A multi-modal active motion switching sensitive omnidirectional mobile wheel-legged robot

Abstract

The application discloses a multi-mode active motion switching sensitive omnidirectional mobile wheel-leg robot, which comprises a machine body and a plurality of wheel-leg motion units connected with the machine body; the wheel-leg motion unit comprises a first movable frame, a second movable frame, a first adjusting component, a second adjusting component and a driving wheel; the first movable frame is rotatably arranged on the machine body, and the rotation plane of the first movable frame is a first plane; the second movable frame is rotatably arranged on the end of the first movable frame away from the machine body, and the rotation plane of the second movable frame is a second plane; an included angle is formed between the first plane and the second plane, the angle value of the included angle is greater than 0° and less than 180°; the first adjusting component is arranged on the machine body, one end of the second adjusting component is connected with the first adjusting component, and the other end of the second adjusting component is connected with the second movable frame. The robot disclosed by the application can quickly change the action direction and the whole machine occupied space, improves the moving ability and the obstacle crossing ability, and increases the flexibility of use.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot. BACKGROUND

[0002] The existing wheeled-legged mobile robot currently generally adopts a form of multi-link mechanism in series. For the existing wheeled-legged mobile mechanism, although the functions are very similar, the structures are quite different. The structural characteristics of them can be divided into two categories in general. The first category is to install wheels at the end of the leg, so that the wheel and the leg form a series structure, and the wheel acts as a foot. This is a common type of wheeled-legged hybrid mechanism system, and it is a type with more research results at present. In most cases, the wheel and the leg can move in a single way, and even in some scenarios, the two moving mechanisms can work at the same time. It can be seen that the structures of the two sub-mechanisms in this system have obvious independence and integrity. The second category is that the wheel and the leg are completely separated in structure, and the two work together to move in a hybrid mode or move in a single way. Compared with the first category, the structure is simpler and the control is easier.

[0003] However, no matter which combination way, the existing wheeled-legged robot has the problems of complex moving mechanism structure, many control steps, long motion interval, and increased weight, which affects the moving ability and obstacle crossing ability of the wheeled-legged robot, and leads to the defect of insufficient flexibility in use.

[0004] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0005] In view of the above problems of the prior art, the present application aims to provide a multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot, which aims to solve the problems of complex structure of the existing robot and insufficient flexibility in use.

[0006] The technical scheme of the present application is as follows:

[0007] The application discloses a multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot, which comprises a body and a plurality of wheel-leg motion units connected with the body; the wheel-leg motion unit comprises a first movable frame, a second movable frame, a first adjusting part, a second adjusting part and a driving wheel; the first movable frame is rotatably arranged on the body, and the rotation plane of the first movable frame is a first plane; the second movable frame is rotatably arranged on the end of the first movable frame away from the body, and the rotation plane of the second movable frame is a second plane; an included angle is formed between the first plane and the second plane, and the angle value of the included angle is greater than 0° and less than 180°; the first adjusting part is arranged on the body, one end of the second adjusting part is connected with the first adjusting part, and the other end of the second adjusting part is connected with the second movable frame; the first adjusting part is used for driving the first movable frame to rotate on the first plane; the second adjusting part is used for driving the second movable frame to rotate on the second plane; and the driving wheel is arranged on the second movable frame and used for driving the body to move.

[0008] The multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot, wherein the body is provided with a connecting rotating shaft; the first movable frame comprises a rotating part, the rotating part is rotatably connected with the connecting rotating shaft and takes the connecting rotating shaft as a rotating shaft; the second movable frame comprises a connecting rod assembly and a bearing support, one end of the connecting rod assembly is hingedly connected with the rotating part, and the other end of the connecting rod assembly is hingedly connected with the bearing support; and the driving wheel is fixed on the bearing support.

[0009] The multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot, wherein one end of the rotating part away from the connecting rotating shaft is provided with a shaft hole; the connecting rod assembly comprises a first connecting rod rotatably arranged in the shaft hole, and a second connecting rod and a third connecting rod arranged at two ends of the first connecting rod respectively; the second connecting rod and the third connecting rod are arranged in parallel and are both hingedly connected with the bearing support.

