Robotic device

Abstract

The application provides a robot device, comprising a base and a walking mechanism arranged on the base, the walking mechanism comprising a walking wheel assembly, a pressing assembly and a limiting assembly, the walking wheel assembly comprising a swing arm and a walking wheel, the swing arm comprising a first branch arm, a rotating part and a second branch arm connected in sequence, the rotating part being connected to the base, the walking wheel being connected to the first branch arm and being used for walking on the ground, the pressing assembly being arranged on a side of the first branch arm away from the ground, and the limiting assembly being arranged on the base and abutting against a side of the second branch arm facing the ground when the walking wheel walks on the horizontal ground, the first branch arm being further used for rotating around the base towards the ground under the action of the pressing assembly when the walking wheel descends in the pit, so that the walking wheel is attached to the ground. The application improves the adaptability of the robot device to the uneven road during walking.

Description

Technical Field

[0001] The present application relates to the field of artificial intelligence technology, and in particular to a robotic device. Background Art

[0002] With the development of artificial intelligence (AI) technology, intelligent robots are increasingly being used in various industries. The internal kinematic structure of a robot directly affects its stability while navigating the ground. Currently available robotic devices are not adaptable to uneven surfaces. How to better adapt robotic devices to these conditions has become a technical challenge. Summary of the Invention

[0003] The present application provides a robot device that improves the robot's adaptability to uneven ground environments, enabling the robot to adapt to uneven ground and travel normally.

[0004] The present application provides a robot device, comprising a base and at least two sets of walking mechanisms provided on the base, wherein the walking mechanisms include:

[0005] A travel wheel assembly includes a swing arm and a travel wheel, wherein the swing arm includes a first support arm, a rotating portion, and a second support arm connected in sequence, the rotating portion is rotatably connected to the base, one end of the travel wheel is connected to the first support arm of the swing arm, and the travel wheel is used for walking on the ground;

[0006] a pressing assembly, disposed on the base, the pressing assembly being pressed onto a side of the first arm of the swing arm facing away from the ground; and

[0007] A limiting assembly is provided on the base, and the limiting assembly is used to abut against the side of the second arm of the swing arm facing the ground when the walking wheel is walking on the horizontal ground; the first arm of the swing arm is also used to rotate around the base toward the ground under the action of the pressing assembly when the walking wheel is descending in the pit, so that the walking wheel is in contact with the ground, and the second arm of the swing arm is separated from the limiting assembly.

[0008] The robot device provided by the present application provides a swing arm in the walking wheel assembly so that the walking wheel can be connected to the base through the swing arm rotation. The limiting assembly abuts against the side of the second arm of the swing arm facing the ground when the walking wheel is walking on horizontal ground. When the robot device encounters a pothole during driving, the pressing assembly is pressed on the swing arm, so that the first arm of the swing arm rotates clockwise around the rotating part and drives the walking wheel to slide downward and contact the pothole ground, so that the walking wheel is in contact with the ground. The robot device can better adapt to situations with potholes in the road surface, thereby improving the robot device's adaptability to uneven road surfaces during walking. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly introduced as follows. Obviously, the drawings in the following description are only some embodiments of 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.

[0010] Figure 1 is a front perspective view of a robot device provided by an embodiment of the present application Figure 1 ;

[0011] Figure 2 is a partial sectional view of a robot device provided by an embodiment of the present application when on a horizontal ground

[0012] Figure 3 is a partial sectional view of a robot device provided by an embodiment of the present application when encountering a pit during driving

[0013] Figure 4 is a partial sectional view of a robot device provided by an embodiment of the present application when encountering a convex obstacle during driving

[0014] Figure 5 is a sectional view of a lifting assembly in a robot device provided by an embodiment of the present application

[0015] Figure 6 is a front perspective view of a limiting assembly in a robot device provided by an embodiment of the present application

[0016] Figure 7 is a front perspective view of a robot device provided by an embodiment of the present application Figure 2 ;

[0017] Figure 8 is a sectional view of a rotating assembly in a robot device provided by an embodiment of the present application

[0018] Figure 9 is a partial sectional view of a robot device provided by another embodiment of the present application

[0019] Figure 10 is a front perspective view of a robot device provided by an embodiment of the present application Figure 3 ;

[0020] Figure 11 is a front perspective view of a robot device provided by an embodiment of the present application Figure 4 .

