An omnidirectional all-terrain deformable joint robot

Abstract

The application discloses an omnidirectional all-terrain deformable joint robot, which comprises a body and four walking leg assemblies rotatably connected to four corners of the body; the walking leg assembly comprises a first modular servo motor, a cross connecting piece, a second modular servo motor, a leg outer connecting piece, a modular wheel, a quick-release wheel connecting piece, a third modular servo motor, a fourth modular servo motor, a U-shaped connecting piece, a shock-absorbing lower leg and a leg inner connecting piece; the modular wheel is connected to the output shaft of the third modular servo motor through the quick-release wheel connecting piece; and the shock-absorbing lower leg is connected to the output shaft of the fourth modular servo motor through the U-shaped connecting piece. In the crawling motion mode, the spring in the shock-absorbing lower leg is deformed due to force, and the lower part of the shock-absorbing lower leg also produces buffering and shock absorption relative to the shock-absorbing lower leg, so that the crawling motion of the robot is more stable.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of robots, and particularly relates to an omnidirectional all-terrain deformable joint robot. BACKGROUND

[0002] With the continuous improvement of the level of robot research and manufacturing, the tasks to be performed by robots and the environments to be faced by robots are increasingly complex and changeable. In particular, when performing some special tasks, the working environment of the robot is often a place that humans cannot directly reach, such as a mine in which a disaster has occurred, a collapsed building after an earthquake, and the surface of an outer space planet, etc., which has a very high requirement on the motion performance of the robot, and requires the robot to have a very strong obstacle crossing ability and a relatively high forward efficiency.

[0003] The combination of wheeled robots and joint robots can make the robot have both obstacle crossing ability and forward efficiency. However, in the existing technology, the wheeled form of such robots can generally only advance on flat road surfaces, and in other terrains, it has to rely on a crawling mode. In fact, in some special terrains such as the wild, snow-covered land, and ice surface, vehicles equipped with special tires can also be used, but these special tires are not widely used in such robots. In addition, the requirements on the performance of the robot are different when performing different tasks. Therefore, it is urgent to invent an omnidirectional all-terrain deformable joint robot which can have functions matching the current task and motion ability adapting to the current environment when performing different tasks. SUMMARY

[0004] The present application aims to provide an omnidirectional all-terrain deformable joint robot to solve the problems raised in the background. By adopting the idea of modular design, when no other functional modules are added, the present application is a joint crawling robot, at this time the robot has strong obstacle crossing ability and can advance in rugged and complex environments such as jungles, slopes, and steps, but its forward efficiency on flat road surfaces is not high; when modular wheels are installed, the present application is a deformable joint robot with portable and replaceable wheels, at this time the robot can have both obstacle crossing ability and forward efficiency, and can replace Mecanum wheels, off-road wheels, omnidirectional wheels, snow anti-skid wheels, propellers, etc. without the aid of tools, greatly enhancing the adaptability of the robot's wheeled mode to the environment; when there are other special requirements on the functions of the robot, different modules such as nuc, Raspberry Pi, mechanical arm, and human thermal infrared can be loaded through the preset interfaces on the body.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical solution: an omnidirectional all-terrain deformable joint robot, comprising a body and four walking leg assemblies rotatably connected to the four corners of the body;

[0006] The walking leg assembly includes a first modular servo motor, a cross connector, a second modular servo motor, an outer leg connector, a modular wheel, a quick-release wheel connector, a third modular servo motor, a fourth modular servo motor, a U-shaped connector, a shock-absorbing lower leg, and an inner leg connector. The first modular servo motor is externally fixedly connected to the side of the connector on the outer side of the body. The second modular servo motor is rotatably connected to the first modular servo motor via the cross connector. The second, third, and fourth modular servo motors are fixedly connected together via the outer and inner leg connectors. The modular wheel is connected to the output shaft of the third modular servo motor via the quick-release wheel connector. The shock-absorbing lower leg is connected to the output shaft of the fourth modular servo motor via the U-shaped connector.

[0007] Preferably, the body includes a base plate, two outer connecting pieces, two inner connecting pieces, a top plate, and two side plates. The two side plates are symmetrically fixedly installed on the left and right sides of the body. The top plate is fixedly connected to the upper end of the side plate, and the base plate is fixedly connected to the lower end of the side plate. The outer connecting pieces and inner connecting pieces are fixedly connected to both sides of the middle of the base plate and the top plate.

[0008] Preferably, the modular wheel is detachably connected to a quick-release wheel connector, which is connected to the output shaft of the third modular servo motor.