[0010] The multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot, wherein the second movable support further comprises a driving motor, the driving motor is arranged on the bearing support and is in transmission connection with the driving wheel.

[0011] The multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot, wherein the second movable frame further comprises a damping part, the damping part is arranged on the bearing support and is hingedly connected with the second adjusting part.

[0012] The multi-modal active motion switching sensitive omnidirectional mobile wheeled-leg robot, wherein the first adjusting component comprises a first rotary motor and a first rotary connecting rod, the first rotary motor is fixed on the surface of the body, and the first rotary connecting rod is in transmission connection with the output end of the first rotary motor; the second adjusting component comprises a second rotary motor and a second rotary connecting rod, the second rotary motor is fixedly arranged on the first rotary connecting rod and in transmission connection with the second rotary connecting rod; one end of the second rotary connecting rod is hinged with the first rotary connecting rod, and the other end is hinged with the second movable frame.

[0013] The multi-modal active motion switching sensitive omnidirectional mobile wheeled-leg robot, wherein the rotatable angle of the first movable frame is 0-90°.

[0014] The multi-modal active motion switching sensitive omnidirectional mobile wheeled-leg robot, wherein the rotatable angle of the second movable frame is 0-60°.

[0015] The multi-modal active motion switching sensitive omnidirectional mobile wheeled-leg robot, wherein the multi-modal active motion switching sensitive omnidirectional mobile wheeled-leg robot further comprises an environment perception unit, the environment perception unit is arranged on the body; the environment perception unit comprises one or more of an infrared sensor, an image sensor, a heat sensor and a navigation module.

[0016] The multi-modal active motion switching sensitive omnidirectional mobile wheeled-leg robot, wherein the wheeled-leg motion unit is arranged at the bottom of the body in a trapezoidal shape.

[0017] Compared with the prior art, the embodiment of the present application has the following advantages:

[0018] The multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot disclosed in the application is connected with the driving wheels through the rotatable first movable frame and the second movable frame, and is driven through the first adjusting component and the second adjusting component. In the motion process, the rotation of the first movable frame and the second movable frame in different planes is synchronously controlled, so that the wheel-leg motion unit can complete the rotation in the horizontal and vertical directions, and then the horizontal position and the vertical height of the driving wheels are adjusted, the height and the moving direction of the robot are quickly adjusted, the wheel-leg motion unit can be rotated from one side of the body to the other side, the occupied space of the wheel-leg motion unit is reduced, the moving ability of the robot is maintained, and the ability of the robot to pass through narrow spaces is increased; the wheel movement and the leg movement can be combined, in addition to the rolling movement of the robot through the driving wheels, the first adjusting component and the second adjusting component can work cooperatively to make the robot keep stable while lifting or lowering the driving wheels, the height of the driving wheels is changed, the complex terrain is adapted, and the adaptability of the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot to the environment is increased; in general, the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot disclosed in the application can quickly change the action direction and the occupied space of the whole machine through the cooperative control of the first adjusting component and the second adjusting component according to the terrain and the space shape of different use occasions, can perform mimic walking, lifting, rolling, rotating and other actions, the moving ability and the obstacle crossing ability of the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot are improved, the structure is simple, the control is easier, and the flexibility of the use of the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot is improved. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0020] Figure 1 It is a structural schematic view of the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot in the present application.

[0021] Figure 2 It is a front view of the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot in the present application.

[0022] Figure 3 It is another state structural schematic view of the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot in the present application.

[0023] Figure 4 Front view of another state of the multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot in the application;

[0024] Figure 5 Structural schematic diagram of the wheeled-legged motion unit in the application;

[0025] Figure 6 Structural schematic diagram of another angle of the wheeled-legged motion unit in the application.

[0026] Wherein, 100, body; 110, connecting rotating shaft; 200, wheeled-legged motion unit; 210, first movable frame; 211, rotating part; 220, second movable frame; 221, connecting rod assembly; 2211, first connecting rod; 2212, second connecting rod; 2213, third connecting rod; 222, bearing support; 223, driving motor; 224, damping part; 230, first adjusting component; 231, first rotary motor; 232, first rotary connecting rod; 240, second adjusting component; 241, second rotary motor; 242, second rotary connecting rod; 250, driving wheel. DETAILED DESCRIPTION

[0027] In order to make the personnel in the technical field better understand the application scheme, the technical solutions in the embodiments of the application will be described clearly and completely below in combination with the drawings in the embodiments of the application. Obviously, the described embodiments are only a part of the embodiments of the application, not all the embodiments. Based on the embodiments in the application, all other embodiments obtained by the person skilled in the art without creative labor are within the protection scope of the application.