[0021] BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Robot device-1, base-10, walking mechanism-20, detector-30, first controller-40, first layer plate-50, support platform-60, power supply-70, rotary motor-31, rotary reducer-32, first rotary gear-33, second rotary gear-34, detector base-35, bearing-36, bearing pad-37, end face bearing-38, end face bearing fixing ring-39, first stage support shaft-51, second stage support shaft-61, small waist drum-125, walking wheel assembly-100, swing arm-110, first supporting arm-111, rotating part-112, second supporting arm-113, walking wheel-120, connecting module-130, walking wheel motor-131, walking wheel reducer-132, swing arm base-140, containing gap-150, first walking wheel-121, second walking wheel-122, third walking wheel-123, pressing assembly-200, pressing base-210, elastic pressing module-220, pressing rotating shaft-221, elastic member-222, limiting assembly-300, limiting rod 310, limiting base 320, lifting assembly-400, first fixed plate-401, second fixed plate-402, guide rod-410, guide sleeve-411, lifting motor-420, lifting reducer-430, coupling-440, lifting screw-450, lifting nut-460, lifting table-470. DETAILED DESCRIPTION

[0023] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0024] Reference to "an embodiment" or "the embodiment" in this text means that a particular feature, structure, or characteristic described in connection with the embodiment or embodiments can be included in at least one embodiment of the present application. The appearance of the phrase in various places in the specification is not necessarily all referring to the same embodiment, or to the same alternative embodiment, or to a particular embodiment in isolation. It will be explicitly understood by a person of ordinary skill in the art that the embodiments described herein can be combined with other embodiments.

[0025] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-described drawings are used to distinguish different objects, and are not used to describe a particular order. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion.

[0026] Existing robots lack internal lifting mechanisms or have complex drive structures. This results in a wheeled chassis without a suspension mechanism and a lack of floating wheels, making them incapable of adapting to uneven surfaces. Existing robots only have sensors like ultrasonic and infrared sensors, resulting in poor navigational adaptability.

[0027] See also Figure 1 The present application provides a robot device 1. The robot device 1 provided in the present application can walk on uneven ground and has a stronger obstacle-crossing ability than the robot in the prior art. In addition, the robot device 1 can not only be installed with ultrasonic sensors, infrared sensors and other sensors, but also can be installed with other radar-type devices that can perceive road conditions more strongly, making the navigation function more adaptable.

[0028] See also Figure 2 and Figure 3 , Figure 2 It is a cross-sectional view of a portion of the robot device 1 when the robot device 1 is placed on flat ground. Figure 3 FIG1 is a cross-sectional view of a portion of the robot device 1 when the robot device 1 encounters a pothole during driving. The robot device 1 includes a base 10 and at least two sets of walking mechanisms 20 provided on the base 10 .

[0029] The base 10 provides a mounting platform for the walking mechanism 20 and other supporting components. When the robot device 1 is placed on a flat ground, the base 10 is parallel or substantially parallel to the horizontal ground.

[0030] Part of the walking mechanism 20 supports the base 10. The number of the walking mechanisms 20 includes but is not limited to 2, 3, etc. At least two sets of the walking mechanisms 20 can realize the turning and direction-changing function of the robot device 1.

[0031] See also Figure 2 The walking mechanism 20 includes a walking wheel assembly 100.

[0032] The travel wheel assembly 100 includes a swing arm 110 and a travel wheel 120. The swing arm 110 includes a first support arm 111, a rotating portion 112, and a second support arm 113 connected in sequence. The swing arm 110 is located at the edge of the base 10. The second support arm 113, the rotating portion 112, and the first support arm 111 are arranged outward from the center of the base 10.

[0033] The rotating portion 112 is rotatably connected to the base 10. The second arm 113 of the swing arm 110 is located above the base 10 (ie, on the side facing away from the ground). The first arm 111 of the swing arm 110 is located outside the base 10.

[0034] Please refer to Figure 2 When the robot device 1 is in a horizontal plane, the swing arm 110 is in an initial position, the first branch arm 111 and the second branch arm 113 are parallel or substantially parallel to the X-Y plane. The second branch arm 113 is substantially parallel to the base 10.

[0035] Please refer to Figure 3 When the robot device 1 is in a concave plane, the swing arm 110 is in a swing position. When the swing arm 110 is in the swing position, the second branch arm 113 of the swing arm 110 moves and tilts relative to the base 10 towards the side away from the ground, and the first branch arm 111 moves and tilts relative to the base 10 towards the side of the ground.

[0036] One end of the walking wheel 120 is connected to the first branch arm 111 of the swing arm 110, and the walking wheel 120 is used for walking on the ground. The first branch arm 111 of the swing arm 110 and one end of the walking wheel 120 include but are not limited to direct connection or indirect connection through an intermediate connecting piece, wherein the embodiment is described with the first branch arm 111 of the swing arm 110 and one end of the walking wheel 120 as indirect connection.

[0037] Optionally, the first branch arm 111 is connected to the central shaft of the walking wheel 120. When the swing arm 110 is in the initial position, the axis of the walking wheel 120 is parallel or substantially parallel to the X-Y plane.

[0038] When the swing arm 110 is in the swing position, the axis of the walking wheel 120 is inclined relative to the X-Y plane, and the extension direction of the axis of the walking wheel 120 is parallel or collinear to the extension direction of the first branch arm 111.

[0039] Please refer to Figure 2 The walking mechanism 20 further comprises a pressing assembly 200 and a limiting assembly 300. The pressing assembly 200 and the limiting assembly 300 are both arranged above the base 10. The pressing assembly 200 is pressed on the side of the first branch arm 111 of the swing arm 110 away from the ground. The pressing assembly 200 is used to provide a downward pressing force to the first branch arm 111 of the swing arm 110.

