Claw type wheel leg mechanism and robot

Abstract

The invention belongs to the technical field of robots, and discloses a claw-type wheel leg mechanism and a robot, the claw-type wheel leg mechanism comprises a wheel, a wheel shaft on the wheel is fixedly connected with a driving gear, two sides of the driving gear are in engaged connection with first driven gears, and the other sides of the first driven gears are in engaged connection with second driven gears; the two rocking bars are arranged in parallel in the vertical plane, and one end of each rocking bar is fixedly connected with the second driven gear; the connecting rod is located between the two rockers, and the two ends of the connecting rod are rotationally connected with the other ends of the two rockers; the two hook claws are symmetrically arranged in a vertical plane, and the lower ends of the two hook claws are fixedly connected with the two ends of the connecting rod respectively. The wheels and the hook claws move synchronously, and the hook claws cannot make contact with the ground all the time and do climbing motion towards the upper front portion. The robot adopting the claw type wheel leg mechanism has high terrain adaptability and can cross steps and climb stairs.

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. Background Art

[0002] Wheeled and legged are the two most common modes of movement for mobile robots, 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 hot topic in current research. 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, the purpose of the present invention is to provide a hook-type wheel-leg mechanism and a robot, in which the wheels and the hooks move synchronously, the hooks never touch the ground, and climb upward and forward.

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

[0005] A hook-claw type wheel-leg mechanism, comprising:

[0006] A wheel, wherein the wheel axle is fixedly connected with a driving gear, both sides of the driving gear are meshedly connected with a first driven gear, and the other side of the first driven gear is meshedly connected with a second driven gear;

[0007] Two rockers, the two rockers are arranged in parallel in a vertical plane, and one end of the rocker is fixedly connected to the second driven gear;

[0008] A connecting rod, the connecting rod is located between the two rocking arms, and the two ends of the connecting rod are rotatably connected to the other ends of the two rocking arms;

[0009] Two hook claws are symmetrically arranged in a vertical plane, and the lower ends of the two hook claws are fixedly connected to the two ends of the connecting rod respectively.

[0010] In a preferred example, the present invention can be further configured as follows: it also includes a frame, the wheels are arranged on the inner side of the frame, and the axles on the wheels are rotatably connected to the side walls of the frame.

[0011] In a preferred example, the present invention can be further configured as follows: it also includes a motor, the motor is arranged on the inner side of the frame, the motor is fixedly connected to the side wall of the frame, the output end of the motor is fixedly connected to a transmission rod, and the other end of the transmission rod is fixedly connected to the axle on the wheel.

[0012] In a preferred example, the present invention can be further configured as follows: the axle on the wheel passes through the side wall of the frame and is fixedly connected to the driving gear.

[0013] In a preferred example, the present invention may be further configured as follows: the two first driven gears and the two second driven gears are both rotatably connected to the side wall of the frame.

[0014] In a preferred example, the present invention may be further configured as follows: centers of the driving gear, the two first driven gears, and the two second driven gears are all on the same straight line.

[0015] In a preferred example, the present invention can be further configured as follows: the length of the connecting rod is:

[0016] L1=d1+d2×2+r3×2

[0017] Wherein, L1 is the length of the connecting rod, d1 is the diameter of the driving gear, d2 is the diameter of the first driven gear, and r3 is the radius of the second driven gear.

[0018] In a preferred example, the present invention can be further configured as follows: the length of the rocker arm is smaller than the length of the connecting rod.

[0019] In a preferred example, the present invention can be further configured as follows: the length of the rocker is:

[0020] L2=(D-L1)÷2

[0021] Among them, L2 is the length of the rocker, D is the diameter of the wheel, and L1 is the length of the connecting rod.

[0022] A robot comprises a hook-claw type wheel-leg mechanism.

[0023] The nouns, conjunctions or adjectives involved in the above technical solution are explained as follows:

[0024] 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.

[0025] (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.

[0026] (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.).

[0027] 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).

[0028] A sliding connection is when two objects are in contact but not fixed and can slide relative to each other.

[0029] A rotational connection is a connection between parts that allows the parts to rotate relative to each other.

[0030] Beneficial effects of the present invention:

[0031] 1. The wheels and hooks of the present invention move synchronously, the hooks never touch the ground, and climb upwards.

[0032] 2. The robot using the hook-claw wheel-leg mechanism of the present invention has strong terrain adaptability and can cross steps and climb stairs. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] 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.

[0034] Figure 1 is a three-dimensional diagram of the hook-claw type wheel-leg mechanism of the present invention;

[0035] Figure 2 is a side view of the hook-claw type wheel-leg mechanism of the present invention;

[0036] Figure 3 is a top view of the hook-claw type wheel-leg mechanism of the present invention;

[0037] Figure 4 is a front view of the hook-claw type wheel-leg mechanism of the present invention;

[0038] Figure 5 It is a motion schematic diagram of the hook-claw type wheel-leg mechanism of the present invention;

[0039] Figure 6 is a schematic diagram of a robot using the hook-claw type wheel-leg mechanism of the present invention;

[0040] Figure 7 It is a schematic diagram of a robot climbing stairs using the hook-claw type wheel-leg mechanism of the present invention.

