Deformable wheel-foot structure based on tensegrity structure, robot and working method

Abstract

The application discloses a deformable wheel-foot structure based on a tensegrity structure, a robot and a working method, and relates to the technical field of robots, and comprises a structural basic unit, a plurality of structural basic units are sequentially connected in series through elastic ropes to form a semi-ring-shaped tensegrity structure, one end of two semi-ring-shaped tensegrity structures is connected through a driving mechanism, and the other end is connected through a fitting interface, thereby forming a ring-shaped tensegrity structure, the driving mechanism is used for driving the stretching and contraction of the elastic ropes on the ring-shaped tensegrity structure, so that the deformation is realized through the opening and closing of the fitting interface. Through the switching between the wheel mode and the leg-foot mode, the robot has the rapid moving ability of a wheeled robot and the obstacle-crossing ability of a leg-foot robot, and further forms multiple motion modes.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a deformable wheel-foot structure based on a tensioned integral structure, a robot, and a working method thereof. Background Technology

[0002] The statements in this section are merely background information related to the present invention and do not necessarily constitute prior art.

[0003] Traditional robots with a single mode of locomotion can only move in one way, making them unsuitable for complex and varied terrains and diverse operational tasks, such as disaster relief. Compared to single-modal robots, the combination of multimodal locomotion components, such as wheels, tracks, legs, and flight mechanisms, increases the robot's weight and structural complexity. Furthermore, multimodal robots typically have poor impact resistance and are prone to collisions with their surroundings during movement; high-speed impacts can lead to equipment damage. Summary of the Invention

[0004] To address the aforementioned issues, this invention proposes a deformable wheel-leg structure, robot, and working method based on a tensioned integral structure. By controlling the deformation of the wheel-legs through a ring-shaped tensioned integral structure and switching between wheel and leg forms, the robot possesses both the rapid movement capability of a wheeled robot and the obstacle-crossing capability of a legged robot, thereby forming multiple motion modes.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] In a first aspect, the present invention provides a deformable wheel foot structure based on a tensioned integral structure, comprising: a basic structural unit; the basic structural unit includes a first pillar and a second pillar arranged in an X shape, the head end of the first pillar and the tail end of the second pillar being connected by an elastic cable, and the tail end of the first pillar and the head end of the second pillar being connected by an elastic cable.

[0007] Several basic structural units are connected end to end by elastic cables to form a semi-circular tensioned overall structure. One end of two semi-circular tensioned overall structures is connected by a driving mechanism, and the other end is connected by a fitting interface, thus forming a circular tensioned overall structure. The driving mechanism is used to drive the expansion and contraction of the elastic cables on the circular tensioned overall structure, thereby achieving deformation through the opening and closing of the fitting interface.

[0008] As an alternative implementation, both the first and second pillars are rectangular structures composed of four compression bars, and the first and second pillars are connected by a total of four elastic cables.

[0009] As an alternative implementation, the annular tensioned integral structure includes an inner elastic cable inside the annulus and an outer elastic cable outside the annulus, and the inner elastic cable and the outer elastic cable have opposite extension and contraction states.

[0010] As an alternative implementation, when the inner elastic cable contracts and the outer elastic cable stretches, the two semi-circular tensioned overall structures gradually bend and close until the interlocking interface closes, thereby forming a wheel shape.

[0011] As an alternative implementation, when the inner elastic cable is stretched and the outer elastic cable is contracted, the bending degree of the overall annular tension structure is reduced, and the connection at the wheel fitting interface is broken, thereby switching to the leg form.

[0012] As an alternative implementation, the driving mechanism includes a first driving column, a second driving column, and elastic cable motors mounted on the two driving columns. The first and second driving columns are arranged in an X-shape, with their front ends connected to the structural basic unit located at the end of a semi-circular tensioned integral structure, and their rear ends connected to the structural basic unit located at the end of another semi-circular tensioned integral structure. The four elastic cables on the structural basic unit located at the end of each semi-circular tensioned integral structure are respectively connected to an elastic cable motor.

[0013] As an alternative implementation, both the first drive column and the second drive column are rectangular structures composed of four pressure rods. Two elastic cable motors are provided on each pressure rod along the length of the rectangular structure. The two elastic cable motors are respectively connected to the two semi-annular tensioned integral structures, and one elastic cable motor is used to drive the inner elastic cable and the other elastic cable motor is used to drive the outer elastic cable.