[0009] Preferably, the shock-absorbing lower leg includes an upper rear part, a spring, an upper front part, and a lower part. The upper rear part and the upper front part are connected together by a mortise and tenon structure and then connected to a U-shaped connector. The spring is located in the cuboid groove formed by the upper rear part and the upper front part of the shock-absorbing lower leg. The top end of the lower part of the shock-absorbing lower leg is located in the cuboid groove formed by the upper rear part and the upper front part of the shock-absorbing lower leg, and the top end of the lower part of the shock-absorbing lower leg abuts against one end of the spring.

[0010] Preferably, the shock-absorbing lower leg will have a stroke of 0 to 5 mm during the robot's movement due to the deformation of the spring, which is used for buffering and shock absorption.

[0011] Preferably, the second and fourth modular servo motors are symmetrically distributed on both sides of the third modular servo motor, and the maximum area surfaces of the third modular servo motor, the second modular servo motor, and the fourth modular servo motor are perpendicular to each other, forming a T-shaped distribution.

[0012] Preferably, the outer leg connector and the inner leg connector are parallel to each other.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0014] 1. The robot provided by this invention adopts a modular design and has three forms: an articulated crawling robot, a deformable articulated robot with detachable wheels, and a deformable articulated robot equipped with special functional modules, which greatly enhances the robot's adaptability to different tasks.

[0015] 2. The robot's modular wheels can be replaced with Mecanum wheels, off-road wheels, omnidirectional wheels, snow anti-skid wheels, propellers, etc. without the aid of tools. This not only enables the robot to move in all directions, but also greatly improves the robot's forward movement efficiency in special environments such as snow, wilderness, and ice. The robot's adaptability to the environment has been further enhanced.

[0016] 3. In the crawling motion mode, the springs in the shock-absorbing lower leg deform due to the force, and the lower part of the shock-absorbing lower leg also generates buffering and shock absorption, making the robot's crawling motion more stable.

[0017] 4. The second, third, and fourth single-axis motion joints are fixed together in a T-shape, cleverly utilizing the single-axis motion joints as support, making the structure more compact and robust while achieving the function.

[0018] 5. Modular wheels are mounted on the thighs of the articulated robot, each controlled by a different single-axis joint. Switching between crawling and wheeled modes is achieved through robot deformation. Compared to robots with wheels mounted at the ends of joints, this design is not only simpler to control, but also results in lower wheel friction loss, fully leveraging the obstacle-crossing advantages of the articulated robot's crawling mode. Attached Figure Description

[0019] Figure 1 This is a three-dimensional view of an omnidirectional, all-terrain deformable articulated robot according to the present invention.

[0020] Figure 2 This is an exploded view of an omnidirectional, all-terrain deformable articulated robot according to the present invention.

[0021] Figure 3 This is a split diagram of the body of an omnidirectional, all-terrain deformable articulated robot according to the present invention.

[0022] Figure 4 This is a schematic diagram of the walking leg assembly structure of an omnidirectional, all-terrain deformable joint robot according to the present invention.

[0023] Figure 5 This is a schematic diagram of the shock-absorbing lower leg structure of an omnidirectional, all-terrain deformable joint robot according to the present invention.

[0024] Figure 6 This is a schematic diagram of the modular servo motor part of an omnidirectional, all-terrain deformable joint robot according to the present invention.

[0025] In the diagram: 1-body, 2-walking leg assembly; 101-base plate, 102-connector, 103-inner connecting piece, 106-top plate, 107-side plate, 201-first modular servo motor, 202-cross connector, 203-second modular servo motor, 204-outer leg connector, 205-modular wheel, 206-quick-release wheel connector, 207-third modular servo motor, 208-fourth modular servo motor, 209-U-shaped connector, 210-shock-absorbing lower leg, 211-inner leg connector; 2101-upper rear part of shock-absorbing lower leg, 2102-spring, 2103-upper front part of shock-absorbing lower leg, 2104-lower part of shock-absorbing lower leg. Detailed Implementation

[0026] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0027] Please see Figures 1-6 As shown, the present invention provides a technical solution: an omnidirectional, all-terrain deformable articulated robot, comprising a body 1 and four walking leg assemblies 2 rotatably connected to the four corners of the body 1. Each walking leg assembly 2 includes a first modular servo motor 201, a cross connector 202, a second modular servo motor 203, an outer leg connector 204, a modular wheel 205, a quick-release wheel connector 206, a third modular servo motor 207, a fourth modular servo motor 208, a U-shaped connector 209, a shock-absorbing lower leg 210, and an inner leg connector 211. The first modular servo motor 201 is externally fixedly connected to the... On the side of the connector 102 on the outer side of the fuselage 1, the second modular servo motor 203 is rotatably connected to the first modular servo motor 201 through the cross connector 202. The second modular servo motor 203, the third modular servo motor 207 and the fourth modular servo motor 208 are fixedly connected together through the outer leg connector 204 and the inner leg connector 211. The modular wheel 205 is connected to the output shaft of the third modular servo motor 207 through the quick-release wheel connector 206. The shock-absorbing lower leg 210 is connected to the output shaft of the fourth modular servo motor 208 through the U-shaped connector 209.

