1. The wheel-leg combined type wheel train system comprises supporting legs, wherein each supporting leg comprises a telescopic connecting rod mechanism (4), each connecting rod mechanism (4) comprises a third connecting rod (43) which is arranged at the bottom side of each connecting rod mechanism (4) and is a rocker arm when each connecting rod mechanism (4) deforms, and the wheel-leg combined type wheel train system further comprises a travelling wheel (5) arranged on each third connecting rod (43);

the walking wheel (5) comprises a first roller (51) and a second roller (52), the first roller (51) is installed at the lower end of a third connecting rod (43), the respective supporting wheel surfaces of the first roller (51) and the second roller (52) are both located below the third connecting rod (43), and when the third connecting rod swings, the relative positions of the first roller and the second roller can be converted into: the supporting wheel surface of the second roller (52) is positioned above the supporting wheel surface of the first roller (51).

2. The wheel-leg composite gear train system according to claim 1, wherein the link mechanism (4) further comprises a second link (42) and a first link (41), the first link (41) and the second link (42) are hinged to different positions of a third link (43) in the length direction through a rotating shaft;

the rotating shafts of the first connecting rod (41) and the second connecting rod (42) and the third connecting rod (43) are parallel to each other.

3. A wheel-leg composite gear train system according to claim 1, wherein the second roller (52) is a universal wheel.

4. A wheel-leg composite gear train system according to claim 1, further comprising a cylinder (2), one of a cylinder portion and a piston rod portion of the cylinder (2) is fixedly connected with the third connecting rod (43), and the other is fixedly connected with the connecting member (8);

a rotating shaft is arranged on the connecting piece (8), and the air cylinder (2) can rotate around the rotating shaft;

the rotating shaft on the connecting piece (8) is parallel to the axis of the swinging shaft when the third connecting rod (43) swings;

and a locking piece is further arranged on the connecting piece (8), and the locking piece is used for realizing the rotation locking of the cylinder (2) relative to the rotating shaft.

5. A wheel-leg composite gear train system according to claim 4, further comprising a gas source device for supplying a compressed gas source to the cylinder (2), wherein the gas source device is a compressed gas cylinder.

6. A wheel-leg composite gear train system according to claim 4, wherein the cylinder (2) is a single-cylinder double-acting cylinder, the piston rod portion of the cylinder (2) is fixedly connected with a third connecting rod (43), and the connecting member (8) is connected to the cylinder body portion of the cylinder (2).

7. The walking device comprises a frame (1) and a wheel train system arranged on the frame (1), and is characterized in that the wheel train system is the wheel train system of any one of claims 1 to 6;

the travelling wheels (5) are used as rolling wheels when the travelling device travels;

still including being used for changing drive device (3) of link mechanism (4) form, and drive device (3) during operation, third connecting rod (43) swing realizes that walking wheel (5) can switch between following mode to the support of frame (1):

the first mode is as follows: supporting the frame (1) only by means of the first roller (51);

and a second mode: the frame (1) is supported by the first roller (51) and the second roller (52) together.

8. The running gear according to claim 7, characterized by further comprising a cylinder (2), wherein one of the cylinder part and the piston rod part of the cylinder (2) is fixedly connected with a third connecting rod (43), and the other one is fixedly provided with a connecting piece (8);

a rotating shaft is arranged on the connecting piece (8), and the air cylinder (2) can rotate around the rotating shaft;

the rotating shaft on the connecting piece (8) is parallel to the axis of the swinging shaft when the third connecting rod (43) swings;

the connecting piece (8) is also provided with a locking piece, and the locking piece is used for realizing the rotation locking of the cylinder (2) relative to the rotating shaft;

the air cylinder (2) is rotatably connected to the rack (1) through a connecting piece (8), and a rotating shaft on the connecting piece (8) is used as a rotating shaft of the air cylinder (2) rotating relative to the rack (1).

9. The running gear of claim 8, wherein the gear train system is plural; each gear train system is provided with a traveling wheel (5); each gear train system is matched with a cylinder (2).

10. A walking method, characterized in that the walking method is a walking method of the wheel-leg combined gear train system according to any one of claims 1 to 6;

the state of the link mechanism (4) is changed, so that in the state changing process, the third connecting rod (43) swings to change the position of the traveling wheel (5) relative to a traveling surface, and the support of the traveling wheel (5) on the link mechanism (4) can be switched between the following modes:

the first mode is as follows: supporting the frame (1) only by means of the first roller (51);

and a second mode: the frame (1) is supported by the first roller (51) and the second roller (52) together.

Background

In the tasks of bomb disposal and mine elimination, earthquake rescue, mine disaster search and rescue, jungle battle and the like, the terrain environment is complex, the operation conditions are hard, the traditional operation mode is generally operated directly by personnel, casualties and great loss are often caused, meanwhile, a large amount of instruments and equipment are required to be carried in field operation, the task load is heavy, the personnel load capacity is limited, and the single task benefit is greatly limited by the traditional operation mode.

Taking the existing walking robot as an example, in the prior art, mobile devices capable of running autonomously are widely used for executing various tasks, and along with the diversification of a motion system matched with the mobile devices and the development of a control technology, in the military and civil fields, the mobile devices gradually replace the traditional manual operation with the advantage that the direct operation of personnel cannot be compared.

The existing wheel-leg combined type motion platform has various structures, typically comprises Finland PAW, North aviation NOROS, Japanese Work' n Roll and Chinese academy HyTro, and has simple structure and high stability. In addition, as patent application numbers: the technical schemes of CN201210219117.X, CN202011524973.7, CN202011007980.X, CN201810597168.3 and CN202010806731.0 also provide a plurality of different motion platforms capable of executing corresponding tasks.

