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

Claim 0:
1. A vertical rigid-flexible coupling multi-degree-of-freedom walking position-adjusting leg unit, comprises two first moving devices, a first lifting frame, a first moving drive, two first moving mechanisms, a first steering drive, a first steering frame, four first spring devices and a first driving differential wheel set, wherein,
the first moving drive comprises a first servo motor, a worm gear speed reducer, a first clutch, a first speed reducer, a first synchronous shaft, a first high-level driving synchronous wheel, a first low-level driving synchronous wheel, a first steering motor mounting frame and a first synchronous belt, in which the first servo motor is connected with a left end of the first clutch by the worm gear speed reducer, and a right end of the first clutch is fixedly connected to the first speed reducer; the first speed reducer is fixedly connected to a first steering frame by the first steering motor mounting frame; the first synchronous shaft is rotatably mounted on the first steering motor mounting frame; the first high-level driving synchronous wheel and the first low-level driving synchronous wheel are respectively connected with the first synchronous shaft; and an output shaft of the first speed reducer is in key connection with the first synchronous shaft;
each of the first moving mechanisms comprises a first driven synchronous wheel, a first lead screw fixing seat, a first lead screw, a first nut, a first lead screw supporting seat, a first guide rail and a first sliding block, in which the first guide rail is fixedly connected to the first steering frame; the first sliding block and the first guide rail form a moving pair Pz1; two ends of the first lead screw are respectively supported by the first lead screw fixing seat and the first lead screw supporting seat, an axis of the first lead screw is parallel to the first guide rail; the first nut and the first lead screw form a screw pair; the first driven synchronous wheel is fixedly connected to an input end of the first lead screw, and the first driven synchronous wheel is synchronously meshed and connected with the first high-level driving synchronous wheel and the first low-level driving synchronous wheel through the first synchronous belt;
the two first moving devices are symmetrically arranged on two sides of the first lifting frame by second sliding blocks; the first moving drive is fixed in a middle of the first steering frame by the first steering motor mounting frame; first sliding blocks and first nuts of the two first moving mechanisms in set are mounted on an inner side of the first lifting frame, and the two first moving mechanisms are respectively fixedly connected to two sides of the first steering frame with a height difference; the four first spring devices are symmetrically and fixedly connected to four corners on a bottom of an outer side of the first steering frame by spring fixing frames; and spring pressing blocks of the four first spring devices are symmetrically and fixedly connected to four corners of an inside of the first lifting frame; the first steering drive is fixedly connected to an inner side of the first steering frame by the first steering motor mounting frame; a steering driven synchronous wheel of the first steering drive is fixedly connected to a top end of a vertical shaft of the first driving differential wheel set that is rotatably mounted at a center on a bottom of the first steering frame by a vertical shaft;
each of the two first moving devices comprises a first vehicle body adapter, a second guide rail, a second sliding block, a second lead screw supporting seat, a second lead screw, a second nut, a second lead screw fixing seat, a second servo motor and a second speed reducer, in which the second guide rail is respectively and fixedly connected to two sides of the first vehicle body adapter; the second sliding block and the second guide rail form a moving pair Pz2; two ends of the second lead screw are supported by the second lead screw fixing seat and the second lead screw supporting seat respectively, an axis of the second lead screw is parallel to the second guide rail; the second nut and the second lead screw form a screw pair, and the second servo motor is connected with the second lead screw by a second speed reducer;
the first steering drive comprises a first steering motor, a first steering speed reducer, a first steering motor mounting frame, a steering driving synchronous wheel, a steering synchronous belt and the steering driven synchronous wheel, in which the first steering motor mounting frame is fixedly connected to the inner side of the first steering frame; the first steering motor is connected with the steering driving synchronous wheel through the first steering speed reducer; the steering driving synchronous wheel is connected with the steering driven synchronous wheel through the steering synchronous belt; the steering driven synchronous wheel is fixedly connected with the vertical shaft; and the vertical shaft is connected with the first steering frame to form a rotating pair Rz;
the first driving differential wheel set comprises a wheel-rotation motor mounting frame, a vertical shaft, a cross shaft, a left wheel, a right wheel, a wheel-rotation driven synchronous wheel, a wheel-rotation synchronous belt, a wheel-rotation driving synchronous wheel, a wheel-rotation speed reducer, a wheel-rotation motor and an angle encoder, in which a transverse shaft of the cross shaft is rotatably connected with a bottom of the vertical shaft to form a rotating pair Rx; a side of the vertical shaft is provided with the angle encoder; the left wheel and the right wheel are respectively connected with a left end and a right end of a longitudinal shaft of the cross shaft to form a rotating pair Ry1 and a rotating pair Ry2; two wheels are in contact with the ground to form a wheel-rotation pair Rp; the wheel-rotation motor is fixedly connected to the wheel-rotation speed reducer; the wheel-rotation speed reducer is fixedly connected above the cross shaft through the wheel-rotation motor mounting frame; the wheel-rotation driving synchronous wheel is fixedly connected to an output shaft of the wheel-rotation speed reducer; the wheel-rotation driven synchronous wheel is fixedly connected to outer sides of the left wheel and the right wheel; and the wheel-rotation driving synchronous wheel is connected with the wheel-rotation driven synchronous wheel through the wheel-rotation synchronous belt; and
each of the four first spring devices comprises a spring fixing frame, a spring, a spring sliding barrel, a magnetic scale, a magnetic head, a spring pressing block and a spring guide pin, in which the spring guide pin is fixedly connected with the spring fixing frame; the spring and the spring sliding barrel are slidably mounted on the spring guide pin; the spring is mounted between the spring fixing frame and the spring sliding barrel; the spring fixing frame is provided with an upper limiting block; the magnetic head is fixedly connected to the spring sliding barrel; the magnetic scale is fixedly connected to a side of the spring fixing frame, and a direction of which is consistent with a moving direction of the magnetic head.