[0014] In a second aspect, the present invention provides a robot, comprising: a robot body and a deformable wheel and foot structure based on a tensioned integral structure as described in the first aspect, wherein the deformable wheel and foot structure is disposed on both sides of the robot body.

[0015] As an alternative implementation, the deformable wheel structure is connected to the robot body via a wheel hub;

[0016] In wheel mode, the drive motor inside the robot body drives the rotation of the wheel hub, which in turn drives the rotation of the deformable wheel foot structure, thus enabling the robot to roll.

[0017] In its leg-wheel configuration, the robot crawls by controlling the extension and retraction of the elastic cables on its four legs through a drive mechanism.

[0018] Thirdly, the present invention provides a method for operating a robot, employing the robot described in the second aspect, comprising:

[0019] The inner elastic cable contracts while the outer elastic cable stretches, causing the two semi-circular tensioned structures to gradually bend and close until the interlocking interface closes, thus forming a wheel shape. The drive motor inside the robot body drives the wheel hub to rotate, enabling the robot to roll.

[0020] By controlling the extension of the inner elastic cable and the contraction of the outer elastic cable, the bending degree of the overall structure under ring tension is reduced, and the connection at the interlocking interface is broken, thereby switching to the leg-foot mode. By controlling the extension and contraction of the elastic cables on the four legs in the leg-foot mode, the deformation and movement of the legs are controlled, so as to realize the robot's crawling operation.

[0021] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0022] This invention proposes a deformable wheel and foot structure, robot, and working method based on a tensioned integral structure. The structure consists of several basic structural units connected end-to-end by elastic cables to form a semi-circular tensioned integral structure. Two semi-circular tensioned integral structures form a circular tensioned integral structure. By driving the expansion and contraction of the elastic cables, the wheel and foot structure deforms through the opening and closing of the interlocking interfaces. The entire structure exhibits uniform stress distribution and possesses advantages such as lightweight, impact resistance, and high stability. This enhances the robot's ability to resist external impacts, protects the robot's stability and integrity, and the lightweight characteristic also reduces the overall weight of the robot, improving its mobility and speed. Furthermore, it gives the robot good balance, adaptability, and stress distribution characteristics.

[0023] This invention proposes a deformable wheel-leg structure, robot, and working method based on a tensioned integral structure. The deformation of the wheel-legs is controlled by the annular tensioned integral structure. When switching to wheel mode, the wheel-driven robot maintains continuous contact with the ground, exhibiting stable motion performance and enabling high-speed, low-energy movement. When switching to leg mode, the legged robot, with its discrete point-contact motion characteristics, demonstrates excellent adaptability in unstructured terrain. Thus, by switching between wheel and leg modes, the robot possesses both the rapid movement capability of a wheeled robot and the obstacle-crossing capability of a legged robot. The wheel-leg composite structure exhibits high flexibility, allowing it to change working postures according to different working scenarios, thereby forming multiple motion modes. It performs excellently in terms of terrain adaptability, energy consumption, speed, and load capacity, while simultaneously combining the superior traversal capability of a legged robot in unstructured complex environments with the rapid movement capability of a wheeled robot on relatively flat surfaces.

[0024] Advantages of additional aspects of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0025] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an improper limitation of the invention.

[0026] Figure 1 This is a schematic diagram of the basic structural unit provided in Embodiment 1 of the present invention;

[0027] Figure 2 This is a front view of the wheel shape provided in Embodiment 1 of the present invention;

[0028] Figure 3 An isometric side view of the wheel shape provided in Embodiment 1 of the present invention;

[0029] Figures 4(a)-4(b) The front view and isometric side view of the leg and foot morphology provided in Embodiment 1 of the present invention;

[0030] Figures 5(a)-5(b) The images show a front view and an isometric side view of the wheel-shaped robot provided in Embodiment 2 of the present invention.

[0031] Figures 6(a)-6(b) The images show a front view and an isometric side view of the legged robot provided in Embodiment 2 of the present invention.

