Gear mechanical wheel leg advancing mechanism

Abstract

The utility model discloses a gear mechanical wheel leg advancing mechanism. The leg movement of an animal is simulated, the transmission between the legs is carried out through the toothed chain transmission mechanism, the bending of the shank crank is controlled, and the control of the thigh and the sole is combined, so that the walking in the complex terrain of the garden is completed; meanwhile, leg wheel conversion is completed through a toothed chain transmission mechanism, rapid and stable movement on a flat road surface / grassland is achieved, energy consumption for frequently controlling leg movement is reduced, and mechanical maneuverability is improved. During leg type advancing, wheel type contact with the ground can be avoided, and stable advancing on the soft ground or the gravel ground can be achieved. The device is simple in structure and easy to realize, and can be matched with different instruments to improve the flexibility and maneuverability of the machinery.

Description

TECHNICAL FIELD

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

[0002] With the development of urbanization and private gardens and large parks, and with people's increasing demand for aesthetics, the complexity and time cost of modern garden pruning are increasing. The garden terrain is complex, with flat ground, grassland, loose sand, gravel pavement, and even stairs and steep slopes, which puts higher requirements on the walking of pruning robots.

[0003] Wheel-leg switching robots can switch between wheel advancing and leg advancing modes to adapt to different terrains. However, most existing wheel-leg switching robots place wheels at the end of mechanical legs. In the leg advancing state, the wheels are simply locked, and the wheels still contact the ground, which cannot balance the functions of high-efficiency advancing and stable obstacle crossing, especially in unstructured terrains such as loose sand and gravel pavement. At the same time, due to the wheel contact, the mechanical leg has insufficient impact absorption capacity, and the parts are easily damaged.

[0004] Patent CN214451420U adopts a three-section design of thigh, calf, and foot, and installs wheels at the knee joint, which can flexibly switch between wheel and leg modes to adapt to different motion requirements. In wheel mode, the servo controls the calf to retract, and the wheels at the knee joint contact the ground to achieve high-speed movement. In leg mode, the servo controls the calf to lower, and the mechanical foot contacts the ground to achieve walking on complex terrain. However, installing wheels at the knee joint requires the knee joint to bear both leg movement load and wheel rolling impact, which is prone to fatigue and damage. At the same time, due to the complexity of the structure, the leg speed is limited by the wheel structure, and the gait moving speed in complex terrain is significantly lower than that in wheel mode. SUMMARY

[0005] Therefore, the utility model provides a gear mechanical wheel leg advancing mechanism, which can realize obstacle crossing motion in complex garden terrain, improve pruning efficiency, and reduce labor cost.

[0006] The gear mechanical wheel leg advancing mechanism comprises a thigh crank, a calf crank, and a foot sole that are sequentially hinged, and corresponding thigh motors, calf motors, and foot sole motors; further comprising a toothed chain transmission mechanism and a wheel mechanism.

[0007] The sprocket chain transmission mechanism comprises a driving wheel, a driven wheel and a chain; the driving wheel is installed on the top of the thigh crank through a wheel shaft and rotates under the drive of the lower leg motor; the driven wheel is installed on the knee shaft of the thigh crank and the lower leg crank through a bearing; the driving wheel and the driven wheel are connected through the chain; the lower leg motor drives the bending of the lower leg crank through the sprocket chain transmission mechanism;

[0008] The wheel mechanism comprises a wheel shaft support frame, a lead screw, a wheel, a moving wheel drive motor, a wheel shaft rotation rudder and a lead screw motor, wherein the wheel shaft support frame is installed on the middle part of the lower leg crank; the wheel is installed on the wheel shaft support frame through the lead screw and faces the back of the leg; when the lower leg crank is bent by 90 degrees, the wheel is perpendicular to the ground; the wheel rotates under the drive of the moving wheel drive motor, turns under the control of the wheel shaft rotation rudder and moves up and down along the lead screw under the drive of the lead screw motor.

[0009] Preferably, the foot sole motor controls the rotation of the foot sole through a bevel gear mechanism; wherein the bevel gear mechanism comprises a bevel gear shaft, an H-shaped support, a bevel gear II, a cylindrical gear I, a cylindrical gear II and a gear shaft;

[0010] The bevel gear II and the cylindrical gear I are fixedly installed on the bevel gear shaft, and the bevel gear shaft and the H-shaped support are installed on the lower leg crank; the foot sole motor is installed on the H-shaped support; the gear shaft of the cylindrical gear II is fixed on the foot sole, and the cylindrical gear I is engaged with the cylindrical gear II;

[0011] The foot sole motor drives the rotation of the bevel gear II, the bevel gear II drives the rotation of the cylindrical gear I through the bevel gear shaft, and then drives the rotation of the cylindrical gear II through engagement, and then drives the rotation of the foot sole through the gear shaft.