[0040] The limiting assembly 300 is used to abut the side of the second branch arm 113 of the swing arm 110 towards the ground when the walking wheel 120 walks on the horizontal ground, and the limiting assembly 300 provides an upward force to the second branch arm 113 of the swing arm 110 to limit the position of the second branch arm 113 of the swing arm 110 counterclockwise swinging (with Figure 2 reference).

[0041] The gravity of the robot device 1 acts on the ground through the running wheels 120, which in turn provides a first upward supporting force to the running wheels 120. The running wheels 120 provide a second upward supporting force to the first arm 111 of the swing arm 110. The limiting assembly 300 abuts against the second arm 113 of the swing arm 110, providing a force that blocks the downward movement of the second arm 113. This force balances the second supporting force, maintaining the swing arm 110 in its initial position.

[0042] See also Figure 3 When the robot device 1 encounters a pit during driving, the running wheel 120 and the swing arm 110 tilt, and the running wheel 120 runs close to the surface of the pit under the pressing force of the pressing assembly 200. At this time, the second arm 113 of the swing arm 110 is separated from the limiting assembly 300. Optionally, the pressing assembly 200 provides an elastic pressing force to the swing arm 110. When the running wheel 120 is in pits of different depths, the pressing assembly 200 generates different elastic pressing forces to adapt to different pit sizes. Since the running wheel 120 is rotatably connected to the base 10 through the swing arm 110, rather than being fixedly connected to the base 10, the running wheel 120 tilts relative to the base after entering the pit. At this time, the running wheel 120 still provides an upward supporting force to the base 10, so that the base 10 remains level. In other words, when the robot device 1 is walking on a horizontal surface or walking in a pit, the base 10 remains stable, thereby increasing the stability of the robot device 1 in overcoming obstacles. In short, the walking wheels 120 of the robot device 1 of the present application adopt a floating design, allowing the chassis 10 of the robot device 1 to adapt to uneven ground and travel normally.

[0043] See also Figure 4 , Figure 4 : This is a cross-sectional view of a portion of the robot device 1 during the process of overcoming a raised obstacle. The robot device 1 further includes a lifting assembly 400. The lifting assembly 400 is disposed on the base 10. The lifting assembly 400 is connected to the limiting assembly 300. The lifting assembly 400 is used to raise the limiting assembly 300 when the walking wheel 120 is overcoming a raised obstacle. The limiting assembly 300 drives the second arm 113 of the swing arm 110 to rotate toward the side away from the ground (see FIG. 1 ). Figure 4 The swing arm 110 rotates clockwise around the rotating portion 112), and accordingly, the first arm 111 of the swing arm 110 rotates toward the side close to the ground (see Figure 4The swing arm 110 rotates counterclockwise about the rotating portion 11. The first arm 111 and the second arm 113 of the swing arm 110 are tilted relative to the base 10. The running wheel 120 also tilts as the first arm 111 of the swing arm 110 tilts. After the running wheel 120 tilts, the height of the connection between the running wheel 120 and the first arm 111 increases, and the running wheel 120 raises the base via the rotating portion 112 of the swing arm 110.

[0044] The lifting assembly 400 is simultaneously connected to the limiting assemblies 300 of multiple sets of the walking mechanisms 20. The multiple sets of the walking mechanisms 20 include multiple sets of walking wheels 120, and the lifting assembly can drive the multiple sets of the walking wheels 120 to lift the base as a whole.

[0045] The limiting assembly 300 is lifted by the lifting assembly 400, and the limiting assembly 300 drives the swing arm 110 and the walking wheel 120 to tilt. The height of the swing arm 110 and the walking wheel 120 relative to the ground is increased, so that the base 10 is lifted, so that the robot device can prevent the base 10 from being scratched during the process of crossing a raised obstacle, thereby improving the adaptability of the robot device 1 to uneven roads during walking.

[0046] See also Figure 4 The walking wheel assembly 100 further includes a connecting module 130 . The connecting module 130 is connected between the side of the first arm 111 of the swing arm 110 facing the ground and the central axis of the walking wheel 120 .

[0047] Optionally, the extension direction of the connection module 130 is parallel to or inclined relative to the base 10 (XY plane). For the convenience of description, this embodiment is described by taking the example that the connection module 130 is parallel to the base 10.

[0048] When the swing arm 110 is located at the initial position, the extension direction of the connecting module 130 is parallel to the base 10 .

[0049] When the lifting assembly 400 raises the limiting assembly 300, the limiting assembly 300 drives the second arm 113 of the swing arm 110 to rotate toward the side away from the ground, and the first arm 111 of the swing arm 110 drives the connecting module 130 to rotate toward the side close to the ground. The connecting module 130 and the running wheels 120 tilt along with the first arm 111 of the swing arm 110. As the connecting module 130 changes from a horizontal state to an inclined state, the dimension of the connecting module 130 along the Z-axis direction (i.e., the height direction) increases, causing the height of the connection point where the connecting module 130 connects to the first arm 111 to increase. The running wheels 120 and the connecting module 130 lift the base 10 via the rotating portion 112 of the swing arm 110.

