Universal mechanism and mechanical leg and robot thereof

Abstract

The utility model discloses a universal mechanism and mechanical leg and robot thereof, include: first casing, be connected with two second casing of first casing both sides, a plurality of rotary motor, first connecting shaft, second connecting shaft, the rotary motor in first casing control first connecting shaft rotates along the horizontal plane, the rotary motor in second casing control second connecting shaft rotates around own axis, can satisfy the convenient adjustment on the multi -direction including advancing, retreating, rotating on the spot etc, obviously promote its movement flexibility, and the mechanical leg integrates the rotating wheel and the caterpillar band, can switch according to the road condition demand, and the efficient movement ability of this structure on the flat road and the high passability of caterpillar band structure on the complex terrain, effectively promote its overall adaptability in mixed environment.

Description

Technical Field

[0001] This utility model relates to the field of robot mobile platform technology, specifically to a universal mechanism, its mechanical legs, and a robot. Background Technology

[0002] Existing wheeled or tracked robotic mobile platforms typically rely on differential steering or Ackerman steering to change direction. While this method is efficient on open, flat surfaces, its steering flexibility, space utilization, and adaptability are often limited in confined spaces or complex terrains requiring high maneuverability. Although some tracked robots possess good obstacle-crossing capabilities, their movement efficiency and speed on flat surfaces are generally inferior to wheeled structures. Utility Model Content

[0003] The purpose of this invention is to provide a universal mechanism, its mechanical leg, and a robot that can be conveniently adjusted in multiple directions, including forward, backward, and rotation in place, significantly improving its mobility. The mechanical leg integrates a rotating wheel and a track, which can be switched according to road conditions. The efficient movement capability of this structure on flat roads and the high passability of the track structure on complex terrain effectively enhance its overall adaptability in mixed environments.

[0004] A universal joint mechanism according to this utility model includes:

[0005] First shell;

[0006] Two second housings connected to both sides of the first housing;

[0007] Multiple rotary motors are respectively installed inside the first housing and the second housing;

[0008] A first connecting shaft, the first end of which is connected to the output shaft of the rotary motor located inside the first housing, and the second end of which is connected to an external structure;

[0009] The second connecting shaft has its first end connected to the output shaft of the rotary motor inside the second housing, and its second end connected to an external structure. The second connecting shaft is arranged laterally.

[0010] The rotary motor inside the first housing controls the first connecting shaft to rotate along the horizontal plane, and the rotary motor inside the second housing controls the second connecting shaft to rotate around its own axis.

[0011] This utility model also provides a mechanical leg, including the universal joint mechanism described above.

[0012] Furthermore, it also includes a protective shell, which has a first end and a second end facing each other. The first end of the protective shell is equipped with a rotating wheel, and the second end of the protective shell is equipped with the universal joint mechanism.

[0013] Furthermore, a receiving groove is formed between the first end and the second end of the protective shell, and two opposing inner walls are provided in the receiving groove. The line connecting the two inner walls is perpendicular to the line connecting the first end and the second end of the protective shell. The second ends of the two second connecting shafts are rotatably connected to the two inner walls. Tracks are installed on the outer wall of the protective shell. After the second connecting shafts rotate into position, the rotating wheel leaves the ground, and the tracks on the protective shell touch the ground.

[0014] This utility model also provides a robot, including the mechanical legs described above.

[0015] Furthermore, the robot includes a robot body and a plurality of mechanical legs mounted on the bottom of the robot body.

[0016] The beneficial effects of this utility model are as follows:

[0017] 1. The rotary motor inside the first housing of the universal joint can control the first connecting shaft to rotate horizontally, that is, control the mechanical leg to adjust left and right.

[0018] 2. The rotary motor inside the second housing of the universal joint mechanism can control the second connecting shaft to rotate around its own axis, that is, control the protective housing to rotate. After rotating into position, the track touches the ground, realizing the switching between the rotating wheel and the track. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the universal joint mechanism described in an embodiment of the present invention.

[0020] Figure 2 This is a schematic diagram of the mechanical leg described in an embodiment of the present invention.

[0021] Figure 3 This is a schematic diagram of the mechanical leg described in an embodiment of the present invention.