[0028] Mobile robots can complete exploration, reconnaissance, patrol, disaster relief and explosive disposal in dangerous environments, and their application prospects are becoming more and more extensive. At present, mobile robots either roll through the setting of wheels, or move through the setting of mechanical legs, or move through the setting of tracks; wheeled mobile robots have the advantages of simple structure, high efficiency, light weight and easy control, but their environmental adaptability is poor, and it is difficult for them to adapt to special structured environments such as steps; legged mobile robots have strong environmental adaptability, and can adapt to rugged terrain by adjusting the leg posture, but such robots have complex structure, slow moving speed, low efficiency, and are difficult to realize stable gait planning and stable balance control; tracked mobile robots have good obstacle crossing ability, but their flexibility and maneuverability are poor, their own weight is large, and their moving speed is slow.

[0029] In recent decades, the wheel-legged mobile robot technology has developed rapidly, and there are many successful cases, widely used in rescue, explosive ordnance disposal, pollution source detection and other fields. As a kind of mobile robot, the wheel-legged robot has obstacle crossing ability and maneuverability, simple structure, and can maintain good moving efficiency and stability. On flat terrain, wheel structure can be used to move forward, and on uneven terrain environment, foot type or wheel-leg composite type can be used to move forward. It has the characteristics of high speed, low energy consumption and strong terrain adaptability.

[0030] However, the existing wheel-legged mobile robot solution generally adopts a form of multiple connecting rod mechanisms in series, the driving process is relatively cumbersome, the structure is complex, and the motion gap is long, so there is still a problem of insufficient flexibility in use.

[0031] As shown in Figure 1 , in an embodiment of the present application, a multi-modal active motion switching sensitive omnidirectional mobile wheel-legged robot is disclosed, which comprises a machine body 100 and a plurality of wheel-legged motion units 200 connected with the machine body 100. The machine body 100 in this embodiment can adopt a box type structure, which is used for material carrying or transfer, carrying various detection instruments and equipment, etc., and is convenient for working in outdoor or dangerous environment; a plurality of wheel-legged motion units 200 are arranged as supports, so that the machine body 100 has obstacle crossing ability and mobility.

[0032] As shown in Figure 2 , Figure 3 and Figure 4 , as an embodiment of the present embodiment, the wheel-legged motion unit 200 is provided with four, and the four wheel-legged motion units 200 are arranged in a trapezoidal shape at the bottom of the machine body 100. The four wheel-legged motion units 200 in this embodiment can improve the stability of supporting the machine body 100, and the trapezoidal arrangement makes the opposite two wheel-legged motion units 200 staggered, so that the connection position on the machine body 100 is more reasonable, the support force received by each region is more balanced, further improving the stability of the multi-modal active motion switching sensitive omnidirectional mobile wheel-legged robot, and facilitating fast movement and obstacle crossing.

[0033] As shown in Figure 5 and Figure 6As shown, the wheel-leg motion unit 200 in the embodiment includes a first movable frame 210, a second movable frame 220, a first adjusting component 230, a second adjusting component 240, and a driving wheel 250. The first movable frame 210 is rotatably arranged on the body 100, and the rotation plane of the first movable frame 210 is a first plane. The second movable frame 220 is rotatably arranged on the end of the first movable frame 210 away from the body 100, and the rotation plane of the second movable frame 220 is a second plane. An included angle is formed between the first plane and the second plane, and the angle value of the included angle is greater than 0° and less than 180°. The first adjusting component 230 is arranged on the body 100, one end of the second adjusting component 240 is connected with the first adjusting component 230, and the other end is connected with the second movable frame 220. The first adjusting component 230 is used to drive the first movable frame 210 to rotate on the first plane. The second adjusting component 240 is used to drive the second movable frame 220 to rotate on the second plane. The driving wheel 250 is arranged on the second movable frame 220 and is used to drive the body 100 to move.

