Robot and method for robot form switching

Abstract

The present disclosure provides a robot and a method for switching the robot form, belonging to the field of mechanical technology. The robot has a wheeled form and a legged form. The robot includes a robot main body, a drive wheel assembly, and two arm-leg multiplexing components. The drive wheel assembly is used to drive the robot to move in the wheeled form, and the drive wheel assembly is connected to the first end of the robot main body. The arm-leg multiplexing components are used as robotic arms in the wheeled form and as mechanical legs to drive the robot to move in the legged form. The two arm-leg multiplexing components are respectively connected to both sides of the second end of the robot main body. The robot provided by the present disclosure can be in the wheeled form under normal conditions, thereby improving the traveling speed and stability of the robot. When the robot encounters a relatively complex terrain, it can be switched to the legged form to improve the robot's ability to pass through complex terrains.

Description

Technical Field

[0001] The present disclosure relates to the field of mechanical technologies, and more particularly to a robot and a method for switching the form of a robot. Background Art

[0002] Existing service robots are usually wheeled robots, including a robot main body and a driving wheel assembly. The driving wheel assembly is installed at the bottom of the robot main body and can drive the entire robot to move.

[0003] However, it is difficult for wheeled robots to pass through relatively complex terrains such as stairs during travel, which limits the usage scenarios of service robots. Summary of the Invention

[0004] The present disclosure provides a robot and a method for switching the form of a robot, which can solve the technical problems existing in the related art. The technical solutions of the robot and the method for switching the form of the robot are as follows:

[0005] In a first aspect, a robot is provided. The robot has a wheeled form and a legged form. The robot includes a robot main body, a driving wheel assembly, and two arm-leg multiplexing components.

[0006] The driving wheel assembly is used to drive the robot to move in the wheeled form, and the driving wheel assembly is connected to the first end of the robot main body.

[0007] The arm-leg multiplexing components are used as robotic arms in the wheeled form and as robotic legs to drive the robot to move in the legged form. The two arm-leg multiplexing components are respectively connected to both sides of the second end of the robot main body.

[0008] In a possible implementation, the arm-leg multiplexing component includes an arm-leg multiplexing motor and an arm-leg multiplexing member.

[0009] The arm-leg multiplexing member is connected to the robot main body through the arm-leg multiplexing motor.

[0010] The arm-leg multiplexing motor is configured to:

[0011] During the process of switching from the wheeled form to the legged form, drive the arm-leg multiplexing member to contact the support surface; drive the robot main body to drive the driving wheel assembly away from the support surface.

[0012] During the process of switching from the legged form to the wheeled form, drive the robot main body to drive the driving wheel assembly to contact the support surface; drive the arm-leg multiplexing member away from the support surface.

[0013] In a possible implementation, the robot main body includes a first trunk component, a waist joint component, and a second trunk component connected in sequence.

[0014] The first trunk component is connected to the drive wheel assembly, and the second trunk component is connected to the arm-leg multiplexing assembly;

[0015] The waist joint component is configured to adjust the posture between the first trunk component and the second trunk component during the form switching process so as to adjust the center of gravity of the robot.

[0016] In a possible implementation, the waist joint component includes a waist joint bracket, a first flipping motor, and a second flipping motor;

[0017] The waist joint bracket is connected to the first trunk component through the first flipping motor and is connected to the second trunk component through the second flipping motor;

[0018] The rotation axis of the first flipping motor and the rotation axis of the second flipping motor are perpendicular to each other, and the rotation axis of one points in the front-back direction of the robot, and the rotation axis of the other points in the left-right direction of the robot.

[0019] In a possible implementation, the first trunk component includes a first trunk component body and a drive wheel lifting component;

[0020] The drive wheel assembly is connected to the first trunk component body through the drive wheel lifting component;

[0021] The drive wheel lifting component is configured to:

[0022] During the process of switching from the wheeled form to the legged form, drive the drive wheel assembly to contract into the interior of the first trunk component body;

[0023] During the process of switching from the legged form to the wheeled form, drive the drive wheel assembly to extend out of the first trunk component body.

[0024] In a possible implementation, the drive wheel lifting component includes a lifting motor, a lead screw, and a lifting member;

[0025] The lifting motor is fixed to the first trunk component body, the lead screw is rotatably connected to the first trunk component body, and the output shaft of the lifting motor is in transmission connection with the lead screw;

[0026] The lifting member is slidably connected to the first trunk component body and is sleeved on the lead screw, and the lead screw can drive the lifting member to slide along the lead screw;

[0027] The lifting member is connected to the drive wheel assembly.

[0028] In a possible implementation, the second torso component includes a first sub-torso component, a telescopic component, and a second sub-torso component that are connected in sequence;

[0029] The first sub-torso component is connected to the waist joint component, and the second sub-torso component is connected to the arm-leg multiplexing component;

[0030] The telescopic component is configured to shorten the distance between the first sub-torso component and the second sub-torso component during the process of switching from the wheeled form to the legged form.

[0031] In a possible implementation, the telescopic component includes one or more hydraulic jacks;

[0032] The hydraulic jack includes a base and a jack rod, and the jack rod is slidably connected to the base;

[0033] The base is fixedly connected to the first sub-torso component, and the jack rod is fixedly connected to the second sub-torso component.

[0034] In a possible implementation, the second sub-torso component includes a second sub-torso bracket, a head drive component, and a head component;

[0035] The head component is connected to the second sub-torso bracket through the head drive component;

[0036] The head drive component is configured to control the head component to contract into the interior of the second sub-torso bracket during the form switching process.

[0037] In a possible implementation, the head drive component includes a head drive motor, a first link, and a second link;

[0038] The head component is rotatably connected to the second sub-torso bracket, and the rotation axis is the first axis;

[0039] The head drive motor is fixed to the second sub-torso bracket, and the output shaft is fixedly connected to the first end of the first link. The second end of the first link is rotatably connected to the first end of the second link;

[0040] The second end of the second link is rotatably connected to the head component, and the rotation axis is the second axis, and the second axis is parallel to the first axis.

