Wheel type mechanism and walking device

Abstract

The utility model relates to the technical field of walking devices, in particular to a wheel type mechanism and a walking device, which comprise a planetary roller screw pair, a hub and the like, the hub comprises a wheel plate, and a first hinge part and a second hinge part are arranged on the wheel plate; one end of the connecting strut is connected with the lead screw, and the other end of the connecting strut is connected with the central bracket; the connecting support rod is sleeved with the connecting frame in a sliding mode, the connecting frame is connected with the nut, rotating connecting bases are arranged on the connecting frame, and the two ends of the first connecting rod are hinged to the corresponding rotating connecting bases and the first hinge parts respectively; a connecting pin is arranged on the center support, a long groove is formed in one end of each second connecting rod, the connecting pin is in sliding fit with the long groove, and the other end of each second connecting rod is hinged to the corresponding second hinge part. In order to solve the technical problem that an existing walking device has defects, a planetary roller lead screw pair is introduced to serve as a core transmission mechanism, a wheel type mechanism capable of being switched between a claw type and a wheel type is designed on the basis of the planetary roller lead screw pair, and stability and reliability of the walking device are effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to walking device technical field, concretely relates to a wheeled mechanism and walking device. BACKGROUND

[0002] In the existing robot technology, the walking device is an important component to meet the robot walking function. Generally, the walking device is divided into wheeled, legged or wheeled-leg compound. Different mechanism forms have different characteristics. The existing wheeled-leg compound device generally has the ability to transform, that is, it can realize the free switching of wheeled and legged forms through variable structure, and also has the advantages of wheeled device and legged device, so it is concerned.

[0003] However, the existing transformable wheeled-leg structure still has some limitations, such as complex structure, poor transformability, poor stability and reliability after transformation, etc. Therefore, the existing walking device needs to be improved and developed. UTILITY MODEL CONTENT

[0004] In view of the technical problems that the existing walking device has defects, the utility model provides a wheeled mechanism and walking device, which introduces a planetary roller screw pair as a core transmission mechanism, and designs a wheeled mechanism that can switch between claw shape and wheel shape based on this, fully utilizes the advantages of the planetary roller screw pair such as large carrying capacity, high precision, long service life and strong impact resistance, and effectively improves the stability and reliability of the walking device.

[0005] The technical scheme provided by the utility model is as follows: a wheeled mechanism, comprising a planetary roller screw pair, a connecting frame, a connecting strut, a center support, a first connecting rod, a second connecting rod and a wheel hub; the wheel hub comprises a plurality of wheel plates, which are connected in a circular manner to form a complete wheel hub, the wheel plates are provided with a first hinge part and a second hinge part, and the positions of the first hinge part and the second hinge part are symmetrical about the center line L1 of the wheel plate; the planetary roller screw pair comprises a screw, a roller and a nut, the nut is sleeved on the outer side of the screw, the roller is located between the nut and the screw, and the roller is threadedly engaged with the nut and the screw respectively; one end of the connecting strut is fixedly connected with the screw, and the other end of the connecting strut is rotatably connected with the center support; the connecting frame is slidably sleeved on the outer side of the connecting strut, the connecting frame is fixedly connected with the nut, the connecting frame is provided with a plurality of rotating connecting seats, and the two ends of the first connecting rod are hingedly connected with the corresponding rotating connecting seat and the first hinge part respectively; the center support is provided with a plurality of connecting pins, one end of the second connecting rod is provided with a long slot, the connecting pins are slidably matched with the long slot, and the other end of the second connecting rod is hingedly connected with the corresponding second hinge part; the swinging direction of the first connecting rod is orthogonal to the swinging direction of the second connecting rod.

[0006] Optionally, the second connecting rod has an arc.

[0007] Optionally, a bearing is arranged between the connecting strut and the central support.

[0008] Optionally, the nut and the connecting frame are connected through a flange.

