Robot wheel and foot switching mechanism

Abstract

The utility model relates to the technical field of robots, and discloses a robot wheel-foot switching mechanism, which comprises a foot mechanism, a wheel-foot switching mechanism, a wheel-foot switching mechanism, a wheel-foot switching mechanism, a wheel-foot switching mechanism, a wheel-foot switching mechanism and a wheel-foot switching mechanism, the wheel mechanism is arranged at the bottom of the first supporting leg; the switching mechanism comprises a first motor, a first synchronous belt wheel, a lead screw and a lead screw sliding block, the first motor is arranged on the first supporting leg, an output shaft of the first motor is connected with the lead screw through the first synchronous belt wheel, the lead screw sliding block is coaxially connected with the lead screw in a sleeved mode, and the lead screw sliding block is connected with the second supporting leg. The maneuverability and adaptability of the robot in complex terrains are improved, and the stability and reliability of the robot in variable environments are enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a wheel-foot switching mechanism of a robot. Background Art

[0002] With the development of robotics technology, more and more robots are being used for detection, transportation and monitoring tasks in various complex environments. According to the mode of movement, robots are mainly divided into wheeled robots and legged robots. The main advantages of wheeled robots are their high speed and high efficiency. They can move quickly on flat and hard surfaces, which are very suitable for working in environments such as urban roads and factory workshops. When encountering irregular terrain or needing to cross obstacles, the performance of wheeled robots will be limited. For example, they may encounter difficulties when climbing slopes, going down stairs or passing through rugged terrain, and are prone to slipping on slippery ground. The biggest advantage of legged robots is their excellent terrain adaptability and obstacle crossing ability. They can imitate the gait of organisms and walk stably on complex terrain, such as climbing slopes, walking on gravel roads and even crossing large obstacles. Legged robots have more degrees of freedom in space and can perform a variety of complex movements and operations. However, the travel speed and energy efficiency on flat ground are usually not as good as those of wheeled robots.

[0003] In the prior art, there have been some research and development on wheel-foot switching mechanisms. However, the existing wheel-foot switching mechanisms still have some shortcomings. First, the switching process of some mechanisms requires complex mechanical structures or electrical control, which increases the difficulty of design and manufacturing. Secondly, the stability and reliability of some mechanisms during the switching process need to be improved, especially in the case of high-speed movement or load changes. Therefore, there is an urgent need for a robot wheel-foot switching mechanism that can achieve robot wheel-foot switching efficiently and stably. Utility Model Content

[0004] The utility model aims to provide a robot wheel-foot switching mechanism to solve the problems that the traditional wheel-foot switching structure is complex, difficult to control, and affects the accuracy and stability of robot operation.

[0005] The utility model provides a robot wheel-foot switching mechanism, comprising a foot mechanism, a wheel mechanism and a switching mechanism.

[0006] The foot mechanism comprises a first supporting leg and a second supporting leg, wherein the first supporting leg is hinged to the second supporting leg.

[0007] The wheel mechanism is arranged at the bottom of the first supporting leg.

[0008] The switching mechanism includes a first motor, a first synchronous pulley, a screw and a screw slider. The first motor is arranged on the first supporting leg. The output shaft of the first motor is connected to the screw through the first synchronous pulley. The screw slider is coaxially sleeved with the screw, and the screw slider is connected to the second supporting leg.

[0009] In some embodiments of the present application, the switching mechanism further includes a connecting rod, one end of which is rotatably connected to the screw slider, and the other end of which is rotatably connected to the second supporting leg.

[0010] In some embodiments of the present application, the screw rod is connected to the screw rod slider via threads, and when the first motor moves, the screw rod is driven to rotate, thereby causing the screw rod slider to move vertically up and down along the screw rod.

[0011] In some embodiments of the present application, the first support leg and the second support leg are hinged via a hinge shaft, and the lead screw slider moves vertically up and down along the lead screw, thereby driving the second support leg to rotate relative to the first support leg around the hinge shaft via a connecting rod, thereby realizing switching between the foot mechanism and the wheel mechanism.