[0034] The multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot disclosed in the embodiment connects the driving wheel 250 through the rotatable first movable frame 210 and the second movable frame 220, and drives through the first adjusting component 230 and the second adjusting component 240. In the motion process, the rotation of the first movable frame 210 and the second movable frame 220 in different planes is synchronously controlled, so that the wheel-leg motion unit 200 can complete the rotation in the horizontal and vertical directions, and then adjust the horizontal position and the vertical height of the driving wheel 250, quickly achieve the purpose of adjusting the height and the moving direction of the robot. First, the wheel-leg motion unit 200 can be rotated from one side of the body 100 to the other side, which reduces the occupied space of the wheel-leg motion unit 200, maintains the moving ability of the robot, and increases the ability of the robot to pass through a narrow space. Second, the wheel movement and the leg movement can be combined. In the process of the robot moving, in addition to the rolling movement through the driving wheel 250, the first adjusting component 230 and the second adjusting component 240 can also work cooperatively, so that the robot can be kept stable while the driving wheel 250 is lifted or lowered, the height of the driving wheel 250 is changed, and thus the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg robot is adapted to the complex terrain, and the adaptability of the robot to the environment is increased.

[0035] Specifically, when the body 100 moves to the front of a relatively narrow passage, the first adjusting component 230 can drive the first movable frame 210 to rotate, so that the first movable frame 210, the second movable frame 220, and the driving wheel 250 are moved from one side of the body 100 to the other side, for example, as shown in FIG. 6B. Figure 1 andFigure 3 As shown, the body 100 is arranged in a rectangular shape, and the body 100 is moved forward and backward along the length direction by moving the driving wheels 250 from the wider side of the body 100 to the narrower side, so as to reduce the space occupied by the movement and facilitate passing through a narrow passage; when the body 100 moves to the front of a lower passage, the second adjusting component 240 can drive the second movable frame 220 to rotate, so as to reduce the height of the first movable frame 210 and the body 100 from the ground, so as to reduce the overall height occupied by the robot and facilitate passing through a lower passage.

[0036] In particular, the second adjusting component 240 disclosed in the embodiment is connected with the first adjusting component 230, and in the adjustment process, the first adjusting component 230 and the second adjusting component 240 can be started at the same time, and the position of the driving wheels 250 is changed to quickly achieve the purpose of adjusting the height and moving direction of the sensitive omnidirectional mobile wheeled-legged robot with multi-modal active motion switching.

[0037] In general, by combining the control modes of wheeled movement and legged movement, the sensitive omnidirectional mobile wheeled-legged robot with multi-modal active motion switching disclosed in the embodiment can change its action direction and overall space occupied according to the terrain and space shape of different occasions, and can perform mimic walking, lifting, rolling, rotating and other actions, thereby improving the movement ability and obstacle crossing ability of the robot; moreover, the structure of the combination of the first adjusting component 230 and the second adjusting component 240 is simple, and two sets of driving components do not need to be separately arranged, which not only makes the control of the robot easier and more efficient, but also reduces the self-weight of the robot and the load, thereby improving the flexibility of use of the sensitive omnidirectional mobile wheeled-legged robot with multi-modal active motion switching.

[0038] Specifically, in actual use, the sensitive omnidirectional mobile wheeled-legged robot with multi-modal active motion switching moves on the ground, and the first plane disclosed in the embodiment is the surface of the body 100, that is, when the wheeled-legged movement unit 200 is arranged on the bottom surface of the body 100, the first plane is a horizontal plane parallel to the ground; therefore, the second plane is an inclined plane forming an angle with the ground, and the angle is greater than 0° and less than 180°; so that the two movable frames do not rotate on the same plane, that is, the wheeled-legged movement unit 200 can provide at least two-dimensional position adjustment functions; preferably, the second plane is perpendicular to the first plane and is arranged as a vertical plane, so that the rotation of the first movable frame 210 and the second movable frame 220 is independent of each other, and the first adjusting component 230 and the second adjusting component 240 can be controlled independently to reduce the mutual influence and simplify the control mode of the wheeled-legged movement unit 200.

