A rim leg type multi-modal balanced mobile robot and working method

Abstract

The application relates to a wheel rim leg type multimode balanced mobile robot and a working method, which comprises a wheel rim leg and a trunk, the wheel rim leg is arranged on the two sides of the trunk, and the wheel rim leg is fixed with a profile frame at the bottom of the trunk; the wheel rim leg comprises a wheel ring, an upper guide wheel set, a wheel frame, a middle guide wheel set, a lower guide wheel set, a clamping coupling, a wheel rim rotating driving motor, a driving gear and a leg root swing motor module, the wheel frame is arranged on the inner side of the wheel ring and moves along the circumference of the wheel ring, the upper guide wheel set, the middle guide wheel set and the lower guide wheel set are fixed on the wheel frame in sequence through screws and lock nuts at corresponding hole positions; the wheel rim rotating driving motor is installed on the wheel frame through a screw, the clamping coupling is fixed on the output shaft of the wheel rim rotating driving motor and is fixed with the driving gear through a screw, the driving gear is matched with the wheel ring, and the rotor end of the leg root swing motor module is fixed with the wheel frame. The application has the characteristics of mechanical reliability, flexible movement, strong passing performance, simple structure, high stability and low manufacturing cost.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of intelligent robots, and particularly relates to a wheel rim leg type multi-modal balanced mobile robot and a working method. BACKGROUND

[0002] At present, research institutions and scholars in various countries have shown great interest in the research on two-wheeled robots. On the one hand, the mechanical structure has unique practicality and functionality, and on the other hand, the two-wheeled self-balancing robot system as a complex under-actuated nonlinear system poses greater challenges to system control. The early research on two-wheeled self-balancing robots mainly focuses on function implementation, including dynamic modeling, control strategy and system design. With the continuous maturity of two-wheeled self-balancing technology, technical personnel in various countries have designed two-wheeled self-balancing robots with increasingly complex structures, more diverse functions and richer application scenarios based on self-balancing technology.

[0003] From the current market balanced robots, it can be concluded that the research on two-wheeled self-balancing systems by scholars at home and abroad is mostly classified by chassis mechanical structure, mainly focusing on three aspects: ordinary two-wheeled inverted pendulum balancing chassis, inverted pendulum type balancing chassis with sliding block and wheel leg type balancing chassis.

[0004] The ordinary two-wheeled inverted pendulum balancing chassis realizes the balance of the inverted pendulum by accelerating and decelerating the drive wheels, that is, when the vehicle body tilts forward (the center of gravity is in front of the support point), the drive wheels accelerate forward, and when the vehicle body tilts backward (the center of gravity is behind the support point), the drive wheels accelerate backward. The moving process adjusts the center of gravity by changing the pitch angle, thereby realizing forward and backward movement and acceleration and deceleration. However, this will cause the vehicle body to tilt forward or backward when moving forward and backward, and the robot trunk (vehicle body) cannot maintain a vertical posture during movement. In addition, the ordinary two-wheeled inverted pendulum type balancing chassis needs to be balanced and adjusted by accelerating and decelerating the drive wheels, which is more suitable for continuous ground environment, and is easy to fall when encountering road curbs, steps and other step terrains during movement.

[0005] The inverted pendulum type balancing chassis with sliding block changes the center of gravity by changing the position of the sliding block, thereby realizing forward and backward movement and acceleration and deceleration. The control is relatively simple, and the start and stop can be completed quickly. The robot trunk can still change the center of gravity by adjusting the sliding block to maintain a vertical posture and realize movement. However, the inverted pendulum balancing chassis with sliding block needs to increase a separate sliding block device for adjusting the center of gravity, and the weight of the sliding block is relatively small compared to the whole robot, which limits the adjustment range of the center of gravity of the robot and makes it difficult to obtain a large acceleration. In addition, the inverted pendulum type balancing chassis with sliding block also has the problem of being suitable for continuous ground environment, and is easy to fall when encountering road curbs, steps and other step terrains during movement.

[0006] Wheel-legged balancing chassis rapidly change their center of gravity through leg deformation, enabling forward and backward movement, acceleration and deceleration, and even jumping, while maintaining an upright posture. However, wheel-legged balancing chassis have a complex structure; typically, a single wheel requires two joints and one drive wheel, resulting in high manufacturing costs. Furthermore, the limited wheel size makes it difficult for the robot to regain balance after tipping over. Summary of the Invention

[0007] To address the shortcomings of existing technologies, this invention provides a wheel-rim leg type multimodal balancing mobile robot and its operating method. The wheel-rim leg type multimodal balancing mobile robot includes a wheel-rim leg and a torso connected thereto. The wheel-rim leg includes a wheel ring, a wheel frame, a wheel ring rotation drive motor, and a leg root swing motor module. The wheel ring rotation drive motor is fixed on the wheel frame, and its output end is connected to a drive gear via a clamping coupling. The drive gear, in conjunction with the wheel ring, drives the wheel ring to rotate. When the outermost part of the wheel-rim leg is in contact with the environment, it can provide driving capability like a wheel. The leg root swing motor module drives the wheel frame to rotate, thereby driving the entire wheel-rim leg to swing back and forth or rotate continuously like a leg, changing the center of gravity position of the entire robot.

[0008] A wheel-wheeled multimodal mobile robot includes wheel-wheeled legs and a torso. The wheel-wheeled legs are located on both sides of the torso and are fixed to a profile frame at the bottom of the torso.

[0009] The wheel rim leg includes a wheel ring, an upper guide wheel assembly, a wheel frame, a middle guide wheel assembly, a lower guide wheel assembly, a clamping coupling, a wheel rim rotation drive motor, a drive gear, and a leg root swing motor module. The wheel frame is arranged inside the wheel ring and moves circumferentially along the wheel ring. The upper, middle, and lower guide wheel assemblies are respectively fixed to corresponding holes on the wheel frame with screws and anti-loosening nuts. The wheel frame contacts the inner wall of the wheel ring through the upper, middle, and lower guide wheel assemblies and moves through the guide wheels in the upper, middle, and lower guide wheel assemblies. The wheel rim rotation drive motor is mounted on the wheel frame with screws. The clamping coupling is fixed to the output shaft of the wheel rim rotation drive motor and fixed to the drive gear with screws. The drive gear engages with the wheel ring. The rotor end of the leg root swing motor module is fixed to the wheel frame.

