A wheel-leg structure and a robot using the same

Abstract

The present invention discloses a wheel-leg structure and a robot using the same, wherein the wheel-leg structure comprises: a power device, a connecting rod device and a caster device, wherein the power device and the caster device are connected via a connecting rod device; the connecting rod device comprises an active connecting rod group, wherein the active connecting rod group comprises a first active connecting rod and a second active connecting rod, wherein the second active connecting rod comprises a main rod and an H-shaped secondary rod with the main rod, wherein the secondary rod is connected to the power device, and the first active connecting rod is connected to one side of the main rod and is connected to the power device; the connecting rod device also comprises a driven connecting rod group, wherein the active connecting rod group drives the driven connecting rod group to rotate under the drive of the power device to realize the length extension and angle swing of the connecting rod device. The design of the connecting rod device and the power device of the wheel-leg structure provided by the present invention can increase the lifting and deformation range, improve the power efficiency of the wheel-leg structure, and utilize the contact point formed by the first active rod of the connecting rod device and the secondary rod of the H-shaped second active rod to be abutted against each other as a limit point.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and in particular relates to a wheel-leg structure and a robot using the same. Background Art

[0002] Currently, the common wheel-legged or foot-type robots have relatively simple motion states. Their two-degree-of-freedom wheel-legged leg mechanisms mostly use a single rotary power source to control a single degree of freedom. The two rotary power sources cannot form a combined force. At the same time, when the connecting rod length is certain, the rotation angle range of the rotary power source is limited, which limits the power and motion range of the two-legged wheeled robot's lifting and jumping. In addition, the wheel-leg structure design of this type of robot is mostly non-modular, and the complex structure is not easy to disassemble and maintain. Summary of the invention

[0003] The purpose of the present invention is to provide a wheel-leg structure and a robot using the same, which can increase the lifting and deformation range and improve the power efficiency of the wheel-leg structure.

[0004] In order to achieve the above object, the present invention adopts the following technical solution:

[0005] A wheel-leg structure, comprising: a power device, a connecting rod device and a caster device, wherein the power device and the caster device are connected via the connecting rod device;

[0006] The connecting rod device includes an active connecting rod group and a driven connecting rod group, the active connecting rod group includes a first active connecting rod and a second active connecting rod, the second active connecting rod includes a main rod and an H-shaped auxiliary rod with the main rod, the auxiliary rod is connected to the power device, and the first active connecting rod is connected to one side of the main rod and connected to the power device;

[0007] The active connecting rod group drives the driven connecting rod group to rotate under the drive of the power device to achieve the length extension and angle swing of the connecting rod device.

[0008] Furthermore, the power device includes a power source having a number corresponding to the active connecting rod group, and the power source includes a first power source and a second power source of a coaxial design.

[0009] Furthermore, it also includes a connecting member, which is fixedly arranged between the first power source and the second power source, and coaxially and fixedly connects the first power source to the outside of the second power source.

[0010] Furthermore, one end of the first power source away from the second power source is connected to the first active connecting rod for driving the first active connecting rod;

[0011] The second power source is connected to the auxiliary rod and is used to drive the second active connecting rod.

[0012] Further, the driven connecting rod assembly includes a first driven connecting rod and a second driven connecting rod, one end of the first driven connecting rod is hinged to the first active connecting rod, and the other end is connected to the caster device;

[0013] One end of the second driven connecting rod is hinged to the main rod, and the other end is connected to the caster device.

[0014] Furthermore, the caster device includes a caster and a caster power source, and the caster power source drives the caster to rotate.

[0015] Furthermore, it also includes a fixing device, which includes a fixing plate and a first fixing member arranged in the middle of the fixing plate, and the power device is fixedly connected to the fixing plate through the first fixing member.

[0016] Furthermore, the fixing device also includes a second fixing member, one end of which is fixedly connected to the connecting member, and the other end of which is fixedly connected to the fixing plate.