[0012] In some embodiments of the present application, the wheel mechanism includes a universal wheel, a second motor and a second synchronous pulley.

[0013] The universal wheel is installed at the bottom of the first supporting leg, the second motor is installed at the side of the bottom of the first supporting leg, and the output shaft of the second motor is connected to the rotating shaft of the universal wheel through the second synchronous pulley.

[0014] In some embodiments of the present application, a connecting plate is provided on the first supporting leg, the first motor is fixedly mounted on the connecting plate, the screw rod passes through the connecting plate and is connected to the first supporting leg, the first synchronous pulley is arranged above the connecting plate, and the screw rod slider is arranged below the connecting plate.

[0015] In some embodiments of the present application, the wheel mechanism further includes a universal wheel bracket, which is fixedly mounted on the bottom of the first support leg, and the universal wheel is connected to the first support leg via the universal wheel bracket.

[0016] In some embodiments of the present application, a reserved hinge hole is opened on the top of the first supporting leg, the first supporting leg is connected to the robot frame through the reserved hinge hole, and the first supporting leg can rotate relative to the robot frame around the reserved hinge hole.

[0017] Compared with the prior art, the beneficial effects of the utility model lie in that two leg states, a foot structure and a wheel mechanism, are set up, which improves the maneuverability and adaptability of the robot in complex terrains, and a switching mechanism is provided, which enhances the stability and reliability of the robot in a changing environment, and the wheel-foot switching of the robot can be controlled automatically or manually, which improves the flexibility and convenience of operation, and the mechanism of the present invention is compact and easy to integrate into different types of robot platforms, which can greatly save the time and money costs of manufacturing wheel-foot composite robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the utility model 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, the drawings in the following description are only embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0019] Figure 1 This is a schematic diagram of the structure of the wheel-foot switching mechanism of the robot in the embodiment of the utility model;

[0020] Figure 2 This is a schematic diagram of the state of foot-type walking in an embodiment of the utility model;

[0021] Figure 3 This is a schematic diagram of the wheeled walking state in the embodiment of the utility model;

[0022] Figure 4 It is a structural schematic diagram of the universal wheel in the embodiment of the utility model.

[0023] Among them, 1. the first supporting leg; 2. the second supporting leg; 3. the universal wheel; 4. the first motor; 5. the second motor; 6. the screw slider; 7. the screw; 8. the connecting rod; 9. the first synchronous pulley; 10. the second synchronous pulley; 11. the reserved hinge hole; 12. the articulated shaft; 13. the connecting plate; 14. the universal wheel bracket. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present invention are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of the present invention, not all of them. 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.

[0025] With the development of robotics technology, more and more robots are being used for detection, transportation and monitoring tasks in various complex environments. Traditional wheeled robots are efficient on flat ground, but their capabilities are limited when it comes to complex terrain such as climbing slopes and crossing obstacles. Although legged robots can adapt to complex terrain, their speed and energy efficiency on flat ground are usually not as good as those of wheeled robots. Therefore, in order to improve the adaptability and efficiency of robots, a mobile mechanism that can switch between wheeled and legged is needed.

[0026] like Figure 1-Figure 4 As shown, the utility model provides a robot wheel-foot switching mechanism, comprising: a foot mechanism, a wheel mechanism and a switching mechanism.

[0027] The foot mechanism comprises a first supporting leg 1 and a second supporting leg 2, wherein the first supporting leg 1 and the second supporting leg 2 are hinged.

[0028] The wheel mechanism is arranged at the bottom of the first supporting leg 1 .

[0029] The switching mechanism includes a first motor 4, a first synchronous pulley 9, a screw 7 and a screw slider 6. The first motor 4 is arranged on the first supporting leg 1. The output shaft of the first motor 4 is connected to the screw 7 through the first synchronous pulley 9. The screw slider 6 is coaxially sleeved with the screw 7, and the screw slider 6 is connected to the second supporting leg 2.