[0050] The connecting module 130 drives the walking wheel 120 to tilt, and the height of the connecting module 130 and the walking wheel 120 relative to the ground increases, so that the base 10 is raised, so that the robot device 1 can prevent the base 10 from being scratched during the process of crossing a raised obstacle, thereby improving the adaptability of the robot device 1 to uneven roads during walking.

[0051] See also Figure 4 The connection module 130 includes a travel wheel motor 131 and a travel wheel reducer 132. The travel wheel motor 131 and the travel wheel reducer 132 are sequentially connected to the travel wheel 120. The output shaft of the travel wheel motor 131 is connected to the input shaft of the travel wheel reducer 132. The output shaft of the travel wheel reducer 132 is connected to the central axis of the travel wheel 120. The end of the travel wheel reducer 132 away from the ground is connected to the first arm 111 of the swing arm 110.

[0052] The walking wheel motor 131 is used to drive the walking wheel reducer 132 to rotate, and the walking wheel reducer 132 is used to drive the walking wheel 120 to rotate. The rotation of the walking wheel 120 enables the robot device 1 to walk on the ground.

[0053] The travel wheel reducer 132 reduces the rotational speed of the output shaft of the travel wheel motor 131 and transmits the reduced rotational speed to the travel wheel 120, thereby driving the travel wheel 120 to rotate, allowing the robot device 1 to travel on the ground. The travel wheel reducer 132 reduces the rotational speed of the output shaft of the travel wheel motor 131 and transmits the reduced rotational speed to the travel wheel 120, providing an optimal travel speed for the robot device 1, enabling the robot device 1 to travel at a speed suitable for traveling on uneven surfaces, reducing the probability of damage to the travel wheel 120 and other components of the robot device 1, and reducing the maintenance cost of the robot device 1.

[0054] Optionally, the travel wheel motor 131 may be an AC motor or a DC motor. The travel wheel reducer 132 may be a planetary gear reducer, a cylindrical gear reducer, a bevel gear reducer, a worm gear reducer or other types of reducers.

[0055] The connection module 130 can not only provide a power source for the robot device 1 to travel, but also cooperate with the lifting assembly 400, the limiting assembly 300 and the swing arm 110 to raise the base 10 relative to the ground when the robot device 1 encounters a raised obstacle during travel.

[0056] See also Figure 4 The pressing assembly 200 includes a pressing base 210 and an elastic pressing module 220 . The pressing base 210 is disposed on the base 10 , and the elastic pressing module 220 is disposed in the pressing base 210 .

[0057] The elastic pressing module 220 is in a compressed state. The elastic pressing module 220 is elastically pressed against the first arm 111 of the swing arm 110, and the elastic pressing module 220 provides a downward pressing force on the first arm 111 of the swing arm 110. When the walking wheel 120 of the robot device 1 walks on the concave ground, the elastic pressing module 220 provides a downward pressing force on the first arm 111 of the swing arm 110, and the first arm 111 of the swing arm 110 drives the walking wheel 120 to tilt downward, so that the walking wheel 120 walks smoothly into the concave ground. With the elastic pressing module 220 providing the downward pressing force on the first arm 111 of the swing arm 110, the robot device 1 can walk more smoothly on the concave ground, thereby improving the adaptability of the robot device 1 when walking on uneven ground.

[0058] See also Figure 4 The elastic pressing module 220 includes a pressing shaft 221 and an elastic member 222. The pressing shaft 221 is pressed on the first arm 111 of the swing arm 110, and the elastic member 222 is provided on a side of the pressing shaft 221 away from the first arm 111 of the swing arm 110.

[0059] Optionally, the length of the elastic member 222 in the static state is greater than or equal to the length in the corresponding direction of the pressing base 210. This embodiment is described as an example in which the length of the elastic member 222 in the static state is greater than the length in the corresponding direction of the pressing base 210. Therefore, the elastic member 222 is in a compressed state when placed in the pressing base 210.

[0060] When the elastic member 222 is in a compressed state, it provides elastic force to the pressing shaft 221, and the pressing shaft 221 provides pressing force to the first arm 111 of the swing arm 110. The first arm 111 of the swing arm 110 drives the walking wheel 120 to tilt downward, so that the walking wheel 120 can smoothly enter the pit ground.

[0061] The pressing shaft 221 is a cylinder, and the pressing shaft 221 can rotate and move in the pressing base 210, reducing the friction force encountered by the pressing shaft 221 when moving in the pressing base 210, and improving the movement efficiency of the pressing shaft 221, thereby accelerating the speed at which the first arm 111 of the swing arm 110 drives the walking wheel 120 to tilt downward, so that the walking wheel 120 can enter the pit ground faster and more smoothly.

[0062] Optionally, the elastic member 222 may be a spring or other elastic device.

[0063] See also Figure 5 The lifting assembly 400 includes at least one guide rod 410 and a lifting motor 420, a lifting screw rod 450 and a lifting platform 470 arranged in sequence.