In order to meet different terrain requirements or motion requirements, the development direction of the current motion platform is a multi-modal direction. Like the technical scheme that application number is CN202010806731.0 provides, for the mode that makes train and ground contact can set up according to the application condition is nimble, its frame through supplementary leg installation auxiliary wheel, through extensible member installation wheel, and through carrying out the state adjustment to the extensible member, realize that three legs support state, two legs support state are changeable.

At present, the walking device is applied to a walking robot, and in order to realize a plurality of state motion modes, a plurality of sets of motion modules are generally adopted for accumulating a corresponding walking driving system, and the structure of the walking driving system is relatively complex.

The structural design of the walking device is further optimized, the traffic capacity is enhanced while the structure is simplified, and the walking device has positive promoting significance for the application and development of the walking device.

Disclosure of Invention

The invention provides a wheel-leg combined type gear train system, a walking device and a walking method, aiming at the technical problems that the structural design of the walking device is further optimized, the structure is simplified, the traffic capacity is enhanced, and the application and the development of the walking device are positively promoted. The technical scheme that this scheme of adoption provided not only can realize the compound walking of wheel leg, simple structure simultaneously, and the current capacity is strong.

Aiming at the problems, the wheel-leg combined type gear train system, the walking device and the walking method provided by the invention solve the problems through the following technical key points: the wheel-leg combined type wheel train system comprises supporting legs, wherein each supporting leg comprises a telescopic connecting rod mechanism, each connecting rod mechanism comprises a third connecting rod and a travelling wheel, the third connecting rod is arranged at the bottom side of each connecting rod mechanism and is a rocker arm when the connecting rod mechanism deforms, and the travelling wheel is installed on the third connecting rod;

the walking wheel includes first gyro wheel and second gyro wheel, first gyro wheel is installed at the low end of third connecting rod, and the respective supporting wheel face of first gyro wheel and second gyro wheel all is located the below of third connecting rod, and when the swing of third connecting rod, the relative position of first gyro wheel and second gyro wheel can be converted into: the supporting wheel surface of the second roller is positioned above the supporting wheel surface of the first roller.

In the prior art, as a technical solution provided by application number CN202010806731.0, it uses a technical solution that an auxiliary wheel is located between two telescopic members and wheels are installed on the telescopic members, so as to implement, in the actual application process: on flat ground, the walking driving piece of mechanical leg can drive the wheel and move on ground, and when meeting the barrier, flexible driving piece can exert the effort to the extensible member fast, stridees across the barrier through the mode of jump, finally reaches the purpose that improves mechanical leg trafficability.

Aiming at the problems that in the prior art, multiple motion modules are generally adopted by a corresponding walking driving system to accumulate so that the structure of the walking device is relatively complex and the cruising ability and the passing ability of the walking device during self-operation are not facilitated, the wheel-leg combined type wheel train system is provided. In the concrete structure design, link mechanism is as the shank arm of landing leg, the walking wheel is as the gyro wheel of train system, and above link mechanism and walking wheel provide wheel leg combined type motion structure basis for this system promptly: the height of the supported object can be adjusted by the extension and contraction of the link mechanism; the supported object can jump and cross the obstacle by the extension and contraction of the link mechanism.

According to the scheme, when the model is specifically selected, the connecting rod mechanism comprises the third connecting rod, the third connecting rod is a rocker arm when the connecting rod mechanism deforms, and the travelling wheels comprise the first roller and the second roller, so that when the model is specifically used, the driving and rotating device provided by the scheme is adopted to drive the connecting rod mechanism to deform, the third connecting rod swings, and the first roller is arranged on the bottom side of the third connecting rod, so that the first roller can always provide support for the wheel train system; when the third connecting rod swings to the state that the second roller is separated from the supporting surface, the first roller only supports the gear train system; when the third connecting rod swings to the position that the second roller is supported on the supporting surface, the first roller and the second roller jointly provide support for the gear train system. Meanwhile, the second idler wheel is converted from a state of being in contact with the supporting surface into a state of being separated from the supporting surface, the third connecting rod takes the first idler wheel as a fulcrum, and the upper end of the third connecting rod is in an upward overturning process. Therefore, the scheme can realize the switching of the motion modes in various states according to specific operation places.

The system is different from the prior art, in the prior art, as a structural foundation for switching a gear train supporting mode, from the functional consideration, for example, a first roller is defined as a main wheel of a walking wheel, a second roller is defined as an auxiliary wheel of the walking wheel, and the existing main wheel and the existing auxiliary wheel are respectively installed on a frame of a walking device through an independent frame body; meanwhile, as the technical solution provided in application No. CN202010806731.0, the relative position relationship between the main wheel (wheel) and the auxiliary wheel determines: when the walking device walks, if the auxiliary wheels and the auxiliary legs pass through obstacles in a space track, the walking device cannot cross the obstacles through the conventional wheel-type walking.

In this scheme, through installing first gyro wheel and the equal integration of second gyro wheel on the third connecting rod, can realize different walking wheels through the swing of third connecting rod and support the mode switching, so be different from prior art, on reaching the basis that communicates with each other the support function and switch, this scheme need not set up solitary supplementary leg for the second gyro wheel, so this scheme structure is more simple, and whole quality can set up more lightly, is convenient for promote running gear's duration, spring ability and response speed.

In the scheme, the first roller and the second roller are integrally mounted on the third connecting rod, if the walking direction of the first roller and the second roller is set to be the length direction of the projection line of the third connecting rod on the supporting surface (as a person skilled in the art, the state is only one possible operation mode of the gear train system, and meanwhile, the person skilled in the art can also set the gear train system to be the above motion mode according to specific requirements, for example, a four-bar mechanism which is provided by the following text part and the attached drawing part of the specification and is formed by the frame, the first connecting rod, the second connecting rod and the third connecting rod) or a certain angle is formed between the walking direction and the length direction, in the obstacle crossing capability of wheel type walking, the width of the supporting leg is only required to be considered in the region where the walking device causes the obstacle crossing, for example, the left side and the right side of the walking device are realized by adopting two supporting legs, And the right support is realized, namely, whether the walking device cannot pass through the support due to the fact that obstacles exist in front of the supporting legs is considered, a three-supporting-leg type support mode in the prior art is converted into a portal-type frame type two-supporting-leg type support mode, and the environment adaptability of the walking device based on wheel type operation can be effectively improved.

