Patent ID: 11945271
Assignee: YANSHAN UNIVERSITY
Field: Transport (Mechanical engineering)
Classification: CPC B | IPC B

Claim 5:
6. Horizontal rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit comprises a steering device, two second moving devices, a third moving drive, a second moving mechanism, a second steering frame, a second driving differential wheel set, a second lifting frame and four second spring devices, wherein
the two second moving devices are connected with a gear turntable bearing in the steering device through a turntable adapter; and the third moving drive is fixedly connected to a middle of the second steering frame through a third motor mounting frame; a third guide rail in the second moving mechanism is connected with the second steering frame; a third sliding block in the second moving mechanism is connected with an inner side surface of the second lifting frame, and the two second moving mechanisms are provided with a height difference; the second driving differential wheel set is connected with a bottom of the second steering frame through a second vertical shaft; the four second spring devices are symmetrically and fixedly connected to the middle of an inner side of the second steering frame through second spring fixing frames, and the four second spring devices are symmetrically and fixedly connected to the inner side of the second lifting frame through second spring pressing blocks;
the steering device comprises a second vehicle body adapter, a second steering motor mounting frame, a second steering speed reducer, a second steering motor, a pinion and a gear turntable bearing, in which an upper surface of an inner ring of the gear turntable bearing is connected with the second vehicle body adapter; the second steering motor is connected with the pinion through the second steering speed reducer, and the pinion is externally engaged with the gear turntable bearing to form a rotating pair Rz;
the third moving drive comprises a third servo motor, a third worm speed reducer, a third clutch, a third motor mounting frame, a third low-level driving synchronous wheel, a third high-level driving synchronous wheel, a third synchronous shaft and a third synchronous belt, in which the third servo motor is connected with the third synchronous shaft through the third worm speed reducer and the third clutch; the third clutch is fixedly connected to the middle of the second steering frame through the third motor mounting frame; the third synchronous shaft is rotatably connected with the third motor mounting frame; and the third high-level driving synchronous wheel and the third low-level driving synchronous wheel are respectively and fixedly connected to a high level and a low level of the third synchronous shaft;
the second moving mechanism comprises a third sliding block, a third guide rail, a third lead screw supporting seat, a third nut, a third lead screw fixing seat and a third driven synchronous wheel, in which the third guide rail is parallel to and fixedly connected to the second steering frame; the third sliding block and the third guide rail form a moving pair Pz1; the third lead screw is supported by the third lead screw fixing seat and the third lead screw supporting seat, and an axis of the third lead screw is parallel to the third guide rail; the third driven synchronous wheel is fixedly connected to an input end of the third lead screw; and the third lead screw is in spiral connection with the third nut;
each of the second moving devices comprises a turntable adapter, a fourth sliding block, a fourth guide rail, a fourth servo motor, a fourth speed reducer, a fourth lead screw fixing seat, a fourth lead screw, a fourth nut and a fourth lead screw supporting seat, in which the fourth sliding block and the fourth guide rail form a moving pair Pz2; the fourth guide rail is fixed inside the turntable adapter; the fourth lead screw is supported by the fourth lead screw fixing seat and the fourth lead screw supporting seat, and an axis of the fourth lead screw is parallel to the fourth guide rail; the fourth servo motor is connected with the fourth lead screw through a fourth speed reducer, and the fourth lead screw is in spiral connection with a fourth nut;
the third low-level driving synchronous wheel is connected with a third driven synchronous wheel on the lower side through a third synchronous belt; and the third high-level driving synchronous wheel is connected with a third driven synchronous wheel on the upper side through a third synchronous belt;
the second driving differential wheel set comprises a second wheel-rotation motor mounting frame, a second vertical shaft, a second crossed shaft, a second left wheel, a second right wheel, a second wheel-rotation driven synchronous wheel, a second wheel-rotation synchronous belt, a second wheel-rotation driving synchronous wheel, a second wheel-rotation speed reducer, a second wheel-rotation motor and a second angle encoder, in which a transverse shaft of the second crossed shaft is rotatably connected with a bottom of the second vertical shaft to form a rotating pair Rx, and an end face of the transverse shaft is provided with the second angle encoder; the second left wheel and the second right wheel are respectively and rotatably mounted at a left end and a right end of a longitudinal axis of the second crossed shaft to form a rotating pair Ry1 and a rotating pair Ry2; and two wheels are in contact with the ground to form a wheel-rotation pair Rp; the second wheel-rotation driven synchronous wheel is fixedly connected to outer sides of a second left wheel and a second right wheel respectively; the second wheel-rotation driven synchronous wheel is connected with the second wheel-rotation driving synchronous wheel through the second wheel-rotation synchronous belt; and the second wheel-rotation driving synchronous wheel is connected with a second wheel-rotation motor through the second wheel-rotation speed reducer;
each of the four second spring devices comprises a second spring fixing frame, a second spring sliding barrel, a second magnetic scale, a second magnetic head, a second spring pressing block and a second spring guide pin, in which a top of the second spring guide pin is connected with the second spring fixing frame, and the second spring fixing frame is provided with an upper limiting block; the second spring and the second spring sliding barrel are slidably mounted on the second spring guide pin, and the second spring is mounted between the second spring fixing frame and the second spring sliding barrel; the second magnetic head is fixedly connected to the second spring sliding barrel; the second magnetic scale is fixedly connected to a side of the second spring fixing frame, and a direction of which is consistent with a moving direction of the second magnetic head.