[0010] The wheel hub includes inner and outer tires, driven teeth, a rim, and an inner side plate. The driven teeth are fixed inside the inner and outer tires. Screws pass through the driven teeth, the rim, and the inner side plate in sequence to fix the three together, forming a hub structure that can fix the inner and outer tires.

[0011] The wheel frame comprises a wheel frame outer top ring plate, a first gasket, a wheel frame outer side plate, a wheel frame inner side plate, a first aluminum column, a first wheel frame rib plate, a second aluminum column, a wheel rim rotation driving motor mounting plate, a third aluminum column, a second wheel frame rib plate, a fourth aluminum column, a bearing and a fifth aluminum column, an outer side screw passes through the wheel frame outer side plate, the first gasket and the wheel frame outer top ring plate in sequence to form the wheel frame inner side plate, an inner side bolt passes through the wheel frame inner side plate, the first gasket and the wheel frame outer top ring plate in sequence to form the wheel frame outer side plate, the wheel frame inner side plate is arranged opposite to the wheel frame outer side plate and is fixed therebetween through the aluminum columns and the wheel frame rib plates; the upper guide wheel set, the middle guide wheel set and the lower guide wheel set are located between the wheel frame outer side plate and the wheel frame inner side plate; the wheel rim rotation driving motor mounting plate is inserted between the two second wheel frame rib plates, one side of the wheel rim rotation driving motor mounting plate is connected and fixed to the wheel frame inner side plate through the third aluminum column; and the wheel rim rotation driving motor is fixed to the wheel rim rotation driving motor mounting plate through bolts.

[0012] The wheel frame outer side plate and the wheel frame inner side plate are connected and fixed through the first aluminum columns, the first wheel frame rib plates, the second aluminum columns and the second wheel frame rib plates, the first aluminum columns, the first wheel frame rib plates, the second aluminum columns and the second wheel frame rib plates are all provided in plurality and are arranged at intervals; the wheel frame outer top ring plates are connected and fixed through the fourth aluminum columns and the fifth aluminum columns, the fourth aluminum columns and the fifth aluminum columns are all provided in plurality and are arranged at intervals; and the fifth aluminum columns are provided with bearings.

[0013] The upper guide wheel set comprises a second gasket, a guide wheel, a first barrier cone, a guide wheel, a third gasket and a fourth gasket which are connected through a plug bolt in sequence and are installed between the wheel frame outer side plate and the wheel frame inner side plate; when the upper guide wheel set is installed on the wheel frame, a plug bolt is used to pass through corresponding hole positions of the wheel frame outer side plate on the wheel frame, the fourth gasket, the third gasket, the guide wheel, the first barrier cone, the guide wheel, the second gasket and corresponding hole positions of the wheel frame inner side plate on the wheel frame in sequence; a matched lock nut is installed at the end of the plug bolt, and the installation and fixation of the upper guide wheel set and the wheel frame are completed.

[0014] The middle guide wheel set comprises a second barrier cone, a second gasket, a guide wheel and a second gasket which are connected through a plug bolt in sequence and are installed between the wheel frame outer side plate and the wheel frame inner side plate; when the middle guide wheel set is installed on the wheel frame, a plug bolt is used to pass through corresponding hole positions of the wheel frame outer side plate on the wheel frame, the second barrier cone, the second gasket, the guide wheel, the second gasket and corresponding hole positions of the wheel frame inner side plate on the wheel frame in sequence; a matched lock nut is installed at the end of the plug bolt, and the installation and fixation of the middle guide wheel set and the wheel frame are completed.

[0015] The lower guide wheel set comprises a second gasket, a guide wheel, a first barrier cone, a guide wheel, a third gasket and a fifth gasket which are sequentially connected by means of a plug bolt and are installed between the outer side plate and the inner side plate of the wheel frame; when the lower guide wheel set is installed on the wheel frame, the plug bolt is sequentially passed through the corresponding hole positions of the outer side plate of the wheel frame, the fifth gasket, the third gasket, the guide wheel, the first barrier cone, the guide wheel, the second gasket of the lower guide wheel set and the corresponding hole positions of the inner side plate of the wheel frame; the end of the plug bolt is provided with a matched lock nut to complete the installation and fixation of the lower guide wheel set and the wheel frame.

[0016] The driving gear comprises a driving gear front plate, a driving gear plate and a driving gear rear plate, the driving gear plate is arranged between the driving gear front plate and the driving gear rear plate, and a plurality of gear teeth are arranged around the driving gear plate and are engaged with the driven gears of the wheel ring to drive the rotation of the wheel ring.

[0017] The leg root swing motor module comprises a leg root swing motor fixing plate, a leg root swing motor, a leg root swing motor relay plate and a leg root swing motor milling piece, the leg root swing motor milling piece is connected and fixed with the rotor of the leg root swing motor through screws passing through the corresponding hole positions of the leg root swing motor relay plate, and the leg root swing motor milling piece is fixed with the wheel ring rotation driving motor mounting plate through screws; the swing motor fixing plate is connected and fixed with the stator of the leg root swing motor through screws.

[0018] The trunk comprises a trunk main body and a profile frame, and the trunk main body is connected and fixed with the trunk main body connecting plate on the profile frame through screws;

[0019] The profile frame is a frame with a left-right symmetry structure, comprising two second profiles arranged oppositely, one end of the second profile is sequentially connected with a first corner piece, a third profile, a second corner piece and a fourth profile, and the two ends of the second profile are symmetrically arranged; the upper and lower surfaces of the connection positions of the second profile, the first corner piece and the third profile are respectively riveted with first rivets and second rivets for reinforced fixation, and the upper and lower surfaces of the connection positions of the third profile, the second corner piece and the fourth profile are respectively riveted with third rivets and fourth rivets for reinforced fixation; the opposite ends of the two fourth profiles are respectively connected and fixed with the first side plate support and the second side plate support through screws, and the opposite sides are in a chiral relationship; the leg root swing motor fixing plate is connected and fixed with the first side plate support and the second side plate support on the profile frame through screws; the first profile is connected and fixed with the second rivet through a screw, and the trunk main body connecting plate is carried on the first profile, and the two are fixed through a bolt;

[0020] The trunk body comprises a first trunk body shell and a second trunk body shell fixed by screw connection, a depth camera is fixed on the first trunk body shell by screw, and a battery pack is fixed on the second trunk body shell by screw; the depth camera, the wheel rim rotating drive motor, the leg root swing motor and the battery pack are electrically connected; both sides of the first trunk body shell and the second trunk body shell are provided with a trunk swing arm capable of autonomous swing with a guide wheel;

[0021] The trunk swing arm capable of autonomous swing with a guide wheel comprises a swing arm joint motor, a swing arm and a swing arm guide wheel; the swing arm joint motor is fixedly connected with the first trunk body shell and the second trunk body shell by screw; the swing arm is connected with the output end of the swing arm joint motor; and the swing arm guide wheel is rotatably connected at the end of the swing arm and can rotate when the swing arm guide wheel contacts the ground.

