Connecting rod wheel leg advancing mechanism

Abstract

The utility model discloses a connecting rod wheel leg advancing mechanism. The angle between the thigh crank and the shank crank of the robot is changed through the screw rod mechanism, the lifting of the driving wheel and the driven wheel is controlled by combining the four-bar mechanism, and the free switching of two advancing modes of wheel type advancing and leg type advancing can be realized only through the driving of the screw rod motor. In the leg advancing mode, the mechanical feet are independently used instead of wheels to make contact with the ground, the situations such as slipping are avoided, and the more stable advancing effect is achieved; in the wheel advancing mode, double wheels of the knee joint and the ankle joint make contact with the ground, and stability and anti-interference performance are enhanced. The robot is suitable for stable and rapid advancing in complex terrains such as gardens.

Description

TECHNICAL FIELD

[0001] The utility model relates to agricultural machinery technical field, concretely relates to a connecting rod wheel leg advancing mechanism. BACKGROUND

[0002] The robot that carries out operation in the complex environment such as gardens needs multiple advancing modes to improve moving ability and efficiency when facing complex uneven terrain. For example, the lawn trimming robot needs to move quickly in the wheeled advancing mode when trimming the lawn, and needs to pass through flexibly in the leg advancing mode when encountering obstacles such as steps and slopes.

[0003] Most of the existing wheel-leg switching robots set wheels at the ankle joints, and only lock the wheels when switching the wheel-leg, maintaining high posture wheeled advancing. The contact points with the ground are always wheels in the wheeled or legged advancing state.

[0004] Patent CN214451420U adopts a three-section design of thigh, lower leg and foot, and installs wheels at the knee joints. In the wheel mode, the lower leg is retracted, and the wheels at the knee joints contact the ground to realize high-speed movement. In the leg mode, the lower leg is controlled to be lowered, and the mechanical foot contacts the ground to realize walking on complex terrain. However, when the wheel-leg switching leg is folded, a large torque is generated, the stress is unreasonable, the performance requirements for materials are high, deformation is easy to occur during long-term use, and the wheels and the vehicle body are only supported and connected by the thigh straight rod in the leg mode, which cannot form a triangular structure, and the stability is poor. SUMMARY

[0005] Therefore, the utility model provides a connecting rod wheel leg advancing mechanism, which can effectively realize wheel-leg switching and maintain stability in different advancing modes, and is suitable for complex environments such as gardens.

[0006] The connecting rod wheel leg advancing mechanism of the utility model comprises a thigh crank, a lower leg crank and a foot which are sequentially hinged, and further comprises a lead screw transmission mechanism, a driving wheel, a wheel motor, a long connecting rod, a driven wheel support and a driven wheel.

[0007] The lead screw transmission mechanism comprises a lead screw, a lead screw block, a short connecting rod and a lead screw motor. The lead screw is fixed in a lead screw groove on the thigh crank and rotates under the drive of the lead screw motor. The lead screw block is threadedly connected to the lead screw. The two ends of the short connecting rod are hingedly connected to the lead screw block and the lower leg crank.

[0008] The driving wheel is connected to the knee joint shaft of the thigh crank and the lower leg crank and rotates under the drive of the wheel motor. The driven wheel support is L-shaped. One end of the driven wheel support is connected to the ankle joint shaft of the lower leg crank and the foot, and the other end is fixed to the driven wheel through an axle. The two ends of the long connecting rod are hingedly connected to the thigh crank and the middle part of the driven wheel support.

[0009] More preferably, in the four-bar linkage mechanism consisting of the thigh crank, the long connecting rod, the shank crank and the driven wheel support, from the driven wheel support, the effective length ratio of each rod in the clockwise direction is 2±0.2:10±1.0:4±0.4:11±1.1.

[0010] More preferably, in the mechanism consisting of the thigh crank, the screw rod, the screw rod slider, the short connecting rod and the shank crank, the effective length ratio of the short connecting rod and the shank crank is 10±1.0:7±0.7.