[0041] In a possible implementation, the arm-leg multiplexing component includes an arm-leg multiplexing component body, a hand component, and a foot component;

[0042] One end of the arm-leg multiplexing component body is connected to the arm-leg multiplexing motor, and the other end is connected to the hand component and the foot component;

[0043] The hand component is configured to be used as a manipulator in the wheeled form and located on the side of the body of the arm-leg reusable component away from the support surface in the legged form;

[0044] The foot component is configured to contact the support surface in the legged form.

[0045] In a possible implementation, the hand component includes a palm motor, a palm, finger motors, and fingers;

[0046] The palm is connected to the body of the arm-leg reusable component through the palm motor, and the fingers are connected to the palm through the finger motors;

[0047] The palm motor is configured to drive the palm to rotate to the side of the body of the arm-leg reusable component away from the support surface during the process of switching from the wheeled form to the legged form.

[0048] In a possible implementation, the foot component includes a support foot motor and a support foot;

[0049] The support foot is connected to the body of the arm-leg reusable component through the support foot motor;

[0050] The support foot motor is configured as follows:

[0051] During the process of switching from the wheeled form to the legged form, drive the support foot to expand relative to the body of the arm-leg reusable component;

[0052] During the process of switching from the legged form to the wheeled form, drive the support foot to retract relative to the body of the arm-leg reusable component.

[0053] In a second aspect, a method for a robot to switch forms is provided. The method is applied to the robot according to any one of the first aspect, and the method includes:

[0054] When it is determined that the road condition information ahead does not match the current form of the robot, or a form switching instruction is received, control the robot to switch from the wheeled form to the legged form, or control the robot to switch from the legged form to the wheeled form.

[0055] In a possible implementation, when the arm-leg reusable component includes an arm-leg reusable motor and an arm-leg reusable component, the control of the robot to switch from the wheeled form to the legged form includes:

[0056] Control the arm-leg reusable motor to drive the arm-leg reusable component to contact the support surface;

[0057] Control the arm-leg multiplexing motor to drive the robot body to drive the drive wheel assembly away from the support surface;

[0058] The control for the robot to switch from a legged form to a wheeled form includes:

[0059] Control the arm-leg multiplexing motor to drive the robot body to drive the drive wheel assembly to contact the support surface;

[0060] Control the arm-leg multiplexing motor to drive the arm-leg multiplexing member away from the support surface.

[0061] The technical solution provided by the present disclosure has at least the following beneficial effects:

[0062] The present disclosure provides a robot that has a wheeled form and a legged form. The robot includes a robot body, a drive wheel assembly, and two arm-leg multiplexing assemblies. In the wheeled form, the robot is driven by the drive wheel assembly to move, and the arm-leg multiplexing assembly is used as a robotic arm; in the legged form, the arm-leg multiplexing assembly is used as a mechanical leg to drive the robot to move.

[0063] In this way, the robot can be in the wheeled form under normal conditions, thereby improving the traveling speed and stability of the robot. When the robot encounters relatively complex terrain, it can be switched to the legged form, thereby improving the ability of the robot to pass through complex terrain.

[0064] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The accompanying drawings herein are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. In the drawings:

[0066] Figure 1 is a schematic diagram of the wheeled form and the legged form of a robot provided by an embodiment of the present disclosure;

[0067] Figure 2 is a schematic diagram of an arm-leg multiplexing assembly provided by an embodiment of the present disclosure;

[0068] Figure 3 is a schematic diagram of the form switching process of a robot provided by an embodiment of the present disclosure;

[0069] Figure 4 is an exploded view of a robot provided by an embodiment of the present disclosure;

[0070] Figure 5 is a schematic diagram of a first trunk component provided by an embodiment of the present disclosure;

[0071] Figure 6 It is a schematic diagram of a first torso component provided by an embodiment of the present disclosure;

[0072] Figure 7 It is a schematic diagram of a drive wheel assembly and an auxiliary wheel provided by an embodiment of the present disclosure;

[0073] Figure 8 It is a schematic diagram of the process of the telescopic component telescoping provided by an embodiment of the present disclosure;

[0074] Figure 9 It is a schematic diagram of the structure of a telescopic component provided by an embodiment of the present disclosure;

[0075] Figure 10 It is a schematic diagram of the structure of a head drive component provided by an embodiment of the present disclosure;

[0076] Figure 11 It is a schematic diagram of the process of the head component flipping provided by an embodiment of the present disclosure;

[0077] Figure 12 It is a schematic diagram of an arm-leg reuse component provided by an embodiment of the present disclosure;

[0078] Figure 13 It is a schematic diagram of the postures of the hand component and the foot component in the wheel form and the foot form provided by an embodiment of the present disclosure;

[0079] Figure 14 It is a schematic diagram of a hand component and a foot component provided by an embodiment of the present disclosure;

[0080] Figure 15 It is an exploded view of a hand component provided by an embodiment of the present disclosure;

[0081] Figure 16 It is a schematic diagram of a large arm-thigh motor and a large arm-thigh reuse component provided by an embodiment of the present disclosure;

[0082] Figure 17 It is a schematic diagram of a small arm-calf motor and a small arm-calf reuse component provided by an embodiment of the present disclosure.

[0083] Legend Explanation

[0084] 1. Robot main body;

[0085] 11. First torso component;

[0086] 111. First torso component main body, 1111. First torso frame, 1112. First mounting plate, 1113. Second mounting plate, 1114. Handle, 1115. Storage cover, 1116. Storage cover drive motor, 1117. Third link, 1118. Fourth link;

[0087] 112. Driving wheel lifting component, 1121. Lifting motor, 1122. Lead screw, 1123. Lifting member;

[0088] 12. Waist joint component, 120. Waist joint bracket, 121. First flipping motor, 122. Second flipping motor;

[0089] 13. Second trunk component;

[0090] 131. First sub - trunk component, 1311. Third mounting plate;

[0091] 132. Telescopic component, 1320. Hydraulic jack, 1321. Base, 1322. Jack rod;

[0092] 133. Second sub - trunk component, 1331. Second sub - trunk bracket, 1332. Head driving component, 13321. Head driving motor, 13322. First connecting rod, 13323. Second connecting rod, 1333. Head component, 1334. Display component;

[0093] 2. Driving wheel assembly;

[0094] 3. Arm - leg multiplexing component, 31. Arm - leg multiplexing motor, 32. Arm - leg multiplexing member;

[0095] 321. Arm - leg multiplexing member body, 3211. Joint, 3212. Shoulder - thigh motor, 3213. Shoulder - thigh multiplexing member, 3214. Forearm - calf motor, 3215. Forearm - calf multiplexing member, 3216. Elbow - forearm, 3217. Wrist - forearm;

[0096] 322. Hand component, 3221. Palm motor, 3222. Palm, 3223. Finger motor, 3224. Finger;

[0097] 323. Foot component, 3231. Support foot motor, 3232. Support foot;

[0098] 4. Auxiliary wheel.