[0022] The trunk body is internally provided with a controller connected with the battery pack, and the depth camera, the wheel rim rotating drive motor, the leg root swing motor module and the swing arm joint motor are electrically connected with the controller.

[0023] The wheel rim leg type multi-modal mobile robot comprises a wheel rim leg and a trunk connected therewith; the wheel rim leg comprises a wheel ring, a wheel frame, a wheel rim rotating drive motor and a leg root swing motor module; the wheel rim rotating drive motor is fixed on the wheel frame, and the output end thereof is connected with a driving gear through a clamping coupling; the driving gear drives the wheel ring to rotate through cooperation with the wheel ring, thereby driving the whole robot to move and walk; the leg root swing motor module drives the wheel frame to rotate, thereby driving the whole wheel rim leg to swing or continuously rotate like a leg, so that the center of gravity of the whole robot is changed, thereby realizing multi-modal actions such as sitting, standing, lying, lying, overall rolling down the slope, stepping up in a sitting position, walking in a standing position, jumping, leg running, non-coaxial movement of two wheel rim legs, side turning recovery and somersault.

[0024] The wheel rim leg only needs one joint and one wheel rim rotating drive motor, which can replace the existing wheel leg structure in function; the wheel rim side projection in the wheel rim leg structure can wrap the robot trunk, so that the robot rim can always contact the environment in the first time, thereby avoiding damage to the internal structure of the robot due to collision; the large wheel feature of the wheel rim leg can easily restore balance after falling; based on the unique wheel rim leg structure, the robot can obtain greater front and rear center of gravity offset and upper and lower center of gravity offset, thereby obtaining greater front and rear acceleration (supporting fast forward and backward movement function) and upper and lower acceleration (supporting jumping and active suspension function).

[0025] The application is mechanically reliable, flexible in movement, and can realize sitting, standing, lying, lying, whole body rolling down the slope, sitting on the stairs, standing walking, jumping, leg running, two wheel legs not coaxial movement, side recovery, somersault, conversion action between any two modes, multiple modes and left and right inclination angle adaptive adjustment function.

[0026] The structure has the characteristics of simple structure, high stability and low manufacturing cost. BRIEF DESCRIPTION OF DRAWINGS

[0027] Figure 1 It is a front view of a wheel leg type multi-modal mobile robot of the application;

[0028] Figure 2 It is a structural diagram of the wheel leg in the application;

[0029] Figure 3 It is a structural diagram of the trunk in the application;

[0030] Figure 4 It is a structural diagram of the wheel ring in the application;

[0031] Figure 5 It is a structural diagram of the wheel frame in the application;

[0032] Figure 6 It is a structural diagram of the upper guide wheel set in the application;

[0033] Figure 7 It is a structural diagram of the middle guide wheel set in the application;

[0034] Figure 8 It is a structural diagram of the lower guide wheel set in the application;

[0035] Figure 9 It is a structural diagram of the drive gear in the application;

[0036] Figure 10 It is a structural diagram of the leg root swing motor module in the application;

[0037] Figure 11 It is a structural diagram of the profile frame in the application;

[0038] Figure 12 It is a structural diagram of the trunk body in the application;

[0039] Figure 13 It is a diagram of the guide wheel autonomous swing trunk swing arm module in the application;

[0040] Figure 14 It is a diagram of the robot sitting position in the application;

[0041] Figure 15 A schematic diagram of a standing posture of the robot of the present application;

[0042] Figure 16 A schematic diagram of a walking posture of the robot of the present application;

[0043] Figure 17 A schematic diagram of a lying posture of the robot of the present application;

[0044] Figure 18 A schematic diagram of a lying posture of the robot of the present application;

[0045] Figure 19 A schematic diagram of a whole rolling posture of the robot of the present application;

[0046] Figure 20 A schematic diagram of a step-up posture of the robot of the present application;

[0047] Figure 21 A schematic diagram of a leg running posture of the robot of the present application;

[0048] Figure 22 A schematic diagram of a jump mode 1 of the robot of the present application;

[0049] Figure 23 A schematic diagram of a jump mode 2 of the robot of the present application;

[0050] Figure 24 A schematic diagram of a double-wheel non-coaxial movement of the robot of the present application;

[0051] Figure 25 A schematic diagram of a left-right inclination angle self-adaptive adjustment of the robot of the present application;

[0052] Figure 26 A schematic diagram of a side turning self-rescue of the robot of the present application;

[0053] Figure 27 A schematic diagram of a somersault of the robot of the present application;