[0012] Advantages:

[0013] The utility model simulates the leg movement of animals, transmits between legs through a sprocket chain transmission mechanism, controls the bending of the lower leg crank, and combines the control of the thigh and the foot sole to jointly complete the walking on complex garden terrain; meanwhile, the leg wheel conversion is completed through the sprocket chain transmission mechanism to realize the rapid and stable movement on flat road / grassland, reduces the energy consumption of frequent control of leg movement, and improves the mobility of the machine. When walking in the leg mode, the wheel type can avoid contacting the ground, and stable walking on soft ground or sandy ground can be realized.

[0014] The utility model discloses a wheel type advancing mechanism is installed on the calf crank, effectively avoid the knee joint needs to bear the periodic load from the reciprocating motion of leg and the multidirectional impact load produced when the wheel rolls simultaneously, and this kind of composite stress state easily leads to the stress concentration of joint connection, accelerates material fatigue and reduces the problem of motion stability.Through the power output end of wheel type mechanism is shifted to calf crank, successfully realized the shunt bearing of motion load, improved the leg type advancing rate, improved the safety factor of overall wheel leg mechanism simultaneously, improved the service life.

[0015] The utility model discloses simple structure, easy to realize, can match different instruments to improve the flexibility and mobility of machinery. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is the structure schematic diagram of the utility model wheel leg advancing mechanism (leg advancing);

[0017] Figure 2 It is the structure schematic diagram of the utility model wheel leg advancing mechanism (leg advancing);

[0018] Figure 3 It is the structure schematic diagram of the utility model screw rod lifting wheel;

[0019] Figure 4 It is the structure schematic diagram of the utility model wheel leg advancing mechanism (wheel advancing);

[0020] Figure 5 It is the structure schematic diagram of the utility model wheel leg advancing mechanism (wheel advancing);

[0021] Wherein: 1- chain wheel baffle, 2- chain, 3- driving wheel, 4- bearing, 5- driven wheel, 6- thigh crank, 7- wheel shaft protection shell, 8- wheel shaft rotation rudder, 9- calf crank, 10- wheel, 11- wheel shaft support frame, 12- instep motor, 13- bevel gear shaft, 14- H type support, 15- bevel gear, 16- gear, 17- gear shaft, 18- instep, 19- lifting support, 20- screw rod, 21- wheel shaft, 22- crank connecting shaft. DETAILED DESCRIPTION

[0022] The utility model is described in detail in combination with the drawings and examples.

[0023] The utility model provides a kind of gear mechanical wheel leg advancing mechanism, as shown in Figures 1-5 It includes mechanical leg crank mechanism, tooth chain transmission mechanism, wheel mechanism and control unit.

[0024] Wherein, mechanical leg crank mechanism includes thigh crank 6, calf crank 9 and instep 18 that are sequentially hinged.Big thigh crank 6, calf crank 9 and instep 18 are all independently controlled by respective motor.

[0025] The sprocket chain transmission mechanism comprises a driving wheel 3, a driven wheel 5 and a chain 2, the driving wheel 3 is arranged at the top end of the thigh crank 6 and connected with the lower leg motor, the driven wheel 5 is fixed on the knee joint shaft of the thigh crank 6 and the lower leg crank 9 through a bearing 4, the driving wheel 3 and the driven wheel 5 are connected through the chain 2, the lower leg motor drives the driving wheel 3 under the control of the control unit, and then drives the driven wheel 5 through the chain 2, so that the lifting and falling of the lower leg crank 9 are controlled.

[0026] The wheel mechanism comprises a wheel shaft support frame 11, a lead screw, a wheel 10, a moving wheel driving motor, a wheel shaft rotation rudder 8 and a lead screw motor, wherein the wheel shaft support frame 11 is installed at the middle part of the lower leg crank 9, the wheel 10 is installed on the wheel shaft support frame 11 through the lead screw and faces the rear of the leg, and the wheel 10 is perpendicular to the ground when the lower leg crank is bent by 90°, the wheel 10 rotates under the driving of the moving wheel driving motor, turns under the control of the wheel shaft rotation rudder 8 and moves up and down along the lead screw under the driving of the lead screw motor, so that the height of the wheel is adjusted to adapt to different ground heights.

[0027] The control unit controls the movement of the thigh crank, the lower leg crank and the sole through comprehensive control of the thigh motor, the lower leg motor and the sole motor, so that the leg moves; and the control unit controls the movement of the wheel through comprehensive control of the lower leg motor, the moving wheel driving motor, the wheel shaft rotation rudder 8 and the lead screw motor, so that the wheel moves.

