A variable-foot mobile robot

Abstract

The present invention provides a variable-foot mobile robot, comprising: a fuselage, a claw-foot mechanism, four wheel-foot mechanisms, a track-foot mechanism and a controller; the controller is installed inside the fuselage and is used to control the actions of the claw-foot mechanism, the four wheel-foot mechanisms and the track-foot mechanism; the claw-foot mechanism is connected to one side of the fuselage through a connecting rod and is used to perform a grasping action according to the command of the controller; the four wheel-foot mechanisms are mirror-mounted on both sides of the fuselage through connecting rods and are used to select different wheel or foot actions according to the command of the controller; the track-foot mechanism is connected to one side of the fuselage through a connecting rod and is used to select track or foot actions according to the command of the controller. The hardware mechanism part of the variable-foot mobile robot of the present invention integrates the characteristics of foot type, wheel type, gripper and track, and has multiple motion modes; enabling the robot to cope with more terrains and environments, and ensuring the obstacle-crossing performance and walking speed of the robot.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a variable-foot mobile robot. Background Art

[0002] With the progress of technology, robots have gradually replaced humans in performing complex and dangerous tasks. Usually, such working environments are relatively complex, and such robots require higher obstacle-crossing performance and mobility. It is difficult to adapt to a more complex environment relying solely on a certain specific type of movement. Different types of mobile robots are applied in various different scenarios. Wheeled, legged, and tracked robots are most widely used in robot mobile platforms due to their strong pertinence. However, due to their limited scope of use, they can only be used specifically in corresponding scenarios.

[0003] Therefore, there is an urgent need for a composite robot that can be used in various occasions. Summary of the Invention

[0004] Embodiments of the present invention provide a variable-foot mobile robot to solve the problems in the prior art.

[0005] To achieve the above object, the present invention adopts the following technical solutions.

[0006] The present invention provides the following solutions:

[0007] A variable-foot mobile robot, comprising: a fuselage, a claw-foot mechanism, 4 wheel-foot mechanisms, a track-foot mechanism, and a controller;

[0008] The controller is installed inside the fuselage and is used to control the actions of the claw-foot mechanism, 4 wheel-foot mechanisms, and track-foot mechanism;

[0009] The claw-foot mechanism is connected to one side of the fuselage through a connecting rod and is used to perform a grasping action according to the command of the controller;

[0010] The 4 wheel-foot mechanisms are mirror-mounted on both sides of the fuselage through connecting rods and are used to select different wheel or foot actions according to the command of the controller;

[0011] The track-foot mechanism is connected to one side of the fuselage through a connecting rod and is used to select track or foot actions according to the command of the controller.

[0012] Preferably, a depth camera is further installed on the fuselage. The depth camera is electrically connected to the controller and transmits the external environment collected by the depth camera to the controller. The controller controls the actions of the claw-foot mechanism, 4 wheel-foot mechanisms, and track-foot mechanism according to the external environment.

[0013] Preferably, the claw-foot mechanism includes a first joint servo, a second joint servo, a third joint servo, a lead screw motor, and a gripper;

[0014] The first joint servo and the second joint servo are connected by a connecting rod, and the second joint servo and the third joint servo are connected by a connecting rod, which are used to realize the movement of four degrees of freedom of the claw-foot mechanism;

[0015] The third joint servo and the gripper are connected by a connecting rod, and the lead screw motor is installed inside the gripper to drive the gripper to act.

[0016] Preferably, the wheel-foot mechanism includes: a fourth joint servo, a fifth joint servo, a sixth joint servo, a wheel motor, a wheel, and a first foot-type bracket;

[0017] The fourth joint servo and the fifth joint servo are connected by a connecting rod, and the fifth joint servo and the sixth joint servo are connected by a connecting rod, which are used to realize the movement of four degrees of freedom of the wheel-foot mechanism;

[0018] The sixth joint servo and the wheel motor are connected by a connecting rod, the wheel motor is connected to the wheel to drive the wheel to rotate, and the first foot-type bracket is connected to the wheel motor by a connecting rod and is used to contact the ground to support the robot when walking.