[0017] A robot comprises the wheel-leg structure.

[0018] It can be seen from the technical solutions provided in the above embodiments of the present application that the present invention uses a connecting rod device including an active connecting rod group and a driven connecting rod group, combined with a power device including two power sources with a coaxial design, so that the wheel-leg structure has a larger height lifting range, jumping energy storage and falling buffer range under the condition of the same connecting rod length, and the coaxial power source can improve the power efficiency of the wheel-leg structure; and by using the H-shaped second active connecting rod, the inner first active connecting rod forms a limit point with the auxiliary rod of the second active connecting rod when the length is fully extended and the angle is swung, without the need to design an additional limit structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0020] Figure 1 A schematic diagram of the three-dimensional structure of the wheel-leg structure provided in the first embodiment of the present invention;

[0021] Figure 2 A schematic diagram of an exploded structure of a wheel-leg structure provided in the first embodiment of the present invention without a connecting rod device;

[0022] Figure 3 A schematic diagram of a three-dimensional structure of a wheel-leg structure provided in the first embodiment of the present invention in a fully compressed state;

[0023] Figure 4 A schematic diagram of a three-dimensional structure of a wheel-leg structure provided in Embodiment 1 of the present invention in a fully extended state;

[0024] Figure 5 A schematic diagram of a robot using a wheel-leg structure provided in Embodiment 2 of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0026] Embodiment 1

[0027] This embodiment of the present application provides a wheel-leg structure that can increase the lifting range and simplify the structure and construction cost of the robot by utilizing the structural design of the connecting rod device 2, such as Figure 1 and Figure 2 As shown, it includes a power device 1, a connecting rod device 2 and a caster device 3, wherein the power device 1 and the caster device 3 are connected via the connecting rod device 2, wherein the connecting rod device 2 includes an active connecting rod group 21 and a driven connecting rod group 22, and the active connecting rod group 21 drives the driven connecting rod group 22 to rotate under the drive of the power device 1 to achieve the length extension and angle swing of the connecting rod device 2, and the caster device 3 includes a caster 31 and a caster power source 32, and the caster power source 32 drives the caster 31 to rotate, and the caster device 3 drives the overall wheel-leg structure to move.

[0028] The active connecting rod group 21 includes a first active connecting rod 211 and a second active connecting rod 212, wherein the second active connecting rod 212 includes a main rod 2121 and an H-shaped auxiliary rod 2122 with the main rod 2121, wherein the main rod 2121 and the auxiliary rod 2122 can be integrally formed, and the auxiliary rod 2122 is connected to the power device 1, and the first active connecting rod 211 is connected to one side of the main rod 2121 and to an end of the power device 1 away from the auxiliary rod 2122. Figure 2 As shown, the first active connecting rod 211 is connected to the power device 1, and the two ends of the H-shaped second active connecting rod 212, namely the main rod 2121 and the auxiliary rod 2122, are respectively connected to the first active connecting rod 211 and the other end of the power device 1.

[0029] In addition, in this embodiment, the power device 1 includes a power source 11 corresponding to the number of the active connecting rod group 21, and the power source 11 includes a first power source 111 and a second power source 112 with a coaxial design. The rotor directions of the two power sources 11 are different. The coaxial design of the two power sources 11 simplifies the dynamic modeling of the body, thereby making the software controller design simpler and easier to optimize the structure.

[0030] One end of the first power source 111 away from the second power source 112 is connected to the first active connecting rod 211 for driving the first active connecting rod 211 ; the second power source 112 is connected to the auxiliary rod 2122 for driving the second active connecting rod 212 .

[0031] The driven link group 22 includes a first driven link 221 and a second driven link 222, wherein one end of the first driven link 221 is hinged to the first active link 211, and the other end is connected to the caster device 3; one end of the second driven link 222 is hinged to the main rod 2121, and the other end is connected to the caster device 3.