The further technical scheme of the wheel leg combined type gear train system is as follows:

as a flexible link mechanism cooperation frame when specifically using, can regard as four-bar linkage, realize on simple structure's basis, only need adopt one to drive first connecting rod and second connecting rod that changes device restraint and drive as follows, can realize link mechanism attitude control and flexible control to change the high and realization train system take-off's of train system technical scheme sets up to: the connecting rod mechanism further comprises a second connecting rod and a first connecting rod, and the first connecting rod and the second connecting rod are hinged to different positions of the third connecting rod in the length direction through rotating shafts;

the rotating shafts of the first connecting rod and the second connecting rod and the third connecting rod are parallel to each other. When the wheel train system is used specifically, the first connecting rod, the second connecting rod and the third connecting rod are arranged to be coplanar, and when the connecting rod mechanism is arranged vertically, the first idler wheel and the second idler wheel are located under or on the side face of the third connecting rod, so that the projection width of the wheel train system in front of the wheel train system and on the inner side perpendicular to the wheel train system is reduced, and the traffic capacity of the wheel train system is improved. More preferably, the wheel diameter that sets up to first gyro wheel is greater than the wheel diameter of second gyro wheel, and first gyro wheel setting is in the side of third connecting rod, and the second gyro wheel setting is under the third connecting rod to realize: the larger wheel diameter of the first roller is matched with a driving device connected with the first roller, so that a structural foundation is provided for improving the walking capability of a gear train system; the third connecting rod can be arranged at a lower height so as to obtain the walking device with a lower gravity center and improve the walking speed, the stability and the low-posture passing capacity of the walking device.

For making when the second gyro wheel is as the front side guide wheel, can adjust walking direction by oneself according to the road surface condition and in order to promote running gear's walking ability, set up to: the second idler wheel is a universal wheel.

The cylinder body part of the cylinder and the piston rod part of the cylinder are fixedly connected with the third connecting rod, and the other one of the cylinder body part and the piston rod part is fixedly provided with a connecting piece;

the connecting piece is provided with a rotating shaft, and the air cylinder can rotate around the rotating shaft;

the rotating shaft on the connecting piece is parallel to the axis of the swinging shaft when the third connecting rod swings;

the connecting piece is further provided with a locking piece, and the locking piece is used for realizing the rotation locking of the air cylinder relative to the rotating shaft. Among the prior art, consider current motor driving force, concrete structural design etc. the flexible driving piece that current leg running gear adopted generally is equipped with elastic mechanism to match mobile device's bearing capacity and self lightweight design: in particular to the technical proposal provided by the invention patent applications with application numbers of CN201610206266.0, CN202010751681.0 and the like. This scheme is to current design, provides one kind not only can realize walking speed and walking stability concurrently, simple structure, bearing capacity are strong simultaneously, the fast technical scheme of lift adjustment response speed. This scheme is when specifically using, with as above the concrete train system structure that provides, as running gear's traveling system, and specifically install and be: the cylinder is rotatably connected to a frame of the walking device through a connecting piece, and a rotating shaft on the connecting piece is used as a rotating shaft of the cylinder relative to the frame; the upper driving and rotating device is fixedly arranged on the rack, the third connecting rod is provided with a wheel carrier, the wheel carrier is provided with a traveling wheel matched with a driving device in a connecting mode, and the driving device is connected onto the first roller. Like this, drive the device and rotate (if connect on first connecting rod, drive the device and adopt servo motor, can realize first connecting rod swing) through the connecting rod rotation that corresponds on the drive link mechanism, can realize link mechanism's length adjustment, above link mechanism length change in-process, because the cylinder is connected between wheel carrier and frame, the pivot that the event set up on the connecting piece aims at making this moment the cylinder can rotate in order to be synchronous with link mechanism length change. The locking piece is arranged at the same time, so that the rotation of the air cylinder relative to the frame can be locked, and the air cylinder can have the capacity of supporting the frame.

The structural foundation of the walking system provided above can realize: the cylinder and the supporting legs are used as supporting parts of the rack, and the height lifting and the take-off of the rack are realized through the expansion of the cylinder and the connecting rod mechanism; wherein, the mode of providing the support to the frame does: in the whole or partial process of the walking device, the state constraint of the driving device on the link mechanism is removed, so that the link mechanism can freely stretch and retract, and the support of the rack is realized through the air cylinder; when the frame is lifted and lowered: removing the constraint of the cylinder on the extension and retraction of the link mechanism, and driving the link mechanism to extend and retract by using the driving device to complete the height adjustment of the rack; when the machine frame is lifted and jumped, the connecting rod mechanism is used for compressing the gas in the cylinder to realize the force storage of the cylinder.