[0041] Figure numerals: 1, wheel; 2, motor; 3, transmission rod; 4, rocker; 5, connecting rod; 6, hook; 7, driving gear; 8, second driven gear; 9, first driven gear; 10, frame. DETAILED DESCRIPTION

[0042] 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.

[0043] 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.

[0044] like Figure 1-4 As shown, a hook-claw type wheel-leg mechanism comprises:

[0045] A wheel 1, the axle on which the wheel 1 is fixedly connected is a driving gear 7, both sides of the driving gear 7 are meshedly connected to a first driven gear 9, and the other side of the first driven gear 9 is meshedly connected to a second driven gear 8;

[0046] Two rockers 4, the two rockers 4 are arranged in parallel in a vertical plane, and one end of the rocker 4 is fixedly connected to the second driven gear 8;

[0047] a connecting rod 5, the connecting rod 5 is located between the two rocking arms 4, and two ends of the connecting rod 5 are rotatably connected to the other ends of the two rocking arms 4;

[0048] The two hook claws 6 are symmetrically arranged in a vertical plane, and the lower ends of the two hook claws 6 are fixedly connected to the two ends of the connecting rod 5 respectively.

[0049] This application combines Figure 5 To display, Figure 5It is a motion schematic diagram of the hook-claw wheel-leg mechanism of the present invention. When the driving source drives the wheel 1 to rotate, the wheel 1 drives the driving gear 7 to rotate, the driving gear 7 drives the two first driven gears 9 to rotate, the first driven gear 9 drives the second driven gear 8 to rotate, the two second driven gears 8 rotate synchronously, in the same direction and at the same speed, driving the rocker 4 to rotate around the second driven gear 8, and the two rockers 4 jointly drive the connecting rod 5 and the hook 6 to move. Therefore, the wheel 1 and the hook 6 move synchronously, the hook 6 will never touch the ground, and will climb toward the front and top. Among them, the two ends of the connecting rod 5 respectively make circular motions with the center of the second driven gear 8. In essence, each point on the connecting rod 5 makes a circular motion with the corresponding point on the line connecting the centers of the two second driven gears 8 as the center of the circle, and the corresponding point is a parallel line drawn through the point on the connecting rod 5 and parallel to the rocker 4, and the point obtained by the intersection of the parallel line and the line connecting the centers of the two second driven gears 8 is the corresponding point, and the connecting rod 5 itself always keeps horizontal and makes translational motion.

[0050] In one embodiment of the present invention, in order for the wheel 1 to rotate stably, a frame 10 is further included, the wheel 1 is arranged on the inner side of the frame 10, and the axle on the wheel 1 is rotatably connected to the side wall of the frame 10.

[0051] In one embodiment of the present invention, a motor 2 is further included, the motor 2 is arranged on the inner side of the frame 10, the motor 2 is fixedly connected to the side wall of the frame 10, the output end of the motor 2 is fixedly connected to a transmission rod 3, and the other end of the transmission rod 3 is fixedly connected to the axle on the wheel 1. The motor 2 is used as a driving source to drive the transmission rod 3 to rotate, thereby driving the wheel 1 to rotate.

[0052] In one embodiment of the present invention, the axle on the wheel 1 passes through the side wall of the frame 10 and is fixedly connected to the driving gear 7. That is, the driving gear 7 is located on the outside of the frame 10, which is convenient for passing through during rotation, and the two rockers 4 jointly drive the connecting rod 5 and the hook 6 to move, so as to avoid the movement interference between the hook 6 and the frame 10 and the axle on the wheel 1 when the hook 6 moves.

[0053] In one embodiment of the present invention, in order to enable the first driven gear 9 and the second driven gear 8 to rotate stably, the two first driven gears 9 and the two second driven gears 8 are both rotatably connected to the side wall of the frame 10 .

[0054] In one embodiment of the present invention, in order to make the midpoint of the line connecting the centers of the two second driven gears 8 coincide with the center of the driving gear 7, the centers of the driving gear 7, the two first driven gears 9 and the two second driven gears 8 are all on the same straight line.

[0055] In one embodiment of the present invention, in order to make the two rocking arms 4 arranged in parallel in the vertical plane, the length of the connecting rod 5 is:

[0056] L1=d1+d2×2+r3×2

[0057] Wherein, L1 is the length of the connecting rod 5 , d1 is the diameter of the driving gear 7 , d2 is the diameter of the first driven gear 9 , and r3 is the radius of the second driven gear 8 .