[0039] As Figure 5 and Figure 6As shown, as another embodiment of the present embodiment, the connecting shaft 110 is provided on the body 100; the first movable frame 210 comprises a rotating member 211, which is rotatably connected to the connecting shaft 110 with the connecting shaft 110 as the rotating shaft; the connecting shaft 110 disclosed in the present embodiment is a fixed shaft, which is inserted through a through hole formed on the rotating member 211, so that the rotating member 211 can be firmly connected to the body 100 and is not easy to fall off, while maintaining flexibility, and can rotate around the connecting shaft 110, thereby realizing rotation in the first plane, driving the second movable frame 220 and the driving wheel 250 connected to the rotating member 211 to rotate, changing the position of the wheel leg type movement unit 200, and adjusting the appearance of the multi-modal active movement switching sensitive omnidirectional mobile wheel leg type robot.

[0040] For example Figure 5 As shown, the second movable frame 220 comprises a connecting rod assembly 221 and a bearing bracket 222, one end of the connecting rod assembly 221 is hingedly connected to the rotating member 211, and the other end is hingedly connected to the bearing bracket 222; the driving wheel 250 is fixed on the bearing bracket 222. The connecting rod assembly 221 disclosed in the present embodiment plays a supporting and connecting role, and both ends of the connecting rod assembly 221 are hingedly connected, that is, the connecting rod assembly 221 can freely rotate relative to the rotating member 211 and the bearing bracket 222, and is not constrained by rigid connection. When the second adjusting component 240 drives the connecting rod assembly 221 to move, the connecting rod assembly 221 rotates in the second plane, while the rotating member 211 and the bearing bracket 222 can maintain the original shape to avoid bending. In addition, the bearing bracket 222 is connected with the driving wheel 250, so that the driving wheel 250 can be fixed more firmly, and during driving, it is not affected by the rotation angle of the connecting rod assembly 221, and remains perpendicular to the ground to facilitate rolling.

[0041] For example Figure 5 For example Figure 6As shown, as another embodiment of the present embodiment, it is disclosed that an axle hole is formed at one end of the rotating member 211 away from the connecting shaft 110; the connecting rod assembly 221 includes a first connecting rod 2211 rotatably installed in the axle hole, and a second connecting rod 2212 and a third connecting rod 2213 respectively arranged at both ends of the first connecting rod 2211, the second connecting rod 2212 and the third connecting rod 2213 are arranged in parallel and are both hinged with the bearing support 222. The first connecting rod 2211 disclosed in the present embodiment is inserted into the axle hole and arranged to extend in a direction parallel to the first plane, serving as the rotation axis of the second connecting rod 2212 and the third connecting rod 2213, and the second connecting rod 2212 and the third connecting rod 2213 serve as the connection and support, arranged in parallel side by side, and form a stable connection with the bearing support 222; in particular, the first connecting rod 2211, the second connecting rod 2212, the third connecting rod 2213 and the bearing support 222 in the present embodiment are combined into a parallelogram structure, which is conducive to improving the stability of the structure of the connecting rod assembly 221 and the bearing support 222, so as to increase the anti-shock capability of the wheel-leg type movement unit 200.

[0042] Further Figure 5 As shown, as another embodiment of the present embodiment, it is disclosed that the second movable support further includes a driving motor 223, and the driving motor 223 is arranged on the bearing support 222 and is in transmission connection with the driving wheel 250. The driving motor 223 disclosed in the present embodiment includes a stepping motor, a motor and the like, but is not limited thereto. By arranging the driving motor 223 on the bearing support 222, the rotation of the driving wheel 250 is controlled, the control of the movement of the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg type robot is improved, and each wheel-leg type movement unit 200 is independently provided with the driving motor 223, the forward and backward movement of the driving wheel 250 is controlled, and the control accuracy of the wheel-leg type movement unit 200 is improved.

[0043] Further Figure 5 As shown, as another embodiment of the present embodiment, it is disclosed that the second movable support 220 further includes a damping member 224, and the damping member 224 is arranged on the bearing support 222 and is hinged with the second adjusting component 240. The damping member 224 disclosed in the present embodiment includes a double hydraulic push rod. By arranging the damping member 224, the anti-shock capability is increased while maintaining the connection between the bearing support 222 and the second adjusting component 240. When the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg type robot moves or overcomes obstacles, the body 100 may move vertically, which may generate inertia and be transmitted to the bearing support 222, which is easy to damage the bearing support 222. Therefore, the damping member 224 is arranged to buffer in time and reduce the impact of inertia generated during movement on the second movable support 220.