The height lifting is used for meeting the passing requirement of the rack: when the ground is flat, the gravity center of the walking device is lowered through the contraction of the connecting rod mechanism, so that the walking speed is increased; when walking on the hollow ground, the accessible link mechanism extends for the frame is supported by the high-order, with the mode of sacrificing the focus height, avoids frame contact ground, promotes running gear's throughput. The jumping is used for the walking device to cross obstacles, so that the walking device has all-terrain adaptability. When the rack is supported, the constraint of the driving and rotating device on the extension and retraction of the connecting rod mechanism is removed according to needs, and the rack is supported only by using the air cylinder, so that the characteristic of compressible air in the air cylinder body can be utilized, the support structure of the rack can absorb impact, and the damping function is realized to adapt to bumpy road conditions; meanwhile, the mode that only the air cylinder supports the frame can be used for landing buffering. Therefore, the shock absorption can be realized, and meanwhile, as for a double-wheel-foot walking mode (only two walking wheels are arranged on the walking device or only two walking wheels are adopted to form a wheel train under certain working conditions), the requirement on the balance capacity of balance parts carried on the walking device can be reduced. Simultaneously, above scheme still is particularly useful for running gear self subtracts heavy design demand: in the prior art, if foot-type bouncing is realized through a motor, the inertia of the motor itself needs to be considered, and if a low-inertia motor is generally adopted, the bouncing is realized in a manner that: the scheme also has the characteristics of relatively complex structure and relatively complex control strategy. And this scheme of adoption, cylinder itself can regard as energy storage component and as the power component when bouncing for single part can the multipurpose on this traveling system, is convenient for realize running gear subtracts heavy design and the design of simple structure. By adopting the scheme, after the power storage is completed, the driving device and the air cylinder can further apply work for the connecting rod mechanism, and the capability of the walking device for jumping obstacles is improved through the combined action of multiple parts. Adopt this scheme simultaneously, because the cylinder generally has the characteristics of big inertia, low response, be different from the device of rotating that drives that generally is the motor, have bigger bearing capacity under the prerequisite that the volume is littleer, weight is lighter, and the model selection of motor in the field generally is the motor of low inertia, high response, so this scheme can adopt when carrying out frame height control: remove the cylinder to link mechanism's restraint (remove the locking of locking piece to the cylinder and remove the restraint of gas circuit system to cylinder piston motion), only utilize the device work of driving commentaries on classics, realize frame height high accuracy and high efficiency and adjust, then reuse the cylinder to carry out auxiliary stay to the frame or convert the mode that only the cylinder supported the frame into, so not only can promote frame height control accuracy, can guarantee running gear bearing capacity and reliability at whole task in-process simultaneously.

For the design of connecting piece, when specifically using, can set up to the connecting piece and include the second hoop body that is used for the first hoop body of fixed connection frame and is used for fixed connection cylinder, first hoop body and second hoop body pass through the pivot and connect. The corresponding locking piece is just required to adopt a rotating shaft locking device. Meanwhile, as a person skilled in the art, the above wheel carrier may be the link mechanism itself, or may be a separate component mounted on the link mechanism.

More complete, for the load that alleviates running gear when independently operating, set up as: the air source device is used for providing a compressed air source for the air cylinder, and the air source device is a compressed air cylinder. When the pneumatic system is used specifically, the compressed gas cylinder provides compressed gas for the cylinder through the gas circuit and the corresponding gas circuit element, so that the pneumatic system which is carried on the walking device and comprises the gas source device and the cylinder has the characteristics of light weight and simple structure.

As a technical scheme that the bidirectional controllability is high, a cylinder body is connected with a rack through a connecting piece, and a piston rod is connected with a wheel carrier, the technical scheme is as follows: the cylinder is a single-cylinder double-acting cylinder, a piston rod part of the cylinder is fixedly connected with a third connecting rod, and the connecting piece is connected to a cylinder body part of the cylinder. By adopting the scheme, the characteristics that the outer diameter of the piston rod part is smaller than that of the cylinder body part are utilized, and the arrangement of the walking wheels, the driving device, the connecting rod mechanism and the like is convenient to complete.

The scheme also discloses a walking device, which comprises a rack and a wheel train system arranged on the rack, wherein the wheel train system is any one of the wheel train systems;

the walking wheels are used as rollers when the walking device walks;

still including being used for changing the device that drives the commentaries on classics of link mechanism form, and drive the device during operation that changes, the swing of third connecting rod realizes that the walking wheel can switch between the following mode to the support of frame:

the first mode is as follows: supporting the frame only by the first roller;

and a second mode: the frame is supported by the first roller and the second roller together. As mentioned above, this running gear is based on the application of train system adopts the running gear that this scheme provided: the switching of the motion modes in various states can be realized according to specific operation places; the scheme has simpler structure, the whole mass can be set more conveniently, and the cruising ability, the bouncing ability and the response speed of the walking device are convenient to be improved; under the wheel type walking mode, the environment adaptability of the walking device on the obstacle crossing problem can be effectively improved.

As a further technical proposal of the walking device:

as introduced above, as including the cylinder, form the concrete applications such as the high response of the concrete height of frame and high accuracy control, etc. through the cylinder, utilize cylinder cooperation link mechanism to realize that the buffering supports the mode, set up as: the cylinder body part of the cylinder and the piston rod part of the cylinder are fixedly connected with the third connecting rod, and the other one of the cylinder body part and the piston rod part is fixedly provided with a connecting piece;

the connecting piece is provided with a rotating shaft, and the air cylinder can rotate around the rotating shaft;

the rotating shaft on the connecting piece is parallel to the axis of the swinging shaft when the third connecting rod swings;

the connecting piece is also provided with a locking piece, and the locking piece is used for realizing the rotation locking of the air cylinder relative to the rotating shaft;

the cylinder passes through the connecting piece rotatable coupling in the frame, and the pivot on the connecting piece is as the rotatory rotation axis of cylinder relative to the frame.

The gear train system is multiple; each gear train system is provided with a traveling wheel; each gear train system is matched with an air cylinder.

The scheme also discloses a walking method, which is the walking method of the wheel-leg combined wheel train system in any item above;

the state of the link mechanism is changed, so that in the state changing process, the third connecting rod swings to change the position of the traveling wheel relative to the traveling surface, and the support of the traveling wheel to the link mechanism can be switched between the following modes:

the first mode is as follows: supporting the frame only by the first roller;

and a second mode: the frame is supported by the first roller and the second roller together. As described above, the present traveling method is a use method based on the train system, and the present method is adopted: the switching of the motion modes in various states can be realized according to specific operation places; the scheme has simple structure and convenient use, the whole mass can be set more conveniently, and the cruising ability, the bouncing ability and the response speed of the walking device are convenient to be improved; aiming at the design of a specific gear train system, the environment adaptability of the walking device on the obstacle crossing problem can be effectively improved in a wheel type walking mode.