[0099] Through the above - mentioned drawings, specific embodiments of the present disclosure have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present disclosure in any way, but to illustrate the concept of the present disclosure to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0100] To make the objectives, technical solutions and advantages of the present disclosure clearer, the following will further describe the embodiments of the present disclosure in detail with reference to the drawings.

[0101] An embodiment of the present disclosure provides a robot. For example, Figure 1 As shown, the robot has a wheeled form and a legged form. The robot includes a robot main body 1, a driving wheel assembly 2, and two arm-leg multiplexing assemblies 3. The driving wheel assembly 2 is used to drive the robot to move in the wheeled form, and the driving wheel assembly 2 is connected to the first end of the robot main body 1. The arm-leg multiplexing assembly 3 is used as a robotic arm in the wheeled form and as a mechanical leg to drive the robot to move in the legged form. The two arm-leg multiplexing assemblies 3 are respectively connected to both sides of the second end of the robot main body 1.

[0102] The robot provided by the embodiment of the present disclosure can be in the wheeled form under normal conditions, thereby improving the traveling speed and stability of the robot. When the robot encounters a more complex terrain, it can be switched to the legged form, thereby improving the ability of the robot to pass through complex terrains.

[0103] The embodiment of the present disclosure does not limit the way of switching the robot form. Hereinafter, a possible implementation manner is provided:

[0104] In some examples, the robot can achieve form switching by flipping. For example, Figure 2 As shown, the arm-leg multiplexing assembly 3 includes an arm-leg multiplexing motor 31 and an arm-leg multiplexing member 32. The arm-leg multiplexing member 32 is connected to the robot main body 1 through the arm-leg multiplexing motor 31.

[0105] For example, Figure 3 As shown, the arm-leg multiplexing motor 31 is configured to: during the process of switching from the wheeled form to the legged form, drive the arm-leg multiplexing member 32 to contact the support surface; drive the robot main body 1 to drive the driving wheel assembly 2 away from the support surface; during the process of switching from the legged form to the wheeled form, drive the robot main body 1 to drive the driving wheel assembly 2 to contact the support surface; drive the arm-leg multiplexing member 32 away from the support surface.

[0106] During the process of switching from the wheeled form to the legged form, the arm-leg multiplexing motor 31 drives the arm-leg multiplexing member 32 to move towards the support surface until the arm-leg multiplexing member 32 contacts the support surface; then, the arm-leg multiplexing motor 31 uses the arm-leg multiplexing member 32 as a support point to drive the robot main body 1 to rotate in a direction away from the support surface. During this process, the robot main body 1 drives the driving wheel assembly 2 to gradually leave the support surface. The robot switches from the wheeled form to the legged form.

[0107] During the process of switching from the legged form to the wheeled form, the arm-leg multiplexing motor 31 drives the robot main body 1 to rotate in a direction close to the support surface until the driving wheel assembly 2 contacts the support surface; then, the arm-leg multiplexing motor 31 uses the robot main body 1 as a support point to drive the arm-leg multiplexing member 32 to rotate in a direction away from the support surface, and the arm-leg multiplexing member 32 leaves the support surface. The robot switches from the legged form to the wheeled form.

[0108] Next, an exemplary description of the structure of the robot main body 1 will be given:

[0109] In some examples, as Figure 4 shown, the robot main body 1 includes a first trunk member 11, a waist joint member 12, and a second trunk member 13 that are connected in sequence. The first trunk member 11 is connected to the drive wheel assembly 2, and the second trunk member 13 is connected to the arm-leg multiplexing assembly 3. The waist joint member 12 is configured to adjust the posture between the first trunk member 11 and the second trunk member 13 during the form switching process to adjust the center of gravity of the robot.

[0110] Among them, taking the wheeled form as the conventional form of the robot, the first trunk member 11 can also be called the lower limbs, and the second trunk member 13 can be called the trunk or the upper trunk.

[0111] The technical solution provided by the embodiments of the present disclosure, by setting that the robot main body 1 includes a first trunk member 11, a waist joint member 12, and a second trunk member 13 that are connected in sequence, and setting that the waist joint member 12 can adjust the postures of the first trunk member 11 and the second trunk member 13, enables the robot to adjust the center of gravity of the robot in real time during the form switching process, so that the robot remains in a stable state during the form switching process.

[0112] The embodiments of the present disclosure do not limit the specific implementation manner of the waist joint member 12. Next, several possible implementation manners will be provided:

[0113] In some examples, as Figure 4 shown, the waist joint member 12 includes a waist joint bracket 120, a first tilting motor 121, and a second tilting motor 122. The waist joint bracket 120 is connected to the first trunk member 11 through the first tilting motor 121 and is connected to the second trunk member 13 through the second tilting motor 122. The rotation axis of the first tilting motor 121 and the rotation axis of the second tilting motor 122 are perpendicular to each other, and the rotation axis of one points in the front-back direction of the robot, and the rotation axis of the other points in the left-right direction of the robot.

[0114] Among them, both the first tilting motor 121 and the second tilting motor 122 can be two, and the rotation axes of the two first tilting motors 121 coincide, and the rotation axes of the two second tilting motors 122 coincide, so as to improve the stability of the waist joint member 12 when driving the posture change between the first trunk member 11 and the second trunk member 13.

[0115] It should be noted that Figure 4Only the rotation axis of the first flipping motor 121 is shown as pointing in the front-rear direction of the robot, and the rotation axis of the second flipping motor 122 is shown as pointing in the left-right direction of the robot. In actual applications, it is also possible that the rotation axis of the second flipping motor 122 points in the front-rear direction of the robot, and the rotation axis of the first flipping motor 121 points in the left-right direction of the robot. The embodiments of the present disclosure do not limit this.