[0054] wherein,

[0055] 1-Wheel rim leg, 2-Body, 3-Wheel rim, 4-Upper guide wheel assembly, 5-Wheel frame, 6-Middle guide wheel assembly, 7-Lower guide wheel assembly, 8-Clamping coupling, 9-Wheel rim rotation drive motor, 10-Drive gear, 11-Leg root swing motor module, 12-Body body, 13-Profile frame, 14-Inner and outer tires, 15-Driven gear, 16-Wheel rim, 17-Inner side plate, 18-Wheel frame outer top plate, 19-First washer 20-Outer wheel frame plate, 21-Inner wheel frame plate, 22-First aluminum pillar, 23-First wheel frame rib, 24-Second aluminum pillar, 25-Wheel rim rotation drive motor mounting plate, 26-Third aluminum pillar, 27-Second wheel frame rib, 28-Fourth aluminum pillar, 29-Bearing, 30-Fifth aluminum pillar, 31-Second gasket, 32-Guide wheel, 33-First row of obstacle cones, 34-Third gasket, 35-Fourth gasket, 36-Second row 37-Fifth gasket, 38-Front plate of drive gear, 39-Drive gear plate, 40-Rear plate of drive gear, 41-Leg root swing motor fixing plate, 42-Leg root swing motor, 43-Leg root swing motor relay plate, 44-Leg root swing motor milled part, 45-First rivet, 46-Second rivet, 47-Third rivet, 48-Fourth rivet, 49-First side plate bracket, 50-Second side plate bracket, 51-The fifth rivet, 42-Leg root swing motor fixing plate ... fixing plate, 44-Leg root swing motor fixing plate, 45-First rivet, 46-Second rivet, 47-Third rivet, 48-Fourth rivet, 49-First side plate bracket, 50-Second side plate bracket, 51-The fifth rivet, 49-Second rivet, 40-Second rivet, 41 52-Second profile, 53-First corner piece, 54-Third profile, 55-Second corner piece, 56-Fourth profile, 57-Tortoise main body connecting plate, 58-Depth camera, 59-First torso main body shell, 60-Second torso main body shell, 61-Battery pack, 62-Tortoise swing arm with guide wheel that can swing autonomously, 63-Wheel frame outer top ring plate, 64-Swing arm joint motor, 65-Swing arm, 66-Swing arm guide wheel. Detailed Implementation

[0056] To better explain and facilitate understanding of the present invention, the technical solution and effects of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] like Figures 1-3 As shown, a wheel-legged multimodal mobile robot includes wheel-legs 1 and a torso 2. The wheel-legs 1 are disposed on both sides of the torso 2 and are fixed to the profile frame at the bottom of the torso 2.

[0058] like Figure 2As shown, the wheel leg 1 includes a wheel ring 3, an upper guide wheel set 4, a wheel carrier 5, a middle guide wheel set 6, a lower guide wheel set 7, a clamping coupling 8, a wheel ring rotation driving motor 9, a driving gear 10, and a leg root swing motor module 11. The wheel carrier 5 is arranged inside the wheel ring 3 and moves circumferentially along the wheel ring 3. The upper guide wheel set 4, the middle guide wheel set 6, and the lower guide wheel set 7 are sequentially fixed to corresponding hole positions of the wheel carrier 5 by screws and lock nuts. The wheel carrier 5 contacts the inner wall of the wheel ring through the upper guide wheel set 4, the middle guide wheel set 6, and the lower guide wheel set 7, and moves through the guide wheels in the upper guide wheel set 4, the middle guide wheel set 6, and the lower guide wheel set 7. The wheel ring 3 is supported by the upper guide wheel set 4, the middle guide wheel set 6, and the lower guide wheel set 7 as support points and is axially and radially limited, thereby achieving the purposes of fixing the upper guide wheel set 4, the middle guide wheel set 6, and the lower guide wheel set 7 and allowing relative movement between the wheel ring 3 and the wheel carrier 5. The wheel ring rotation driving motor 9 is installed on the wheel carrier 5 by screws. The clamping coupling 8 is fixed to the output shaft of the wheel ring rotation driving motor 9 and is fixed to the driving gear 10 by screws. The driving gear 10 cooperates with the wheel ring 3 to achieve the effect of driving the driving gear 10 by the wheel ring rotation driving motor 9, and further driving the wheel ring 3 to rotate. The rotor end of the leg root swing motor module 11 is fixed to the wheel carrier 5, and the leg root swing motor module 11 controls the overall swing of the left and right wheel legs. By controlling the leg root swing motor module 11 and the wheel ring rotation driving motor 9, the position and swing angle control of the robot torso 2 relative to the leg root of the wheel leg 1 can be achieved, and the multi-modal motion effect can be achieved.

[0059] As shown in Figure 4 The wheel ring 3 includes an inner tire 14, a driven tooth 15, a wheel rim 16, and an inner flange plate 17. The driven tooth 15 is fixed inside the inner tire 14. Screws sequentially pass through the driven tooth 15, the wheel rim 16, and the inner flange plate 17 to fix the three, forming a hub structure that can fix the inner tire 14.

[0060] As shown in Figure 5As shown, the wheel frame 5 comprises a wheel frame outer top ring plate 18, a first gasket 19, a wheel frame outer side plate 20, a wheel frame inner side plate 21, a first aluminum column 22, a first wheel frame rib plate 23, a second aluminum column 24, a wheel rim rotation driving motor mounting plate 25, a third aluminum column 26, a second wheel frame rib plate 27, a fourth aluminum column 28, a bearing 29 and a fifth aluminum column 30, the outer side screw passes through the wheel frame outer side plate 20, the first gasket 19 and the wheel frame outer top ring plate 18 in sequence to form the wheel frame inner side plate, the inner side bolt passes through the wheel frame inner side plate 21, the first gasket 19 and the wheel frame outer top ring plate 62 in sequence to form the wheel frame outer side plate, the wheel frame inner side plate and the wheel frame outer side plate are oppositely arranged and are fixed through the aluminum columns and the wheel frame rib plates. Specifically, the wheel frame outer side plate 20 and the wheel frame inner side plate 21 are connected and fixed through the first aluminum column 22, the first wheel frame rib plate 23, the second aluminum column 24 and the second wheel frame rib plate 27, the first aluminum column 22, the first wheel frame rib plate 23, the second aluminum column 24 and the second wheel frame rib plate 27 are all provided with multiple, are arranged at intervals; the wheel frame outer top ring plate 18 and the wheel frame outer top ring plate 63 are connected and fixed through the fourth aluminum column 28 and the fifth aluminum column 30, the fourth aluminum column 28 and the fifth aluminum column 30 are all provided with multiple, are arranged at intervals; the bearing 29 is arranged on the fifth aluminum column 30. The upper guide wheel set 4, the middle guide wheel set 6 and the lower guide wheel set 7 are located between the wheel frame outer side plate 20 and the wheel frame inner side plate 21. The wheel rim rotation driving motor mounting plate 25 is inserted between the two second wheel frame rib plates 27, and one side of the wheel rim rotation driving motor mounting plate 25 is connected and fixed to the wheel frame inner side plate 21 through the third aluminum column 26. The wheel rim rotation driving motor 10 is fixed to the wheel rim rotation driving motor mounting plate 25 through bolts.