[0019] Preferably, the track-foot mechanism includes: a seventh joint servo, an eighth joint servo, a ninth joint servo, a driving motor, a track, and a second foot-type bracket;

[0020] The seventh joint servo and the eighth joint servo are connected by a connecting rod, and the eighth joint servo and the ninth joint servo are connected by a connecting rod, which are used to realize the movement of four degrees of freedom of the wheel-foot mechanism;

[0021] The ninth joint servo and the driving motor are connected by a connecting rod, the driving motor is connected to the driving wheel of the track to drive the track to rotate, the second foot-type bracket is connected to the driving motor by a connecting rod and is fixedly connected to the driven wheel of the track, and is used to contact the ground to support the robot when walking.

[0022] Preferably, the variable-foot mobile robot further includes a radar, and the radar is installed in the fuselage to position the variable-foot mobile robot.

[0023] Preferably, the fuselage includes a chassis shell and an appearance shell, and the claw-foot mechanism, 4 wheel-foot mechanisms, and track-foot mechanism are respectively fixed on the chassis shell.

[0024] Preferably, the fuselage further includes a storage room for storing items.

[0025] As can be seen from the technical solutions provided by the embodiments of the present invention described above, the hardware mechanism part of the robot in the embodiments of the present invention integrates the characteristics of a legged, wheeled, gripper, and crawler, and has multiple motion modes; it combines the moving characteristics and advantages of wheeled, legged, crawler-type, and grippers, enabling the robot to cope with more types of terrains and environments, and ensuring the obstacle-crossing performance and walking speed of the robot.

[0026] Additional aspects and advantages of the present invention will be given in part in the following description, and these will become apparent from the following description, or can be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0028] Figure 1 Schematic structural diagram of the variable-legged mobile robot provided in this embodiment;

[0029] Figure 2 Schematic structural diagram of the claw-foot mechanism in this embodiment;

[0030] Figure 3 Schematic structural diagram of the wheel-foot mechanism in this embodiment;

[0031] Figure 4 Schematic structural diagram of the crawler-foot mechanism in this embodiment;

[0032] Figure 5 Schematic diagram of the structural details of the variable-legged mobile robot provided in this embodiment;

[0033] Figure 6 Six-legged mode of the variable-legged mobile robot provided in this embodiment;

[0034] Figure 7 Four-wheel mode of the variable-legged mobile robot provided in this embodiment;

[0035] Figure 8 Two-wheel-one-crawler mode of the variable-legged mobile robot provided in this embodiment;

[0036] Figure 9 Four-wheel-one-crawler mode of the variable-legged mobile robot provided in this embodiment;

[0037] Figure 10 Grasping action diagram in the four-wheel mode;

[0038] Figure 11Schematic diagram of the transformation of the variable-legged mobile robot of this embodiment in different modes;

[0039] Description of reference numerals:

[0040] 1. claw foot mechanism 2. wheel foot mechanism 3. wheel foot mechanism 4. wheel foot mechanism 5. wheel foot mechanism 6. foot mechanism 7. chassis shell 8. exterior shell 9. storage room 10. radar 11. depth camera;

[0041] 101 first joint servo 102 connecting rod 103 second joint servo 104 connecting rod 105 third joint servo 106 connecting rod 107 screw motor 108 clamp structure;

[0042] 501 fourth joint steering gear 502 connecting rod 503 fifth joint steering gear 504 connecting rod 505 sixth joint steering gear 506 connecting rod 507 wheel motor 508 first foot bracket 509 wheel;

[0043] 601 seventh joint steering gear 602 connecting rod 603 eighth joint steering gear 604 connecting rod 605 ninth joint steering gear 606 connecting rod 607 driving motor 608 second foot-type bracket 609 driving wheel of crawler track 610 driven wheel of crawler track 611 crawler track part 901 automatic door of storage room. DETAILED DESCRIPTION

[0044] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0045] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or coupling. The term "and / or" used herein includes any unit and all combinations of one or more associated listed items.

[0046] Those skilled in the art can understand that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as the general understanding of those of ordinary skill in the art to which the present invention belongs. It should also be understood that terms such as those defined in a general dictionary should be understood to have a meaning consistent with the meaning in the context of the prior art, and will not be interpreted in an idealized or overly formal sense unless defined as here.

[0047] For ease of understanding the embodiments of the present invention, the following will further explain with specific embodiments in conjunction with the accompanying drawings, and it does not constitute a limitation to the embodiments of the present invention.

[0048] Embodiment

[0049] Figure 1 It is a schematic structural diagram of the variable-foot mobile robot provided for this embodiment. Figure 5 It is a schematic diagram of the structural details of the variable-foot mobile robot provided for this embodiment, referring to Figure 1 and Figure 5 This variable-foot mobile robot includes: a fuselage, 1 claw-foot mechanism 1, 4 wheel-foot mechanisms (2 - 5), 1 track-foot mechanism 6, and 1 controller.