The invention has the following beneficial effects:

the scheme provides a wheel-leg combined type wheel train system, a walking device and a walking method, wherein the walking device and the walking method are based on the walking system.

In the structural design of the wheel train system, through installing first gyro wheel and the equal integration of second gyro wheel on the third connecting rod, can realize different walking wheels through the swing of third connecting rod and support the mode switching, so be different from prior art, on reaching the basis that communicates with each other and support the function switching, this scheme need not set up solitary supplementary leg for the second gyro wheel, so this scheme structure is more simple, whole quality can set up more lightly, be convenient for promote running gear's duration, bounce ability and response speed.

In the structural design of the gear train system, the first roller and the second roller are integrally mounted on the third connecting rod, for example, the walking direction of the first roller and the second roller is set to be the length direction of the projection line of the third connecting rod on the supporting surface (as a person skilled in the art, the state is only one possible operation mode of the gear train system, and the person skilled in the art can also set the gear train system to be the above motion mode according to specific requirements, for example, a four-bar mechanism which is provided by the following text part and the attached drawing part of the specification and is formed by the frame, the first connecting rod, the second connecting rod and the third connecting rod) or a certain angle is formed between the walking direction and the length direction, in the obstacle crossing capability of wheel-type walking, because the design characteristics of the gear train system only need to consider the width of the supporting legs in the region where the walking device causes the obstacle to go forward, for example, the left side and the left side of the walking device are realized by adopting the two supporting legs, And the right support is realized, namely, whether the walking device cannot pass through the support due to the fact that obstacles exist in front of the supporting legs is considered, a three-supporting-leg type support mode in the prior art is converted into a portal-type frame type two-supporting-leg type support mode, and the environment adaptability of the walking device based on wheel type operation can be effectively improved.

Running gear is for being based on the application of train system adopts the running gear that this scheme provided: the switching of the motion modes in various states can be realized according to specific operation places; the scheme has simpler structure, the whole mass can be set more conveniently, and the cruising ability, the bouncing ability and the response speed of the walking device are convenient to be improved; under the wheel type walking mode, the environment adaptability of the walking device on the obstacle crossing problem can be effectively improved.

The walking method is based on the use method of the gear train system, and the method is adopted: the switching of the motion modes in various states can be realized according to specific operation places; the scheme has simple structure and convenient use, the whole mass can be set more conveniently, and the cruising ability, the bouncing ability and the response speed of the walking device are convenient to be improved; aiming at the design of a specific gear train system, the environment adaptability of the walking device on the obstacle crossing problem can be effectively improved in a wheel type walking mode.

Drawings

Fig. 1 is a schematic structural view of a specific embodiment of a walking device according to the present invention, which is a schematic perspective structural view of the walking device;

fig. 2 is a schematic structural view of an embodiment of the walking device according to the present invention, which is an exploded view of the structure shown in fig. 1;

fig. 3 is a schematic structural diagram of an embodiment of the wheel train system according to the present invention, and the schematic structural diagram is an exploded view.

The reference numbers in the drawings are respectively: 1. the device comprises a frame, 2, a cylinder, 3, a driving device, 4, a connecting rod mechanism, 41, a first connecting rod, 42, a second connecting rod, 43, a third connecting rod, 5, a traveling wheel, 51, a first roller, 52, a second roller, 6, a driving device, 7, a wheel carrier, 8, a connecting piece, 9, a locking nut, 10, a shaft sleeve, 11, a first connecting rod connecting piece, 12, a second connecting rod connecting piece, 13, a third connecting rod connecting piece, 14, a joint bearing bush, 15 and a connecting screw.

Detailed Description

The present invention will be described in further detail with reference to the following examples, but the present invention is not limited to the following examples:

example 1:

as shown in fig. 1 to 3, the wheel-leg combined wheel train system comprises a leg, the leg comprises a telescopic link mechanism 4, the link mechanism 4 comprises a third link 43 which is arranged at the bottom side of the link mechanism 4 and is a rocker arm when the link mechanism 4 is deformed, and a road wheel 5 which is arranged on the third link 43;

the traveling wheel 5 comprises a first roller 51 and a second roller 52, the first roller 51 is mounted at the lower end of the third link 43, the respective supporting wheel surfaces of the first roller 51 and the second roller 52 are both located below the third link 43, and when the third link swings, the relative positions of the first roller and the second roller can be converted into: the supporting tread of the second roller 52 is located above the supporting tread of the first roller 51.

In the prior art, as a technical solution provided by application number CN202010806731.0, it uses a technical solution that an auxiliary wheel is located between two telescopic members and wheels are installed on the telescopic members, so as to implement, in the actual application process: on flat ground, the walking driving piece of mechanical leg can drive the wheel and move on ground, and when meeting the barrier, flexible driving piece can exert the effort to the extensible member fast, stridees across the barrier through the mode of jump, finally reaches the purpose that improves mechanical leg trafficability.

Aiming at the problems that in the prior art, multiple motion modules are generally adopted by a corresponding walking driving system to accumulate so that the structure of the walking device is relatively complex and the cruising ability and the passing ability of the walking device during self-operation are not facilitated, the wheel-leg combined type wheel train system is provided. In the concrete structure design, link mechanism 4 is as the shank of landing leg, walking wheel 5 is as the gyro wheel of train system, and above link mechanism 4 and walking wheel 5 provide wheel leg combined type motion structure basis for this system promptly: the height of the supported object can be adjusted by stretching and contracting the connecting rod mechanism 4; the supported object can jump and cross the obstacle by the extension and contraction of the link mechanism 4.