[0061] As shown in the figure, Figure 6 As shown, the upper guide wheel set 4 comprises a second gasket 31, a guide wheel 32, a first barrier cone 33, a guide wheel 32, a third gasket 34 and a fourth gasket 35 connected through the jack bolt in sequence and is installed between the wheel frame outer side plate 20 and the wheel frame inner side plate 21. When the upper guide wheel set 4 is installed on the wheel frame 5, the jack bolt passes through the corresponding hole positions of the wheel frame outer side plate 20 on the wheel frame 5, the fourth gasket 35, the third gasket 34, the guide wheel 32, the first barrier cone 33, the guide wheel 32, the second gasket 31 of the upper guide wheel set 4 and the corresponding hole positions of the wheel frame inner side plate 21 on the wheel frame 5 in sequence. The end of the jack bolt is installed with a matched lock nut to complete the installation and fixation of the upper guide wheel set 4 and the wheel frame 5.

[0062] As shown in the figure, Figure 7As shown in the figure, the middle guide wheel set 6 includes a second barrier cone 36, a second gasket 31, a guide wheel 32, a second gasket 31 connected in turn by a jack bolt, and is installed between the wheel frame outer side plate 20 and the wheel frame inner side plate 21. When installing the middle guide wheel set 6 on the wheel frame 5, a jack bolt is used to pass through the corresponding hole positions of the wheel frame outer side plate 20 on the wheel frame 5, the second barrier cone 36, the second gasket 31, the guide wheel 32, the second gasket 31 in the middle guide wheel set 6, and the corresponding hole positions of the wheel frame inner side plate 21 on the wheel frame 5 in turn. A suitable lock nut is installed at the end of the jack bolt to complete the installation and fixation of the middle guide wheel set 6 and the wheel frame 5.

[0063] As shown in the figure, Figure 8 As shown in the figure, the lower guide wheel set 7 includes a second gasket 31, a guide wheel 32, a first barrier cone 33, a guide wheel 32, a third gasket 34, and a fifth gasket 37 connected in turn by a jack bolt, and is installed between the wheel frame outer side plate 20 and the wheel frame inner side plate 21. When installing the lower guide wheel set 7 on the wheel frame 5, a jack bolt is used to pass through the corresponding hole positions of the wheel frame outer side plate 20 on the wheel frame 5, the fifth gasket 37, the third gasket 34, the guide wheel 32, the first barrier cone 33, the guide wheel 32, the second gasket 31 in the lower guide wheel set 7, and the corresponding hole positions of the wheel frame inner side plate 21 on the wheel frame 5. A suitable lock nut is installed at the end of the jack bolt to complete the installation and fixation of the lower guide wheel set 7 and the wheel frame 5.

[0064] As shown in the figure, Figure 9 As shown in the figure, the drive gear 10 includes a drive gear front plate 38, a drive gear plate 39, and a drive gear rear plate 40. The drive gear plate 39 is arranged between the drive gear front plate 38 and the drive gear rear plate 40, and the drive gear plate 39 is provided with teeth around it. The drive gear plate 39 can rotate around the shaft and engage with the driven teeth 15 of the wheel ring 3, thereby driving the rotation of the wheel ring 3. When installing, a clamping coupling 8 needs to be matched, and corresponding screws are used to pass through the drive gear rear plate 40, the drive gear plate 39, and the drive gear front plate 38 in turn, and are connected and fixed on the clamping coupling 8, thereby completing the connection and fixation of the drive gear 10 and the clamping coupling 8.

[0065] As shown in the figure, Figure 10 As shown in the figure, the leg root swing motor module 11 includes a leg root swing motor fixing plate 41, a leg root swing motor 42, a leg root swing motor relay plate 43, and a leg root swing motor milling piece 44. The leg root swing motor milling piece 44 is connected and fixed with the rotor of the leg root swing motor 42 through screws passing through the corresponding hole positions on the leg root swing motor relay plate 43, and the leg root swing motor milling piece 44 is fixed with the wheel rim rotation driving motor mounting plate 25 through screws. The swing motor fixing plate 41 is connected and fixed with the stator of the leg root swing motor 42 through screws.

[0066] The torso 2 includes a torso main body 12 and a profile frame 13, and the torso main body 12 is connected and fixed with the torso main body connecting plate 57 on the profile frame 13 through screws.

[0067] As shown in Figure 11 , the profile frame 13 is a left-right symmetrical structure, including two oppositely arranged second profiles 52, one end of the second profile 52 is sequentially connected with a first corner piece 53, a third profile 54, a second corner piece 55, and a fourth profile 56, and the two ends of the second profile 52 are symmetrically arranged; the upper and lower surfaces of the connection between the second profile 52, the first corner piece 53, and the third profile 54 are respectively riveted with the first rivet 45 and the second rivet 46 for reinforcement and fixation, and the upper and lower surfaces of the connection between the third profile 54, the second corner piece 55, and the fourth profile 56 are respectively riveted with the third rivet 47 and the fourth rivet 48 for reinforcement and fixation. The opposite ends of the two oppositely arranged fourth profiles 56 are respectively connected and fixed with the first side plate support 49 and the second side plate support 50 by screws, and the opposite sides are chiral to each other. The leg root swing motor fixing plate 41 is connected and fixed with the first side plate support 49 and the second side plate support 50 on the profile frame 13 by screws. The first profile 51 is connected and fixed with the second rivet 46 by screws, and the first profile 51 carries a trunk main body connecting plate 57, and the two are fixed by bolts.

[0068] As shown in Figure 12 , the trunk body 12 includes a first trunk body shell 59 and a second trunk body shell 60 connected and fixed by screws, a depth camera 58 is fixed on the first trunk body shell 59 by screws, and a battery pack 61 is fixed on the second trunk body shell 60 by screws, the depth camera 58, the rim rotation driving motor 9, and the leg root swing motor 42 are electrically connected with the battery pack 61. Both sides of the first trunk body shell 59 and the second trunk body shell 60 are provided with a self-swinging trunk swing arm 62 with guide wheels, which is used to realize the movement of the robot in a lying position and a lying position.