[0044] Specifically, as another embodiment of the present embodiment, it is disclosed that the first movable frame 210 can rotate at an angle of 0-90°. The fuselage 100 disclosed in the present embodiment is provided with a plurality of wheel-leg movement units 200, that is, a plurality of first movable frames 210, so that the rotation angle of the first movable frame 210 is limited to prevent collision with the adjacent wheel-leg movement unit 200 and avoid damage. Generally, in order to maintain the balance of the fuselage 100, wheel-leg movement units 200 will be arranged on both sides of the fuselage 100. If the rotation angle of a single first movable frame 210 exceeds 90°, it is easy to rotate from one side of the fuselage 100 to the opposite side, and collision may occur.

[0045] Specifically, as another embodiment of the present embodiment, it is disclosed that the second movable frame 220 can rotate at an angle of 0-60°. The first movable frame 210 and the second movable frame 220 disclosed in the present embodiment not only connect the driving wheel 250 and the fuselage 100, but also play a role in transmitting support force. When the rotation angle of the second movable frame 220 is 0°, the second movable frame 220 is perpendicular to the fuselage 100 and the ground, so that the fuselage 100 can be stably supported during movement. If the rotation angle of the second movable frame 220 is too large, greater than 60°, that is, an inclined support state is formed, the fuselage 100 cannot form stable support due to excessive pressure on the second movable frame 220 and the driving wheel 250, and even the second movable frame 220 may be broken. Therefore, the rotation range of the second movable frame 220 is set to 0-60°.

[0046] For example Figure 5 As another embodiment of the present embodiment, it is disclosed that the first adjusting component 230 includes a first rotary motor 231 and a first rotary connecting rod 232, the first rotary motor 231 is fixed on the surface of the fuselage 100, and the first rotary connecting rod 232 is in transmission connection with the output end of the first rotary motor 231; the second adjusting component 240 includes a second rotary motor 241 and a second rotary connecting rod 242, the second rotary motor 241 is fixedly arranged on the first rotary connecting rod 232 and in transmission connection with the second rotary connecting rod 242; one end of the second rotary connecting rod 242 is hinged to the first rotary connecting rod 232, and the other end is hinged to the second movable frame 220. The first rotary motor 231 and the second rotary motor 241 in the present embodiment can be set as step motors, which can control the first movable frame 210 and the second movable frame 220 to rotate forward or reverse in their respective rotation planes through forward rotation and reverse rotation.

[0047] The first rotating connecting rod 232 in the embodiment is fixed on the output end of the first rotating motor 231 and rotates synchronously with the output end of the first rotating motor 231; the second rotating connecting rod 242 is fixed on the output end of the second rotating motor 241 and rotates synchronously with the output end of the second rotating motor 241; in particular, the second rotating motor 241 is fixed on the first rotating connecting rod 232, so that the first rotating connecting rod 232 drives the second rotating motor 241 and the second rotating connecting rod 242 connected with the second rotating motor 241 to rotate synchronously when the first rotating connecting rod 232 rotates, so that the movement track of the second rotating connecting rod 242 not only includes the rotation control of the second rotating motor 241 but also is affected by the rotation stroke of the first rotating motor 231, and the end of the second rotating connecting rod 242 is hinged to the second movable frame 220, so that the driving force of the first rotating motor 231 and the second rotating motor 241 can be transmitted to the second movable frame 220, so that the position of the driving wheel 250 connected with the second movable frame 220 is changed, and the adjusting action of the wheel-leg type movement unit 200 is realized.

[0048] Specifically, in the adjusting process of the embodiment, the first rotating motor 231 and the second rotating motor 241 are simple in structure, and the driving force is transmitted to the second movable frame 220 through the second rotating connecting rod 242 to control the position of the driving wheel 250, so that the structure of the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg type robot is simplified, the self-weight is reduced, the energy consumption of driving is facilitated to be reduced, the first rotating motor 231 and the second rotating motor 241 can work at the same time and do not affect each other, the control precision of the first movable frame 210 and the second movable frame 220 is ensured, the adjusting speed is improved, the adjusting process of the wheel-leg type movement unit 200 is quickly completed, and the mobility of the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg type robot is improved.