[0030] In this embodiment, the first support leg 1 and the second support leg 2 are hinged through the hinge shaft 12, the wheel mechanism is installed at the bottom of the first support leg 1, the first motor 4 and the screw 7 are both installed on the first support leg 1, the first motor 4 and the screw 7 are connected through the first synchronous pulley 9, the screw slider 6 is sleeved on the screw 7, and the screw slider 6 is connected to the second support leg 2 through the connecting rod 8. When the first motor 4 is running, the screw 7 is driven to rotate through the first synchronous pulley 9, so that the screw slider 6 moves up and down, and then drives the second support leg 2 to rotate relative to the first support leg 1, so as to realize the wheel-foot switching of the robot.

[0031] In some embodiments of the present application, the switching mechanism further includes a connecting rod 8 , one end of which is rotatably connected to the screw slider 6 , and the other end of which is rotatably connected to the second supporting leg 2 .

[0032] In this embodiment, the screw slider 6 is connected to the second support leg 2 by setting a connecting rod 8. The distance between the second support leg 2 and the screw slider 6 is fixed, which is the length of the connecting rod 8. When the screw slider 6 moves upward, the second support leg 2 moves upward with the screw slider 6 because the distance between the second support leg 2 and the screw slider 6 is fixed; when the screw slider 6 moves downward, the second support leg 2 moves downward with the screw slider 6.

[0033] In some embodiments of the present application, the screw rod 7 is connected to the screw rod slider 6 by threads, and when the first motor 4 moves, the screw rod 7 is driven to rotate, so that the screw rod slider 6 moves vertically up and down along the screw rod 7.

[0034] In this embodiment, the screw rod 7 and the screw slider 6 are connected by threads, which can ensure the precise positioning and repeated positioning of the two during the movement. The precise design of the spiral angle and pitch of the screw rod 7 ensures the transmission accuracy. The threaded connection between the screw rod 7 and the screw slider 6 can efficiently convert the rotational motion into linear motion. The spiral structure of the screw rod 7 can convert the rotational power of the first motor 4 into the linear power of the screw slider 6, thereby improving the conversion efficiency. Compared with sliding friction, the friction between the screw rod 7 and the screw slider 6 is smaller in the threaded connection, which helps to reduce friction loss, thereby improving the transmission efficiency and service life of the entire system.

[0035] In some embodiments of the present application, the first support leg 1 and the second support leg 2 are hinged via a hinge shaft 12, and the screw slider 6 moves vertically up and down along the screw 7, thereby driving the second support leg 2 to rotate relative to the first support leg 1 around the hinge shaft 12 via the connecting rod 8, thereby realizing switching between the foot mechanism and the wheel mechanism.

[0036] In this embodiment, the first supporting leg 1 and the second supporting leg 2 are hinged via the hinge shaft 12, so that the first supporting leg 1 and the second supporting leg 2 can rotate relative to each other, thereby facilitating the second supporting leg 2 to rotate around the first supporting leg 1, thereby achieving the purpose of foot-type walking.

[0037] In some embodiments of the present application, the wheel mechanism includes a universal wheel 3, a second motor 5 and a second synchronous pulley 10; the universal wheel 3 is installed at the bottom of the first support leg 1, the second motor 5 is installed on the bottom side of the first support leg 1, and the output shaft of the second motor 5 is connected to the rotating shaft of the universal wheel 3 through the second synchronous pulley 10.

[0038] In this embodiment, the second motor 5 is connected to the universal wheel 3 via the second synchronous pulley 10 . When the second motor 5 is running, the rotational motion of the second motor 5 is converted into the linear motion of the universal wheel 3 via the second synchronous pulley 10 .

[0039] In some embodiments of the present application, a connecting plate 13 is provided on the first supporting leg 1, the first motor 4 is fixedly mounted on the connecting plate 13, the screw rod 7 passes through the connecting plate 13 and is connected to the first supporting leg 1, the first synchronous pulley 9 is arranged above the connecting plate 13, and the screw rod slider 6 is arranged below the connecting plate 13.

[0040] In this embodiment, a connecting plate 13 is provided on the first supporting leg 1 to provide an installation position for the first motor 4 and the screw rod 7, so as to facilitate integration of the first motor 4 and the screw rod 7 on the first supporting leg 1, thereby making the wheel-foot switching mechanism of the robot more compact, and being able to save a lot of time and money costs in manufacturing the wheel-foot composite robot.