[0069] As shown in Figure 13 , the self-swinging trunk swing arm 62 with guide wheels includes a swing arm joint motor 64, a swing arm 65, and a swing arm guide wheel 66, the swing arm joint motor 64 is connected and fixed with the first trunk body shell 59 and the second trunk body shell 60 by screws, the swing arm 65 is connected with the output end of the swing arm joint motor 64, and the swing arm guide wheel 66 is rotatably connected at the end of the swing arm 65 and can rotate when the swing arm guide wheel 66 contacts the ground. The self-swinging trunk swing arm 62 is electrically connected with the battery pack 61.

[0070] The trunk body 12 is internally provided with a controller (not shown in the figure) connected with the battery pack 61, the depth camera 58, the rim rotation driving motor 9, the leg root swing motor 42, and the swing arm joint motor 64 are electrically connected with the controller.

[0071] The working principle of the above-mentioned rim leg type multi-modal mobile robot is as follows:

[0072] The power supply elements arranged inside the trunk body 12 provide power sources for the wheel ring rotation driving motor 9 and the leg root swing motor 42, so that the wheel ring rotation driving motor 9 can continuously drive the wheel ring 3, and the leg root swing motor 42 can continuously drive the entire wheel ring leg 1.

[0073] The side projection contour of the wheel ring leg 1 is circular, and the circular contour is defined as the wheel ring leg outer circle. The wheel ring rotation driving motor 9 is located near the wheel ring leg outer circle, so that the swing part of the wheel ring leg 1 has a large eccentricity with the center of the wheel ring leg outer circle, and the distance between the swing part of the wheel ring leg 1 and the contact point (on the outer circle) with the ground is defined as the robot leg length, which changes with the motion posture of the robot.

[0074] In the sitting posture state, the trunk 2 is projected inside the wheel ring leg outer circle, which is convenient for overall rolling; the trunk 2 has trunk swing arms 62 with guide wheels on both sides, which can swing autonomously, and can ensure that the guide wheels at the ends of the swing arms in the lying posture and the lying posture have priority to the trunk in contact with the ground.

[0075] By controlling the leg root swing motor 42 and the wheel ring rotation driving motor 9, the position and swing angle of the robot trunk relative to the leg root of the wheel ring leg can be controlled, and then the multi-modal motion effect can be realized, including but not limited to sitting posture, standing posture, lying posture, lying posture, overall rolling down the slope, sitting on the stairs, walking in standing posture, jumping, leg running, double-wheel non-coaxial movement, and left-right inclination angle self-adaptive adjustment function, side turning recovery, somersault, and conversion action between any two modes.

[0076] The working principles of each mode are as follows:

[0077] As shown in Figure 14 , the sitting posture: by controlling the two leg root swing motors 42 of the left and right wheel ring legs 2, the trunk body 2 is kept at the lowest point that can be run to, and the wheel ring rotation driving motor 9 is always kept in a working state by cooperating with the control of the wheel ring rotation driving motor 9, so as to keep the trunk body 2 balanced. The position of each component of the robot in the "sitting posture" mode is defined as the "initial position".

[0078] As shown in Figure 15 , the standing posture: by controlling the two leg root swing motors 42 of the left and right wheel ring legs 2, the trunk body 2 is kept at the highest point that can be run to, and the wheel ring rotation driving motor 9 is always kept in a working state by cooperating with the control of the wheel ring rotation driving motor 9, so as to keep the trunk body 2 balanced.

[0079] As shown in Figure 16As shown, standing posture walking: by controlling the two leg root swing motors 42 of the left and right wheel rim legs 2, the trunk body 2 completes the "standing posture" mode at the highest point that can be run to, and then rotates through the leg root swing motor 42 to drive the wheel rim to move forward or backward, so that the overall center of gravity moves forward or backward to obtain forward or backward acceleration. Cooperate with the control of the wheel rim rotation drive motor 9 to control the rotation of the wheel ring 3 in the wheel rim leg 1, complete the movement control of the robot in the standing posture.

[0080] As shown, Figure 17 lying posture movement: by controlling the two leg root swing motors 42 of the left and right wheel rim legs 2, breaking the balance posture of the trunk body 2, making the trunk body 2 lean forward, and the guide wheel can automatically swing the trunk swing arm 62, the swing arm joint motor 64 drives the swing arm 65 to rotate, and the swing arm guide wheel 66 contacts the ground; Then control the left and right two wheel rim rotation drive motors 9 to drive the wheel rim rotation drive motor 9 to drive the wheel ring 3 to rotate, achieve the purpose of controlling the wheel ring 3 in the wheel rim leg 1, complete the movement control of the robot.

[0081] As shown, Figure 18 lying posture movement: by controlling the two leg root swing motors 42 of the left and right wheel rim legs 2, breaking the balance posture of the trunk body 2, making the trunk body 2 lean forward, and the guide wheel can automatically swing the trunk swing arm 62, the swing arm joint motor 64 drives the swing arm 65 to rotate, and the swing arm guide wheel 66 contacts the ground; Then control the left and right two wheel rim rotation drive motors 9 to drive the wheel rim rotation drive motor 9 to drive the wheel ring 3 to rotate, achieve the purpose of controlling the wheel ring 3 in the wheel rim leg 1, complete the movement control of the robot.

[0082] As shown, Figure 19 downhill overall rolling: by controlling the two leg root swing motors 42 of the left and right wheel rim legs 2, the center of gravity of the trunk body 2 moves to the side projection completely into the circular outer contour of the wheel rim leg 1 side projection, and then the robot rolls on the downhill relying on its own gravity.

[0083] As shown, Figure 20 sitting posture on the stairs: by controlling the two leg root swing motors 42 of the left and right wheel rim legs 2, the trunk body 2 is lifted forward, and the overall center of gravity of the robot is pressed on the stairs, and then the two leg root swing motors 42 are controlled to retract the left and right two wheel rim legs 1 to the initial position, and the whole process is in turn Figure 19 (1), (2), (3), (4).

[0084] As shown, Figure 21 leg running: by controlling the two leg root swing motors 42 of the left and right wheel rim legs 2, the left and right two wheel rim legs 1 swing and alternately contact the ground to achieve the effect of fast forward, and the whole process is in turn Figure 20 (1), (2), (3), (4).