[0064] Optionally, the number of the guide rods 410 may be one, two, three or other numbers. This embodiment is described assuming that the number of the guide rods 410 is three.

[0065] The guide rod 410 is arranged on the base 10 in a direction perpendicular to the base 10. Specifically, the base 10 is provided with a first fixing plate 401 and a second fixing plate 402 arranged opposite to each other, the first fixing plate 401 is located on the side away from the base 10, and the three guide rods 410 are respectively fixed on the first fixing plate 401 and the second fixing plate 402.

[0066] The lifting motor 420 is fixed relative to the base 10 and connected to the end of the lifting screw 450 away from the base 10. The lifting motor 420 drives the lifting reducer 430 to rotate. The output shaft of the lifting reducer 430 drives the coupling 440 to rotate, and the coupling 440 drives the lifting screw 450 to rotate. The end of the lifting screw 450 near the base 10 passes through and is connected to the lifting platform 470. The lifting screw 450 drives the lifting nut 460 on the lifting platform 470 to move up and down (away from or closer to the base 10). The lifting nut 460 is screwed to the lifting platform 470, so that the lifting platform 470 also moves up and down with the lifting nut 460.

[0067] See also Figure 5The lifting assembly 400 further includes at least one guide sleeve 411. The number of guide sleeves 411 corresponds to the number of guide rods 410. This embodiment also assumes three guide sleeves 411 for the purpose of illustration. The lifting platform 470 moves up and down along the guide rods 410 via the guide sleeves 411 fixed to the lifting platform 470. The guide sleeves 411 are secured to the lifting platform 470 via screws.

[0068] When the robot device 1 encounters a raised obstacle during driving (see Figure 4 and Figure 5 ), the lifting motor 420 drives the lifting reducer 430, and the lifting reducer 430 drives the coupling 440, causing the lifting screw 450 to rotate forward, thereby driving the lifting platform 470 to move upward. The limiting assembly 300 is located on the lifting platform 470. The lifting platform 470 raises the limiting assembly 300. The limiting assembly 300 abuts the second arm 113 of the swing arm 110 and drives the second arm 113 of the swing arm 110 to tilt toward the base 10, thereby raising the base 10 relative to the ground.

[0069] When the robot device 1 passes over the raised obstacle, the lifting motor 420 drives the lifting reducer 430, and the lifting reducer 430 drives the coupling 440 to drive the lifting screw 450 to rotate in the opposite direction, driving the lifting platform 470 to move downward, and then due to the action of gravity, the swing arm 110 gradually follows the lifting platform 470 to return to its initial stable state.

[0070] The lifting motor 420 drives the lifting screw 450 to drive the lifting platform 470 to rise or fall, thereby raising or pressing the base 10 relative to the ground, effectively preventing the base 10 from being scratched, so that the robot device 1 can adapt to walking on raised ground, and improves the adaptability of the robot device 1 to uneven roads during walking.

[0071] The present application realizes the up and down movement of the lifting platform 470 and the transmission of torque and speed by adopting the lifting reducer 430 and the lifting screw 450.

[0072] See also Figure 6 The limiting assembly 300 includes a limiting rod 310 and two opposing limiting bases 320. The limiting bases 320 are protruding from the lifting platform 470. The limiting rod 310 is rotatably connected to the two limiting bases 320 at opposite ends. The limiting bases 320 allow the limiting rod 310 to rotate. The two limiting bases 320 form a pair for use with the limiting rod 310.

[0073] The limiting rod 310 is used to abut against the side of the second arm 113 of the swing arm 110 facing the ground when the robot device 1 is placed on a flat surface.

[0074] When the robot device 1 is placed on a flat ground (see Figure 2 and Figure 6 ), the weight of the robot device 1 presses against the walking wheel assembly 100, and the walking wheel assembly 100 can rotate around the rotating portion 112 of the swing arm 110. Since the lifting platform 470 is at the bottom of the base 10, the limiting rod 310 thereon limits the rotation of the swing arm 110 on the walking wheel assembly 100, thereby limiting the counterclockwise rotation of the walking wheel assembly 100 (refer to Figure 2 ) so that the robot device 1 is stably placed on the flat ground.

[0075] When the robot device 1 encounters a raised obstacle during driving (see Figure 4 and Figure 6 ), the limiting assembly 300 is used to drive the second arm 113 of the swing arm 110 to rotate toward the side away from the ground under the action of the lifting assembly 400, so that the first arm 111 of the swing arm 110 changes from being parallel to the base 10 to being inclined toward the side away from the base 10, thereby raising the base 10 and allowing the robot device 1 to cross the raised obstacle.

[0076] See also Figure 7 The robot device 1 further includes a swing arm base 140 disposed on the base 10. Specifically, the rotating portion 112 of the swing arm 110 is rotatably connected to the swing arm base 140. The walking wheel 120 and the connecting module 130 are assembled on the rotating portion 112 of the swing arm 110 via the swing arm 110. The rotating portion 112 of the swing arm 110 is swingably assembled to the chassis of the robot device 1 via the swing arm base 140.

