Hook claw type wheel leg mechanism with variable motion trail and robot

Abstract

The invention belongs to the technical field of robots, and discloses a hook claw type wheel leg mechanism with a variable motion trail and a robot. The central axis of the wheel is horizontally arranged, and the peripheral wall of the lower end of the wheel is located on the outer side of the mounting frame; any side of the wheel is provided with a pair of hook claws which are symmetrically arranged, the two hook claws are symmetrically arranged relative to the central axis of the wheel, one end of each hook claw is provided with a hook part, and the other end of each hook claw is rotationally hinged to the wheel; an adjusting unit is arranged between the two hook claws, the adjusting unit is connected with the two hook claws, the adjusting unit is used for driving the hook claws to rotate in a vertical plane around the hinged parts of the hook claws and the wheel for posture adjustment, and the hook parts can extend to the outer side of the peripheral wall of the wheel or retract to the inner side of the peripheral wall of the wheel in the rotating process; a driving part for driving the wheels to rotate is arranged on the mounting frame; the problem that an existing wheel-leg mechanism is insufficient in adaptability when facing irregular and aperiodic obstacles is effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, and in particular relates to a hook-type wheel-leg mechanism with variable motion trajectory and a robot. Background Art

[0002] Wheeled and legged are the two most common modes of movement for mobile robots, each with its own characteristics. The advantages of wheeled robots are: low energy consumption, simple structure, easy control, and fast movement speed 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. Traditional wheel-leg mechanisms usually adopt fixed wheel-leg structures. Although they can adapt to certain terrain changes, they often show insufficient adaptability when facing irregular and non-periodic obstacles. For example, the height and shape of irregular obstacles such as stairs, potholes, and rocks vary greatly. It is difficult for traditional wheel-leg mechanisms to adjust their posture in real time to adapt to these complex terrains, resulting in the robot being prone to jamming, slipping, or even being unable to pass during climbing. Therefore, the wheel-leg mechanisms in the prior art have insufficient adaptability when facing irregular and non-periodic obstacles. 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 with a variable motion trajectory, which solves the problem of insufficient adaptability of the wheel-leg mechanism in the prior art when facing irregular and non-periodic obstacles.

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

[0005] A hook-claw type wheel-leg mechanism with variable motion trajectory, comprising a wheel and a mounting frame;

[0006] The wheel is rotatably connected to the mounting frame, the central axis of the wheel is placed horizontally, and the peripheral wall of the lower end of the wheel is located outside the mounting frame;

[0007] A pair of symmetrically placed hooks are provided on either side of the wheel. The two hooks are symmetrically placed about the central axis of the wheel. A hook portion is provided at one end of the hook, and the other end of the hook is rotatably hinged to the wheel.

[0008] An adjustment unit is provided between the two hooks, and the adjustment unit is connected to the two hooks. The adjustment unit is used to drive the hooks to rotate around the hinged portion between the hooks and the wheel in a vertical plane to adjust the posture. During the rotation process, the hook portion can extend to the outside of the wheel wall or shrink to the inside of the wheel wall.

[0009] The mounting frame is provided with a driving part for driving the wheels to rotate;

[0010] A first hinge shaft coaxially arranged with the wheel is fixed to one end of the hook away from the hook portion, and the first hinge shaft is rotatably connected to the wheel;

[0011] The adjustment unit includes a first rotating shaft coaxially placed with the wheel, one end of the first rotating shaft is rotatably connected with the mounting frame, an active connecting rod is fixedly sleeved on the first rotating shaft, the active connecting rod is arranged along the radial direction of the wheel, a second hinged shaft coaxially placed with the wheel is fixedly provided at the end of the active connecting rod away from the first rotating shaft, a pair of driven connecting rods are rotatably sleeved on the second hinged shaft, the two driven connecting rods correspond to the two hook claws one by one, a third hinged shaft is fixedly provided at the end of the driven connecting rod away from the second hinged shaft, the third hinged shaft is coaxially placed with the wheel, the hook claws are rotatably sleeved on the corresponding third hinged shaft, and the third hinged shaft is located between the hook portion and the first hinged shaft;

[0012] The adjustment unit also includes a first rotating motor fixed on the mounting frame, and the output end of the first rotating motor is fixed to the first rotating shaft away from the wheel end;

[0013] The distance between the second hinge axis and the third hinge axis is greater than the distance between the second hinge axis and the first rotating axis;

[0014] The driving part is a second rotating motor, which is fixed on the mounting frame. The output end of the second rotating motor is provided with a second rotating shaft which is coaxial with the wheel. The second rotating shaft is located on a side of the wheel away from the first rotating shaft, and one end of the second rotating shaft is fixed to the wheel.