[0116] In some other examples, the waist joint component 12 may also only include a flipping motor whose rotation axis points in the left-right direction of the robot. That is, the first trunk component 11 and the second trunk component 13 are connected by a flipping motor, and the rotation axis of this flipping motor points in the left-right direction of the robot.

[0117] It should also be noted that setting the robot body 1 to include a first trunk component 11, a waist joint component 12, and a second trunk component 13 connected in sequence, and setting the waist joint component 12 to adjust the center of gravity of the robot is only an example. In actual applications, the center of gravity of the robot can also be adjusted by other means. For example, a heavy object block can be provided inside the robot body 1, and the center of gravity of the robot can be adjusted by moving the heavy object block. Or, through a special design of the arm-leg reuse part 32, it is also possible not to design a mechanism for adjusting the center of gravity of the robot.

[0118] Next, an exemplary description of the structure of the first trunk component 11 is given:

[0119] As Figure 5 shown, the first trunk component 11 includes a first trunk component main body 111 and a drive wheel lifting component 112. The drive wheel assembly 2 is connected to the first trunk component main body 111 through the drive wheel lifting component 112.

[0120] The drive wheel lifting component 112 is configured to drive the drive wheel assembly 2 to contract into the interior of the first trunk component main body 111 during the process of switching from the wheeled form to the legged form. Thus, in the legged form, the overall aesthetics of the robot is better, and the drive wheel assembly 2 is not exposed, which also improves the safety of the robot.

[0121] The drive wheel lifting component 112 is also configured to drive the drive wheel assembly 2 to extend out of the first trunk component main body 111 during the process of switching from the legged form to the wheeled form. Thus, in the wheeled form, the drive wheel assembly 2 can normally serve as the driving part for the robot to travel.

[0122] In addition, in the wheeled form, the drive wheel lifting component 112 can also adjust the length of the drive wheel assembly 2 extending out of the first trunk component main body 111, thereby adjusting the height of the robot chassis, and further changing the road passing performance of the robot in the wheeled form.

[0123] The embodiments of the present disclosure do not limit the implementation manner of the driving wheel lifting component 112. Hereinafter, several possible implementation manners are provided:

[0124] In some examples, such as Figure 5 As shown, the driving wheel lifting component 112 is a lead screw and nut type lifting mechanism, including a lifting motor 1121, a lead screw 1122, and a lifting member 1123. The lifting motor 1121 is fixed to the first trunk component main body 111, the lead screw 1122 is rotatably connected to the first trunk component main body 111, and the output shaft of the lifting motor 1121 is in transmission connection with the lead screw 1122. The lifting member 1123 is slidably connected to the first trunk component main body 111 and sleeved on the lead screw 1122, and the lead screw 1122 can drive the lifting member 1123 to slide along the lead screw 1122. The lifting member 1123 is connected to the driving wheel assembly 2.

[0125] Among them, the output shaft of the lifting motor 1121 and the lead screw 1122 can be in transmission connection through a coupling, a belt, a gear, a chain, etc. The lifting member 1123 can also be called a lifting plate or a nut, etc. The driving wheel assembly 2 can include a driving wheel motor and a driving wheel, and the lifting member 1123 is connected to the driving wheel motor.

[0126] In practical applications, when the lifting motor 1121 works, the output shaft of the lifting motor 1121 drives the lead screw 1122 to rotate, the lead screw 1122 drives the lifting member 1123 to slide along the lead screw 1122, and the lifting member 1123 drives the driving wheel assembly 2 to slide along the lead screw 1122, thereby realizing the lifting of the driving wheel assembly 2.

[0127] In other examples, the driving wheel lifting component 112 can also be a gear and rack type lifting mechanism, or a lifting mechanism such as a hydraulic push rod and an electric push rod.

[0128] It should be noted that the first trunk component 11 includes the first trunk component main body 111 and the driving wheel lifting component 112, and the driving wheel assembly 2 is driven to lift by the driving wheel lifting component 112, which is only an example. In other examples, the first trunk component 11 may not include the driving wheel lifting component 112, the driving wheel assembly 2 is directly connected to the first trunk component main body 111, and the driving wheel assembly 2 does not lift relative to the first trunk component main body 111. In other examples, the driving wheel assembly 2 can also be retracted into the first trunk component main body 111 through other driving mechanisms, such as a flipping mechanism, etc., and the embodiments of the present disclosure do not limit this.

[0129] Such as Figure 5 As shown, the first trunk component main body 111 includes a first trunk frame 1111, a first mounting plate 1112, and a second mounting plate 1113.

[0130] The first mounting plate 1112 is used to connect to the first flip motor 121 or the second flip motor 122 . There may be two first mounting plates 1112 , which are respectively located on both sides of the first trunk support 1111 in the front-to-back direction or the left-to-right direction.

[0131] The second mounting plate 1113 is connected to the first trunk support 1111, and the second mounting plate 1113 is used to install the driving wheel lifting component 112. In some examples, the second mounting plate 1113 is fixedly connected to the first trunk support 1111.

[0132] In other examples, the second mounting plate 1113 is movably connected to the first torso support 1111, and when the driving wheel assembly 2 is stored inside the first torso support 1111, the second mounting plate 1113 can be snapped onto the first torso support 1111 to enclose the space accommodating the driving wheel assembly 2, thereby enhancing the overall aesthetics and safety of the robot.

[0133] In addition, the first trunk component body 111 may further include a handle 1114, and there may be two handles 1114, which are respectively located on both sides of the first trunk frame 1111 in the left and right directions. In this way, in the foot-type configuration, the two handles 1114 can be used by the user for support, for example, when an elderly person is unstable in standing, the two handles 1114 can be used to assist walking.

[0134] like Figure 6 As shown, in order to facilitate the robot to carry items, the first trunk component body 111 also includes a storage cover 1115 , and a storage cover driving motor 1116 , a third connecting rod 1117 and a fourth connecting rod 1118 for driving the storage cover 1115 .

[0135] The storage cover 1115 is rotatably connected to the first trunk frame 1111. The storage cover driving motor 1116 is fixed to the first trunk frame 1111, and the output shaft is fixedly connected to the first end of the third connecting rod 1117, and the second end of the third connecting rod 1117 is rotatably connected to the first end of the fourth connecting rod 1118. The second end of the fourth connecting rod 1118 is rotatably connected to the storage cover 1115, and the rotation axis of the storage cover 1115 relative to the first trunk frame 1111 is parallel to the rotation axis of the second end of the fourth connecting rod 1118.

