A bipedal wheeled-legged robot

Abstract

The application discloses a biped wheel-legged robot, which comprises a frame and parallel leg mechanisms symmetrically arranged on both sides of the frame; the parallel leg mechanisms comprise two first leg plates hingedly connected to the frame, the other ends of the two first leg plates are deflected in opposite directions, and each of the two first leg plates is hingedly connected with a second leg plate; the end portions of the two second leg plates are hingedly connected with each other, and coaxially arranged with a driving wheel assembly; the frame is further provided with linear driving devices corresponding to the first leg plates; the driving ends of the linear driving devices are movably connected to the first leg plates, and form a triangular structure with the first leg plates and the frame, so that the first leg plates can rotate under the pushing of the driving ends of the linear driving devices; the application can meet the wheel-legged swing rate and the wheel-legged swing precision, and is beneficial to reducing the cost.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a biped wheel-legged robot. BACKGROUND

[0002] Common robots are mainly divided into wheeled robots, tracked robots, legged robots, wheel-legged robots and the like. The wheeled robot realizes the movement process through the continuous rolling of the wheels, and is mainly applied to relatively flat ground; but for some relatively complex road surfaces, such as ruins and stairs and the like application scenarios, the movement of the wheeled robot will be limited. Compared with the wheeled robot, the biped robot has good adaptability to the environment, realizes the movement process by simulating the movement mode of human beings, adds some movement characteristics of human beings to the robot, so that the movement mode of the biped robot is more close to human beings, and the biped robot can adapt to the living and working environment of human beings. The biped wheel-legged robot combines the high speed and high efficiency of the wheeled robot and the strong adaptability to complex terrain of the legged robot, so that the robot can quickly move on the flat ground in the wheeled movement mode, and can improve the movement ability and obstacle crossing ability in the face of relatively complex road surfaces.

[0003] On a bumpy road surface, the wheel legs of the wheel-legged robot need to swing up and down according to the terrain, and a direct drive motor is usually used for control. Since the length of the arm to be twisted in the process of driving the wheel leg to swing is short, a direct drive motor with high power needs to be used, and at the same time, the rotation angle of the direct drive motor will directly affect the swing angle of the wheel leg. In order to realize the precise swing of the wheel leg, a direct drive motor with high torque and high precision needs to be used, thereby greatly increasing the cost. SUMMARY

[0004] In view of the above problems of the prior art, the technical problem to be solved by the present application is how to provide a biped wheel-legged robot which can meet the swing rate and swing precision of the wheel leg and is beneficial to reduce the cost.

[0005] In order to solve the above technical problems, the present application adopts the following technical scheme:

[0006] The application discloses a biped wheel-legged robot, which comprises a frame and parallel leg mechanisms symmetrically arranged on both sides of the frame; the parallel leg mechanism comprises two first leg plates hingedly connected to the frame, the other ends of the two first leg plates are deflected in opposite directions, and each of the two first leg plates is hingedly connected with a second leg plate; the ends of the two second leg plates are hingedly connected with each other, and a driving wheel assembly is coaxially arranged on the two second leg plates; a linear driving device is arranged on the frame in one-to-one correspondence with the first leg plates; the driving end of the linear driving device is movably connected to the first leg plate, and forms a triangular structure with the first leg plate and the frame, so that the first leg plate can be rotated under the pushing of the driving end of the linear driving device.

[0007] In the above structure, the linear driving device forms a triangular structure with the first leg plate and the frame, and the driving end of the linear driving device is away from the hinge joint of the first leg plate and the frame, so that the driving force arm can be increased, the requirement for the output power of the linear driving device can be reduced under the same load, the driving stroke of the linear driving device is larger under the condition of rotating the first leg plate by the same angle, the linear driving device has a larger redundancy, the accuracy requirement of the linear driving device can be reduced under the condition of ensuring the swing accuracy, the price of the linear driving device can be reduced, and the overall cost can be reduced.

[0008] Further, the linear driving device comprises a base plate and a linear guide rail arranged on the base plate, a sliding block is slidably arranged on the linear guide rail, and a driving pin is arranged on the sliding block; the frame is provided with a clearance slot arranged in parallel with the linear guide rail, and the first leg plate is provided with a guide slot arranged in the length direction; the driving pin passes through the clearance slot and is slidably matched in the guide slot; and the base plate is further provided with a driving mechanism for driving the sliding block to move along the linear guide rail.