[0041] In some embodiments of the present application, the wheel mechanism further includes a universal wheel bracket 14 , which is fixedly mounted on the bottom of the first support leg 1 , and the universal wheel 3 is connected to the first support leg 1 via the universal wheel bracket 14 .

[0042] In some embodiments of the present application, a reserved hinge hole 11 is opened on the top of the first supporting leg 1, and the first supporting leg 1 is connected to the robot frame through the reserved hinge hole 11. The first supporting leg 1 can rotate relative to the robot frame around the reserved hinge hole 11.

[0043] When the utility model is in use, if the robot needs to walk in wheeled mode, the first motor 4 is started to rotate, the screw slider 6 is controlled to move upward, and then the second support leg 2 is driven to rotate upward, so that the universal wheel 3 contacts the ground, and the robot switches to wheeled mode. The second motor 5 is controlled to rotate and the universal wheel 3 is driven to move; if the robot needs to walk in footed mode, the first motor 4 is started to rotate, the screw slider 6 is controlled to move downward, and then the second support leg 2 is driven to rotate downward, so that the second support leg 2 contacts the ground, and the robot switches to footed mode.

[0044] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in this field should understand that they can still modify or replace the technical solution of the utility model with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the utility model.

Claims

1. A robot wheel-foot switching mechanism, characterized in that: include: A foot mechanism, comprising a first supporting leg and a second supporting leg, wherein the first supporting leg is hinged to the second supporting leg; A wheel mechanism, arranged at the bottom of the first supporting leg; The switching mechanism includes a first motor, a first synchronous pulley, a screw and a screw slider. The first motor is arranged on the first supporting leg. The output shaft of the first motor is connected to the screw through the first synchronous pulley. The screw slider is coaxially sleeved with the screw, and the screw slider is connected to the second supporting leg.

2. The robot wheel-foot switching mechanism according to claim 1, characterized in that: The switching mechanism also includes a connecting rod, one end of which is rotatably connected to the screw slider, and the other end of which is rotatably connected to the second supporting leg.

3. The robot wheel-foot switching mechanism according to claim 2, characterized in that: The screw rod is connected to the screw rod slider via threads, and when the first motor moves, the screw rod is driven to rotate, so that the screw rod slider moves vertically up and down along the screw rod.

4. The robot wheel-foot switching mechanism according to claim 3, characterized in that: The first supporting leg and the second supporting leg are hinged via a hinge shaft, and the screw slider moves vertically up and down along the screw rod, thereby driving the second supporting leg to rotate around the hinge shaft relative to the first supporting leg via the connecting rod, thereby realizing the switching between the foot mechanism and the wheel mechanism.

5. The robot wheel-foot switching mechanism according to claim 1, characterized in that: The wheel mechanism includes a universal wheel, a second motor and a second synchronous pulley; The universal wheel is installed at the bottom of the first supporting leg, the second motor is installed at the side of the bottom of the first supporting leg, and the output shaft of the second motor is connected to the rotating shaft of the universal wheel through the second synchronous pulley.

6. The robot wheel-foot switching mechanism according to claim 1, characterized in that: A connecting plate is provided on the first supporting leg, the first motor is fixedly mounted on the connecting plate, the screw rod passes through the connecting plate and is connected to the first supporting leg, the first synchronous pulley is arranged above the connecting plate, and the screw rod slider is arranged below the connecting plate.

7. The robot wheel-foot switching mechanism according to claim 5, characterized in that: The wheel mechanism also includes a universal wheel bracket, which is fixedly installed at the bottom of the first supporting leg, and the universal wheel is connected to the first supporting leg through the universal wheel bracket.

8. The robot wheel-foot switching mechanism according to claim 1, characterized in that: A reserved hinge hole is provided at the top of the first supporting leg, and the first supporting leg is connected to the robot frame through the reserved hinge hole. The first supporting leg can rotate relative to the robot frame around the reserved hinge hole.

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