[0136] Of course, the above structure for driving the storage cover 1115 is only an exemplary description, and in actual application, other forms of driving structures can also be used. For example, the storage cover 1115 is rotatably connected to the first trunk frame 1111, and the output shaft of the storage cover driving motor 1116 can be connected to the rotating shaft of the storage cover 1115 through a coupling, a belt or a chain.

[0137] like Figure 7As shown, there can be two driving wheel assemblies 2, which are respectively located on both sides of the first trunk component body 111 in the left - right direction.

[0138] In addition, the robot further includes one or more auxiliary wheels 4 to improve the stability of the robot in the wheeled form.

[0139] Next, an exemplary description of the structure of the second trunk component 13 will be given:

[0140] The embodiments of the present disclosure do not limit the form of the second trunk component 13. In some examples, the height of the second trunk component 13 is fixed, and in other examples, the height of the second trunk component 13 is adjustable.

[0141] Next, an exemplary description of the implementation method for the adjustable height of the second trunk component 13 will be given:

[0142] As Figure 8 shown, the second trunk component 13 includes a first sub - trunk component 131, a telescopic component 132, and a second sub - trunk component 133 connected in sequence. The first sub - trunk component 131 is connected to the waist joint component 12, and the second sub - trunk component 133 is connected to the arm - leg multiplexing component 3.

[0143] The telescopic component 132 is configured to shorten the distance between the first sub - trunk component 131 and the second sub - trunk component 133 during the process of switching from the wheeled form to the legged form.

[0144] In practical applications, during the process of switching from the wheeled form to the legged form, before the arm - leg multiplexing motor 31 drives the robot body 1 to rotate, the telescopic component 132 shortens the distance between the first sub - trunk component 131 and the second sub - trunk component 133, thereby reducing the overall length of the robot body 1 and reducing the driving force required for the arm - leg multiplexing motor 31 to drive the robot body 1 to rotate. Moreover, the stability of the robot during the form - switching process is also improved.

[0145] After the robot switches to the legged form, the telescopic component 132 can control the distance between the first sub - trunk component 131 and the second sub - trunk component 133 to be maintained in the shortened state to improve the stability of the robot in the legged form.

[0146] During the process of switching from the legged form to the wheeled form, when the arm - leg multiplexing motor 31 drives the robot body 1 to rotate, in order to reduce the burden on the arm - leg multiplexing motor 31, the telescopic component 132 can continue to maintain the distance between the first sub - trunk component 131 and the second sub - trunk component 133 in the shortened state.

[0147] After the robot switches to the wheeled form, the telescopic member 132 can automatically adjust the distance between the first sub-trunk member 131 and the second sub-trunk member 133 according to the actual situation (such as the height of the front passage).

[0148] The embodiments of the present disclosure do not limit the implementation manner of the telescopic member 132. Hereinafter, several possible implementation manners are provided:

[0149] In some examples, as Figure 9 shown, the telescopic member 132 includes one or more hydraulic jacks 1320. The hydraulic jack 1320 includes a base 1321 and a jack rod 1322, and the jack rod 1322 is slidably connected to the base 1321. The base 1321 is fixedly connected to the first sub-trunk member 131, and the jack rod 1322 is fixedly connected to the second sub-trunk member 133.

[0150] When it is desired to increase the distance between the first sub-trunk member 131 and the second sub-trunk member 133, the distance that the jack rod 1332 extends out of the base 1321 is controlled to become longer; when it is desired to shorten the distance between the first sub-trunk member 131 and the second sub-trunk member 133, the distance that the jack rod 1332 extends out of the base 1321 is controlled to become shorter.

[0151] It should be noted that Figure 9 the installation manner of the hydraulic jack 1320 shown in

[0152] is only exemplary. In actual applications, it may also be that the base 1321 is fixed to the first sub-trunk member 131 and the jack rod 1332 is fixed to the second sub-trunk member 133.

[0153] In other examples, the telescopic member 132 can also be a lead screw and nut type lifting mechanism. The lead screw and nut type lifting mechanism is fixed to the first sub-trunk member 131, and the nut of the lead screw and nut type lifting mechanism is fixedly connected to the second sub-trunk member 133. Or, it can also be that the lead screw and nut type lifting mechanism is fixed to the second sub-trunk member 133, and the nut of the lead screw and nut type lifting mechanism is fixedly connected to the first sub-trunk member 131.

[0153] In other examples, the telescopic member 132 is a rack and pinion type lifting mechanism.

[0154] In other examples, the telescopic member 132 is a scissor type lifting mechanism.

[0155] As Figure 9 shown, one end of the first sub-trunk member 131 away from the telescopic member 132 has a third mounting plate 1311, and the third mounting plate 1311 is used to connect to the first flipping motor 121 or the second flipping motor 122. There can be two third mounting plates 1311, and the two third mounting plates 1311 are respectively located on both sides of the first sub-trunk member 131.

[0156] As shown Figure 10 in FIG. Figure 10 , the second sub-trunk component 133 includes a second sub-trunk bracket 1331, a head drive component 1332, and a head component 1333. The head component 1333 is connected to the second sub-trunk bracket 1331 through the head drive component 1332.

[0157] As shown Figure 11 in FIG. Figure 11 , the head drive component 1332 is configured to control the head component 1333 to contract into the interior of the second sub-trunk bracket 1311 during the form switching process.

[0158] Among them, the head component 1333 may have a display function and may include a display screen assembly.

[0159] The technical solution provided by the embodiments of the present disclosure, by setting that during the process of switching from the wheeled form to the legged form, the head drive component 1332 drives the head component 1333 to contract into the interior of the second sub-trunk bracket 1311, can prevent the head component 1333 from touching the support surface, and can reduce the driving force required by the arm-leg multiplexing motor 31 and improve the stability of the robot during the form switching process.

[0160] After the robot switches to the legged form, the head drive component 1332 can be controlled to maintain the head component 1333 in the state of contracting into the interior of the second sub-trunk bracket 1331, thereby improving the stability of the robot in the legged form.