[0011] Beneficial effects:

[0012] The utility model discloses a screw rod mechanism changes the angle between the mechanical man thigh crank and shank crank, combines four connecting rod mechanism control driving wheel and driven wheel's lifting, only by screw rod motor 2 drive, can realize the free switching of two advancing modes of wheel type advancing and leg type advancing. In the leg advancing mode, independently use mechanical foot instead of wheel contact ground, avoid skidding etc. situation, realize more stable advancing effect, in the wheel advancing mode, through knee joint and ankle joint double -wheel contact ground, strengthen stability and anti -interference. It is applicable to the stable fast advancing of complex topography such as gardens.

[0013] The utility model discloses a screw rod mechanism and connecting rod mechanism realize the transmission between legs, simple structure, easy to realize, can be flexibly assembled in various agricultural instruments, has the universality. ACCURACY OF DRAWINGS

[0014] Figure 1 It is the structure schematic view of the utility model wheel leg advancing mechanism (leg advancing);

[0015] Figure 2 It is the front view structure schematic view of the utility model wheel leg advancing mechanism (leg advancing);

[0016] Figure 3 It is the structure schematic view of four connecting rod mechanism in the utility model;

[0017] Figure 4 It is the structure schematic view of screw rod transmission mechanism in the utility model;

[0018] Figure 5 It is the structure schematic view of the utility model wheel leg advancing mechanism (wheel advancing);

[0019] Figure 6 It is the front view structure schematic view of the utility model wheel leg advancing mechanism (wheel advancing);

[0020] Wherein: 1 - thigh crank, 2 - screw rod motor, 3 - screw rod, 4 - screw rod slider, 5 - short connecting rod, 6 - driving wheel, 7 - wheel motor, 8 - long connecting rod, 9 - shank crank, 10 - driven wheel support, 11 - driven wheel, 12 - wheel axle, 13 - foot DETAILED DESCRIPTION

[0021] The utility model is described in detail below with reference to the drawings and examples.

[0022] The utility model provides a connecting rod wheel leg advancing mechanism, as shown in the figure, including thigh crank 1, screw rod drive mechanism, driving wheel 6, wheel motor 7, long connecting rod 8, calf crank 9, driven wheel support 10, driven wheel 11 and foot 13, Figures 1-4 As shown in the figure, including thigh crank 1, screw rod drive mechanism, driving wheel 6, wheel motor 7, long connecting rod 8, calf crank 9, driven wheel support 10, driven wheel 11 and foot 13;

[0023] Among them, thigh crank 1, calf crank 9 and foot 13 are hinged in turn;Thigh crank 1 and foot 13 are driven independently by respective motors respectively;

[0024] Screw rod drive mechanism includes screw rod 3, screw rod sliding block 4, short connecting rod 5 and screw rod motor 2;Among them, screw rod 3 is fixed in the preset screw rod groove on thigh crank 1 and rotates under the drive of screw rod motor 2;Screw rod sliding block 4 is threadedly sleeved on screw rod 3;The two ends of short connecting rod 5 are hinged on screw rod sliding block 4 and calf crank 9 respectively.Under the drive of screw rod motor 2, calf crank 9 can be lifted and fallen through screw rod drive mechanism.

[0025] Driving wheel 6 is sleeved on the knee joint shaft of thigh crank 1 and calf crank 9 and is driven to rotate by wheel motor 7;Driven wheel support 10 is L-shaped, one end of driven wheel support 10 is sleeved on the knee joint shaft of calf crank 9 and foot 13, and the other end fixes driven wheel 11 through wheel shaft 12;The two ends of long connecting rod 8 are hinged on the middle part of thigh crank 1 and driven wheel support 10 respectively.Thigh crank 1, long connecting rod 8, driven wheel support 10 and calf crank 9 form four connecting rod mechanisms, which can lift or fall driven wheel with the change of the included angle of thigh crank 1 and calf crank 9, and realize the switching of the contact part between mechanical leg and ground.