[0015] A robot comprises a hook-claw type wheel-leg mechanism with a variable motion trajectory.

[0016] Beneficial effects of the present invention:

[0017] By driving the hook to rotate in the vertical plane through the adjustment unit, the length of the hook part extending out of the wheel wall can be adjusted in real time to adapt to irregular obstacles of different heights and shapes, significantly improving the robot's passability and adaptability in complex terrain; when facing regular obstacles such as stairs, the hook posture can be adjusted in advance to achieve rapid climbing and improve efficiency; when the wheel falls into a pothole, the extension and contraction of the hook part can be adjusted to cooperate with the rotation of the wheel to enhance the ability to escape and reduce jamming and slipping, effectively solving the problem of insufficient adaptability of the existing wheel-leg mechanism when facing irregular and non-periodic obstacles. 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 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.

[0019] Figure 1 It is a schematic diagram of the overall structure of the hook-claw type wheel-leg mechanism of the present invention;

[0020] Figure 2 It is a partial structural schematic diagram of the hook portion of the present invention;

[0021] Figure 3 It is a partial structural schematic diagram of the driven connecting rod of the present invention;

[0022] Figure 4 It is a partial structural schematic diagram of the first rotating shaft of the present invention;

[0023] Figure 5 It is a schematic diagram of the present invention in which both hooks are retracted to the inner side of the wheel peripheral wall;

[0024] Figure 6 It is a schematic diagram of the present invention in which both hooks extend to the outer side of the wheel peripheral wall;

[0025] Figure 7 It is a schematic diagram of the state when the active connecting rod and the driven connecting rod of the present invention are coaxial;

[0026] Figure 8 The two hooks of the present invention are shown in Fig. Figure 1 ;

[0027] Fig. 9 The two hooks of the present invention are shown in Fig. Figure 2 ;

[0028] Fig.10 Schematic diagram of the robot structure in an embodiment of the present invention. DETAILED DESCRIPTION

[0029] 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.

[0030] like Figures 1 to 9 As shown, a hook-type wheel-leg mechanism with variable motion trajectory includes a wheel 8 and a mounting frame 9;

[0031] The wheel 8 is rotatably connected to the mounting frame 9, the central axis of the wheel 8 is placed horizontally, and the peripheral wall of the lower end of the wheel 8 is located outside the mounting frame 9;

[0032] A pair of symmetrically placed hooks 1 are provided on either side of the wheel 8. The two hooks 1 are symmetrically placed about the central axis of the wheel 8. A hook portion is provided at one end of the hook 1, and the other end of the hook 1 is rotatably hinged to the wheel 8.

[0033] An adjustment unit is provided between the two hooks 1, and the adjustment unit is connected to the two hooks 1. The adjustment unit is used to drive the hooks 1 to rotate around the hinged portion between the hooks 1 and the wheel 8 in a vertical plane to adjust the posture. During the rotation process, the hook portion can extend to the outside of the peripheral wall of the wheel 8 or shrink to the inside of the peripheral wall of the wheel 8;

[0034] The mounting frame 9 is provided with a driving part for driving the wheel 8 to rotate;

[0035] By setting the adjustment unit, the posture of the hook 1 can be actively adjusted, so as to control and adjust the length of the hook portion extending out of the peripheral wall of the wheel 8 when necessary;

[0036] When climbing a regular obstacle such as stairs, the posture of the hook 1 is first adjusted by the adjustment unit, and the length of the hook extending out of the peripheral wall of the wheel 8 is adjusted according to the size of the stairs, so as to be suitable for climbing stairs of different specifications; then the relative positions of the wheel 8 and the two hooks 1 are kept fixed, and the wheel 8 and the two hooks 1 are ensured to rotate synchronously around the central axis of the wheel 8 during climbing, so that the periodic regular obstacle can be quickly climbed;

[0037] When climbing an irregular obstacle, the adjustment unit drives the hook to extend to the outside of the peripheral wall of the wheel 8 or to retract to the peripheral wall of the wheel 8. The length of the hook extending from the peripheral wall of the wheel 8 can be adjusted in real time during the climbing process according to the height change of the obstacle, so as to effectively climb the irregular obstacle.