[0161] During the process of the robot switching from the legged form to the wheeled form, the head drive component 1332 can be controlled to maintain the head component 1333 in the state of contracting into the interior of the second sub-trunk bracket 1331.

[0162] After the robot switches to the wheeled form, the head drive component 1332 can control the head component 1333 to extend out of the second sub-trunk bracket 1331 according to actual needs, or maintain the state of contracting into the interior of the second sub-trunk bracket 1331.

[0163] The embodiments of the present disclosure do not specifically limit the implementation manner of the head drive component 1332. Hereinafter, several possible implementation manners are provided:

[0164] In some examples, as shown Figure 10As shown in the figure, the head driving component 1332 includes a head driving motor 13321, a first connecting rod 13322, and a second connecting rod 13323. The head component 1333 is rotatably connected to the second sub-trunk bracket 1331, and the rotation axis is the first axis a. The head driving motor 13321 is fixed to the second sub-trunk bracket 1331, and the output shaft is fixedly connected to the first end of the first connecting rod 13322. The second end of the first connecting rod 13322 is rotatably connected to the first end of the second connecting rod 13323. The second end of the second connecting rod 13323 is rotatably connected to the head component 1333, and the rotation axis is the second axis b. The second axis b is parallel to and non-collinear with the first axis a.

[0165] In some other examples, if the output shaft of the head driving motor 13321 is fixedly connected to the head component 1333, the head driving motor 13321 can directly control the flipping of the head component 1333.

[0166] It should be noted that in addition to realizing the extension and retraction of the head component 1333 from the second sub-trunk bracket 1331 by flipping, the head component 1333 can also realize the extension and retraction from the second sub-trunk bracket 1331 through a lifting mechanism.

[0167] Among them, the lifting mechanism can be a hydraulic rod or an electric push rod type lifting mechanism, or a lead screw nut type lifting mechanism, or a rack and pinion type lifting mechanism, or a scissor type lifting mechanism, etc.

[0168] In addition, as Figure 11 shown, the second sub-trunk component further includes a display component 1334, and the display component 1334 can be used as a human-machine interaction interface.

[0169] Next, the arm-leg multiplexing part 32 will be described:

[0170] As Figure 12 shown, the arm-leg multiplexing part 32 includes an arm-leg multiplexing part main body 321, a hand part 322, and a foot part 323. One end of the arm-leg multiplexing part main body 321 is connected to the arm-leg multiplexing motor 31, and the other end is connected to the hand part 322 and the foot part 323.

[0171] As Figure 13 shown, the hand part 322 is configured to be used as a manipulator in the wheeled form, and in the legged form, it is located on the side of the arm-leg multiplexing part main body 321 away from the support surface, so as to avoid interfering with the foot part 323 and avoid damaging the hand part 322.

[0172] As Figure 13As shown, the foot component 323 is configured to contact the support surface in the foot form. In some examples, the foot component 323 can be fixed to one side of the body 321 of the arm-leg reusable component. In other examples, the foot component 323 is movably connected to the body 321 of the arm-leg reusable component, and in the wheel form, the foot component 323 is received relative to the body 321 of the arm-leg reusable component to improve the aesthetics and safety of the arm-leg reusable component 32; in the foot form, the foot component 323 is deployed relative to the body 321 of the arm-leg reusable component to facilitate supporting the entire robot.

[0173] The embodiments of the present disclosure do not limit the specific implementation manners of the hand component 322 and the foot component 323. Below, the hand component 322 and the foot component 323 will be described respectively:

[0174] As Figure 15 shown, the hand component 322 includes a palm motor 3221, a palm 3222, a finger motor 3223, and fingers 3224. The palm 3222 is connected to the body 321 of the arm-leg reusable component through the palm motor 3221, and the fingers 3224 are connected to the palm 3222 through the finger motor 3223.

[0175] The palm motor 3221 is configured to drive the palm 3222 to rotate to the side of the body 321 of the arm-leg reusable component away from the support surface during the process of switching from the wheel form to the foot form.

[0176] The palm motor 3221 is also configured to drive the palm 3222 to rotate to the end of the body 321 of the arm-leg reusable component during the process of switching from the foot form to the wheel form. Alternatively, it can also be that after the robot switches to the wheel form, the palm motor 3221 drives the palm 3222 to rotate to the end of the body 321 of the arm-leg reusable component.

[0177] The finger motor 3223 is configured to drive the fingers 3224 to complete the grasping action of an object.

[0178] As Figure 15 shown, there are two fingers 3224 and two finger motors 3223, and one finger 3224 is a double-finger component, and the other is a single-finger component.

[0179] As Figure 14 shown, the foot component 323 includes a support foot motor 3231 and a support foot 3232. The support foot 3232 is connected to the body 321 of the arm-leg reusable component through the support foot motor 3231.

[0180] As Figure 13As shown, the support leg motor 3231 is configured to: drive the support leg 3232 to unfold relative to the arm / leg reusable member main body 321 during the process of switching from the wheeled form to the legged form; and drive the support leg 3232 to fold relative to the arm / leg reusable member main body 321 during the process of switching from the legged form to the wheeled form.

[0181] In some other examples, the hand component 322 and the foot component 323 can also be reused as a hand / foot reusable component, which is used as a robotic hand in the wheeled form and as a robotic foot in the legged form.

[0182] Next, a more detailed exemplary description of the structure of the arm / leg reusable member main body 321 is given:

[0183] As Figure 13 、 Figure 16 and Figure 17 shown, the arm / leg reusable member main body 321 includes a joint 3211, a large arm / thigh motor 3212, a large arm / thigh reusable member 3213, a small arm / calf motor 3214, and a small arm / calf reusable member 3215 that are connected in sequence.

[0184] As Figure 17 shown, the small arm / calf reusable member 3215 includes an elbow joint small arm 3216 and a wrist joint small arm 3217 that are connected, and the elbow joint small arm 3216 and the wrist joint small arm 3217 can rotate relative to each other.

[0185] It should be noted that Figure 12 the multi-joint type arm / leg reusable member main body 321 shown in

[0186] is only one possible implementation, and the arm / leg reusable member main body 321 can also be in other forms. For example, the arm / leg reusable member main body 321 can be a telescopic type arm / leg reusable member main body 321.

