing stairs.

[0029] Figure numerals: 1, frame; 2, wheel; 3, hook; 4, connecting rod; 5, bracket; 6, motor. DETAILED DESCRIPTION

[0030] 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.

[0031] In the description of the present invention, it should be understood that the terms "opening", "upper", "lower", "thickness", "top", "middle", "length", "inside", "all around" and the like indicating orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0032] like Figure 1-4 As shown, a hook-type wheel-leg mechanism based on a cycloidal rotor comprises a frame 1, a wheel 2 is arranged on the inner side of the frame 1, the axle of the wheel 2 is rotatably connected to one of the side walls of the frame 1, two symmetrically distributed hooks 3 are arranged on the other side of the wheel 2 away from the axle, the hooks 3 are arched and open downward, the tips of the bottom ends of the two hooks 3 on the side close to or away from each other are rotatably connected to the side of the wheel 2, a connecting rod 4 is arranged on the top of the two hooks 3 and on the side away from the wheel 2, the end of the connecting rod 4 is rotatably connected to the side of the hook 3, and the middle of the side of the connecting rod 4 away from the hook is rotatably connected to the other side wall of the frame 1.

[0033] This application combines Figure 5 As shown, Figure 5 This is a motion schematic diagram of the hook-type wheel-leg mechanism based on the cycloidal rotor design of the present invention. When the driving source drives the wheel 2 to rotate, the wheel 2 rotates to drive the two hooks 3 to make circular motion, and the posture of the hook 3 remains unchanged. The connecting rod 4 rotates around the connection point between the frame, and the four connection points between the wheel 2 and the hook 3 and the connecting rod 4 and the hook 3 will maintain a parallelogram. The hook 3 maintains an unchanged posture under the constraint of the connecting rod 4 and makes circular motion. The movement of the end of the hook 3 is similar to climbing motion toward the front and upper side.

[0034] In one embodiment of the present invention, in order to drive the wheel 2 to rotate, a bracket 5 is fixedly connected to the outer side of the side wall of the frame 1 that is rotatably connected to the wheel 2, and a motor 6 is fixedly connected to the inner side of the bracket 5, and the output end of the motor 6 is fixedly connected to the wheel axle of the wheel 2.

[0035] In one embodiment of the present invention, in order to make the mechanism move forward and backward in unison and to achieve climbing, the two hooks 3 are symmetrically distributed relative to the center of the wheel 2 .

[0036] In one embodiment of the present invention, in order to prevent the mechanism from getting stuck during driving, the connection points between the two hooks 3 and the wheel 2 are on the same straight line as the center of the wheel 2.

[0037] In one embodiment of the present invention, in order to avoid motion interference caused by the mechanism during driving, the four connection points between the hook 3 and the wheel 2 and the connection points between the hook 3 and the connecting rod 4 are distributed in a parallelogram.

[0038] In one embodiment of the present invention, in order to prevent the two hooks 3 from affecting each other during the entire movement process, half of the distance between the two connection points between the hook 3 and the connecting rod 4 is greater than the distance from the tip of the bottom end of the hook 3 to the connection point between the hook 3 and the wheel 2.

[0039] A robot includes a hook-claw type wheel-leg mechanism based on a cycloidal rotor. Figure 6 As shown, Figure 6 It is a schematic diagram of a robot using four hook-claw wheel-leg mechanisms designed based on cycloid rotors of the present invention.

[0040] Figure 7 The schematic diagram of a robot climbing stairs using four hook-type wheel-leg mechanisms based on the cycloidal rotor design of the present invention. The climbing process can be divided into six cases. The first case is when the front wheel climbs the first step, and the rear wheel is grounded at this time; the second case is when the front wheel climbs the second step, and the rear wheel is still grounded at this time; the third case is when the rear wheel climbs one step, and the front wheel is located at the second step; the fourth case is when the front wheel climbs the third step, and the rear wheel is located at the first step; then the third and fourth cases are performed alternately until the front wheel climbs the last step, and the rear wheel is located at the third to last step, and the fifth case is performed, the front wheel is grounded, and the rear wheel climbs the second to last step; finally, the sixth case is performed, the front wheel is grounded, and the rear wheel climbs the first to last step. Each case is divided into two stages, the hook first grabs the step, and then lifts the wheel onto the step.

[0041] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0042] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, and these changes and improvements all fall within the scope of the present invention to be protected.

Claims

1. A hook-claw type wheel-leg mechanism based on a cycloidal rotor, comprising a frame (1), characterized in that: A wheel (2) is arranged on the inner side of the frame (1); the wheel axle of the wheel (2) is rotatably connected to one of the side walls of the frame (1); two symmetrically distributed hook claws (3) are arranged on the other side of the wheel (2) away from the wheel axle; the hook claws (3) are arched and open downward; the tips of the bottom ends of the two hook claws (3) on the side close to or away from each other are rotatably connected to the side of the wheel (2); a connecting rod (4) is arranged on the top ends of the two hook claws (3) and on the side away from the wheel (2); the end of the connecting rod (4) is rotatably connected to the side of the hook claw (3); and the middle of the side of the connecting rod (4) away from the hook claw is rotatably connected to the other side wall of the frame (1).

2. A hook-claw type wheel-leg mechanism based on a cycloid rotor according to claim 1, characterized in that: A bracket (5) is fixedly connected to the outer side of the side wall of the frame (1) that is rotatably connected to the wheel (2), a motor (6) is fixedly connected to the inner side of the bracket (5), and an output end of the motor (6) is fixedly connected to the wheel axle of the wheel (2).

3. The hook-claw type wheel-leg mechanism based on a cycloid rotor according to claim 1, characterized in that: The two hook claws (3) are symmetrically distributed relative to the center of the wheel (2).

4. The hook-claw type wheel-leg mechanism based on the cycloid rotor according to claim 3, characterized in that: The connection points between the two hook claws (3) and the wheel (2) are on the same straight line as the center of the wheel (2).

5. The hook-claw type wheel-leg mechanism based on the cycloid rotor according to claim 4, characterized in that: The connection points between the hook (3) and the wheel (2) and the connection points between the hook (3) and the connecting rod (4) are distributed in a parallelogram shape.

6. The hook-claw type wheel-leg mechanism based on the cycloid rotor according to claim 5, characterized in that: Half of the distance between the two connection points between the hook (3) and the connecting rod (4) is greater than the distance from the tip of the bottom end of the hook (3) to the connection point between the hook (3) and the wheel (2).

7. A robot, characterized in that: It comprises a hook-claw type wheel-leg mechanism based on a cycloidal rotor as described in any one of claims 1-6.

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