[0009] In this way, when the sliding block moves along the linear guide rail, the driving pin moves along the clearance slot at the same time, pushes the edge of the guide slot and drives the first leg plate to rotate.

[0010] Further, an H groove bearing is matched in the guide slot, the groove width of the H groove bearing is matched with the thickness of the first leg plate, the groove bottom diameter of the H groove bearing is matched with the width of the guide slot, and the driving pin is arranged on the inner ring of the H groove bearing.

[0011] Further, the driving pin passes through the H groove bearing and is provided with a retreat-preventing collar.

[0012] Furthermore, a rectangular mounting seat is fixed to the top of the slider by bolts, and the mounting seat has a positioning hole set through along the thickness direction, and the inner diameter of the positioning hole is consistent with the diameter of the driving pin; the mounting seat has a locking screw hole that passes through the positioning hole vertically, and a locking screw is installed on the locking screw hole; the driving pin is coaxially inserted in the positioning hole and fixed by the locking screw.

[0013] Furthermore, the base plate has a plurality of vertically arranged support columns, the other ends of the support columns are connected to positioning plates arranged parallel to the base plate, and the positioning plate has guide holes arranged corresponding to the driving pins.

[0014] Furthermore, the guide hole is slidably fitted with a guide block, the guide block has a through-going mounting hole, the inner diameter of the mounting hole is consistent with the diameter of the driving pin, and the driving pin is inserted into the mounting hole.

[0015] In summary, the present invention has the advantages of being able to meet both the wheel leg swing rate and the wheel leg swing accuracy, and being conducive to reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Fig. 1 Schematic diagram of the structure of a two-legged wheeled robot.

[0017] Fig. 2 and Fig. 3 This is a schematic diagram of the linear drive device structure. Implementation Method

[0018] The present invention will be further described in detail below with reference to the embodiments.

[0019] When implementing: Figs. 1-3 As shown, a two-legged wheeled robot includes a frame 1 and a parallel leg mechanism 2 symmetrically installed on both sides of the frame 1; the parallel leg mechanism 2 includes two first leg plates 21 hinged on the frame 1, the other ends of the two first leg plates 21 are deflected in opposite directions, and each is hinged with a second leg plate 22, the ends of the two second leg plates 22 are hinged to each other, and a driving wheel assembly 7 is coaxially installed; the frame 1 is also provided with a linear drive device 3 arranged in a one-to-one correspondence with the first leg plate 21, the driving end of the linear drive device 3 is movably connected to the first leg plate 21, and forms a triangular structure with the first leg plate 21 and the frame 1, so that the first leg plate 21 can rotate under the push of the driving end of the linear drive device 3.

[0020] The linear drive device 3 includes a base plate 31 and a linear guide rail 32 installed on the base plate 31, a slider 33 is slidably installed on the linear guide rail 32, and a driving pin 34 is installed on the slider 33; the frame 1 has a clearance groove 11 arranged parallel to the linear guide rail 31, and the first leg plate 21 has a guide groove 23 arranged along the length direction; the driving pin 34 passes through the clearance groove 11 and is slidably engaged in the guide groove 23; the base plate 31 is also provided with a driving mechanism for driving the slider 33 to move along the linear guide rail 32.

[0021] The top of the slider 33 is fixed with a rectangular mounting seat by bolts, and the mounting seat has a positioning hole set through along the thickness direction, and the inner diameter of the positioning hole is consistent with the diameter of the driving pin 34; the mounting seat has a locking screw hole that passes through the positioning hole vertically, and a locking screw is installed on the locking screw hole; the driving pin 34 is coaxially inserted in the positioning hole and fixed by the locking screw.

[0022] like Fig. 1 As shown, the linear drive device forms a triangular structure with the first leg plate and the frame. In this case, the driving end of the linear drive device is located away from the hinge joint between the first leg plate and the frame, which increases the driving force arm. This reduces the output power requirement for the linear drive device under the same load. Furthermore, when driving the first leg plate to rotate by the same angle, because the driving end of the linear drive device is located away from the hinge joint between the first leg plate and the frame, the linear drive device has a relatively large driving stroke and more redundancy. This reduces the precision requirement for the linear drive device while ensuring swing accuracy, thereby reducing the cost of the linear drive device.