[0026] When the leg wheel switches, screw rod motor 2 drives screw rod 3 to rotate under the control of the control unit, drives screw rod sliding block 4 to move upwards on screw rod 3, and then drives calf crank 9 to bend upwards through short connecting rod 5;With the continuously increasing angle of calf crank 9 bending upwards, driving wheel 6 slowly descends;At the same time, the four connecting rod mechanisms composed of thigh crank 1, long connecting rod 8, driven wheel support 10 and calf crank 9, because the included angle of thigh crank 1 and calf crank 9 decreases, long connecting rod 8 drives driven wheel support 10 to rotate downwards, so that driven wheel 11 is gradually put down, and finally driven wheel 11 and driving wheel 6 contact the ground together, realizing wheeled advancing.Wheeled advancing state, wheel motor 7 drives driving wheel 6 to rotate under the control of the control unit, and driven wheel 11 assists advancing, as shown in the figure. Figure 5 And Figure 6 As shown in the figure.

[0027] When the wheel-leg is switched, the screw motor 2 drives the screw rod 3 to rotate under the control of the control unit, and drives the screw block 4 to move downward, so that in the triangle composed of the thigh crank 1, the short connecting rod 5 and the lower leg crank 9, the length of the side where the thigh crank 1 is located is shortened, the angle between the thigh crank 1 and the lower leg crank 9 is increased, and the mechanical leg gradually stands up. At the same time, the four-bar linkage mechanism composed of the thigh crank 1, the long connecting rod 8, the driven wheel support 10 and the lower leg crank 9 is driven to rotate upward by the long connecting rod 8 due to the increase of the angle between the thigh crank 1 and the lower leg crank 9, the driven wheel support 10 at one end of the driven wheel 11 is lifted to leave the ground, and the foot at the other end of the driven wheel support 10 is lowered, thereby completing the switching from the wheel form to the leg form. In the leg type running state, the thigh motor controlling the thigh crank 1, the foot motor controlling the foot 13 and the screw motor 2 are controlled by the control unit to realize the bending and running actions of the mechanical leg. Figure 1 and Figure 2 as shown.

[0028] Further, in the four-bar linkage mechanism composed of the thigh crank 1, the long connecting rod 8, the lower leg crank 9 and the driven wheel support 10, from the driven wheel support, the effective length (i.e. the distance between the two hinges) of each rod in the clockwise direction is in the proportion of 2±0.2:10±1.0:4±0.4:11±1.1.

[0029] In the mechanism composed of the thigh crank 1, the screw rod 3, the screw block 4, the short connecting rod 5 and the lower leg crank 9, the effective length of the short connecting rod 5 and the lower leg crank 9 is in the proportion of 10±1.0:7±0.7.

[0030] In summary, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A link wheel leg locomotion mechanism comprising a thigh crank (1), a shank crank (9) and a foot (13) hingedly connected in sequence; characterized in that, Also include: Lead screw transmission mechanism, driving wheel (6), wheel motor (7), long connecting rod (8), driven wheel support (10) and driven wheel (11); Wherein, the lead screw transmission mechanism includes lead screw (3), lead screw slider (4), short connecting rod (5) and lead screw motor (2); wherein, the lead screw (3) is fixed in the lead screw slot on the thigh crank (1), and rotates under the drive of the lead screw motor (2); the lead screw slider (4) is threaded on the lead screw (3); both ends of the short connecting rod (5) are respectively hinged on the lead screw slider (4) and the calf crank (9); The driving wheel (6) is sleeved on the knee joint shaft of the thigh crank (1) and the calf crank (9), and is driven to rotate by the wheel motor (7); the driven wheel support (10) is L-shaped, one end of the driven wheel support (10) is sleeved on the ankle joint shaft of the calf crank (9) and the foot (13), the other end is fixed with the driven wheel (11) through the wheel shaft (12); both ends of the long connecting rod (8) are respectively hinged on the thigh crank (1) and the middle part of the driven wheel support (10).

2. The link legged locomotion mechanism of claim 1, wherein, In the four-bar linkage mechanism composed of the thigh crank (1), the long connecting rod (8), the calf crank (9) and the driven wheel support (10), from the driven wheel support, along the clockwise direction, the effective length ratio of each rod is 2±0.2:10±1.0:4±0.4:11±1.

1.

3. The link legged locomotion mechanism of claim 1 or 2, wherein, In the mechanism composed of the thigh crank (1), the lead screw (3), the lead screw slider (4), the short connecting rod (5) and the calf crank (9), the effective length ratio of the short connecting rod (5) and the calf crank (9) is 10±1.0:7±0.7.

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