[0028] Furthermore, the fuselage 1 includes a base plate 101, two connectors 102, two inner connectors 103, a top plate 106, and two side plates 107. The two side plates 107 are symmetrically fixedly installed on the left and right sides of the fuselage 1. The top plate 106 is fixedly connected to the upper end of the side plate 107, and the base plate 101 is fixedly connected to the lower end of the side plate 107. Connectors 102 and inner connectors 103 are fixedly connected to both sides of the middle of the base plate 101 and the top plate 106.

[0029] Furthermore, the modular wheel 205 is detachably connected to the quick-release wheel connector 206, which is connected to the output shaft of the third modular servo motor 207. The modular wheel 205 can be replaced with Mecanum wheels, off-road wheels, omnidirectional wheels, snow tires, propellers, etc., according to the current road conditions. The first modular servo motor 201, the second modular servo motor 203, the third modular servo motor 207, and the fourth modular servo motor 208 are all model DM-PR22S. Figure 6 The housings of the second modular servo motor 203, the third modular servo motor 207, and the fourth modular servo motor 208 are fixedly connected together. The maximum surface area of ​​the third modular servo motor 207 is perpendicular to the maximum surface area of ​​the second modular servo motor 203 and the fourth modular servo motor 209, and the three are arranged in a T-shape. A single-axis motion joint is cleverly utilized as a support, achieving functionality while making the structure more compact and robust.

[0030] Furthermore, the shock-absorbing lower leg 210 includes an upper rear part 2101, a spring 2102, an upper front part 2103, and a lower part 2104. The upper rear part 2101 and the upper front part 2103 are connected together by a mortise and tenon structure and then connected to the U-shaped connector 209. The spring 2102 is located in the cuboid groove formed by the upper rear part 2101 and the upper front part 2103. The top end of the lower part 2104 is located in the cuboid groove formed by the upper rear part 2101 and the upper front part 2103. The top end of the lower part 2104 abuts against one end of the spring 2102.

[0031] Furthermore, the shock-absorbing lower leg 210 will have a stroke of 0 to 5 mm during the robot's movement due to the deformation of the spring 2102, which is used for buffering and shock absorption.

[0032] Furthermore, the outer leg connector 204 and the inner leg connector 211 are parallel to each other. When the shock-absorbing lower leg is not under force, the lower part 2104 of the shock-absorbing lower leg remains stationary under the action of the spring 2102. When the shock-absorbing lower leg is under force, the spring 2102 deforms under the force. Depending on the specific situation, displacement occurs between the lower part 2104 of the shock-absorbing lower leg, the upper rear part 2101 of the shock-absorbing lower leg, and the upper front part 2103 of the shock-absorbing lower leg to filter road vibrations and improve the stability of the robot's movement.

[0033] Example: In use, by energizing and controlling the first modular servo motor 201, the second modular servo motor 203, the third modular servo motor 207, and the fourth modular servo motor 208, the following functions can be achieved: Wheeled motion mode. When encountering a relatively flat road surface, to improve the robot's forward movement efficiency, the robot can use a wheeled motion mode, employing Mecanum wheels, off-road wheels, omnidirectional wheels, snow tires, and propellers, depending on the environment. In wheeled motion mode, the articulated robot is first reset to its initial position. The second modular servo motor 203 in the two front walking leg components 2 of the articulated robot rotates forward 90°, keeping the maximum surface area of ​​the second modular servo motor 203 parallel to the top plate 106, while the fourth modular servo motor 208 rotates backward to its mechanical limit. Then, the second modular servo motor 203 in the two rear walking leg components 2 of the robot rotates 90° backward, making the maximum surface area of ​​the second modular servo motor 203 parallel to the top plate 106, while the fourth modular servo motor 208 rotates forward to its mechanical limit. At this time, the articulated robot switches to wheeled motion mode. The first modular servo motor 201, the second modular servo motor 203, and the fourth modular servo motor 208 remain stationary, while the third modular servo motor 207 provides driving force to propel the modular wheels 205 forward on a flat surface. The robot of this invention uses modular wheels, which greatly increases the adaptability of the deformable articulated robot's wheeled motion mode to the environment. Crawling motion mode: When encountering complex and rugged road environments, there is a high demand for the robot's obstacle-crossing ability. At this time, the robot adopts crawling motion mode. In crawling motion mode, the third modular servo motor 207 does not work, and the modular wheels 205 and other functional modules can be installed as needed. The first modular servo motor 201 drives the cross connector 202 and its lower components to rotate in the front plane, while the second modular servo motor 203 drives its lower components to rotate in the left plane. The fourth modular servo motor 208 drives the U-shaped connector 209 and the elastic lower leg 210 to rotate in the left plane. The first modular servo motor 201, the second modular servo motor 203, and the fourth modular servo motor 208 work together to realize the movement of the walking leg assembly 2 in space.