[0009] Optionally, the screw rod and the connecting strut are connected through a shaft coupling.

[0010] Optionally, a limiting piece is arranged on the side of the connecting pin away from the central support.

[0011] Optionally, a flexible cover is arranged on the side of the wheel plate away from the central support.

[0012] A walking device comprises the above-mentioned wheel mechanism and a shell; the wheel mechanism is arranged on both sides of the shell, a first driving motor consistent in number with the wheel mechanism is fixedly arranged in the shell, an output end of the first driving motor is connected with the corresponding screw rod through an electromagnetic clutch; at least one second driving motor is further arranged in the shell, a driving gear is fixedly arranged on an output end of the second driving motor, a driven gear is fixedly arranged on the outer side of the connecting frame, and the driving gear and the driven gear are in meshing cooperation.

[0013] Optionally, the axial length of the driving gear is greater than or equal to the maximum axial movement stroke of the nut.

[0014] Compared with the prior art, the technical scheme has the following beneficial effects: in view of the technical problems of defects existing in the prior walking device, the planetary roller screw pair is introduced as the core transmission mechanism, and a wheel mechanism capable of switching between the claw shape and the wheel shape is designed based on the planetary roller screw pair, the advantages of the planetary roller screw pair, such as large carrying capacity, high precision, long service life and strong impact resistance, are fully utilized, and the stability and reliability of the walking device are effectively improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 Fig. 1 is a structural schematic view of a wheel mechanism according to an embodiment of the present application.

[0016] Figure 2 Fig. 2 is another structural schematic view of the wheel mechanism according to the embodiment of the present application.

[0017] Figure 3 Fig. 3 is a third structural schematic view of the wheel mechanism according to the embodiment of the present application.

[0018] Figure 4 Fig. 4 is a structural schematic view of a connecting frame according to the embodiment of the present application.

[0019] Figure 5 The structural schematic view of the wheel plate is provided for the embodiment of the utility model.

[0020] Figure 6 The structural schematic view of the planetary roller screw pair is provided for the embodiment of the utility model.

[0021] Figure 7 The assembly schematic view of the electromagnetic clutch is provided for the embodiment of the utility model.

[0022] Figure 8 The structural schematic view of the walking device is provided for the embodiment of the utility model. DETAILED DESCRIPTION

[0023] In order to further understand the content of the utility model, the utility model is described in detail in combination with the drawings and the embodiments.

[0024] The application will be described in further detail below in combination with the drawings and the embodiments. It can be understood that the specific embodiments described herein are only used to explain the related utility model, and not to limit the utility model. In addition, it should be noted that only the parts related to the utility model are shown in the drawings for the convenience of description. The first, second and the like in the utility model are set for the convenience of describing the technical scheme of the utility model, and do not have a specific limiting effect, and are generic, which does not limit the technical scheme of the utility model. It should be noted that the embodiments in the application and the features in the embodiments can be combined with each other without conflict. In the description of the utility model, it should be noted that the orientation or position relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like is based on the orientation or position relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the utility model. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. Unless otherwise specified and limited, the terms "mounting", "connection", "connection" should be understood broadly, for example, it can be fixedly connected, or it can be detachably connected, or integrally connected; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium, or it can be the communication between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances. The multiple technical schemes in the same embodiment, and the multiple technical schemes of different embodiments can be arranged and combined to form new technical schemes without contradiction or conflict, which are within the scope of the utility model claimed.

[0025] Embodiment 1

[0026] In combination with the drawings Figures 1-3 , the embodiment proposes a wheel mechanism, which comprises a planetary roller screw pair 2, a connecting frame 3, a connecting strut 4, a central support 5, a first connecting rod 6, a second connecting rod 7 and a wheel hub.