[0058] In one embodiment of the present invention, in order to prevent the two rocking arms 4 from colliding with each other during movement, the length of the rocking arm 4 is smaller than the length of the connecting rod 5 .

[0059] In one embodiment of the present invention, in order to prevent the rocker 4 from contacting the ground during the rotation process, the length of the rocker 4 is designed so that it does not exceed the wheel 1 during the entire movement process. When the driving gear 7 rotates 90° and 270° to reach the limit position, the length of the rocker 4 is:

[0060] L2=(D-L1)÷2

[0061] Wherein, L2 is the length of the rocker 4 , D is the diameter of the wheel 1 , and L1 is the length of the connecting rod 5 .

[0062] like Figure 6 As shown, a robot includes a hook-claw type wheel-leg mechanism. Figure 6 It is a schematic diagram of a robot using the hook-claw type wheel-leg mechanism of the present invention, which uses four hook-claw type wheel-leg mechanisms.

[0063] Figure 7 It is a schematic diagram of a robot climbing stairs using the hook-claw wheel-leg mechanism of the present invention. Wheel climbing is divided into six situations. The first situation is when the front wheel climbs the first step, and the rear wheel is grounded at this time; the second situation is when the front wheel climbs the second step, and the rear wheel is still grounded at this time; the third situation is when the rear wheel climbs one step, and the front wheel is located at the second step; the fourth situation is when the front wheel climbs the third step, and the rear wheel is located at the first step; then the third situation and the fourth situation 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 situation is performed, the front wheel is grounded, and the rear wheel climbs the second to last step; finally, the sixth situation is performed, the front wheel is grounded, and the rear wheel climbs the first to last step. Each situation is divided into two stages, first the grasping stage, the claw grasps the step, and then the lifting stage is performed, so that the wheel is lifted onto the step. The robot using the hook-claw wheel-leg mechanism of the present invention has a strong ability to adapt to terrain and can cross steps and climb stairs.

[0064] 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.

[0065] 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, characterized in that: include: A wheel (1), wherein the axle on the wheel (1) is fixedly connected to a driving gear (7), both sides of the driving gear (7) are meshedly connected to a first driven gear (9), and the other side of the first driven gear (9) is meshedly connected to a second driven gear (8); Two rocking arms (4), the two rocking arms (4) being arranged in parallel in a vertical plane, and one end of the rocking arm (4) being fixedly connected to the second driven gear (8); a connecting rod (5), the connecting rod (5) being located between the two rocking arms (4), and the two ends of the connecting rod (5) being rotatably connected to the other ends of the two rocking arms (4); Two hook claws (6), the two hook claws (6) are symmetrically arranged in a vertical plane, and the lower ends of the two hook claws (6) are respectively fixedly connected to the two ends of the connecting rod (5).

2. A hook-claw type wheel-leg mechanism according to claim 1, characterized in that: It also comprises a frame (10), the wheel (1) being arranged on the inner side of the frame (10), and the axle on the wheel (1) being rotatably connected to the side wall of the frame (10).

3. A hook-claw type wheel-leg mechanism according to claim 2, characterized in that: It also comprises a motor (2), wherein the motor (2) is arranged on the inner side of the frame (10), the motor (2) is fixedly connected to the side wall of the frame (10), the output end of the motor (2) is fixedly connected to a transmission rod (3), and the other end of the transmission rod (3) is fixedly connected to the wheel axle on the wheel (1).

4. A hook-claw type wheel-leg mechanism according to claim 2, characterized in that: The wheel axle on the wheel (1) passes through the side wall of the frame (10) and is fixedly connected to the driving gear (7).

5. The hook-claw type wheel-leg mechanism according to claim 2, characterized in that: The two first driven gears (9) and the two second driven gears (8) are both rotatably connected to the side wall of the frame (10).

6. The hook-claw type wheel-leg mechanism according to claim 1, characterized in that: The centers of the driving gear (7), the two first driven gears (9) and the two second driven gears (8) are all located on the same straight line.

7. The hook-claw type wheel-leg mechanism according to claim 1, characterized in that: The length of the connecting rod (5) is: L1=d1+d2×2+r3×2 Wherein, L1 is the length of the connecting rod, d1 is the diameter of the driving gear, d2 is the diameter of the first driven gear, and r3 is the radius of the second driven gear.

8. The hook-claw type wheel-leg mechanism according to claim 1, characterized in that: The length of the rocker (4) is smaller than the length of the connecting rod (5).

9. The hook-claw type wheel-leg mechanism according to claim 1, characterized in that: The length of the rocker (4) is: L2=(D-L1)÷2 Among them, L2 is the length of the rocker, D is the diameter of the wheel, and L1 is the length of the connecting rod.

10. A robot, characterized in that: It comprises a hook-claw type wheel-leg mechanism as described in any one of claims 1-9.

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