[0187] It should be noted that the above-described method of realizing the switching between the wheeled form and the legged form by flipping is only an exemplary illustration. In actual applications, the form switching can also be achieved by other means. For example, if the arm-leg multiplexing component 3 is designed to be telescopic, when switching from the wheeled form to the legged form, first control the arm-leg multiplexing component 3 to contact the support surface, and then control the arm-leg multiplexing component 3 to extend, so as to lift the robot body 1 together with the drive wheel assembly 2 and separate it from the support surface; when switching from the legged form to the wheeled form, control the arm-leg multiplexing component 3 to shorten and be rotatable, so that the drive wheel assembly 2 descends to contact the support surface.

[0188] The embodiment of the present disclosure also provides a method for robot form switching. This method is applied to the above-mentioned robot, specifically, it can be applied to the controller of the robot. The method includes:

[0189] When it is determined that the road condition information ahead does not match the current form of the robot, or a form switching instruction is received, control the robot to switch from the wheeled form to the legged form, or control the robot to switch from the legged form to the wheeled form.

[0190] In actual applications, when it is determined that the road condition information ahead is good (such as the road condition information value is higher than a certain target threshold) and the robot is in the legged form, control the robot to switch from the legged form to the wheeled form.

[0191] When it is determined that the road condition information ahead is poor (such as the road condition information value is lower than a certain target threshold) and the robot is in the wheeled form, control the robot to switch from the wheeled form to the legged form.

[0192] In some examples, when the arm-leg multiplexing component 3 includes an arm-leg multiplexing motor 31 and an arm-leg multiplexing member 32, controlling the robot to switch from the wheeled form to the legged form includes: controlling the arm-leg multiplexing motor 31 to drive the arm-leg multiplexing member 32 to contact the support surface; controlling the arm-leg multiplexing motor 31 to drive the robot body 1 to drive the drive wheel assembly 2 away from the support surface. Controlling the robot to switch from the legged form to the wheeled form includes: controlling the arm-leg multiplexing motor 31 to drive the robot body 1 to drive the drive wheel assembly 2 to contact the support surface; controlling the arm-leg multiplexing motor 31 to drive the arm-leg multiplexing member 32 away from the support surface.

[0193] Next, in combination with the specific structure of the above-mentioned robot 1 and the attached Figure 3 , an exemplary description will be given of the process of the robot switching from the wheeled form to the legged form and from the legged form to the wheeled form:

[0194] The robot switches from the wheeled form to the legged form:

[0195] First, the waist joint component 12 drives the second trunk component 13 to lean forward, the telescopic component 132 drives the distance between the first sub-trunk component 131 and the second sub-trunk component 133 to shorten, and the arm-leg multiplexing motor 31 drives the foot component 323 of the arm-leg multiplexing component 32 to contact the support surface.

[0196] Then, the drive wheel lifting component 112 controls the drive wheel assembly 2 to retract into the interior of the first trunk component main body 111, the drive wheel assembly 2 is separated from the support surface, and the center of gravity of the robot falls on the foot component 323.

[0197] Then again, the arm-leg multiplexing motor 32 drives the robot main body 1 to rotate away from the support surface. At the same time, the waist joint component 12 adjusts the posture between the first trunk component 11 and the second trunk component 13 to ensure the stability of the robot.

[0198] Finally, the waist joint component 12 and the arm-leg multiplexing motor 32 make the robot main body 1 in a vertical state. The robot switches to the legged form.

[0199] The robot switches from the legged form to the wheeled form:

[0200] First, the arm-leg multiplexing motor 32 drives the robot main body 1 to rotate towards the support surface. At the same time, the waist joint component 12 adjusts the posture between the first trunk component 11 and the second trunk component 13 to ensure the stability of the robot.

[0201] Then, the drive wheel lifting component 112 controls the drive wheel assembly 2 to extend out of the first trunk component main body 111, the drive wheel assembly 2 contacts the support surface, and the center of gravity of the robot falls on the drive wheel assembly 2.

[0202] Finally, the arm-leg multiplexing motor 32 drives the arm-leg multiplexing component 31 away from the support surface. The robot switches to the wheeled form.

[0203] Unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present disclosure should have the ordinary meaning understood by those of ordinary skill in the field to which the present disclosure belongs. The "first", "second", etc. used in the embodiments of the present disclosure and the claims do not represent any order, quantity or importance, but are only used to distinguish different components. Similarly, words such as "including" mean that the elements or objects appearing before "including" cover the elements or objects listed after "including" and their equivalents, and do not exclude other elements or objects. "Upper", "lower", "left", "right", etc. are only used to represent relative positional relationships. When the absolute position of the object being described changes, the relative positional relationship may also change accordingly.

[0204] The above are only optional embodiments of the present disclosure and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present disclosure shall be included within the protection scope of the present disclosure.

Claims

1. A robot, characterized in that, The robot has a wheeled form and a legged form, and the robot includes a robot main body (1), a drive wheel assembly (2), and two arm-leg multiplexing assemblies (3); The drive wheel assembly (2) is used to drive the robot to move in the wheeled form, and the drive wheel assembly (2) is connected to the first end of the robot main body (1); The arm-leg multiplexing assembly (3) is used as a robotic arm in the wheeled form and as a robotic leg to drive the robot to move in the legged form. The two arm-leg multiplexing assemblies (3) are respectively connected to both sides of the second end of the robot main body (1); The robot main body (1) includes a first trunk component (11), a waist joint component (12), and a second trunk component (13) connected in sequence; The first trunk component (11) is connected to the drive wheel assembly (2), and the second trunk component (13) is connected to the arm-leg multiplexing assembly (3); The waist joint component (12) is configured to adjust the posture between the first trunk component (11) and the second trunk component (13) during the form switching process to adjust the center of gravity of the robot.

2. The robot according to claim 1, wherein The arm-leg multiplexing assembly (3) includes an arm-leg multiplexing motor (31) and an arm-leg multiplexing member (32); The arm-leg multiplexing member (32) is connected to the robot main body (1) through the arm-leg multiplexing motor (31); The arm-leg multiplexing motor (31) is configured as: During the process of switching from the wheeled form to the legged form, drive the arm-leg multiplexing member (32) to contact the support surface; drive the robot main body (1) to drive the drive wheel assembly (2) away from the support surface; During the process of switching from the legged form to the wheeled form, drive the robot main body (1) to drive the drive wheel assembly (2) to contact the support surface; drive the arm-leg multiplexing member (32) away from the support surface.