In the scheme, when the model is specifically selected, the link mechanism 4 is set to comprise the third link 43, the third link 43 is a rocker arm when the link mechanism 4 deforms, and the traveling wheels 5 comprise the first roller 51 and the second roller 52, so that when the model is specifically used, the driving device 3 provided as follows is adopted to drive the link mechanism 4 to deform, at the moment, the third link 43 swings, and the first roller 51 is arranged at the bottom side of the third link 43, so that the first roller 51 can always provide support for the wheel system; when the third link 43 swings until the second roller 52 is disengaged from the supporting surface, that is, only the first roller 51 supports the train system; when the third link 43 swings to the position where the second roller 52 is supported on the supporting surface, the first roller 51 and the second roller 52 together provide a support for the wheel train system. Meanwhile, the state that the second roller 52 is converted from the state of contacting with the supporting surface to the state of being separated from the supporting surface is the process that the third connecting rod 43 takes the first roller 51 as a fulcrum and the upper end of the third connecting rod is turned upwards, so that the wheel train system is lifted along with the improvement of the gravity center of the wheel train system, and the wheel train system is lowered along with the descending of the gravity center of the wheel train system, so that only the first roller 51 supports the corresponding walking device to have stronger obstacle passing capacity, and the first roller 51 and the second roller 52 support the walking device together to enable the walking device to have ideal supporting stability, which is favorable for improving the walking speed of the walking device. Therefore, the scheme can realize the switching of the motion modes in various states according to specific operation places.

In contrast to the prior art, in the prior art, as a structural basis for switching the wheel train support mode, from the functional point of view, for example, the first roller 51 is defined as a main wheel of the traveling wheel 5, and the second roller 52 is defined as an auxiliary wheel of the traveling wheel 5, and the existing main wheel and the existing auxiliary wheel are each generally mounted on the frame 1 of the traveling device through a separate frame body; meanwhile, as the technical solution provided in application No. CN202010806731.0, the relative position relationship between the main wheel (wheel) and the auxiliary wheel determines: when the walking device walks, if the auxiliary wheels and the auxiliary legs pass through obstacles in a space track, the walking device cannot cross the obstacles through the conventional wheel-type walking.

In this scheme, through all integrated the installing on third connecting rod 43 with first gyro wheel 51 and second gyro wheel 52, can realize different walking wheels 5 through the swing of third connecting rod 43 and support the mode switch, so be different from prior art, on reaching the basis that communicates with each other the support function switches, this scheme need not set up solitary supplementary leg for second gyro wheel 52, so this scheme structure is more simple, the overall quality can set up more lightly, be convenient for promote running gear's duration, bounce ability and response speed.

In the present embodiment, the first roller 51 and the second roller 52 are integrally mounted on the third link 43, for example, the traveling direction of the first roller 51 and the second roller 52 is set to be the length direction of the projection line of the third link 43 on the supporting surface (as a person skilled in the art, this state is only one possible operation mode of the wheel train system, and the person skilled in the art can set the wheel train system to be the above motion mode according to specific requirements, for example, the four-bar linkage 4 formed by the frame 1, the first link 41, the second link 42 and the third link 43 and provided in the following text and drawings of the specification or a certain angle is provided between the traveling direction and the length direction, in terms of obstacle crossing capability of wheel-type traveling, because the design features of the wheel train system only need to consider the width of the legs in the region where the traveling obstacle is caused by the traveling device, for example, two legs are used to realize left, right, left, right, left, right, and the traveling of the traveling device, And the right support is realized, namely, whether the walking device cannot pass through the support due to the fact that obstacles exist in front of the supporting legs is considered, a three-supporting-leg type support mode in the prior art is converted into a portal-type frame type two-supporting-leg type support mode, and the environment adaptability of the walking device based on wheel type operation can be effectively improved.

Example 2:

this example was further optimized and refined on the basis of example 1:

as a kind of when specifically using the flexible link mechanism 4 cooperates with the framework 1, can regard as the four-bar linkage 4, realize on the basis of simple in construction, only need to adopt one to drive the apparatus 3 to restrain and drive the first connecting rod 41 and second connecting rod 42 as follows, can realize 4 attitude control of link mechanism and flexible control, in order to change the height of the system of the gear train and realize the technical scheme of the system of the gear train take-off, set up as: the link mechanism 4 further includes a second link 42 and a first link 41, and the first link 41 and the second link 42 are both hinged to different positions of the third link 43 in the length direction through a rotating shaft;

the rotation axes of the first link 41, the second link 42 and the third link 43 are parallel to each other. In a specific application, the first connecting rod 41, the second connecting rod 42 and the third connecting rod 43 are arranged to be coplanar, and when the link mechanism 4 is arranged vertically, the first roller 51 and the second roller 52 are positioned right below or on the side surface of the third connecting rod 43, so that the projection width of the wheel train system in front of the wheel train system and on the inner surface perpendicular to the wheel train system is reduced, and the traffic capacity of the wheel train system is improved. Preferably, the wheel diameter of the first roller 51 is larger than that of the second roller 52, the first roller 51 is arranged on the side of the third link 43, and the second roller 52 is arranged right below the third link 43, so as to realize that: the larger wheel diameter of the first roller 51 is matched with the driving and rotating device 3 connected with the first roller, so that a structural foundation is provided for improving the walking capability of a gear train system; the third link 43 may be set at a lower height to obtain a lower center of gravity of the traveling device attitude to improve the traveling speed, stability, and low attitude throughput of the traveling device.

Example 3:

this example was further optimized and refined on the basis of example 1:

for making when second gyro wheel 52 is as the front side guide wheel, can adjust walking direction by oneself according to the road surface condition and in order to promote running gear's walking ability, set up to: the second roller 52 is a universal wheel. In this embodiment, the setting is as follows: the robot further comprises a restraining device for restraining the traveling direction of the second roller 52, so that the automatic steering of the second roller 52 under the ground restraint can only occur at a required moment, such as on a bumpy road, and the robot traveling route can be effectively executed as preset as required in other time periods. The above restraining means may employ a clamp capable of clamping or gripping the steering shaft of the second roller 52.