[0049] As shown in Figure 1 , Figure 2 and Figure 4 , as another embodiment of the embodiment, the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg type robot further includes an environment perception unit 300, the environment perception unit 300 is arranged on the fuselage 100; the environment perception unit 300 includes one or more of an infrared sensor, an image sensor, a thermal sensor, and a navigation module. The environment perception unit 300 disclosed in the embodiment can monitor the environment around the fuselage 100 in real time, so as to timely send an alarm signal, so that the multi-modal active motion switching sensitive omnidirectional mobile wheel-leg type robot can timely regulate and control the wheel-leg type movement unit 200 to adapt to various terrains. Specifically, the environment perception unit 300 can be monitored by an infrared sensor, an image sensor, a thermal sensor, a navigation module, etc. In the embodiment, these sensing modules can be integrated together to form an integrated environment perception unit 300, so as to efficiently monitor the environment around the fuselage 100.

[0050] Specifically, in another embodiment of the present embodiment, the multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot realizes steering during the machine running by coordinating the driving wheels 250 with the first adjusting component 230; when crossing obstacles, it cooperates with the second adjusting component 240 to realize the deflection in the vertical direction, so as to realize the obstacle crossing of the whole robot.

[0051] Specifically, in another embodiment of the present embodiment, the bottom of the machine body 100 is provided with a steel plate connected with a plurality of the wheeled-legged motion units 200. By connecting the steel plate with strong mechanical properties with the wheeled-legged motion units 200, the multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot is given a larger load space and load capacity.

[0052] In summary, the application discloses a multi-modal active motion switching sensitive omnidirectional mobile wheel-legged robot, which comprises a body 100 and a plurality of wheel-legged motion units 200 connected with the body 100. The wheel-legged motion unit 200 comprises a first movable frame 210, a second movable frame 220, a first adjusting component 230, a second adjusting component 240 and a driving wheel 250. The first movable frame 210 is rotatably arranged on the body 100, and the rotation plane of the first movable frame 210 is a first plane. The second movable frame 220 is rotatably arranged on the end of the first movable frame 210 away from the body 100, and the rotation plane of the second movable frame 220 is a second plane. An included angle is formed between the first plane and the second plane, and the angle value of the included angle is greater than 0° and less than 180°. The first adjusting component 230 is arranged on the body 100, one end of the second adjusting component 240 is connected with the first adjusting component 230, and the other end is connected with the second movable frame 220. The first adjusting component 230 is used to drive the first movable frame 210 to rotate on the first plane. The second adjusting component 240 is used to drive the second movable frame 220 to rotate on the second plane. The driving wheel 250 is arranged on the second movable frame 220 and is used to drive the body 100 to move.The multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot disclosed in the embodiment is connected with the driving wheels 250 through the rotatable first movable frame 210 and the second movable frame 220, and is driven through the first adjusting component 230 and the second adjusting component 240. In the motion process, the rotation of the first movable frame 210 and the second movable frame 220 in different planes is synchronously controlled, so that the wheeled-legged motion unit 200 can complete the rotation in the horizontal and vertical directions, and then the horizontal position and the vertical height of the driving wheels 250 are adjusted, the height and the moving direction of the robot are quickly adjusted, the wheeled-legged motion unit 200 can be rotated from one side of the body 100 to the other side, the occupied space of the wheeled-legged motion unit 200 is reduced, the moving ability of the robot is maintained, and the ability of the robot to pass through a narrow space is increased; the wheeled movement and the legged movement can be combined, in addition to the rolling movement of the robot through the driving wheels 250, the first adjusting component 230 and the second adjusting component 240 can work cooperatively, so that the robot can be lifted or lowered while keeping stable, the height of the driving wheels 250 is changed, the complex terrain is adapted, and the adaptability of the multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot to the environment is increased; in general, the multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot disclosed in the embodiment can quickly change the action direction and the occupied space of the whole machine according to the terrain and the space shape of different use occasions through the cooperation control of the first adjusting component 230 and the second adjusting component 240, can perform mimic walking, lifting, rolling, rotating and other actions, the moving ability and the obstacle crossing ability of the multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot are improved, the structure is simple, the control is easier, and the flexibility of the use of the multi-modal active motion switching sensitive omnidirectional mobile wheeled-legged robot is improved.