[0085] As shown in Figure 22 Figure 1, skip mode 1: in the robot "standing walking" mode, before reaching the obstacle, by controlling the two leg base swing motors 42 of the left and right wheel leg 2, the two leg base swing motors 42 swing the left and right two wheel legs 1 in the opposite direction of the running direction of the robot at a speed greater than 2.5r / s, and retract to the initial position, so that the whole robot is lifted off the ground, and the jumping action is completed. The whole process is in turn Figure 21 (1), (2), (3), (4).

[0086] As shown in Figure 23 Figure 2, skip mode 2: by controlling the two leg base swing motors 42 of the left and right wheel legs 2, the left and right two wheel legs 1 are placed in front and back of the trunk body 2 respectively, and the leg base swing motor 42 in front of the trunk body 2 swings clockwise at a speed greater than 2.5r / s, and the leg base swing motor 42 behind the trunk body 2 swings counterclockwise at a speed greater than 2.5r / s, and the trunk body 2 is lifted up. After lifting up, control the left and right two leg base swing motors 42, the leg base swing motor 42 in front of the trunk body 2 continues to swing clockwise at a speed greater than 2.5r / s, and the leg base swing motor 42 behind the trunk body 2 continues to swing counterclockwise at a speed greater than 2.5r / s, and the left and right two wheel legs 1 are retracted to the initial position, so that the whole robot is lifted off the ground, and the jumping action is completed. The whole process is in turn Figure 22 (1), (2), (3), (4).

[0087] As shown in Figure 24 Figure 3, double-wheel non-coaxial movement: by controlling the two leg base swing motors 42 of the left and right wheel legs 2, the left and right two wheel legs 1 are placed in front and back of the trunk body 2 respectively, and then by controlling the left and right two wheel rotation drive motors 9, the wheel rotation drive motor 9 drives the wheel ring 3 to rotate, achieving the purpose of controlling the wheel ring 3 in the wheel leg 1, and completing the movement control of the robot.

[0088] As shown in Figure 25 Figure 4, left and right inclination angle adaptive adjustment function: by controlling the two leg base swing motors 42 of the left and right wheel legs 2, the left and right two wheel legs 1 are swung in front and back of the trunk body 2 respectively, until the position that can keep the trunk body 2 balanced is found.

[0089] As shown in Figure 26 Figure 5, side recovery: by controlling the leg base swing motor 42 of the left and right wheel legs 2, the wheel leg 1 far from the ground and the trunk body 2 are swung, so that the robot's center of gravity moves until the wheel leg 1 far from the ground contacts the ground. Then control the left and right two leg base swing motors 42, and retract the left and right two wheel legs 1 to the initial position, and the whole process is in turn Figure 25(1), (2), (3), (4), (5).

[0090] As Figure 27 shown, the robot moves to the "cliff" type of terrain, through the control of the left and right wheel legs 2 two leg root swing motor 42, so that the trunk body 2 side projection is completely included in the wheel leg 1 side projection outer contour of the circle, and then the robot rolls in the air by inertia and its own gravity, the whole process in turn is Figure 26 (1), (2), (3), (4), (5).

Claims

1. A rim-leg multi-modal balanced mobile robot, characterized by: It includes wheel rim legs and a torso, with the wheel rim legs located on both sides of the torso and fixed to the profile frame at the bottom of the torso; The wheel rim leg includes a wheel ring, an upper guide wheel assembly, a wheel frame, a middle guide wheel assembly, a lower guide wheel assembly, a clamping coupling, a wheel rim rotation drive motor, a drive gear, and a leg root swing motor module. The wheel frame is arranged inside the wheel ring and moves circumferentially along the wheel ring. The upper, middle, and lower guide wheel assemblies are respectively fixed to corresponding holes on the wheel frame with screws and anti-loosening nuts. The wheel frame contacts the inner wall of the wheel ring through the upper, middle, and lower guide wheel assemblies and moves through the guide wheels in the upper, middle, and lower guide wheel assemblies. The wheel rim rotation drive motor is mounted on the wheel frame with screws. The clamping coupling is fixed to the output shaft of the wheel rim rotation drive motor and fixed to the drive gear with screws. The drive gear engages with the wheel ring. The rotor end of the leg root swing motor module is fixed to the wheel frame. The wheel frame includes an outer top plate, a first washer, an outer side plate, an inner side plate, a first aluminum post, a first wheel frame rib, a second aluminum post, a wheel rim rotation drive motor mounting plate, a third aluminum post, a second wheel frame rib, a fourth aluminum post, a bearing, and a fifth aluminum post. Outer screws pass sequentially through the outer side plate, the first washer, and the outer top plate to form the inner side plate. Inner bolts pass sequentially through the inner side plate, the first washer, and the outer top plate to form the outer side plate. The inner side plate and the outer side plate are arranged opposite each other and fixed together by the aluminum posts and wheel frame ribs. The upper guide wheel assembly, the middle guide wheel assembly, and the lower guide wheel assembly are located between the outer side plate and the inner side plate. The wheel rim rotation drive motor mounting plate is inserted between two second wheel frame ribs, and one side of the mounting plate is connected and fixed to the inner side plate via the third aluminum post. The wheel rim rotation drive motor is fixed to the mounting plate by bolts. The outer side plate of the wheel frame is connected and fixed to the inner side plate of the wheel frame through a first aluminum column, a first wheel frame rib, a second aluminum column, and a second wheel frame rib. Multiple first aluminum columns, first wheel frame ribs, second aluminum columns, and second wheel frame ribs are provided and arranged at intervals. The outer top plate of the wheel frame is connected and fixed to the outer top plate of the wheel frame through a fourth aluminum column and a fifth aluminum column. Multiple fourth aluminum columns and fifth aluminum columns are provided and arranged at intervals. A bearing is provided on the fifth aluminum column.

2. The rim-leg multimode balanced mobile robot according to claim 1, wherein: The wheel hub includes inner and outer tires, driven teeth, a rim, and an inner side plate. The driven teeth are fixed inside the inner and outer tires. Screws pass through the driven teeth, the rim, and the inner side plate in sequence to fix the three together, forming a hub structure that can fix the inner and outer tires.