[0077] Specifically, the outer periphery of the base 10 is provided with a receiving notch 150. The limiting assembly 300, the swing arm base 140, and the press-fit assembly 200 are sequentially arranged along a first direction. The first direction is the radial direction from the center of the base 10 to the outer periphery. The swing arm base 140 and the press-fit assembly 200 both span the receiving notch 150 along a second direction. The second direction intersects the first direction, with the first direction being the X direction and the second direction being the Y direction.

[0078] The walking wheel 120 is at least partially disposed in the receiving notch 150; or the first arm 111 of the swing arm 110 is connected to the walking wheel 120 via the receiving notch 150. Specifically, when the robot device 1 is placed on a flat ground (see Figure 2 ), the first arm 111 of the swing arm 110 is parallel to the base 10 and located in the receiving notch 150 of the base 10. The running wheels 120 support the robot device 1 upward, and the running wheels 120 are partially located in the receiving notch 150. When the robot device 1 encounters a pit or a raised obstacle during travel, the swing arm 110 tilts relative to the base 10, and the first arm 111 of the swing arm 110 connects to the running wheels 120 through the receiving notch 150 of the base 10.

[0079] See also Figure 8 The robot device 1 further includes a detector 30 and a first controller 40, wherein the first controller 40 is fixed to the first layer board 50. The first controller 40 is fastened to the first layer board 50 by screws. The power supply 70 is also fastened to the first layer board 50 by screws.

[0080] Optionally, the detector 30 includes at least one of a laser radar, an ultrasonic sensor, and an infrared sensor.

[0081] The detector 30 is used to sense road condition information and transmit the road condition information to the first controller 40. The first controller 40 is used to control the robot device 1 to walk and overcome obstacles according to the road condition information.

[0082] See also Figure 8 The robotic device 1 further includes a support platform 60 and a rotary motor 31. The support platform 60 is fixed to the base 10 and is located on the side of the lifting assembly 400 facing away from the base 10. The rotary motor 31 and the detector 30 are mounted on the support platform 60. The rotary motor 31 is configured to drive the detector 30 to rotate 360° about a direction perpendicular to the base 10, allowing the detector 30 to rotate 360° to sense information about the surrounding road environment.

[0083] See also Figure 8 The robot device 1 further includes a rotation reducer 32 , a first rotation gear 33 , a second rotation gear 34 , a detector base 35 , a bearing 36 , a bearing pad 37 , an end bearing 38 , and an end bearing fixing ring 39 .

[0084] Specifically, the 360° rotation of the detector 30 is achieved by the rotary motor 31 through a series of reduction mechanisms. Specifically, the rotation of the rotary motor 31 drives the rotary reducer 32, which in turn drives the rotary shaft of the rotary reducer 32 to rotate. The first rotary gear 33 is locked to the rotary shaft of the rotary reducer 32 and rotates along with the rotary shaft of the rotary reducer 32. The second rotary gear 34 engages with the first rotary gear 33, driving the second rotary gear 34 to rotate. The second rotary gear 34 is locked to the detector base 35, thereby driving the detector base 35 to rotate. The detector 30 is locked to the detector base 35, so that the detector base 35 drives the detector 30 to achieve 360° rotation.

[0085] Specifically, the bearing 36 cooperates with the detector base 35 and the bearing pad 37. The bearing pad 37 is locked to the support platform 60 of the robot device 1 by screws, and the protruding step shaft of the detector base 35 is clamped by a retaining spring, thereby limiting the axial movement of the detector base 35. In order to subsequently design the interchangeability of the detector 30 (replaced with the upper body of the robot device 1), the end face bearing 38 is added. The end face bearing 38 is respectively cooperated with the flange edge of the detector base 35, and also cooperates with the end face bearing fixing ring 39. The end face bearing fixing ring 39 is locked to the support platform 60 by screws; the rotating motor 31 is locked to the support platform 60 through the upper cover of the rotating reducer 32.

[0086] See also Figure 5 and Figure 8During the driving process of the robot device 1, the detector 30 senses the road condition information in real time and transmits the road condition information to the first controller 40. Driven by the rotating motor 31, the detector 30 can rotate 360 ​​degrees to sense the information of the surrounding road condition environment. When the detector 30 senses a raised obstacle in front, the detector 30 transmits the information to the first controller 40. The first controller 40 sends a signal to the lifting motor 420. The lifting motor 420 drives the internal lifting reducer 430 to rotate. At the same time, the lifting reducer 430 drives the coupling 440 to rotate. The device 440 drives the lifting screw 450 to rotate, and the lifting screw 450 drives the lifting nut 460 fixed on the lifting platform 470 to move upward, thereby driving the lifting platform 470 to move upward (the lifting platform 470 is also limited and guided by the guide rod 410), and the lifting platform 470 drives the limiting base 320 fixed thereon to move upward, thereby driving the limiting rod 310 assembled in the limiting base 320 to move upward, and the limiting rod 310 drives the swing arm 110 to rotate clockwise around the swing arm base 140 respectively, thereby driving the walking wheel assembly 100 to rotate clockwise (see Figure 5 ), thereby lifting the robot device 1 as a whole to a certain height and crossing the raised obstacle.