[0028] In the embodiment, the sole motor 12 controls the rotation of the sole 18 through a bevel gear mechanism. The bevel gear mechanism comprises a bevel gear shaft 13, an H-shaped support 14, a bevel gear II 15, a cylindrical gear I 16, a cylindrical gear II and a gear shaft 17.

[0029] The bevel gear II 15 and the cylindrical gear I 16 are fixedly installed on the bevel gear shaft 13, the bevel gear shaft 13 and the H-shaped support 14 are installed on the lower leg crank 9, the sole motor 12 is installed on the H-shaped support 14, the gear shaft 17 of the cylindrical gear II is fixed on the sole 18, and the cylindrical gear I 16 is engaged with the cylindrical gear II.

[0030] The sole motor 12 drives the bevel gear II 15 to rotate, the bevel gear II 15 drives the cylindrical gear I 16 to rotate through the bevel gear shaft 13, then engages the cylindrical gear II to rotate, and then drives the sole 18 to rotate through the gear shaft 17.

[0031] When the leg is walking, the lower leg motor drives the top big sprocket 3 to rotate, and drives the small sprocket 5 to rotate through the chain 2, and the gear on the small sprocket 5 is engaged to drive the lower leg crank 9 to bend. The foot motor 12 drives the foot 18 to rotate through the bevel gear 15 and the gear 16. The thigh motor is coaxial with the big sprocket 3 and drives the thigh crank to rotate. The thigh motor, the lower leg motor and the foot motor 12 work together under the control of the control unit to realize the bending and walking of the mechanical leg, as shown in Figure 1 and Figure 2 .

[0032] The lower leg motor controls the bending degree of the lower leg crank 9. When the lower leg motor controls the lower leg crank 9 to bend 90°, at this time the wheel 10 is opposite to the ground, and the wheel walking mode is converted. The lifting wheel mechanism controls the height of the wheel 10, adapts to different environment ground, and drives the wheel to walk forward and turn, as shown in Figure 4 and Figure 5 .

[0033] 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 gear-mechanical wheel-leg traveling mechanism comprising a large leg crank (6), a small leg crank (9) and a foot sole (18) which are sequentially hinged, and corresponding large leg motor, small leg motor and foot sole motor; characterized in that, Also include: sprocket chain transmission mechanism and wheel mechanism; The sprocket chain transmission mechanism comprises a driving wheel (3), a driven wheel (5) and a chain (2); the driving wheel (3) is installed on the top of the thigh crank (6) through an axle and rotates under the drive of the calf motor; the driven wheel (5) is installed on the knee joint shaft of the thigh crank (6) and the calf crank (9) through a bearing (4); the driving wheel (3) and the driven wheel (5) are connected through the chain (2); the calf motor drives the bending of the calf crank (9) through the sprocket chain transmission mechanism; The wheel mechanism comprises a wheel shaft support frame (11), a lead screw, a wheel (10), a moving wheel drive motor, a wheel shaft rotation rudder (8) and a lead screw motor, wherein the wheel shaft support frame (11) is installed on the middle part of the calf crank (9); the wheel (10) is installed on the wheel shaft support frame (11) through the lead screw and faces the back of the leg; when the calf crank bends 90°, the wheel (10) lands vertically; The wheel (10) rotates under the drive of the moving wheel drive motor, turns under the control of the wheel shaft rotation rudder (8) and moves up and down along the lead screw under the drive of the lead screw motor.

2. The geared mechanical wheel-leg locomotion mechanism of claim 1, wherein, The sole motor (12) controls the rotation of the sole (18) through a bevel gear mechanism; wherein the bevel gear mechanism comprises a bevel gear shaft (13), an H-shaped support (14), a bevel gear II (15), a cylindrical gear I (16), a cylindrical gear II and a gear shaft (17); Wherein, the bevel gear II (15) and the cylindrical gear I (16) are fixedly installed on the bevel gear shaft (13), the bevel gear shaft (13) and the H-shaped support (14) are installed on the calf crank (9); the sole motor (12) is installed on the H-shaped support (14); the gear shaft (17) of the cylindrical gear II is fixed on the sole (18), and the cylindrical gear I (16) is engaged with the cylindrical gear II; The sole motor (12) drives the bevel gear II (15) to rotate, the bevel gear II (15) drives the cylindrical gear I (16) to rotate through the bevel gear shaft (13), and then engages to drive the cylindrical gear II to rotate, and then drives the sole (18) to rotate through the gear shaft (17).

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