3. The rim-leg multimode balanced mobile robot according to claim 1 or 2, characterized in that: The upper guide wheel assembly includes a second washer, a guide wheel, a first obstacle cone, a guide wheel, a third washer, and a fourth washer connected in sequence by plug bolts, and is installed between the outer side plate and the inner side plate of the wheel frame. When installing the upper guide wheel assembly on the wheel frame, the plug bolts are used to pass through the corresponding holes on the outer side plate of the wheel frame, the fourth washer, the third washer, the guide wheel, the first obstacle cone, the guide wheel, the second washer, and the corresponding holes on the inner side plate of the wheel frame in sequence. A suitable anti-loosening nut is installed at the end of the plug bolt to complete the installation and fixation of the upper guide wheel assembly and the wheel frame.

4. The rim-leg multimode balanced mobile robot according to claim 1 or 2, characterized in that: The middle guide wheel set comprises a second barrier cone, a second gasket, a guide wheel, a second gasket and a wheel frame inner side plate connected in sequence by a plug bolt; when the middle guide wheel set is installed on the wheel frame, the plug bolt is sequentially threaded through the corresponding hole positions of the wheel frame outer side plate on the wheel frame, the second barrier cone, the second gasket, the guide wheel, the second gasket in the middle guide wheel set and the corresponding hole positions of the wheel frame inner side plate on the wheel frame; the end of the plug bolt is provided with a matched lock nut to complete the installation and fixation of the middle guide wheel set and the wheel frame. The lower guide wheel set comprises a second gasket, a guide wheel, a first barrier cone, a guide wheel, a third gasket and a fifth gasket connected in sequence by a plug bolt and installed between the wheel frame outer side plate and the wheel frame inner side plate; when the lower guide wheel set is installed on the wheel frame, the plug bolt is sequentially threaded through the corresponding hole positions of the wheel frame outer side plate on the wheel frame, the fifth gasket, the third gasket, the guide wheel, the first barrier cone, the guide wheel, the second gasket in the lower guide wheel set and the corresponding hole positions of the wheel frame inner side plate on the wheel frame; the end of the plug bolt is provided with a matched lock nut to complete the installation and fixation of the lower guide wheel set and the wheel frame.

5. The rim-leg multimode balanced mobile robot according to claim 2, wherein: The drive gear comprises a drive gear front plate, a drive gear plate and a drive gear rear plate, the drive gear plate is arranged between the drive gear front plate and the drive gear rear plate, and a plurality of gear teeth are formed around the drive gear plate and mesh with the driven teeth of the wheel ring to drive the rotation of the wheel ring.

6. The rim-leg multimode balanced mobile robot of claim 1, wherein: The leg root swing motor module comprises a leg root swing motor fixing plate, a leg root swing motor, a leg root swing motor relay plate and a leg root swing motor milling piece, the leg root swing motor milling piece is connected and fixed with the rotor of the leg root swing motor through screws passing through the corresponding hole positions on the leg root swing motor relay plate, and the leg root swing motor milling piece is fixed with the wheel ring rotation driving motor mounting plate through screws; the swing motor fixing plate is connected and fixed with the stator of the leg root swing motor through screws.

7. The rim-leg multimode balanced mobile robot according to claim 6, wherein: The trunk comprises a trunk main body and a profile frame, and the trunk main body is connected and fixed with the trunk main body connecting plate on the profile frame through screws. The profile frame is a frame with left-right symmetry, comprising two second profiles arranged oppositely, one end of the second profile is sequentially connected with a first corner piece, a third profile, a second corner piece and a fourth profile, and the two ends of the second profile are symmetrically arranged; the upper and lower surfaces of the connection positions of the second profile, the first corner piece and the third profile are respectively riveted with first rivets and second rivets for reinforcement and fixation, and the upper and lower surfaces of the connection positions of the third profile, the second corner piece and the fourth profile are respectively riveted with third rivets and fourth rivets for reinforcement and fixation; the opposite ends of the two fourth profiles are respectively connected and fixed with the first side plate support and the second side plate support through screws, and the opposite sides are chiral to each other; the leg root swing motor fixing plate is connected and fixed with the first side plate support and the second side plate support on the profile frame through screws; the first profile is connected and fixed with the second rivet through a screw, and the first profile carries the trunk main body connecting plate, and the two are fixed through a bolt. The trunk body comprises a first trunk body shell and a second trunk body shell fixed by screw connection, a depth camera is fixed on the first trunk body shell by screw, and a battery pack is fixed on the second trunk body shell by screw; the depth camera, the wheel rim rotation driving motor, the leg root swing motor and the battery pack are electrically connected; both sides of the first trunk body shell and the second trunk body shell are provided with trunk swing arms capable of autonomous swing with guide wheels; The trunk swing arm capable of autonomous swing with guide wheels comprises a swing arm joint motor, a swing arm and a swing arm guide wheel; the swing arm joint motor is fixed on the first trunk body shell and the second trunk body shell by screw; the swing arm is connected with the output end of the swing arm joint motor; and the swing arm guide wheel is rotatably connected to the end of the swing arm and can rotate when the swing arm guide wheel contacts the ground. The trunk body is internally provided with a controller connected with the battery pack; the depth camera, the wheel rim rotation driving motor, the leg root swing motor module and the swing arm joint motor are electrically connected with the controller.

8. A method of operating a rim-leg multi-modal balanced mobile robot as defined in any one of claims 1-7, characterized by: The wheel rim leg type multi-modal mobile robot comprises a wheel rim leg and a trunk connected therewith; the wheel rim leg comprises a wheel ring, a wheel frame, a wheel rim rotation driving motor and a leg root swing motor module; the wheel rim rotation driving motor is fixed on the wheel frame, and the output end thereof is connected with a driving gear through a clamping coupling; the wheel ring is driven to rotate through the cooperation of the driving gear and the wheel ring, thereby driving the whole robot to move and walk; the leg root swing motor module drives the wheel frame to rotate, thereby driving the whole wheel rim leg to swing or continuously rotate like a leg, changing the gravity center position of the whole robot, so as to realize multi-modal actions such as sitting, standing, lying, lying, overall rolling down a slope, sitting on a step, standing walking, jumping, leg running, non-axial movement of two wheel rim legs, side turning recovery and somersault.

Images