[0032] The active link group 21 and the driven link group 22 are hinged to form a boat-shaped four-bar linkage. Figure 1 As shown, the connection between the first active link 211 and the first driven link 221 is opposite to the connection between the second active link 212 and the second driven link 222, which can improve the ability of the link device 2 to resist the axial stress during the operation of the caster device 3 and improve the overall firmness.

[0033] In this embodiment, the two coaxially designed power sources 11 can form a combined force, which can improve the power efficiency of the wheel-leg structure. The ship-shaped structure formed in combination with the connecting rod device 2 can increase the telescopic range of the existing leg structure and the working stroke of the rotating power source 11 by at least 60% when the connecting rod length is the same, so that it has a larger height lifting range, jumping energy storage and falling buffer range.

[0034] Since the directions of the rotors of the two power sources 11 are different, and the first active connecting rod 211 connected to the first power source 111 is between the main rod 2121 and the auxiliary rod 2122 of the second active connecting rod 212, when the active connecting rod group 21 drives the driven connecting rod group 22 to be fully compressed or extended, as shown in FIG. Figure 3 and Figure 4 As shown, the second active link 212 abuts against the crossbar portion of the auxiliary rod 2122, that is, the contact point forms an angle limit point, which can prevent the wheel-leg structure from excessive deformation.

[0035] The wheel leg structure provided in this embodiment is as follows: Figure 2As shown, it also includes a connecting member 4, which is fixedly disposed between the first power source 111 and the second power source 112, and coaxially and fixedly connects the first power source 111 to the outside of the second power source 112.

[0036] The wheel-leg structure also includes a fixing device 5, which is used to fix the wheel-leg structure to the wheel-leg structure or even to the robot body. Figure 2 As shown, the fixing device 5 includes a fixing plate 51 and a first fixing member 52 arranged in the middle of the fixing plate 51. The power device 1 is fixedly connected to the fixing plate 51 through the first fixing member 52. The wheel-leg structure of this embodiment takes into account the installation integration requirements of the applied robot structure design in the design of the connecting member 4 and the fixing plate 51, and leaves a strong, reliable, and easy-to-install and disassemble mechanical interface. This can achieve modular installation and easy integration, and can also reduce the space occupied by the structural connecting member 4 while ensuring the structural strength.

[0037] The fixing device 5 also includes a second fixing member 53, one end of which is fixedly connected to the connecting member 4, and the other end is fixedly connected to the fixing plate 51, and the second fixing member 53 can be a carbon tube. In this embodiment, two second fixing members 53 are included, and the connecting member 4 between the power sources 11 has a through hole for connecting the second fixing member 53, so that after the second fixing member 53 connects the fixing plate 51 and the connecting member 4, the three connection points on the connecting member 4 with the second fixing member 53 and the power source 11 form a triangle, which can make the connection between the wheel-leg structure and the robot body resist stress in all directions, increase its hardness, and save installation resources.

[0038] Through the above embodiments, it can be seen that the present application sets the second active connecting rod 212 in the active connecting rod group 21 connected to the power device 1 as an H-shape, and connects the first active connecting rod 211 and the power device 1 between the main rod 2121 and the auxiliary rod 2122 that form the H-shape. In this way, when the active connecting rod group 21 drives the driven connecting rod group 22 to be fully compressed or extended, the second active connecting rod 212 and the cross bar part of the auxiliary rod 2122 are abutted, that is, the contact point forms an angle limit point, which can prevent the wheel-leg structure from being excessively deformed; and the two power sources 11 in the power device 1 are coaxially designed, which can form a combined force to improve the power efficiency of the wheel-leg structure. The ship-shaped structure formed by the connecting rod device 2 can increase its telescopic range and the working stroke of the rotating power source 11 compared with the existing leg structure when the connecting rod length is the same, so that it has a larger height lifting range, jumping energy storage and falling buffer range, and can also reduce the occupied space weight of the structural connector 4 while ensuring its strength.