Example 4:

this example was further optimized and refined on the basis of example 1:

the cylinder 2 is further included, one of the cylinder body part and the piston rod part of the cylinder 2 is fixedly connected with the third connecting rod 43, and the other is fixedly provided with the connecting piece 8;

a rotating shaft is arranged on the connecting piece 8, and the air cylinder 2 can rotate around the rotating shaft;

the rotating shaft on the connecting piece 8 is parallel to the axis of the swinging shaft when the third connecting rod 43 swings;

and a locking piece is further arranged on the connecting piece 8 and used for realizing the rotation locking of the cylinder 2 relative to the rotating shaft. Among the prior art, consider current motor driving force, concrete structural design etc. the flexible driving piece that current leg running gear adopted generally is equipped with elastic mechanism to match mobile device's bearing capacity and self lightweight design: in particular to the technical proposal provided by the invention patent applications with application numbers of CN201610206266.0, CN202010751681.0 and the like. This scheme is to current design, provides one kind not only can realize walking speed and walking stability concurrently, simple structure, bearing capacity are strong simultaneously, the fast technical scheme of lift adjustment response speed. This scheme is when specifically using, with as above the concrete train system structure that provides, as running gear's traveling system, and specifically install and be: the cylinder 2 is rotatably connected to the frame 1 of the walking device through a connecting piece 8, and a rotating shaft on the connecting piece 8 is used as a rotating shaft of the cylinder 2 rotating relative to the frame 1; the upper driving device 3 is fixedly arranged on the frame 1, the third connecting rod 43 is provided with a wheel carrier 7, the wheel carrier 7 is provided with a traveling wheel 5 matched with a driving device 6 in a mounting and connecting way, and the driving device 6 is connected on the first roller 51. Like this, drive commentaries on classics device 3 and rotate (if connect on first connecting rod 41, drive commentaries on classics device 3 adopts servo motor, can realize the swing of first connecting rod 41) through the connecting rod that corresponds on the drive link mechanism 4, can realize link mechanism 4's length adjustment, above link mechanism 4 length change in-process, because cylinder 2 connects between wheel carrier 7 and frame 1, the pivot that so sets up on the connecting piece 8 aims at making this moment cylinder 2 can rotate in order to be synchronous with link mechanism 4 length change. The locking member is also provided so that the rotation of the cylinder 2 relative to the frame 1 can be locked, thus allowing the cylinder 2 itself to have the ability to support the frame 1.

The structural foundation of the walking system provided above can realize: the cylinder 2 and the supporting legs are used as supporting parts of the rack 1, and the height of the rack 1 is lifted and bounced through the expansion of the cylinder 2 and the connecting rod mechanism 4; wherein, the mode of providing support to frame 1 does: in the whole or partial process of the walking device, the state constraint of the driving device 3 on the link mechanism 4 is removed, so that the link mechanism 4 can freely stretch and retract, and the support of the rack 1 is realized through the cylinder 2; when the frame 1 is lifted and lowered: removing the constraint of the cylinder 2 on the extension and contraction of the link mechanism 4, and driving the link mechanism 4 to extend and contract by using the driving device 3 to complete the height adjustment of the rack 1; when the frame 1 is bounced, the connecting rod mechanism 4 is used for compressing the gas in the cylinder 2 to realize the force storage of the cylinder 2.

The above height elevation is used to adapt to the traffic demand of the rack 1: when the ground is flat, the connecting rod mechanism 4 can be retracted, so that the gravity center of the walking device is lowered, and the walking speed is increased; when the walking device walks on a hollow ground, the machine frame 1 can be supported at a high position by extending the connecting rod mechanism 4, so that the machine frame 1 is prevented from contacting the ground in a mode of sacrificing the height of the center of gravity, and the traffic capacity of the walking device is improved. The jumping is used for the walking device to cross obstacles, so that the walking device has all-terrain adaptability. When the rack 1 is supported, the constraint of the driving device 3 on the extension and contraction of the link mechanism 4 is removed as required, and the rack 1 is supported only by the air cylinder 2, so that the characteristic of compressible air in the air cylinder 2 can be utilized, the support structure of the rack 1 can absorb impact, and the damping function is realized to adapt to bumpy road conditions; while the manner in which only the cylinder 2 supports the frame 1 may also be used for floor cushioning. Therefore, the shock absorption can be realized, and meanwhile, as for a double-wheel-foot walking mode (only two walking wheels 5 are arranged on the walking device or only two walking wheels 5 are adopted to form a wheel train under certain working conditions), the requirement on the balance capacity of balance parts carried on the walking device can be reduced. Simultaneously, above scheme still is particularly useful for running gear self subtracts heavy design demand: in the prior art, if foot-type bouncing is realized through a motor, the inertia of the motor itself needs to be considered, and if a low-inertia motor is generally adopted, the bouncing is realized in a manner that: the scheme also has the characteristics of relatively complex structure and relatively complex control strategy. And this scheme of adoption, cylinder 2 itself can regard as energy storage component and as the power component when bouncing for single part can the multipurpose on this traveling system, is convenient for realize running gear subtracts heavy design and the design of simple structure. By adopting the scheme, after the power storage is completed, the driving device 3 and the cylinder 2 can further apply work to the connecting rod mechanism 4, and the capability of the walking device for jumping obstacles is improved under the combined action of multiple parts. Adopt this scheme simultaneously, because cylinder 2 generally has the characteristics of big inertia, low response, is different from the drive device 3 that generally is the motor, has bigger bearing capacity under the prerequisite that the volume is littleer, weight is lighter, and the type selection of motor in this field is the motor of low inertia, high response generally, so this scheme can adopt when carrying out 1 altitude mixture control of frame: remove the restraint of cylinder 2 to link mechanism 4 (remove the locking of locking piece to cylinder 2 and remove the restraint of gas circuit system to cylinder 2 piston motion), only utilize and drive the work of commentaries on classics device 3, realize the high precision of frame 1 and high efficiency and adjust, then reuse cylinder 2 to carry out the auxiliary stay to frame 1 or convert the mode that only cylinder 2 supported frame 1 into, so not only can promote the high control accuracy of frame 1, can guarantee running gear bearing capacity and reliability at whole task in-process simultaneously.