[0034] In the description of this invention, it should be understood that the terms "coaxial," "bottom," "one end," "top," "middle," "other end," "upper," "side," "top," "inner," "front," "center," "both ends," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0035] Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include at least one of those features.

[0036] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "setting," "connection," "fixing," "screw connection," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal connection of two components or the interaction between two components. Unless otherwise explicitly limited, those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0037] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. An omnidirectional, all-terrain deformable articulated robot, characterized in that, Includes fuselage (1) and four walking leg assemblies (2) that are rotatably connected to the four corners of the fuselage (1); The walking leg assembly (2) includes a first modular servo motor (201), a cross connector (202), a second modular servo motor (203), an outer leg connector (204), a modular wheel (205), a quick-release wheel connector (206), a third modular servo motor (207), a fourth modular servo motor (208), a U-shaped connector (209), a shock-absorbing lower leg (210), and an inner leg connector (211). The first modular servo motor (201) is externally fixedly connected to the side of the connector (102) on the outer side of the body (1). The second modular servo motor... The machine (203) is rotatably connected to the first modular servo motor (201) via a cross connector (202). The second modular servo motor (203), the third modular servo motor (207), and the fourth modular servo motor (208) are fixedly connected together via an outer leg connector (204) and an inner leg connector (211). The modular wheel (205) is connected to the output shaft of the third modular servo motor (207) via a quick-release wheel connector (206). The shock-absorbing lower leg (210) is connected to the output shaft of the fourth modular servo motor (208) via a U-shaped connector (209). The shock-absorbing lower leg (210) includes an upper rear part (2101), a spring (2102), an upper front part (2103), and a lower part (2104). The upper rear part (2101) and the upper front part (2103) of the shock-absorbing lower leg are connected together by a tenon and mortise structure and then connected to a U-shaped connector (209). The spring (2102) is located in the cuboid groove formed by the upper rear part (2101) and the upper front part (2103) of the shock-absorbing lower leg. The top of the lower part (2104) of the shock-absorbing lower leg is located in the cuboid groove formed by the upper rear part (2101) and the upper front part (2103) of the shock-absorbing lower leg. The top of the lower part (2104) of the shock-absorbing lower leg abuts against one end of the spring (2102). The second modular servo motor (203) and the fourth modular servo motor (208) are symmetrically distributed on both sides of the third modular servo motor (207), and the maximum area surface of the third modular servo motor (207) is perpendicular to the maximum area surface of the second modular servo motor (203) and the fourth modular servo motor (208). The third modular servo motor (207), the second modular servo motor (203), and the fourth modular servo motor (208) are arranged in a T-shape. The modular wheel (205) is detachably connected to the quick-release wheel connector (206), which is connected to the output shaft of the third modular servo motor (207).

2. The omnidirectional, all-terrain deformable articulated robot as described in claim 1, characterized in that, The fuselage (1) includes a base plate (101), two connectors (102), two inner connectors (103), a top plate (106), and two side plates (107). The two side plates (107) are symmetrically fixedly installed on the left and right sides of the fuselage (1). The top plate (106) is fixedly connected to the upper end of the side plate (107), and the base plate (101) is fixedly connected to the lower end of the side plate (107). Connectors (102) and inner connectors (103) are fixedly connected to both sides of the middle of the base plate (101) and the top plate (106).

3. The omnidirectional, all-terrain deformable articulated robot as described in claim 1, characterized in that, The shock-absorbing lower leg (210) will have a stroke of 0 to 5 mm during the robot's movement due to the deformation of the spring (2102) for buffering and shock absorption.

4. The omnidirectional, all-terrain deformable articulated robot as described in claim 1, characterized in that, The outer leg connector (204) and the inner leg connector (211) are parallel to each other.

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