[0050] Among them, the controller is installed inside the fuselage and is used to control the actions of 1 claw-foot mechanism 1, 4 wheel-foot mechanisms (2 - 5), and 1 track-foot mechanism 6.

[0051] The claw-foot mechanism 1 is connected to one side of the fuselage through a connecting rod and is used to perform a grasping action according to the command of the controller; the 4 wheel-foot mechanisms are mirror-mounted on both sides of the fuselage through connecting rods and are used to select different wheel or foot actions according to the command of the controller; the 1 track-foot mechanism is connected to one side of the fuselage through a connecting rod and is used to select track or foot actions according to the command of the controller.

[0052] A depth camera 11 is also installed on the fuselage. The depth camera 11 is electrically connected to the controller and transmits the external environment collected by the depth camera 11 to the controller. The controller controls the actions of 1 claw-foot mechanism, 4 wheel-foot mechanisms, and 1 track-foot mechanism according to the external environment.

[0053] Figure 2 It is a schematic structural diagram of the claw-foot mechanism for this embodiment, referring to Figure 2 The claw-foot mechanism includes a first joint servo 101, a second joint servo 103, a third joint servo 105, a lead screw motor 107, and a gripper 108.

[0054] The first joint servo 101 and the second joint servo 103 are connected by a connecting rod 102, and the second joint servo 103 and the third joint servo 105 are connected by a connecting rod 104, which are used to realize the movement of four degrees of freedom of the claw-foot mechanism. The four degrees of freedom here include 3 rotational degrees of freedom and 1 degree of freedom of the claw driven by a lead screw motor.

[0055] The third joint servo 105 and the gripper 108 are connected by a connecting rod 106, and the lead screw motor 107 is installed inside the gripper 108 to drive the gripper 108 to act.

[0056] Figure 3 It is a schematic structural diagram of the wheel-foot mechanism of this embodiment. Refer to Figure 3 , the wheel-foot mechanism includes: a fourth joint servo 501, a fifth joint servo 503, a sixth joint servo 505, a wheel motor 507, a wheel 509 and a first foot-type bracket 508.

[0057] The fourth joint servo 501 and the fifth joint servo 503 are connected by a connecting rod 502, and the fifth joint servo 503 and the sixth joint servo 505 are connected by a connecting rod 504, which are used to realize the movement of four degrees of freedom of the wheel-foot mechanism. The movement of the four degrees of freedom here includes: 3 rotational degrees of freedom and 1 degree of freedom for driving the continuous rotation of the wheel 509.

[0058] The sixth joint servo 505 and the wheel motor 507 are connected by a connecting rod 506, the wheel motor 507 is connected to the wheel 509, which is used to drive the wheel 509 to rotate, and the first foot-type bracket 508 is connected to the wheel motor 507 through a connecting rod, which is used to contact the ground to support the robot when walking.

[0059] Figure 4 It is a schematic structural diagram of the track-foot mechanism of this embodiment. Refer to Figure 4 , the track-foot mechanism includes: a seventh joint servo 601, an eighth joint servo 603, a ninth joint servo 605, a drive motor 607, a track and a second foot-type bracket 608.

[0060] The seventh joint servo 601 and the eighth joint servo 603 are connected by a connecting rod 602, and the eighth joint servo 603 and the ninth joint servo 605 are connected by a connecting rod 604, which are used to realize the movement of four degrees of freedom of the wheel-foot mechanism. The four degrees of freedom here include 3 rotational degrees of freedom and 1 degree of freedom for driving the continuous rotation of the track.

[0061] The ninth joint servo 605 is connected to the drive motor 607 through a connecting rod 606. The drive motor 607 is connected to the driving wheel 609 of the crawler, and is used to drive the crawler to rotate. The second foot-type bracket 608 is connected to the drive motor 607 through a connecting rod and is fixedly connected to the driven wheel of the crawler, and is used to contact the ground to support the robot when walking.

[0062] The variable-foot mobile robot of this embodiment further includes a radar 10, which is installed in the fuselage and is used to position the variable-foot mobile robot.

[0063] It should be noted that the fuselage includes a chassis shell 7 and an appearance shell 8. One claw-foot mechanism, four wheel-foot mechanisms, and one crawler-foot mechanism are respectively fixed on the chassis shell.