[0087] See also Figure 9 The at least two sets of running wheels 120 of the running mechanisms 20 include first running wheels 121 and second running wheels 122 spaced apart from each other. The robot device 1 further includes a second controller (not shown). Optionally, the second controller and the first controller 40 can be packaged separately as two independent chips or integrated into a single chip. The second controller is used to control the rotation of the first running wheels 121 and the second running wheels 122, causing the robot device 1 to move forward, backward, or turn.

[0088] The interval between the first running wheel 121 and the second running wheel 122 is not unique.

[0089] Optionally, the first running wheel 121 and the second running wheel 122 may be arranged 180 degrees apart. That is, the first running wheel 121 and the second running wheel 122 are arranged coplanar. The central axis of the first running wheel 121 is parallel to the central axis of the second running wheel 122. When the robot device 1 moves forward or backward, the first running wheel 121 and the second running wheel 122 rotate in the same direction.

[0090] Optionally, the first running wheel 121 and the second running wheel 122 can be 180 degrees to the left and right (i.e., the plane where the first running wheel 121 is located is parallel to the plane where the second running wheel 122 is located) or can be spaced apart at a certain angle to the left and right (i.e., the plane where the first running wheel 121 is located is intersecting with the plane where the second running wheel 122 is located). When the robot device 1 moves forward or backward, the first running wheel 121 and the second running wheel 122 rotate in opposite directions (when the first running wheel 121 and the second running wheel 122 are viewed from the middle position between the first running wheel 121 and the second running wheel 122, one of them rotates clockwise and the other rotates counterclockwise). When the robot device 1 needs to turn, the first running wheel 121 and the second running wheel 122 rotate at different speeds.

[0091] See also Figure 10 The at least two walking wheels 120 of the walking mechanism 20 further include a third walking wheel 123. The third walking wheel 123, the first walking wheel 121 and the second walking wheel 122 are arranged around the circumference of the base 10.

[0092] Optional, see Figure 11 The driving method of the robot device 1 is to install three groups of the walking wheel assemblies 100 evenly distributed along the circumference of 120° on the chassis, and the three groups of the walking wheel assemblies 100 are driven by three independent walking wheel motors 131 respectively.

[0093] See also Figure 10 The second controller is used to control the first and second running wheels 121, 122 to rotate in opposite directions (one of the first and second running wheels 121, 122 rotates clockwise and the other counterclockwise when viewed from the middle position between the first and second running wheels 121, 122) and to control the third running wheel 123 to remain stationary when the robot device 1 moves forward and backward. The second controller is also used to control the first, second, and third running wheels 121, 122, 123 to rotate in the same direction (the first, second, and third running wheels 121, 122, 123 rotates from the middle position between the first, second, and third running wheels 121, 122, 123) when the robot device 1 turns.

[0094] Specifically, when the robot device 1 moves forward in a certain direction, it can be driven by two of the walking wheel motors 131 (one walking wheel motor 131 rotates clockwise and one walking wheel motor 131 rotates counterclockwise), and the third walking wheel motor 131 stops driving, so as to achieve speed synthesis and torque synthesis. At this time, the third walking wheel 120 does not rotate, and the small waist drum wheel 125 of the walking wheel 120 can rotate, thereby reducing the friction caused by the third walking wheel 120 not rotating. Similarly, when the robot device 1 moves backward, it can also be achieved by driving the two walking wheel motors 131 in the opposite direction at the same time, and stopping the third walking wheel motor 131 to achieve this. When the robot device 1 rotates in place, it can be achieved by controlling the three walking wheel motors 131 to rotate in the same direction. If it rotates in the opposite direction in place, it can also be achieved by the three walking wheel motors 131 rotating in the opposite direction at the same time.

[0095] Please refer again Figure 1 The robot device also includes a first-level support shaft 51, a second-level support shaft 52, a first layer board 50 and a power supply 70.

[0096] Specifically, the first-stage support shafts 51 are fastened to the chassis, and the first layer 50 of the robot device 1 is assembled on the first-stage support shafts 51. The first layer 50 of the robot device 1 is then pressed and fastened to the three first-stage support shafts 51 by the second-stage support shafts 52. The support platform 60 of the robot device 1 is fastened to the second-stage support shafts 52 by screws. The first controller 40 and the second controller are both fastened to the first layer 50 of the robot device 1 by screws, and the power supply 70 is also fastened to the first layer 50 of the robot device 1 by screws.

[0097] Optionally, a complete body may be installed in the position of the detector 30 to transform the robot device 1 into a complete robot.

[0098] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above implementation methods is only used to help understand the core idea of ​​this application. At the same time, for those skilled in the art, based on the idea of ​​this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as a limitation on this application.