[0038] When the wheel 8 gets stuck in a pothole, the hook portion can be driven to retract to the inner side of the peripheral wall of the wheel 8 through the adjusting unit. When the wheel 8 and the hook 1 rotate synchronously to the bottom of the pothole, the hook portion can be driven to extend to the outer side of the peripheral wall of the wheel 8 through the adjusting unit to cooperate with the rotation of the wheel 8, so as to facilitate the wheel 8 to escape from the pothole.

[0039] A first hinge shaft 11 coaxially arranged with the wheel 8 is fixed to one end of the hook 1 away from the hook portion, and the first hinge shaft 11 is rotationally connected to the wheel 8; the provision of the first hinge shaft 11 ensures stable rotational articulation between the hook 1 and the wheel 8.

[0040] The adjusting unit includes a first rotating shaft 5 coaxially placed with the wheel 8, one end of the first rotating shaft 5 is rotatably connected to the mounting frame 9, an active connecting rod 3 is fixedly sleeved on the first rotating shaft 5, the active connecting rod 3 is arranged radially along the wheel 8, a second hinge shaft 31 coaxially placed with the wheel 8 is fixedly provided at the end of the active connecting rod 3 away from the first rotating shaft 5, a pair of driven connecting rods 2 are rotatably sleeved on the second hinge shaft 31, the two driven connecting rods 2 correspond to the two hooks 1 one by one, a third hinge shaft 21 is fixed at the end of the driven connecting rod 2 away from the second hinge shaft 31, the third hinge shaft 21 is coaxially placed with the wheel 8, the hooks 1 are rotatably sleeved on the corresponding third hinge shaft 21, and the third hinge shaft 21 is located between the hook portion and the first hinge shaft 11; by driving the active connecting rod 3, the active connecting rod 3 can drive the two driven connecting rods 2 to move, the driven connecting rod 2 is hingedly cooperated with the hook 1, and can drive the hook 1 to adjust its posture.

[0041] The adjustment unit further includes a first rotating motor 4 fixed on a mounting frame 9, wherein an output end of the first rotating motor 4 is fixed to an end of the first rotating shaft 5 away from the wheel 8; through the arrangement of the first rotating motor 4, the first rotating shaft 5 and the active connecting rod 3 are automatically driven to rotate;

[0042] When the active connecting rod 3 and the wheel 8 rotate in the same direction at the same speed, the relative positions of the hook 1 and the wheel 8 can be kept fixed.

[0043] The distance between the second hinge shaft 31 and the third hinge shaft 21 is greater than the distance between the second hinge shaft 31 and the first rotating shaft 5 , so as to avoid the first rotating shaft 5 interfering with the posture adjustment of the hook 1 .

[0044] The driving part is a second rotating motor 6, which is fixed on a mounting frame 9. The output end of the second rotating motor 6 is provided with a second rotating shaft 7 which is coaxially placed with the wheel 8. The second rotating shaft 7 is located on a side of the wheel 8 away from the first rotating shaft 5, and one end of the second rotating shaft 7 is fixed to the wheel 8. Through the arrangement of the second rotating motor 6, it is convenient to automatically drive the wheel 8 to rotate.

[0045] Assume the wheel radius is R;

[0046] Preferably, the distance between the central axis of the first articulated shaft 11 and the central axis of the wheel 8 is L1, L1 = 0.89R;

[0047] Preferably, the distance between the central axis of the first hinge shaft 11 and the third hinge shaft 21 is L2, L2 = 0.85R;

[0048] Preferably, the distance between the second articulated shaft 31 and the central axis of the wheel 8 is 0.6R;

[0049] Preferably, the distance between the second hinge axis 31 and the third hinge axis 21 is 0.65R;

[0050] When the active link 3 and the connecting line of the two first hinge shafts 11 are placed vertically, the two hooks 1 are placed symmetrically, and the hook-type wheel-leg mechanism with variable motion trajectory has two different states, respectively: Figure 5 and Figure 6 As shown;

[0051] like Figure 7 As shown, when the two driven links 2 are coaxially placed with the active link 3, any hook 1 is fully extended to the outside of the peripheral wall of the wheel 8, and the climbing ability is maximized at this time;

[0052] like Figure 8 As shown, when the wheel 8 remains stationary and the active connecting rod 3 is driven to rotate, the postures of the two hooks 1 change as shown in FIG. Figure 8 As shown in ah;

[0053] like Fig. 9 As shown, when the active link 3 remains stationary and the driving wheel 8 rotates, the postures of the two hooks 1 change as shown in Fig. 9 As shown in ah.