[0022] In the figure, 1 is the first housing; 2 is the second housing; 3 is the first connecting shaft; 4 is the second connecting shaft; 5 is the mechanical leg; 6 is the protective shell; 7 is the rotating wheel; 8 is the receiving groove; and 9 is the track. Detailed Implementation

[0023] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0024] Combination Figures 1 to 3 This invention illustrates a universal joint mechanism comprising:

[0025] First shell 1;

[0026] Two second housings 2 are connected to both sides of the first housing 1;

[0027] Multiple rotary motors are respectively installed in the first housing 1 and the second housing 2;

[0028] The first connecting shaft 3 has its first end connected to the output shaft of a rotary motor located inside the first housing 1, and its second end connected to an external structure.

[0029] The second connecting shaft 4 has its first end connected to the output shaft of the rotary motor inside the second housing 2, and its second end connected to the external structure. The second connecting shaft 4 is arranged laterally.

[0030] The rotary motor inside the first housing 1 controls the first connecting shaft 3 to rotate along the horizontal plane, and the rotary motor inside the second housing 2 controls the second connecting shaft 4 to rotate around its own axis.

[0031] This utility model also provides a mechanical leg 5, including the universal joint mechanism described above.

[0032] It also includes a protective shell 6, which has a first end and a second end. The first end of the protective shell 6 is equipped with a rotating wheel 7, and the second end of the protective shell 6 is equipped with a universal mechanism.

[0033] A receiving groove 8 is formed between the first end and the second end of the protective shell 6. Two opposing inner walls are provided in the receiving groove 8. The line connecting the two inner walls is perpendicular to the line connecting the first end and the second end of the protective shell 6. The second ends of the two second connecting shafts 4 are rotatably connected to the two inner walls. Tracks 9 are installed on the outer wall of the protective shell 6. After the second connecting shafts 4 rotate into position, the rotating wheel 7 leaves the ground and the tracks 9 on the protective shell 6 touch the ground.

[0034] It is worth noting that there is no relative motion between the second end of the second connecting shaft 4 and the inner wall; that is, the second connecting shaft 4 and the inner wall move synchronously.

[0035] It can be easily adjusted in multiple directions, including forward, backward, and rotation in place, significantly improving its mobility. The mechanical leg integrates rotating wheels and tracks, which can be switched according to road conditions. The efficient movement on flat roads and the high passability of the track structure on complex terrain effectively improve its overall adaptability in mixed environments.

[0036] This utility model also provides a robot, including the mechanical leg 5 as described above.

[0037] The robot includes a robot body and multiple mechanical legs 5 mounted on the bottom of the robot body.

[0038] The beneficial effects of this utility model are as follows:

[0039] 1. The rotary motor inside the first housing 1 of the universal joint mechanism can control the first connecting shaft 3 to rotate in the horizontal direction, that is, control the mechanical leg 5 to adjust in the left and right directions;

[0040] 2. The rotary motor inside the second housing 2 of the universal mechanism can control the second connecting shaft 4 to rotate around its own axis, that is, control the protective housing 6 to rotate. After rotating to the position, the track 9 touches the ground, realizing the switching between the rotating wheel 7 and the track 9.

[0041] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A universal joint mechanism, comprising: First shell; Two second housings connected to both sides of the first housing; Multiple rotary motors are respectively installed inside the first housing and the second housing; A first connecting shaft, the first end of which is connected to the output shaft of the rotary motor located inside the first housing, and the second end of which is connected to an external structure; The second connecting shaft has its first end connected to the output shaft of the rotary motor inside the second housing, and its second end connected to an external structure. The second connecting shaft is arranged laterally. The rotary motor inside the first housing controls the first connecting shaft to rotate along the horizontal plane, and the rotary motor inside the second housing controls the second connecting shaft to rotate around its own axis.

2. A mechanical leg, characterized in that, Including the universal joint as described in claim 1.

3. The mechanical leg according to claim 2, characterized in that, It also includes a protective shell, which has a first end and a second end facing each other. The first end of the protective shell is equipped with a rotating wheel, and the second end of the protective shell is equipped with the universal joint mechanism.

4. The mechanical leg according to claim 3, characterized in that, A receiving groove is formed between the first end and the second end of the protective shell. Two opposing inner walls are provided in the receiving groove. The line connecting the two inner walls is perpendicular to the line connecting the first end and the second end of the protective shell. The second ends of the two second connecting shafts are rotatably connected to the two inner walls. Tracks are installed on the outer wall of the protective shell. After the second connecting shafts rotate into position, the rotating wheel leaves the ground, and the tracks on the protective shell touch the ground.

5. A robot, characterized in that, Including the mechanical leg as described in claim 4.

6. The robot according to claim 5, characterized in that, The robot includes a robot body and a plurality of mechanical legs mounted on the bottom of the robot body.

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