阅读说明：本技术 一种新型可变形机器人 (Novel transformable robot ) 是由 柏龙 李兴宇 陈晓红 蒲华燕 罗均 彭艳 于 2020-05-08 设计创作，主要内容包括：本发明公开了一种新型可变形机器人,包括底盘和设置于所述底盘的多个变形轮腿部；所述变形轮腿部包括变形轮机构和变形控制机构；所述变形轮机构包括外轮辐和内轮辐、围绕所述外轮辐和内轮辐均匀分布的三个轮构件和依次铰接于相邻轮构件之间的三个连接构件；所述变形控制机构包括驱动电机、传动轴、同步离合器和变形离合器；所述传动轴连接于驱动电机输出轴与外轮辐之间；所述同步离合器用于控制驱动电机输出轴与内轮辐接合或分离；所述变形离合器用于控制内轮辐与机器人机架接合或分离；本机器人的变形轮腿可主动变形,且能够保持任意变形状态的变形轮结构,提高移动机器人的越障效率和对于非结构化地形的适应能力。(The invention discloses a novel deformable robot, which comprises a chassis and a plurality of deformation wheel legs arranged on the chassis; the deformation wheel leg part comprises a deformation wheel mechanism and a deformation control mechanism; the deformation wheel mechanism comprises an outer spoke, an inner spoke, three wheel members uniformly distributed around the outer spoke and the inner spoke and three connecting members sequentially hinged between the adjacent wheel members; the deformation control mechanism comprises a driving motor, a transmission shaft, a synchronous clutch and a deformation clutch; the transmission shaft is connected between the output shaft of the driving motor and the outer wheel spoke; the synchronous clutch is used for controlling the connection or disconnection of the output shaft of the driving motor and the inner wheel spoke; the deformation clutch is used for controlling the inner spoke to be jointed with or separated from the robot frame; the deformation wheel leg of the robot can be actively deformed, and the deformation wheel structure in any deformation state can be kept, so that the obstacle crossing efficiency of the mobile robot and the adaptability to unstructured terrains are improved.)

1. A novel transformable robot is characterized in that: the device comprises a chassis and a plurality of deformation wheel leg parts arranged on the chassis;

the deformation wheel leg part comprises a deformation wheel mechanism and a deformation control mechanism; the deformation wheel mechanism comprises an outer spoke and an inner spoke which are of regular triangle structures and are coaxially arranged, three wheel members which are uniformly distributed around the outer spoke and the inner spoke, and three connecting members which are sequentially hinged between the adjacent wheel members; the three wheel components are hinged at three top points of the outer spoke in a one-to-one correspondence manner; the middle parts of the three connecting components are hinged at three top points of the inner spoke in a one-to-one correspondence manner;

the deformation control mechanism comprises a driving motor, a transmission shaft, a synchronous clutch and a deformation clutch; the transmission shaft is connected between the output shaft of the driving motor and the outer wheel spoke; the synchronous clutch is used for controlling the connection or disconnection of the output shaft of the driving motor and the inner wheel spoke; the deformation clutch is used for controlling the inner spoke to be jointed with or separated from the robot frame.

2. The novel transformable robot of claim 1, wherein: the synchronous clutch and the deformation clutch are both electromagnetic clutches.

3. The novel transformable robot of claim 2, wherein: the inner end of the inner spoke is coaxially fixed with a deformation transmission gear; a driven plate of the synchronous clutch is fixed with the deformation transmission gear; and a driven disc of the deformation clutch is fixedly connected with an intermediate gear meshed with the deformation transmission gear through a deformation shaft.

4. The novel transformable robot of claim 3, wherein: the rear end of the chassis is also provided with a telescopic tail part; the telescopic tail part comprises a stepping motor and a guide rail which are fixed on the robot body, a lead screw which is in transmission connection with an output shaft of the stepping motor, a nut which is in sliding fit in the guide rail and in threaded fit with the lead screw, and a carbon fiber tube which is fixed on the nut.

5. The novel transformable robot of claim 4, wherein: the chassis is provided with a binocular camera and a control panel used for controlling the legs of the deformation wheel and the telescopic tail to act.

Technical Field

The invention relates to the field of mobile robot structural design, in particular to a novel deformable robot.

Background

The deformation wheels adopted by the existing mobile robot mostly realize the deformation of the wheels through a fixed mechanical structure, so that the non-preset deformation state is difficult to maintain in the deformation process, the switching between a round wheel state and a full-leg state can be basically realized, the deformation time and the deformation degree are fixed, the response speed of the mobile robot with the deformation wheels in obstacle crossing is limited, and the adaptability to the non-structural environment is weak. The invention patent with publication number CN105774394A discloses a mobile robot with deformation wheels, which can adapt to different terrains and has strong obstacle-crossing capability, the structure of the deformation driving mechanism of the deformation wheels of the invention is complex, the weight of the robot body and the complexity of the system are greatly increased, in addition, the robot can only realize two-stage switching between the wheel type and the leg type by the deformation wheels, and the whole shape is not easy to maintain in the leg type mode, and the length of the whole robot body is fixed, which affects the adaptability of the robot in the unstructured environment.