[0023] In this embodiment, the driving pin has a fixed direction of movement, while the first leg plate rotates relative to the driving pin during its swinging motion. This creates a combined motion of relative sliding and rotation, which can easily cause wear on the driving pin or guide slot 23, affecting the swinging accuracy of the first leg plate. To this end, in this embodiment, an H-groove bearing 24 is fitted within the guide slot 23. The width of the H-groove bearing 24 matches the thickness of the first leg plate 21, and the bottom diameter of the H-groove bearing 24 matches the width of the guide slot 23. The driving pin 34 is mounted on the inner ring of the H-groove bearing 24. Furthermore, the driving pin 34 passes through the H-groove bearing 24 and is fitted with a retaining collar 25.

[0024] The existing structure of the biped wheel-legged robot selects a high-torque and high-precision direct-drive motor to drive the wheel legs. In addition to considering that the direct-drive motor can make the structure simpler, the limited installation space inside the two groups of wheel-legged robots is also considered. In order to fully utilize the space in the length and width directions of the rack, in the embodiment, the driving mechanism adopts the following structure: one side of the linear guide rail 32 is provided with a double-groove belt pulley 35, the double-groove belt pulley 35 is located at the middle position of the linear guide rail 32 and is rotatably installed on the base plate 31; further comprising two fixed pulleys 36 with the same distance as the double-groove belt pulley 35, the two fixed pulleys 36 are symmetrically arranged on both sides of the double-groove belt pulley 35 along the length direction of the linear guide rail 32; the two wheel grooves of the double-groove belt pulley 35 are respectively wound with pull ropes 37 in opposite directions, the two pull ropes are respectively wound around the two fixed pulleys 36 and connected to the driving pin column 34; the base plate 31 is further provided with a rotary driving mechanism 38 for driving the double-groove belt pulley 35 to rotate; wherein the rotary driving mechanism 38 is a driving motor installed on the base plate 31, the output shaft of the driving motor penetrates the base plate 31, and the double-groove belt pulley 35 is coaxially fixed on the output shaft of the driving motor.

[0025] In the above structure, the driving motor drives the double-groove belt pulley to rotate, the pull rope wound in one groove continues to wind and pulls the driving pin column to move along the linear guide rail, at the same time, the pull rope wound in the opposite direction in the other groove is synchronously released, realizing the linear driving of the driving pin column.

[0026] In the width direction of the rack, the structure sets the driving motor along the width direction of the rack, which is consistent with the arrangement mode of the direct-drive motor in the prior art, and only the thickness of the fixed pulley, the double-groove belt pulley or the linear guide rail needs to be increased. Since the driving force arm in the structure is large, a driving motor with relatively low power can be used, so that the size of the motor can be reduced, and the overall width size is relatively small compared with the size of the direct-drive motor.

[0027] In the length direction of the rack, since the driving motor in the structure of the embodiment is located on one side of the width direction of the linear guide rail, the maximum stroke of the driving pin column is consistent with the length of the linear guide rail, so that the linear guide rail can be as small as possible according to the swing stroke of the first leg plate, so as to shorten the length space occupied by the linear driving device in the rack.

[0028] In addition, the embodiment directly drives the double-groove pulley by the driving motor, and drives the driving pin column by the pull rope, the transmission is relatively small, the rotation of the driving motor can quickly respond to the movement of the driving pin column, the response speed is fast, and the swing speed requirement of the wheel leg adapting to the bumpy road surface can be met. Meanwhile, the movement distance of the driving pin column is matched with the rotation angle of the driving motor, as long as the rotation angle of the driving motor is accurately controlled, the movement distance of the driving pin column can be accurately controlled, and then the swing angle of the wheel leg is controlled, so that the swing precision of the wheel leg can be guaranteed.

[0029] In the embodiment, the substrate 31 has a plurality of vertically arranged support columns, the other end of the support column is connected with a positioning plate 39 arranged in parallel with the substrate 31, and the positioning plate 39 has a guide hole arranged in correspondence with the driving pin column 34.