Claims

1. A robotic device, characterized in that: It comprises a base and at least two sets of walking mechanisms arranged on the base; the walking mechanisms include: A travel wheel assembly includes a swing arm and a travel wheel, wherein the swing arm includes a first support arm, a rotating portion, and a second support arm connected in sequence, the rotating portion is rotatably connected to the base, one end of the travel wheel is connected to the first support arm of the swing arm, and the travel wheel is used for walking on the ground; A pressing assembly is provided on the base, and the pressing assembly is pressed on a side of the first arm of the swing arm facing away from the ground; a limiting assembly provided on the base, the limiting assembly being used to abut against the side of the second arm of the swing arm facing the ground when the running wheel is running on a horizontal ground; the first arm of the swing arm is further used to rotate around the base toward the ground under the action of the pressing assembly during the process of the running wheel descending in the pit, so that the running wheel is in contact with the ground, and the second arm of the swing arm is separated from the limiting assembly; and A lifting assembly is provided on the base and is connected to the limit assembly. The lifting assembly is used to lift the limit assembly when the walking wheel surmounts an obstacle. The limit assembly drives the second arm of the swing arm to rotate toward the side away from the ground, thereby lifting the base.

2. The robot device according to claim 1, wherein: The walking wheel assembly also includes a connecting module, which is connected between the side of the first arm of the swing arm facing the ground and the central axis of the walking wheel. When the limiting assembly drives the second arm of the swing arm to rotate toward the side away from the ground, the connecting module gradually lifts the base as the second arm of the swing arm rotates.

3. The robot device according to claim 2, wherein: The connection module includes a walking wheel motor and a walking wheel reducer. The walking wheel motor, the walking wheel reducer and the walking wheel are connected in sequence. The end of the walking wheel reducer away from the ground is connected to the first arm of the swing arm. The walking wheel motor is used to drive the walking wheel to rotate through the walking wheel reducer.

4. The robot device according to any one of claims 1 to 3, wherein: The pressing assembly includes a pressing base and an elastic pressing module arranged in the pressing base. The pressing base is arranged on the base, and the elastic pressing module is elastically pressed on the side of the first arm of the swing arm facing away from the ground.

5. The robot device according to claim 4, wherein: The elastic pressing module includes a pressing shaft and an elastic member. The pressing shaft is pressed on the first arm of the swing arm. The elastic member is arranged on a side of the pressing shaft away from the first arm of the swing arm. The elastic member is in a compressed state.

6. The robot device according to any one of claims 1 to 3, wherein: The lifting assembly includes at least one guide rod and a lifting motor, a lifting screw and a lifting platform arranged in sequence; The guide rod is arranged on the base in a direction perpendicular to the base; The lifting motor is fixed relative to the base and connected to the end of the lifting screw rod away from the base. The end of the lifting screw rod close to the base passes through and is connected to the lifting platform. The lifting motor is used to drive the lifting platform along the guide rod to approach or move away from the base through the lifting screw rod.

7. The robot device according to claim 6, wherein: The limit assembly includes a limit rod and two limit bases arranged opposite to each other. The limit bases are protruded from the lifting platform. The opposite ends of the limit rod are rotatably connected to the two limit bases respectively. The limit rod is used to abut against the side of the second arm of the swing arm facing the ground when the walking wheel is walking on the horizontal ground.

8. The robot device according to any one of claims 1 to 3, wherein: The robot device further includes a swing arm base provided on the base, and the rotating portion of the swing arm is rotatably connected to the swing arm base; A receiving notch is provided on the outer periphery of the base, and the limiting assembly, the swing arm base and the pressing assembly are arranged in sequence along the first direction. The swing arm base and the pressing assembly both span the receiving notch along the second direction, and the second direction intersects with the first direction. The walking wheel is at least partially arranged in the receiving notch; or, the first support arm of the swing arm is connected to the walking wheel via the receiving notch.

9. The robot device according to any one of claims 1 to 3, wherein: The robot device also includes a detector and a first controller. The detector includes at least one of a laser radar, an ultrasonic sensor, and an infrared sensor. The detector is used to sense road condition information and transmit the road condition information to the first controller. The first controller is used to control the robot device to walk and overcome obstacles based on the road condition information.

10. The robot device according to claim 9, wherein: The robotic device also includes a supporting platform and a rotating motor. The supporting platform is fixed on the base and is located on the side of the pressing assembly facing away from the base. The rotating motor and the detector are arranged on the supporting platform. The rotating motor is used to drive the detector to rotate in a direction perpendicular to the base.

11. The robot device according to any one of claims 1 to 3, wherein: The walking wheels of the at least two groups of walking mechanisms include a first walking wheel and a second walking wheel that are spaced apart. The robot device also includes a second controller, which is used to control the rotation of the first walking wheel and the second walking wheel to make the robot device move forward, backward or turn.

12. The robot device according to claim 11, wherein: The walking wheels of the at least two sets of walking mechanisms also include a third walking wheel. The third walking wheel, the first walking wheel and the second walking wheel are arranged around the circumference of the base. The second controller is used to control the first walking wheel and the second walking wheel to rotate in opposite directions respectively when the robot device moves forward and backward, and control the third walking wheel to be stationary; the second controller is also used to control the first walking wheel, the second walking wheel and the third walking wheel to rotate in the same direction when the robot device turns.

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