Disclosure of Invention

In view of the above, there is a need for a novel transformable robot having a transformable wheel structure capable of actively transforming, controlling the degree of transformation, and maintaining any transformation state, thereby improving the obstacle crossing efficiency of the mobile robot and improving the adaptability of the mobile robot to unstructured terrains.

As shown in fig. 1, the novel transformable robot of the invention comprises a chassis and a plurality of transformable wheel legs arranged on the chassis;

the deformation wheel leg part comprises a deformation wheel mechanism and a deformation control mechanism; the deformation wheel mechanism comprises an outer spoke and an inner spoke which are of regular triangle structures and are coaxially arranged, three wheel members which are uniformly distributed around the outer spoke and the inner spoke, and three connecting members which are sequentially hinged between the adjacent wheel members; the three wheel components are hinged at three top points of the outer spoke in a one-to-one correspondence manner; the middle parts of the three connecting components are hinged at three top points of the inner spoke in a one-to-one correspondence manner;

the deformation control mechanism comprises a driving motor, a transmission shaft, a synchronous clutch and a deformation clutch; the transmission shaft is connected between the output shaft of the driving motor and the outer wheel spoke; the synchronous clutch is used for controlling the connection or disconnection of the output shaft of the driving motor and the inner wheel spoke; the deformation clutch is used for controlling the inner spoke to be jointed with or separated from the robot frame;

further, the synchronous clutch and the deformation clutch are both electromagnetic clutches;

furthermore, a deformation transmission gear is coaxially fixed at the inner end of the inner spoke; a driven plate of the synchronous clutch is fixed with the deformation transmission gear; a driven disc of the deformation clutch is fixedly connected with an intermediate gear meshed with the deformation transmission gear through a deformation shaft;

furthermore, the rear end of the chassis is also provided with a telescopic tail part; the telescopic tail part comprises a stepping motor and a guide rail which are fixed on the robot body, a lead screw which is in transmission connection with an output shaft of the stepping motor, a nut which is in sliding fit in the guide rail and in threaded fit with the lead screw, and a carbon fiber tube which is fixed on the nut.

Further, the chassis is provided with a binocular camera and a control panel for controlling the legs of the deformation wheel and the telescopic tail to act.

The invention has the beneficial effects that:

the invention innovatively designs a deformation control mechanism of the deformation wheel adopting the double electromagnetic clutches, can realize the deformation of the deformation wheel only by switching on and off the electromagnetic clutches, simplifies the deformation mechanism, realizes the self-locking maintenance of any deformation state by using the combination of the double electromagnetic clutches, and has stepless deformation capability. On the other hand, the invention innovatively designs the telescopic tail part adopting the lead screw connecting rod mechanism, and realizes the controllable adjustment of the length of the machine body so as to better adapt to different motion requirements.

Drawings

The invention is further described below with reference to the following figures and examples:

FIG. 1 is a schematic view of the overall structure of the robot of the present invention;

FIG. 2 is a schematic structural view of a leg portion of a morphing wheel of the present invention;

FIG. 3 is a schematic view of a deformable wheel leg of the present invention in a wheeled configuration;

FIG. 4 is a schematic view of a deforming wheel deformation control mechanism of the present invention;

fig. 5 is a schematic view of the retractable tail structure of the present invention.

Detailed Description

The embodiment discloses a novel deformable robot, as shown in fig. 1, the novel deformable robot of the invention comprises a chassis 3 and two deformation wheel leg parts 5 respectively arranged at two sides of the chassis 3;

the deformation wheel leg part 5 comprises a deformation wheel mechanism and a deformation control mechanism; as shown in fig. 2, the deforming wheel mechanism comprises an outer spoke 9 and an inner spoke 8 which are of regular triangle structure and are coaxially arranged, three wheel members 6 which are evenly distributed around the outer spoke 9 and the inner spoke 8, and three connecting members 7 which are sequentially hinged between the adjacent wheel members 6; the three wheel components 6 are hinged at three top points of the outer spoke 9 in a one-to-one correspondence manner; the middle parts of the three connecting components 7 are hinged at three top points of the inner spokes 8 in a one-to-one correspondence manner; as shown in the figure, the connecting members 7 are symmetrical members with an included angle of 120 degrees, and the inner sides of the wheel members 6 are formed with connecting parts identical to the connecting members 7, so that the connecting parts of the three wheel members 6 are hinged with the connecting members 7 at intervals to form a regular hexagonal star structure; three top points of outer spokes 9 of the regular triangle structure are hinged with the middle point of the connecting part of the wheel member 6, and three top points of inner spokes 8 are hinged with the middle point of the connecting member 7; when the inner spoke 8 and the outer spoke 9 are relatively rotated to be overlapped, as shown in fig. 3, the connecting part of the connecting member 7 and the wheel member 6 is partially overlapped to form a regular hexagon structure. The outer edge of each wheel member 6 is a 120 arc so that when the inner and outer spokes 8, 9 are rotated relative to each other to overlap, the entire deformed wheel leg 5 forms a wheel-like structure.