[0027] The wheel hub comprises a plurality of wheel plates 8, which are connected in sequence in a circumferential direction and constitute a complete wheel hub, the shape of the complete wheel hub being determined by the shape of the wheel plates 8. In this embodiment, the wheel hub is circular, and the wheel plates 8 are circular arc structures. However, the wheel hub can also be elliptical, Lai Luo triangular or other geometric shapes.

[0028] The wheel plate 8 is provided with a first hinge part 801 and a second hinge part 802, and the positions of the first hinge part 801 and the second hinge part 802 are symmetrical with the center line L1 of the wheel plate 8 as the axis of symmetry. In this embodiment, the wheel hub comprises three wheel plates 8, and the central angles corresponding to the outlines of the wheel plates 8 are 120°.

[0029] The planetary roller screw pair 2 comprises a screw rod 201, a roller 203 and a nut 202. The nut 202 is sleeved on the outside of the screw rod 201, and the roller 203 is located between the nut 202 and the screw rod 201. The roller 203 is threadedly engaged with the nut 202 and the screw rod 201, respectively. The planetary roller screw pair 2 is the core transmission mechanism of the wheel mechanism. This transmission mechanism is a new type of rolling screw mechanism that can convert the rotary motion of the screw rod 201 and the linear reciprocating motion of the nut 202 into each other. It mainly transmits power through the thread engagement between the roller 203, the screw rod 201 and the nut 202, and has the advantages of high load capacity, high precision, long service life and strong impact resistance.

[0030] One end of the connecting strut 4 is fixedly connected with the screw rod 201, and the other end of the connecting strut 4 is rotationally connected with the central support 5. The connecting frame 3 is slidably sleeved on the outside of the connecting strut 4, and the connecting frame 3 is fixedly connected with the nut 202. The connecting frame 3 is provided with a plurality of rotating connecting seats 301, and the two ends of the first connecting rod 6 are respectively hingedly connected with the corresponding rotating connecting seat 301 and the first hinge part 801.

[0031] The central support 5 is provided with a plurality of connecting pins 501, and one end of the second connecting rod 7 is provided with a long slot 701. The connecting pin 501 is slidably matched with the long slot 701, and the other end of the second connecting rod 7 is hingedly connected with the corresponding second hinge part 802. The swinging direction of the first connecting rod 6 is orthogonal to the swinging direction of the second connecting rod 7.

[0032] The wheeled mechanism of the embodiment can realize free conversion between claw shape and wheel shape through driving transmission of the planetary roller screw pair 2. The working principle is as follows: in the initial state, the wheel hub of the wheeled mechanism is a complete circle, that is, when the wheel plates 8 are sequentially connected end to end in the circumferential direction, a complete wheel shape is formed. When it is needed to convert from the wheel shape to the claw shape, the screw rod 201 in the planetary roller screw pair 2 is driven by the first driving motor 9, and the nut 202 on the screw rod 201 moves linearly in the axial direction, thereby pushing the connecting frame 3 to slide axially relative to the connecting strut 4. In the process of axial sliding of the connecting frame 3, the first connecting rod 6 applies a pushing force to one side of the wheel plate 8, causing the side where the first hinge part 801 of the wheel plate 8 is located to open outward, and correspondingly, the second connecting rod 7 connected to the second hinge part 802 of the wheel plate 8 swings and translates, and the wheel hub is thus deformed into a claw shape.

[0033] Based on the above principle, the wheeled mechanism of the embodiment can adjust the deformation degree of the wheel plate 8 by changing the axial movement stroke of the nut 202 on the planetary roller screw pair 2.

[0034] When the wheel hub needs to be converted from the claw shape to the circular shape, the first driving motor 9 is started in reverse, the screw rod 201 is reversed, and the nut 202, the connecting frame 3 and the like move in the opposite direction, thereby realizing resetting of the wheel plate 8 and finally deforming into a circular wheel hub.