[0053] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims. It is to be understood that the application is not limited to the details of construction or operation described herein, which are provided by way of example only. The application is intended to cover any and all variations of the application that become apparent upon consideration of the specification and practice of the application. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the application is indicated by the appended claims.

[0054] It is to be understood that the application is not limited to the precise construction herein described and illustrated in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope thereof. The scope of the application is limited only by the claims that follow.

[0055] The above description is merely the preferred embodiment of this application, and is not intended to limit the application. Any modification, equivalent replacement and improvement made without departing from the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A multi-modal active motion-switched agile omnidirectional mobile wheg robot, characterized in that, The multi-mode active motion switching sensitive omnidirectional mobile wheel-legged robot comprises a body and a plurality of wheel-legged motion units connected with the body. A first movable frame is rotatably arranged on the body, and a rotation plane of the first movable frame is a first plane. A second movable frame is rotatably arranged on an end of the first movable frame away from the body, and a rotation plane of the second movable frame is a second plane. An angle between the first plane and the second plane is greater than 0° and less than 180°. A first adjusting component is arranged on the body, and one end of a second adjusting component is connected with the first adjusting component and the other end is connected with the second movable frame. The first adjusting component is used to drive the first movable frame to rotate on the first plane. The second adjusting component is used to drive the second movable frame to rotate on the second plane.

2. The multi-modal, actively locomoting, switched sensitivity omnidirectional mobile wheg robot of claim 1, wherein, A driving wheel is arranged on the second movable frame and used to drive the body to move. The first adjusting component comprises a first rotary motor and a first rotary connecting rod.

3. The multi-modal, actively locomoting, switched sensitivity omnidirectional mobile wheg robot of claim 2, wherein, The second adjusting component comprises a second rotary motor and a second rotary connecting rod.

4. The multi-modal, actively locomoting, switched sensitivity omnidirectional mobile wheg robot of claim 2, wherein, The body is provided with a connecting rotating shaft.

5. The multi-modal, actively locomoting, switched, sensitive, omni-directional, wheel-legged robot of claim 2, wherein, The first movable frame comprises a rotating member rotatably connected with the connecting rotating shaft.

6. The multi-modal, actively locomoting, switched, sensitive, omnidirectional, mobile wheg robot of claim 1, wherein, The second movable frame comprises a connecting rod assembly and a bearing support.

7. The multi-modal, actively locomoting, switched sensitivity omnidirectional mobile wheg robot of claim 1, wherein, The rotating member is provided with a shaft hole at an end away from the connecting rotating shaft.

8. The multi-modal, actively locomoting, switched, sensitive, omni-directional, wheel-legged robot of claim 1, wherein, The connecting rod assembly comprises a first connecting rod rotatably arranged in the shaft hole and a second connecting rod and a third connecting rod arranged at two ends of the first connecting rod respectively.

9. The multi-modal, actively locomoting, switched gait, omni-directional wheeled-legged robot of any one of claims 1 to 8, wherein, The second connecting rod and the third connecting rod are parallel and are both hingedly connected with the bearing support. The second movable frame further comprises a driving motor arranged on the bearing support and in transmission connection with the driving wheel. The second movable frame further comprises a damping member arranged on the bearing support and in hinged connection with the second adjusting component. The rotatable angle of the first movable frame is 0-90°. The rotatable angle of the second movable frame is 0-60°. The multi-mode active motion switching sensitive omnidirectional mobile wheel-legged robot further comprises an environment sensing unit arranged on the body. The wheel-legged motion units are arranged in a trapezoidal shape at the bottom of the body. The multi-mode active motion switching sensitive omnidirectional mobile wheel-legged robot further comprises an environment sensing unit arranged on the body. The wheel-legged motion units are arranged in a trapezoidal shape at the bottom of the body.

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