3. The robot according to claim 1, wherein The waist joint component (12) includes a waist joint bracket (120), a first flipping motor (121), and a second flipping motor (122); The waist joint bracket (120) is connected to the first trunk component (11) through the first flipping motor (121) and is connected to the second trunk component (13) through the second flipping motor (122); The rotation axis of the first flipping motor (121) is perpendicular to the rotation axis of the second flipping motor (122), and the rotation axis of one points in the front-back direction of the robot, and the rotation axis of the other points in the left-right direction of the robot.

4. The robot according to claim 1, characterized in that, The first trunk component (11) includes a first trunk component main body (111) and a drive wheel lifting component (112); The drive wheel assembly (2) is connected to the first trunk component main body (111) through the drive wheel lifting component (112); The drive wheel lifting component (112) is configured as: During the process of switching from the wheeled form to the legged form, drive the drive wheel assembly (2) to contract into the interior of the first trunk component main body (111); During the process of switching from the legged form to the wheeled form, the drive wheel assembly (2) is driven to extend outside the main body (111) of the first trunk component.

5. The robot according to claim 4, wherein The drive wheel lifting component (112) includes a lifting motor (1121), a lead screw (1122), and a lifting member (1123); The lifting motor (1121) is fixed to the main body (111) of the first trunk component, the lead screw (1122) is rotatably connected to the main body (111) of the first trunk component, and the output shaft of the lifting motor (1121) is drivingly connected to the lead screw (1122); The lifting member (1123) is slidably connected to the main body (111) of the first trunk component and is sleeved on the lead screw (1122), and the lead screw (1122) can drive the lifting member (1123) to slide along the lead screw (1122); The lifting member (1123) is connected to the drive wheel assembly (2).

6. The robot according to claim 1, wherein The second trunk component (13) includes a first sub-trunk component (131), a telescopic component (132), and a second sub-trunk component (133) connected in sequence; The first sub-trunk component (131) is connected to the waist joint component (12), and the second sub-trunk component (133) is connected to the arm-leg multiplexing assembly (3); The telescopic component (132) is configured to shorten the distance between the first sub-trunk component (131) and the second sub-trunk component (133) during the process of switching from the wheeled form to the legged form.

7. The robot according to claim 6, characterized in that, The telescopic component (132) includes one or more hydraulic jacks (1320); The hydraulic jack (1320) includes a base (1321) and a jack rod (1322), and the jack rod (1322) is slidably connected to the base (1321); The base (1321) is fixedly connected to the first sub-trunk component (131), and the jack rod (1322) is fixedly connected to the second sub-trunk component (133).

8. The robot according to claim 6, wherein The second sub-trunk component (133) includes a second sub-trunk bracket (1331), a head drive component (1332), and a head component (1333); The head component (1333) is connected to the second sub-trunk bracket (1331) through the head drive component (1332); The head drive component (1332) is configured to control the head component (1333) to contract into the interior of the second sub-trunk bracket (1331) during the form switching process.

9. The robot according to claim 8, characterized in that, The head drive component (1332) includes a head drive motor (13321), a first link (13322), and a second link (13323); The head component (1333) is rotatably connected to the second sub-trunk bracket (1331), and the rotation axis is the first axis (a); The head drive motor (13321) is fixed to the second sub-trunk bracket (1331), and the output shaft is fixedly connected to the first end of the first link (13322). The second end of the first link (13322) is rotatably connected to the first end of the second link (13323); The second end of the second link (13323) is rotatably connected to the head component (1333), and the rotation axis is the second axis (b), and the second axis (b) is parallel to the first axis (a).

10. The robot according to claim 2, wherein, The arm-leg multiplexing member (32) includes an arm-leg multiplexing member main body (321), a hand component (322), and a foot component (323); One end of the arm-leg multiplexing member main body (321) is connected to the arm-leg multiplexing motor (31), and the other end is connected to the hand component (322) and the foot component (323); The hand component (322) is configured to be used as a manipulator in the wheeled form and is located on the side of the arm-leg multiplexing member main body (321) away from the support surface in the legged form; The foot component (323) is configured to contact the support surface in the legged form.

11. The robot according to claim 10, wherein The hand component (322) includes a palm motor (3221), a palm (3222), a finger motor (3223), and fingers (3224); The palm (3222) is connected to the arm-leg multiplexing member main body (321) through the palm motor (3221), and the fingers (3224) are connected to the palm (3222) through the finger motor (3223); The palm motor (3221) is configured to drive the palm (3222) to rotate to the side of the arm-leg multiplexing member main body (321) away from the support surface during the process of switching from the wheeled form to the legged form.

12. The robot according to claim 10, wherein The foot component (323) includes a support foot motor (3231) and a support foot (3232); The support foot (3232) is connected to the arm-leg multiplexing member main body (321) through the support foot motor (3231); The support foot motor (3231) is configured as follows: During the process of switching from the wheeled form to the legged form, drive the support foot (3232) to expand relative to the arm-leg multiplexing member main body (321); During the process of switching from the legged form to the wheeled form, drive the support foot (3232) to retract relative to the arm-leg multiplexing member main body (321).

13. A method for robot form switching, characterized in that, The method is applied to the robot according to any one of claims 1-12. The method includes: When it is determined that the road condition information ahead does not match the current form of the robot, or when a form switching instruction is received, control the robot to switch from the wheeled form to the legged form, or control the robot to switch from the legged form to the wheeled form.

14. The method according to claim 13, wherein When the arm-leg multiplexing component (3) includes an arm-leg multiplexing motor (31) and an arm-leg multiplexing member (32), the control of the robot to switch from the wheeled form to the legged form includes: Control the arm-leg multiplexing motor (31) to drive the arm-leg multiplexing member (32) to contact the support surface; Controlling the limb-motor (31) to drive the robot body (1) to drive the drive wheel assembly (2) away from the support surface; Controlling the robot to switch from a legged form to a wheeled form includes: Controlling the limb-motor (31) to drive the robot body (1) to drive the drive wheel assembly (2) to contact the support surface; Controlling the limb-motor (31) to drive the limb-multiuse member (32) away from the support surface.

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