[0035] In the wheeled mechanism of the embodiment, when the wheel plate 8 opens in the process of converting from the wheel shape to the claw shape, the second connecting rod 7 and the pin will produce a relative motion of translation and rotation, and therefore a long slot 701 is arranged at one end of the second connecting rod 7, and the connecting pin 501 on the center support 5 is in sliding fit with the long slot 701, so as to adapt to the composite motion.

[0036] Since the connecting pin 501 and the long slot 701 are in fit, when the wheel hub forms a circle, the long slot 701 on the wheel plate 8 (generally, the wheel plate 8 in contact with the ground) under pressure and the corresponding second connecting rod 7 will also slide relative to each other to a certain extent, thereby causing the wheel hub to deform to a certain extent from the circular wheel to the claw wheel at the wheel plate 8. Since the deformation is small, the circular wheel function can still be greatly possessed, but at the same time, the small deformation tending to the claw shape can also make the wheel hub have better grip ability.

[0037] The deformation can improve the adaptability of the wheeled mechanism to the terrain and can expand the passing capacity of the circular wheel hub. Therefore, the fit form of the connecting pin 501 and the long slot 701 further enables the wheeled mechanism of the embodiment to have self-adaptive adjustment characteristics, so as to further improve the grip requirement when crossing obstacles.

[0038] In addition, since the wheel hub needs to bear the load, and the connection pin 501 and the long slot 701 may be loose, in the preferred embodiment, the side of the connection pin 501 away from the center support 5 can be provided with a limiting piece. Generally, the limiting piece can be a latch, or a limiting boss, a baffle or a nut cap is provided at the end of the pin away from the center support 5, etc., to avoid the connection pin 501 and the long slot 701 from slipping.

[0039] In this embodiment, the planetary roller screw pair 2 can provide self-locking capability through its own mechanism to ensure the rigidity of the wheel hub in any form, so that the wheel hub will not easily deform when subjected to external force. In addition, the swinging direction of the first connecting rod 6 is orthogonal to the swinging direction of the second connecting rod 7, which further makes the wheel hub have self-locking characteristics, further ensuring the rigidity of each wheel plate 8 after deformation, thereby ensuring that the wheel mechanism has excellent load capacity.

[0040] It should be noted that in this embodiment, the first hinge part 801 and the second hinge part 802 are only symmetrical with the center line L1 of the wheel plate 8 as the axis of symmetry, but the directions of their respective hinge connections are different.

[0041] In other embodiments, the second connecting rod 7 has an arc, and the design of the arc enables the wheel plate 8 to have a larger opening arc compared to a straight rod in the same space, and the wheel hub can have a larger degree of claw deformation. In other words, the second connecting rod 7 with an arc can further save space.

[0042] As can be known from the foregoing principle description, the connecting frame 3 is slidingly sleeved on the outside of the connecting strut 4, and one end of the connecting strut 4 is fixedly connected with the screw 201. To ensure that the wheel mechanism can be deformed, one end of the connecting strut 4 must be rotatably connected with the center support 5, so that the friction between the ground and the wheel plate 8 can be relied on to ensure that the center support 5 does not rotate with the screw 201 and the connecting strut 4. To make the relative rotation between the connecting strut 4 and the center support 5 more smooth, in the preferred embodiment, a bearing is provided between the connecting strut 4 and the center support 5.

[0043] In the preferred embodiment, the nut 202 and the connecting frame 3 are connected by a flange, specifically, a flange plate can be provided on the nut 202 and the connecting frame 3 to achieve flange connection. In addition, the screw 201 and the connecting strut 4 are preferably connected by a shaft coupling to ensure the transmission effect.

[0044] To reduce the direct wear of the wheel hub and have the ability to pass through rough terrain, a flexible cover can be provided on the side of the wheel plate 8 away from the center support 5, which can be a rubber tread or a rubber rib in a specific arrangement.