[0039] Embodiment 2

[0040] This embodiment of the present application provides a robot using the wheel-leg structure of the present application, such as Figure 5 As shown, the robot includes the wheel-leg structure provided in Example 1, and the wheel-leg structure is conceptually fixedly connected by a second fixing member 53. The wheel-leg structures at both ends enable the robot to achieve stable operation both in an extended standing state and in a compressed folded state, and the movement direction of the robot can be changed when the telescopic state of the wheel-leg structure is different. The application of the wheel-leg structure provided in this application can not only solve the problems of the robot's relatively single motion state and limited telescopic deformation range, but also can utilize the structural design of the power device 11 of the wheel-leg structure to improve the power efficiency of the robot's wheel-leg structure.

[0041] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheel leg structure, characterized in that: It comprises a power device (1), a connecting rod device (2) and a caster device (3), wherein the power device (1) and the caster device (3) are connected via the connecting rod device (2); The connecting rod device (2) comprises an active connecting rod group (21) and a driven connecting rod group (22), the active connecting rod group (21) comprising a first active connecting rod (211) and a second active connecting rod (212), the second active connecting rod (212) comprising a main rod (2121) and a secondary rod (2122) in an H-shape with the main rod (2121), the secondary rod (2122) being connected to the power device (1), and the first active connecting rod (211) being connected to one side of the main rod (2121) and connected to the power device (1); The active connecting rod group (21) drives the driven connecting rod group (22) to rotate under the drive of the power device (1) to achieve the length extension and angle swing of the connecting rod device (2); The power device (1) comprises a corresponding number of power sources (11) as the active connecting rod group (21), the power source (11) comprising a first power source (111) and a second power source (112) of a coaxial design, the rotors of the two power sources (11) being in different directions, and a first active connecting rod (211) connected to the first power source (111) being between a main rod (2121) and a secondary rod (2122) of a second active connecting rod (212), and when the active connecting rod group (21) drives the driven connecting rod group (22) to be fully compressed or extended, the second active connecting rod (212) and the cross rod portion of the secondary rod (2122) are in contact with each other, i.e., the contact point forms an angle limit point.

2. A wheel-leg structure according to claim 1, characterized in that: It also includes a connecting member (4), wherein the connecting member (4) is fixedly arranged between the first power source (111) and the second power source (112), and coaxially and fixedly connects the first power source (111) to the outside of the second power source (112).

3. A wheel-leg structure according to claim 2, characterized in that: One end of the first power source (111) away from the second power source (112) is connected to the first active connecting rod (211) and is used to drive the first active connecting rod (211); The second power source (112) is connected to the auxiliary rod (2122) and is used to drive the second active connecting rod (212).

4. A wheel leg structure according to claim 3, characterized in that: The driven connecting rod assembly (22) comprises a first driven connecting rod (221) and a second driven connecting rod (222); one end of the first driven connecting rod (221) is hinged to the first active connecting rod (211), and the other end is connected to the caster device (3); One end of the second driven connecting rod (222) is hinged to the main rod (2121), and the other end is connected to the caster device (3).

5. A wheel-leg structure according to claim 4, characterized in that: The caster device (3) comprises a caster (31) and a caster power source (32), and the caster power source (32) drives the caster (31) to rotate.

6. The wheel-leg structure according to claim 3, characterized in that: It also includes a fixing device (5), the fixing device (5) including a fixing plate (51) and a first fixing member (52) arranged in the middle of the fixing plate (51), and the power device (1) is fixedly connected to the fixing plate (51) via the first fixing member (52).

7. A wheel-leg structure according to claim 6, characterized in that: The fixing device (5) further comprises a second fixing member (53), one end of the second fixing member (53) being fixedly connected to the connecting member (4) and the other end of the second fixing member (53) being fixedly connected to the fixing plate (51).

8. A robot, characterized in that: It comprises the wheel-leg structure as described in any one of claims 1-7.

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