For the design of the connecting piece 8, in a specific application, the connecting piece 8 may include a first hoop body for fixedly connecting the rack 1 and a second hoop body for fixedly connecting the cylinder 2, and the first hoop body and the second hoop body are connected through a rotating shaft. The corresponding locking piece is just required to adopt a rotating shaft locking device. Also, as a person skilled in the art, the above wheel carrier 7 may be the link mechanism 4 itself, or may be a separate component mounted on the link mechanism 4.

Example 5:

this example was further optimized and refined on the basis of example 4:

more complete, for the load that alleviates running gear when independently operating, set up as: the gas source device is used for providing a compressed gas source for the cylinder 2, and the gas source device is a compressed gas cylinder. When the pneumatic system is used specifically, the compressed gas cylinder provides compressed gas for the cylinder 2 through the gas circuit and the corresponding gas circuit element, so that the pneumatic system which is carried on the walking device and comprises the gas source device and the cylinder 2 has the characteristics of light weight and simple structure.

Example 6:

this example was further optimized and refined on the basis of example 4:

as a technical scheme that the bidirectional controllability is high, a cylinder body is connected with a rack 1 through a connecting piece 8, and a piston rod is connected with a wheel carrier 7, the technical scheme is as follows: the cylinder 2 is a single-cylinder double-acting cylinder, the piston rod part of the cylinder 2 is fixedly connected with the third connecting rod 43, and the connecting piece 8 is connected to the cylinder body part of the cylinder 2. By adopting the scheme, the arrangement of the walking wheels 5, the driving device 6, the connecting rod mechanism 4 and the like is conveniently finished by utilizing the characteristic that the outer diameter of the piston rod part is smaller than that of the cylinder body part.

Example 7:

the embodiment provides a walking device based on embodiment 1, which comprises a frame 1 and a wheel train system installed on the frame 1, wherein the wheel train system is the wheel train system;

the travelling wheels 5 are used as rolling wheels when the travelling device travels;

still including being used for changing the device 3 that rotates of driving of 4 forms of link mechanism, and drive the device 3 during operation of rotating, third connecting rod 43 swings, realizes that walking wheel 5 can switch between following mode to the support of frame 1:

the first mode is as follows: the frame 1 is supported only by the first roller 51;

and a second mode: the frame 1 is supported by the first roller 51 and the second roller 52 together. As mentioned above, this running gear is based on the application of train system adopts the running gear that this scheme provided: the switching of the motion modes in various states can be realized according to specific operation places; the scheme has simpler structure, the whole mass can be set more conveniently, and the cruising ability, the bouncing ability and the response speed of the walking device are convenient to be improved; under the wheel type walking mode, the environment adaptability of the walking device on the obstacle crossing problem can be effectively improved.

Example 8:

this example is further refined on the basis of example 7:

as described above, as the specific applications including the cylinder 2, the generation of the take-off power source by the cylinder 2, the cushion support mode, the realization of the specific high-response and high-precision control of the frame 1 by the cylinder 2 in cooperation with the link mechanism 4, and the like, are set as follows: the cylinder 2 is further included, one of the cylinder body part and the piston rod part of the cylinder 2 is fixedly connected with the third connecting rod 43, and the other is fixedly provided with the connecting piece 8;

a rotating shaft is arranged on the connecting piece 8, and the air cylinder 2 can rotate around the rotating shaft;

the rotating shaft on the connecting piece 8 is parallel to the axis of the swinging shaft when the third connecting rod 43 swings;

the connecting piece 8 is also provided with a locking piece which is used for realizing the rotation locking of the cylinder 2 relative to the rotating shaft;

the cylinder 2 is rotatably connected to the frame 1 through a connecting member 8, and a rotating shaft on the connecting member 8 serves as a rotating shaft for the cylinder 2 to rotate relative to the frame 1.

Example 9:

this example is further detailed on the basis of example 8:

more perfect, for making running gear possess the polypody function of walking, each foot all has great bearing capacity simultaneously, can provide elastic support for frame 1, can provide elastic buffer for frame 1, sets up to: the gear train system is multiple; each gear train system is provided with a traveling wheel 5; each gear train system is matched with a cylinder 2.

Example 10:

in this embodiment, on the basis of embodiment 1, a walking method is provided, which is the walking method of the wheel-leg combined gear train system described above;

wherein, through changing the state of the link mechanism 4, in the process of changing the state, the third connecting rod 43 is used for swinging, the position of the walking wheel 5 relative to the walking surface is changed, and the support of the walking wheel 5 to the link mechanism 4 can be switched between the following modes:

the first mode is as follows: the frame 1 is supported only by the first roller 51;

and a second mode: the frame 1 is supported by the first roller 51 and the second roller 52 together. As described above, the present traveling method is a use method based on the train system, and the present method is adopted: the switching of the motion modes in various states can be realized according to specific operation places; the scheme has simple structure and convenient use, the whole mass can be set more conveniently, and the cruising ability, the bouncing ability and the response speed of the walking device are convenient to be improved; aiming at the design of a specific gear train system, the environment adaptability of the walking device on the obstacle crossing problem can be effectively improved in a wheel type walking mode.

The foregoing is a more detailed description of the present invention in connection with specific preferred embodiments thereof, and it is not intended that the specific embodiments of the present invention be limited to these descriptions. For those skilled in the art to which the invention pertains, other embodiments that do not depart from the gist of the invention are intended to be within the scope of the invention.