[0032] Among them, 1. First pillar, 2. Second pillar, 3. First end of first pillar, 4. Tail end of first pillar, 5. First end of second pillar, 6. Tail end of second pillar, 7. Elastic cable, 7-1. Inner elastic cable, 7-2. Outer elastic cable, 8. Elastic cable motor, 9. Fitting interface, 10. Basic structural unit, 11. First drive pillar, 12. Second drive pillar. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0034] It should be noted that the following detailed descriptions are exemplary and intended to provide further illustration of the invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0035] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, unless the context clearly indicates otherwise, the singular form is intended to include the plural form as well. Furthermore, it should be understood that the terms “comprising” and “including”, and any variations thereof, are intended to cover non-exclusive inclusion, for example, a process, method, system, product, or apparatus that includes a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such process, method, product, or apparatus.

[0036] Where there is no conflict, the embodiments and features in the embodiments of the present invention can be combined with each other.

[0037] Example 1

[0038] This embodiment provides a deformable wheel foot structure based on a tensioned integral structure, including: a basic structural unit 10; the basic structural unit 10 includes a first support column 1 and a second support column 2 arranged in an X shape, the head end 2 of the first support column and the tail end 6 of the second support column are connected by an elastic cable 7, and the tail end 3 of the first support column and the head end 5 of the second support column are connected by an elastic cable 7.

[0039] Several basic structural units 10 are connected in series end to end by elastic cables 7 to form a semi-circular tensioned overall structure. One end of two semi-circular tensioned overall structures is connected by a driving mechanism, and the other end is connected by a fitting interface 9, thereby forming a circular tensioned overall structure. The driving mechanism is used to drive the extension and retraction of the elastic cables 7 on the circular tensioned overall structure, thereby achieving deformation through the opening and closing of the fitting interface 9.

[0040] In this embodiment, as Figure 1 As shown, the first pillar 1 and the second pillar 2 of the basic structural unit 10 are both rectangular structures composed of four compression members, and a total of eight compression members are used. The first pillar 1 and the second pillar 2 are connected by four elastic cables 7.

[0041] In this embodiment, n basic structural units are connected end to end by elastic cables to form a semi-circular tensioned overall structure. A circular tensioned overall structure is formed by 2n basic structural units. In the circular tensioned overall structure, there are elastic cables on the inner side of the ring and elastic cables on the outer side. When driven, the inner elastic cable 7-1 and the outer elastic cable 7-2 have opposite extension and contraction states, that is, when the inner elastic cable 7-1 is tightened and shortened, the outer elastic cable 7-2 is stretched.

[0042] In this embodiment, when the basic structural units are connected in series, the elastic cables are continuously connected to each basic structural unit, thereby enabling the deformation of the wheel foot structure to be controlled by driving the extension and contraction of the inner and outer elastic cables.

[0043] In this embodiment, the driving mechanism includes a first driving support 11, a second driving support 12, and elastic cable motors 8 mounted on the two driving supports. In each semi-annular tensioned overall structure, the four elastic cables on the structural basic unit located at the end are respectively connected to an elastic cable motor 8, and a total of 8 elastic cable motors 8 are provided. The inner and outer elastic cables are driven to extend and retract through the elastic cable motors 8.

[0044] As an alternative implementation, the first drive pillar 11 and the second drive pillar 12 are arranged in an X shape, with their first ends connected to the structural basic unit located at the end of a semi-circular tensioned integral structure, and their tail ends connected to the structural basic unit located at the end of another semi-circular tensioned integral structure.

[0045] As an alternative implementation, both the first drive support 11 and the second drive support 12 are rectangular structures composed of four pressure rods. Two elastic cable motors 8 are provided on each pressure rod along the length of the rectangular structure. The two elastic cable motors 8 are respectively connected to two semi-annular tensioned integral structures, and one of the two elastic cable motors 8 is used to drive the inner elastic cable, while the other elastic cable motor 8 is used to drive the outer elastic cable. Figure 3 As shown.

[0046] In this embodiment, the fitting interface 9 uses an electromagnet interface for fitting.

[0047] In this embodiment, as Figures 2-3 As shown, when the elastic cable motor 8 controls the inner elastic cable 7-1 to contract and the outer elastic cable 7-2 to extend, the two semi-circular tensioned overall structures gradually bend and close until they fit together at the electromagnet interfaces at both ends, thus forming a wheel shape. The wheel-shaped robot can drive the hub to rotate the wheel through the drive motor, thereby realizing the robot's rolling operation.