[0064] Among them, the fuselage also includes a storage room 9 for storing items.

[0065] When the variable-foot mobile robot of this embodiment is running, the depth camera 11 and the radar 10 return the views of the surrounding environment to the controller. The controller controls the foot-type mobile robot to run in different modes according to the received content, such as Figures 6 - 9 As shown, the motion modes of the variable-foot mobile robot specifically include: six-foot mode, four-wheel mode, two-wheel-one-crawler mode, and four-wheel-one-crawler mode. Figure 10 It is a diagram for grasping action in the four-wheel mode. Figure 11 It is a schematic diagram of the transformation of the variable-foot mobile robot of this embodiment in different modes. It can be seen from this that the variable-foot mobile robot of this embodiment can be transformed in different modes to adapt to different environments.

[0066] The above is only a preferred specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A variable-foot mobile robot, characterized in that, it includes: a fuselage, 1 claw-foot mechanism, 4 wheel-foot mechanisms, 1 track-foot mechanism and a controller; The controller is installed inside the fuselage and is used to control the actions of the claw-foot mechanism, 4 wheel-foot mechanisms and track-foot mechanism; The claw-foot mechanism is connected to one side of the fuselage through a connecting rod and is used to perform a grasping action according to the command of the controller; The 4 wheel-foot mechanisms are mirror-mounted on both sides of the fuselage through connecting rods and are used to select different wheel or foot actions according to the command of the controller; The track-foot mechanism is connected to one side of the fuselage through a connecting rod and is used to select track or foot actions according to the command of the controller; The claw-foot mechanism includes a first joint servo, a second joint servo, a third joint servo, a lead screw motor and a gripper; The first joint servo is connected to the second joint servo through a connecting rod, and the second joint servo is connected to the third joint servo through a connecting rod, which is used to realize the movement of four degrees of freedom of the claw-foot mechanism; The third joint servo is connected to the gripper through a connecting rod, and the lead screw motor is installed inside the gripper and is used to drive the gripper to act; The wheel-foot mechanism includes: a fourth joint servo, a fifth joint servo, a sixth joint servo, a wheel motor, a wheel and a first foot-type bracket; The fourth joint servo is connected to the fifth joint servo through a connecting rod, and the fifth joint servo is connected to the sixth joint servo through a connecting rod, which is used to realize the movement of four degrees of freedom of the wheel-foot mechanism; The sixth joint servo is connected to the wheel motor through a connecting rod, the wheel motor is connected to the wheel, which is used to drive the wheel to rotate, and the first foot-type bracket is connected to the wheel motor through a connecting rod and is used to contact the ground to support the robot when walking; The track-foot mechanism includes: a seventh joint servo, an eighth joint servo, a ninth joint servo, a driving motor, a track and a second foot-type bracket; The seventh joint servo is connected to the eighth joint servo through a connecting rod, and the eighth joint servo is connected to the ninth joint servo through a connecting rod, which is used to realize the movement of four degrees of freedom of the wheel-foot mechanism; The ninth joint servo is connected to the driving motor through a connecting rod, the driving motor is connected to the driving wheel of the track, which is used to drive the track to rotate, and the second foot-type bracket is connected to the driving motor through a connecting rod and is fixedly connected to the driven wheel of the track and is used to contact the ground to support the robot when walking; The motion modes of this variable-foot mobile robot specifically include: a six-foot mode, a four-wheel mode, a two-wheel-one-track mode and a four-wheel-one-track mode.

2. The variable-foot mobile robot according to claim 1, characterized in that, a depth camera is also installed on the fuselage, the depth camera is circuit-connected to the controller, and transmits the external environment collected by the depth camera to the controller, and the controller controls the actions of the claw-foot mechanism, 4 wheel-foot mechanisms and track-foot mechanism according to the external environment.

3. The variable-foot mobile robot according to claim 1, characterized in that, The variable-legged mobile robot also includes a radar, which is installed in the body and is used to locate the variable-legged mobile robot.

4. The variable-legged mobile robot according to claim 1, Features The fuselage includes a chassis shell and an exterior shell, and the claw foot mechanism, four wheel foot mechanisms, and the foot mechanism are respectively fixed on the chassis shell.

5. The variable-legged mobile robot according to claim 1, Features ,The fuselage also includes a storage room for storing items.

Images