The deformation control mechanism comprises a driving motor 10, a transmission shaft 12, a synchronous clutch 11 and a deformation clutch 16; the synchronous clutch 11 and the deformation clutch 16 are both electromagnetic clutches; the electromagnetic clutch generates pressing force of the driving friction plate and the driven friction plate by electromagnetic force to realize the connection or disconnection of the clutch, can realize remote control, and has small control energy;

as shown in fig. 4, one end of the transmission shaft 12 is connected to the output shaft of the driving motor 10, and the other end thereof passes through the central hole of the inner spoke 8 and is fixed with the outer spoke 9; the synchronous clutch 11 is used for controlling the connection or disconnection of the output shaft of the driving motor 10 and the inner wheel spoke 8; a driving disc of the synchronous clutch 11 is fixed on an output shaft of the driving motor 10, and a driven disc of the synchronous clutch 11 is arranged on a deformation transmission gear 13 coaxially fixed with the inner end of the inner spoke 8; a driving disc of the deformation clutch 16 is fixedly arranged on a support on a robot frame, a driven disc is fixedly connected to a deformation shaft 15, and an intermediate gear 14 meshed with the deformation transmission gear 13 is fixedly arranged on the deformation shaft 15;

when the leg part 5 of the deformation wheel is deformed into a wheel-shaped structure, the synchronous clutch 11 is powered off, the power of the output shaft of the driving motor 10 is transmitted to the transmission shaft 12, and the transmission shaft 12 is connected with the outer wheel spoke 9, so that the deformation wheel is driven to rotate integrally.

When the deformation of the deformation wheel needs to be controlled, the deformation electromagnetic clutch fixed on the chassis 3 is connected electrically to limit the deformation shaft 15 from rotating, so that the intermediate gear 14 and the engaged deformation transmission gear 13 are kept in a static state, and the deformation transmission gear 13 is fixedly connected to the inner spoke 8, so that the inner spoke 8 cannot rotate. At the moment, the synchronous clutch 11 is powered off, the outer wheel spoke 9 is driven by the transmission shaft 12 to rotate and generate relative rotation with the inner wheel spoke 8, and the active deformation function of the deformation wheel is realized.

When the deformation degree of the deformation wheel is locked, the driving motor 10 works normally; the deformation clutch 16 is powered off, so that the intermediate gear 14, the transmission gear 13 and the inner spoke 8 can rotate freely; the synchronous clutch 11 is electrified, so that the power of the transmission shaft 12 is transmitted to the outer spoke 9 and simultaneously drives the inner spoke 8 to rotate through the outer friction plate, the inner spoke 8 keeps synchronous rotation with the outer spoke 9, the relative phase of the inner spoke 9 and the relative phase of the outer spoke 9 cannot be changed, and the deformation degree of the deformed wheel cannot be changed by external force.

Further, the rear end of the chassis 3 is also provided with a telescopic tail 4; as shown in fig. 5, the retractable tail 4 includes a stepping motor and a guide rail fixed to the robot body, a lead screw connected to an output shaft of the stepping motor in a driving manner, a nut in sliding fit in the guide rail and in threaded fit with the lead screw, and a carbon fiber tube fixed to the nut; when the length of the robot body needs to be changed, the stepping motor drives the screw rod to rotate, so that the nut on the screw rod can move back and forth along the tail rail, the carbon fiber tube is fixed on the nut to move along with the nut, and the tail rail end cover limits the movement range of the carbon fiber tube so as to realize the telescopic movement of the tail of the robot.

Further, the chassis 3 is provided with a binocular camera 1 and a control panel 2 for controlling the motion of the leg part 5 and the telescopic tail part 4 of the deformation wheel; realize outside perception through camera 1, control panel 2 is according to topographic structure control the deformation wheel shank 5 warp to suitable form, and the controllable adjustment of fuselage length is realized to scalable afterbody 4 of simultaneous control to better adapt to different motion demands.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and those skilled in the art can make various modifications and variations; any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention shall fall within the protection scope of the present invention.