[0045] In summary, in view of the technical problems of the existing walking device, the planetary roller screw pair 2 is introduced as the core transmission mechanism, which fully utilizes the advantages of the planetary roller screw pair 2 such as large carrying capacity, high precision, long service life, and strong impact resistance, thereby effectively improving the stability and reliability of the walking device. Based on this, a related mechanism that can switch between claw shape and wheel shape is designed, thereby meeting the movement requirements of different terrains.

[0046] Embodiment 2

[0047] In combination with the accompanying drawings, Figures 1-4 The walking device includes the wheel mechanism and the shell 1 described in the technical solution of embodiment 1. The wheel mechanism is arranged on both sides of the shell 1, and the shell 1 is fixedly provided with a first driving motor 9 consistent in number with the wheel mechanism. The output end of the first driving motor 9 is connected to the corresponding screw 201 through an electromagnetic clutch 10. At least one second driving motor is further arranged in the shell 1, the output end of the second driving motor is fixedly provided with a driving gear 11, the outer side of the connecting frame 3 is fixedly provided with a driven gear 12, and the driving gear 11 is in meshing cooperation with the driven gear 12.

[0048] Based on the wheel mechanism of embodiment 1, the walking device is further proposed in the embodiment. The walking device of the embodiment can be used as a robot mobile platform and applied to different scenes.

[0049] The working principle of the walking device of the embodiment is as follows: when the walking device needs to walk, the shape of the wheel mechanism is determined unchanged, the second driving motor drives the connecting frame 3, the center support 5, the first connecting rod 6, the second connecting rod 7, and the hub to rotate in a circumferential direction through the meshing of the driving gear 11 and the driven gear 12, and the wheel plate 8 on the hub is in contact with the ground, thereby realizing walking motion.

[0050] The output end of the first driving motor 9 is connected to the corresponding screw 201 through an electromagnetic clutch 10. When the above walking process occurs, the electromagnetic clutch 10 is in a disconnected state, that is, the driven gear 12 drives the planetary roller screw pair 2 to rotate as a whole, but does not cause the first driving motor 9 to rotate synchronously, thereby ensuring the normal operation of the wheel mechanism.

[0051] When the walking device encounters an obstacle during walking and the wheel mechanism needs to be deformed, the second driving motor stops working, the electromagnetic clutch 10 is connected after the walking device stops walking, and the first driving motor 9 works. At this time, the wheel mechanism can complete the switching and deformation process between the claw shape and the wheel shape as described in embodiment 1.

[0052] After the deformation is completed, the electromagnetic clutch 10 is disconnected, the second driving motor also stops working, and the first driving motor 9 is restarted. The hub of the deformed wheel mechanism can perform circumferential motion again, thereby realizing the walking function.

[0053] Wherein the electromagnetic clutch 10 can be selected as the DDL3 series single-chip electromagnetic clutch 10 of Tianjin Machine Tool Electrical Co., Ltd., or other similar electromagnetic clutch 10. Taking the common single-chip electromagnetic clutch 10 as an example, the rotor part of the electromagnetic clutch 10 is fixedly connected with the output end of the first driving motor 9, and the friction plate part is fixedly connected with the lead screw 201. When the rotor part is powered, a magnetic field can be generated to attract the armature fixed to the friction plate part. When attracted, it is the on state of the electromagnetic clutch 10. At this time, the output end of the first driving motor 9 can rotate synchronously with the lead screw 201. When not attracted, the electromagnetic clutch 10 is in the off state, and the output end of the first driving motor 9 will not rotate synchronously with the lead screw 201.

[0054] In the preferred embodiment, the axial length of the driving gear 11 should be greater than or equal to the maximum axial movement stroke of the nut 202 in the planetary roller screw pair 2, so as to ensure that the second driving motor can drive the wheel hub to rotate in the circumferential direction under any deformation state of the wheeled mechanism.