[0054] A robot, comprising the above-mentioned hook-claw type wheel-leg mechanism with variable motion trajectory;

[0055] A specific embodiment of a robot is provided in the present application, such as Fig.10 As shown, the robot is formed by combining four hook-type wheel-leg mechanisms with variable motion trajectories in conjunction with a connecting shell, and the mounting frames 9 of the four hook-type wheel-leg mechanisms with variable motion trajectories are all fixed to the connecting shell.

[0056] 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.

[0057] 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-type wheel-leg mechanism with a variable motion trajectory, comprising a wheel (8) and a mounting frame (9), characterized in that: The wheel (8) is rotatably connected to the mounting frame (9), the central axis of the wheel (8) is placed horizontally, and the peripheral wall of the lower end of the wheel (8) is located outside the mounting frame (9); A pair of symmetrically placed hooks (1) are provided on either side of the wheel (8), the two hooks (1) are symmetrically placed about the central axis of the wheel (8), one end of the hooks (1) is provided with a curved hook portion, and the other end of the hooks (1) is rotatably hinged to the wheel (8); An adjustment unit is provided between the two hook claws (1), the adjustment unit being connected to the two hook claws (1), and the adjustment unit being used to drive the hook claw (1) to rotate around a hinged portion between the hook claw (1) and the wheel (8) in a vertical plane to adjust the posture, and during the rotation process, the hook portion can extend to the outside of the peripheral wall of the wheel (8) or retract to the inside of the peripheral wall of the wheel (8); A driving unit for driving the wheel (8) to rotate is arranged on the mounting frame (9).

2. The hook-type wheel-leg mechanism with variable motion trajectory according to claim 1, characterized in that: A first hinge shaft (11) coaxially arranged with the wheel (8) is fixed to one end of the hook claw (1) away from the hook portion, and the first hinge shaft (11) is rotatably connected to the wheel (8).

3. The hook-type wheel-leg mechanism with variable motion trajectory according to claim 2, characterized in that: The adjustment unit comprises a first rotating shaft (5) arranged coaxially with the wheel (8), one end of the first rotating shaft (5) is rotatably connected to the mounting frame (9), an active connecting rod (3) is fixedly sleeved on the first rotating shaft (5), the active connecting rod (3) is arranged radially along the wheel (8), a second hinge shaft (31) arranged coaxially with the wheel (8) is fixedly arranged at the end of the active connecting rod (3) away from the first rotating shaft (5), a pair of driven connecting rods (2) are rotatably sleeved on the second hinge shaft (31), the two driven connecting rods (2) correspond to the two hooks (1) one by one, the ends of the driven connecting rods (2) away from the second hinge shaft (31) are fixed with third hinge shafts (21), the third hinge shafts (21) are arranged coaxially with the wheel (8), the hooks (1) are rotatably sleeved on the corresponding third hinge shafts (21), and the third hinge shafts (21) are located between the hook portion and the first hinge shaft (11).

4. The hook-type wheel-leg mechanism with variable motion trajectory according to claim 3, characterized in that: The adjustment unit also includes a first rotating motor (4) fixed on the mounting frame (9), and an output end of the first rotating motor (4) is fixed to an end of the first rotating shaft (5) away from the wheel (8).

5. The hook-type wheel-leg mechanism with variable motion trajectory according to claim 4, characterized in that: The distance between the second hinge axis (31) and the third hinge axis (21) is greater than the distance between the second hinge axis (31) and the first rotating axis (5).

6. The hook-type wheel-leg mechanism with variable motion trajectory according to claim 5, characterized in that: The driving part is a second rotating motor (6), which is fixed on a mounting frame (9). The output end of the second rotating motor (6) is provided with a second rotating shaft (7) which is coaxially arranged with the wheel (8). The second rotating shaft (7) is located on a side of the wheel (8) away from the first rotating shaft (5), and one end of the second rotating shaft (7) is fixed to the wheel (8).

7. A robot, characterized in that: It comprises a hook-type wheel-leg mechanism with a variable motion trajectory as described in any one of claims 1-6.

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