Mechanical leg and wheeled mobile device
A mechanical leg comprises a frame, a retractable member, a wheel, an extension and retraction driving member, a travel driving member, an auxiliary leg, and an auxiliary wheel. The extension and retraction driving member is located on a side of the frame. The retractable member is connected to the extension and retraction driving member. The wheel is connected to the retractable member. The wheel is further connected to the travel driving member. A first end of the auxiliary leg is connected to the auxiliary wheel, and a second end of the auxiliary leg is located on the frame. The retractable member extends under the driving of the extension and retraction driving member to drive the wheel to jump. The wheel is driven by the travel driving member to move. When the auxiliary wheel contacts the ground, the mechanical leg moves with the rolling of the wheel and the auxiliary wheel.
1. A mechanical leg, the mechanical leg comprising a frame, a retractable member, a wheel, an extension and retraction driving member, a travel driving member, an auxiliary leg, and an auxiliary wheel,
wherein the extension and retraction driving member is located on a side of the frame, the retractable member is connected to the extension and retraction driving member, the wheel is connected to the retractable member and the travel driving member respectively, a first end of the auxiliary leg is connected to the auxiliary wheel, and a second end of the auxiliary leg is located on the frame; and
the retractable member is configured to drive the wheel to jump when being driven by the extension and retraction driving member to extend and retract, the wheel is driven by the travel driving member to move, and when the auxiliary wheel contacts the ground, the mechanical leg moves as the wheel and the auxiliary wheel roll.
2. The mechanical leg according to claim 1 , further comprising an auxiliary driving member, wherein the auxiliary driving member is located on the side of the frame, and the second end of the auxiliary leg is connected to an output shaft of the auxiliary driving member; and
the auxiliary leg is configured to extend to the side of the frame and retract to a position under the frame under the driving of the auxiliary driving member.
3. The mechanical leg according to claim 2 , wherein the auxiliary leg is further configured to rotate relative to the frame under the driving of the auxiliary driving member to adjust the center of gravity of the mechanical leg.
4. The mechanical leg according to claim 1 , wherein the retractable member is a linkage mechanism comprising a thigh bar and a shank bar; and
a first end of the thigh bar is rotationally connected to an output shaft of the extension and retraction driving member, a second end of the thigh bar is rotationally connected to a first end of the shank bar, and a second end of the shank bar is mounted on a drive shaft of the wheel by using a bearing.
5. The mechanical leg according to claim 4 , wherein each wheel corresponds to two retractable members and two extension and retraction driving members, and the retractable members correspond to the extension and retraction driving members one to one.
6. The mechanical leg according to claim 5 , wherein the mechanical leg further comprises an elastic member, and the elastic member is connected between a shank bar of a first retractable member of the two retractable members and a shank bar of a second retractable member of the two retractable members.
7. The mechanical leg according to claim 6 , wherein the elastic member is a torsional spring, the torsional spring is sleeved on the drive shaft of the wheel, a first torsional arm of the torsional spring is connected to the shank bar of the first retractable member, and a second torsional arm of the torsional spring is connected to the shank bar of the second retractable member.
8. The mechanical leg according to claim 6 , wherein the elastic member is a spring, one end of the spring is connected to the shank bar of the first retractable member, and the other end of the spring is connected to the shank bar of the second retractable member.
9. The mechanical leg according to claim 5 , wherein the side of the frame comprises a bulge part and a non-bulge part; and
the two extension and retraction driving members corresponding to each wheel are staggered on the bulge part and the non-bulge part, so that no friction is generated between the thigh bars connected to each other when the mechanical leg is walking.
10. The mechanical leg according to claim 4 , wherein a groove is arranged on a part of the thigh bar near the second end; and
when the thigh bar is parallel to the ground, a part of the shank bar near the first end is located in the groove and is engaged with the thigh bar.
11. The mechanical leg according to claim 4 , wherein the quantity of wheels is two, the two wheels are located on two opposite sides of the frame, and the auxiliary wheel is located on a side of the frame and between the two wheels; and
when leg joints of two retractable members connected to the same wheel are bent in opposite directions, the mechanical leg is in a first three-wheel mode; and when leg joints of two retractable members connected to the same wheel are bent in the same direction, the mechanical leg is in a second three-wheel mode; and
the leg joint of the retractable member is a rotary junction of the thigh bar and the shank bar of the retractable member.
12. A wheeled mobile device, comprising at least one mechanical leg, one of the at least one mechanical leg comprising a frame, a retractable member, a wheel, an extension and retraction driving member, a travel driving member, an auxiliary leg, and an auxiliary wheel,
wherein the extension and retraction driving member is located on a side of the frame, the retractable member is connected to the extension and retraction driving member, the wheel is connected to the retractable member and the travel driving member respectively, a first end of the auxiliary leg is connected to the auxiliary wheel, and a second end of the auxiliary leg is located on the frame; and
the retractable member is configured to drive the wheel to jump when being driven by the extension and retraction driving member to extend and retract, the wheel is driven by the travel driving member to move, and when the auxiliary wheel contacts the ground, the mechanical leg moves as the wheel and the auxiliary wheel roll.
13. The wheeled mobile device according to claim 12 , the mechanical leg further comprising an auxiliary driving member, wherein the auxiliary driving member is located on the side of the frame, and the second end of the auxiliary leg is connected to an output shaft of the auxiliary driving member; and
the auxiliary leg is configured to extend to the side of the frame and retract to a position under the frame under the driving of the auxiliary driving member.
14. The wheeled mobile device according to claim 13 , wherein the auxiliary leg is further configured to rotate relative to the frame under the driving of the auxiliary driving member to adjust the center of gravity of the mechanical leg.
15. The wheeled mobile device according to claim 12 , wherein the retractable member is a linkage mechanism comprising a thigh bar and a shank bar; and
a first end of the thigh bar is rotationally connected to an output shaft of the extension and retraction driving member, a second end of the thigh bar is rotationally connected to a first end of the shank bar, and a second end of the shank bar is mounted on a drive shaft of the wheel by using a bearing.
16. The wheeled mobile device according to claim 15 , wherein each wheel corresponds to two retractable members and two extension and retraction driving members, and the retractable members correspond to the extension and retraction driving members one to one.
17. The wheeled mobile device according to claim 16 , wherein the mechanical leg further comprises an elastic member, and the elastic member is connected between a shank bar of a first retractable member of the two retractable members and a shank bar of a second retractable member of the two retractable members.
18. The wheeled mobile device according to claim 17 , wherein the elastic member is a torsional spring, the torsional spring is sleeved on the drive shaft of the wheel, a first torsional arm of the torsional spring is connected to the shank bar of the first retractable member, and a second torsional arm of the torsional spring is connected to the shank bar of the second retractable member.
19. The wheeled mobile device according to claim 17 , wherein the elastic member is a spring, one end of the spring is connected to the shank bar of the first retractable member, and the other end of the spring is connected to the shank bar of the second retractable member.
20. The wheeled mobile device according to claim 16 , wherein the side of the frame comprises a bulge part and a non-bulge part; and
the two extension and retraction driving members corresponding to each wheel are staggered on the bulge part and the non-bulge part, so that no friction is generated between the thigh bars connected to each other when the mechanical leg is walking.