[0055] In summary, the walking device of the embodiment has high flexibility and good obstacle-crossing ability by combining the wheeled mechanism of embodiment 1. The walking device can change the deformation amplitude of the wheel hub to travel on different terrains, and can walk like a common circular wheel on flat terrain, and can be converted into a claw-shaped wheel to travel on rough terrain or stairs. The walking device is easy to manufacture and maintain, has high rigidity, and can cope with complex environments.

[0056] The above describes the present application and its embodiments in a schematic manner, and the description is not restrictive. The embodiments shown in the drawings are only one of the embodiments of the present application, and the actual structure is not limited thereto. Therefore, if a person skilled in the art is inspired by the above description, without departing from the spirit of the present application, similar structural modes and embodiments can be designed without creative design, which should also belong to the protection scope of the present application.

Claims

1. A wheeled mechanism, characterized by, The wheel type mechanism comprises a planetary roller screw pair (2), a connecting frame (3), a connecting strut (4), a central support (5), a first connecting rod (6), a second connecting rod (7) and a wheel hub. The wheel hub comprises a plurality of wheel plates (8), which are connected in sequence in a circumferential direction to form a complete wheel hub, and the wheel plates (8) are provided with a first hinge part (801) and a second hinge part (802), and the positions of the first hinge part (801) and the second hinge part (802) are symmetrical about the center line L1 of the wheel plate (8). The planetary roller screw pair (2) comprises a screw rod (201), a roller (203) and a nut (202), the nut (202) is sleeved on the outside of the screw rod (201), the roller (203) is located between the nut (202) and the screw rod (201), and the roller (203) is in threaded engagement with the nut (202) and the screw rod (201) respectively. One end of the connecting strut (4) is fixedly connected with the screw rod (201), and the other end of the connecting strut (4) is rotatably connected with the central support (5); the connecting frame (3) is slidably sleeved on the outside of the connecting strut (4), the connecting frame (3) is fixedly connected with the nut (202), and the connecting frame (3) is provided with a plurality of rotating connecting seats (301); the two ends of the first connecting rod (6) are hingedly connected with the corresponding rotating connecting seat (301) and the first hinge part (801) respectively. The central support (5) is provided with a plurality of connecting pins (501), one end of the second connecting rod (7) is provided with a long slot (701), the connecting pin (501) is in sliding fit with the long slot (701), and the other end of the second connecting rod (7) is hingedly connected with the corresponding second hinge part (802); the swinging direction of the first connecting rod (6) is orthogonal to the swinging direction of the second connecting rod (7).

2. A wheeled mechanism according to claim 1, wherein, The second connecting rod (7) has an arc.

3. A wheeled mechanism according to claim 1, wherein, A bearing is arranged between the connecting strut (4) and the central support (5).

4. A wheeled mechanism according to claim 1, wherein, The nut (202) and the connecting frame (3) are connected through a flange.

5. A wheeled mechanism according to claim 1, wherein, The screw rod (201) and the connecting strut (4) are connected through a shaft coupling.

6. A wheeled mechanism according to claim 1, wherein, A limiting piece is arranged on the side of the connecting pin (501) away from the central support (5).

7. A wheeled mechanism according to claim 1, wherein, A flexible cover is arranged on the side of the wheel plate (8) away from the central support (5).

8. A walking device characterized by comprising: The wheel type mechanism comprises a wheel type mechanism according to any one of claims 1-7, and a housing (1). The wheel type mechanism is arranged on both sides of the housing (1), and a first driving motor (9) consistent in number with the wheel type mechanism is fixedly arranged in the housing (1), and the output end of the first driving motor (9) is connected with the corresponding screw rod (201) through an electromagnetic clutch (10). At least one second driving motor is arranged in the shell (1), and an output end of the second driving motor is fixedly provided with a driving gear (11), and an outer side of the connecting frame (3) is fixedly provided with a driven gear (12), and the driving gear (11) is in meshing cooperation with the driven gear (12).

9. A walking device according to claim 8, wherein The axial length of the driving gear (11) is greater than or equal to the maximum axial movement stroke of the nut (202).

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