[0030] Two ends of the linear guide rail 32 are each provided with two support columns, two support columns located at the same end are symmetrically distributed on both sides of the linear guide rail 32, and the distance between two support columns located on the same side is matched with the length of the linear guide rail 32; two fixed pulleys are rotatably arranged on two support columns on the side of the linear guide rail 32 facing the double-groove pulley 35; two V-groove bearings 4 are rotatably sleeved on the driving pin column; and two pull ropes 37 pass through the two V-groove bearings 4 respectively and are connected to the support columns on the other side of the linear guide rail 32.

[0031] In this way, the V-groove bearing sleeved on the driving pin column forms a movable pulley on the pull rope, the movement speed of the driving pin column is half of the speed of the pull rope, and deceleration is formed. In addition, through this structure, the support columns at both ends of the linear guide rail can be closer to the linear guide rail in the length direction of the linear guide rail, so as to minimize the space occupation of the linear driving device in the length direction of the rack, so as to better arrange the space.

[0032] In specific implementation, a guide block can be slidably matched on the guide hole, the guide block has a through hole arranged thereon, the inner diameter of the mounting hole is consistent with the diameter of the driving pin column 34, and the driving pin column 34 is sleeved in the mounting hole.

[0033] The above only describes the preferred embodiments of the present application, and is not limited to the present application, any modification, equivalent replacement and improvement made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A two-legged wheeled robot comprising a frame (1) and parallel leg mechanisms (2) symmetrically mounted on both sides of the frame (1); characterized in that: The parallel leg mechanism (2) comprises two first leg plates (21) hinged on the frame (1), the other ends of the two first leg plates (21) are deflected in opposite directions, and each is hinged to a second leg plate (22), the ends of the two second leg plates (22) are hinged to each other, and a driving wheel assembly (7) is coaxially mounted; the frame (1) is also provided with a linear drive device (3) arranged in a one-to-one correspondence with the first leg plates (21), the driving end of the linear drive device (3) is movably connected to the first leg plate (21), and forms a triangular structure with the first leg plate (21) and the frame (1), so that the first leg plate (21) can rotate under the drive of the driving end of the linear drive device (3); The linear drive device (3) comprises a base plate (31) and a linear guide rail (32) mounted on the base plate (31); a slider (33) is slidably mounted on the linear guide rail (32); and a driving pin (34) is mounted on the slider (33); the frame (1) has a clearance groove (11) arranged parallel to the linear guide rail (32); the first leg plate (21) has a guide groove (23) arranged along the length direction; the driving pin (34) passes through the clearance groove (11) and is slidably engaged in the guide groove (23); and the base plate (31) is also provided with a driving mechanism for driving the slider (33) to move along the linear guide rail (32).

2. The two-legged wheeled robot according to claim 1, characterized in that: An H-groove bearing (24) is fitted in the guide groove (23), the groove width of the H-groove bearing (24) matches the thickness of the first leg plate (21), and the groove bottom diameter of the H-groove bearing (24) matches the width of the guide groove (23); the driving pin (34) is mounted on the inner ring of the H-groove bearing (24).

3. The two-legged wheeled robot according to claim 2, characterized in that: The driving pin (34) passes through the H-groove bearing (24) and is mounted with a backstop collar (25).

4. The two-legged wheeled robot according to claim 1, characterized in that: A rectangular mounting seat is fixed to the top of the slider (33) by bolts, and the mounting seat has a positioning hole set through along the thickness direction, and the inner diameter of the positioning hole is consistent with the diameter of the driving pin (34); the mounting seat has a locking screw hole that passes through the positioning hole vertically, and a locking screw is installed on the locking screw hole; the driving pin (34) is coaxially inserted in the positioning hole and fixed by the locking screw.

5. The two-legged wheeled robot according to claim 1, characterized in that: The base plate (31) has a plurality of vertically arranged support columns, the other ends of the support columns are connected to a positioning plate (39) arranged parallel to the base plate (31), and the positioning plate (39) has a guide hole corresponding to the driving pin (34).

6. The two-legged wheeled robot according to claim 5, characterized in that: The guide hole is slidably fitted with a guide block, and the guide block has a through-going mounting hole, the inner diameter of the mounting hole is consistent with the diameter of the driving pin (34), and the driving pin (34) is inserted into the mounting hole.

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