[0048] In this embodiment, as Figures 4(a)-4(b) As shown, when the elastic cable motor 8 controls the inner elastic cable 7-1 to extend and the outer elastic cable 7-2 to contract, the bending degree of the annular tension structure decreases and the wheel fitting interface is disconnected, thus switching to the leg-foot mode. The leg-foot mode robot controls the extension and contraction of the elastic cables on the four legs of the leg structure through the elastic cable motor, thereby controlling the deformation and movement of the legs and feet, and realizing the robot's crawling operation.

[0049] In this embodiment, the eight elastic cable motors on the pressure rod can control the elastic cables on the inner and outer sides and front and rear sides of the legs. The elastic cable motors change the length of the elastic cables, switch the shape of the ring tensioned overall structure, and enable the robot to switch between a wheeled robot and a legged robot. They can also control the deformation of the tensioned overall legs, so that the robot's four legs can perform various actions to meet the task requirements.

[0050] In this embodiment, the annular tensioned integral structure is a self-supporting, self-stressed spatial grid structure composed of discontinuous rigid pillars connected by continuous tensioned flexible elastic cables. It combines the advantages of rigid and flexible structures, resulting in uniform stress distribution, high redundancy and self-balancing ability, which can reduce the overall weight of the robot and mitigate external impacts.

[0051] Example 2

[0052] This embodiment provides a robot, including a robot body and deformable wheel and foot structures disposed on both sides of the robot body. The deformable wheel and foot structures adopt the deformable wheel and foot structure based on the tensioned integral structure in Embodiment 1.

[0053] In this embodiment, the deformable wheel structure is connected to the robot body via wheel hubs.

[0054] like Figures 5(a)-5(b) As shown, in wheel form, the drive motor inside the robot body drives the rotation of the wheel hub, thereby driving the rotation of the deformable wheel foot structure to achieve robot rolling. The structure is simple, easy to control, and has high transmission efficiency.

[0055] like Figures 6(a)-6(b) As shown, in the leg wheel mode, the elastic cables on the four legs (front, back, left, and right) are controlled by the elastic cable motor on the deformable wheel leg structure, thereby controlling the deformation and movement of the legs and enabling the robot to crawl; at the same time, the four legs of the robot can also perform various actions to meet the task requirements.

[0056] As an alternative implementation, two drive motors are arranged inside the robot body to control the rotation of the left and right wheels of the robot, which are in the shape of wheels.

[0057] As an alternative implementation, sufficient space can be reserved within the robot body to add additional sensors, such as cameras, GPS, or inertial measurement units, to perform positioning and perception, enabling semi-automatic or fully automatic operation based on manual control.

[0058] Example 3

[0059] This embodiment provides a method for operating a robot, using the robot described in Embodiment 2, including:

[0060] The inner elastic cable contracts while the outer elastic cable stretches, causing the two semi-circular tensioned structures to gradually bend and close until the interlocking interface closes, thus forming a wheel shape. The drive motor inside the robot body drives the wheel hub to rotate, enabling the robot to roll.

[0061] By controlling the extension of the inner elastic cable and the contraction of the outer elastic cable, the bending degree of the overall structure under ring tension is reduced, and the connection at the interlocking interface is broken, thereby switching to the leg-foot mode. By controlling the extension and contraction of the elastic cables on the four legs in the leg-foot mode, the deformation and movement of the legs are controlled, so as to realize the robot's crawling operation.

[0062] While the specific embodiments of the present invention have been described above in conjunction with the accompanying drawings, this is not intended to limit the scope of protection of the present invention. Those skilled in the art should understand that various modifications or variations that can be made by those skilled in the art without creative effort based on the technical solutions of the present invention are still within the scope of protection of the present invention.

Claims

1. A deformable wheel-foot structure based on a tensioned integral structure, characterized in that, include: The basic structural unit includes a first pillar and a second pillar arranged in an X shape. The head end of the first pillar and the tail end of the second pillar are connected by an elastic cable. Several basic structural units are connected end to end by elastic cables to form a semi-circular tensioned overall structure. One end of two semi-circular tensioned overall structures is connected by a driving mechanism, and the other end is connected by a fitting interface, thus forming a circular tensioned overall structure. The driving mechanism is used to drive the expansion and contraction of the elastic cables on the circular tensioned overall structure, thereby achieving deformation through the opening and closing of the fitting interface. The driving mechanism includes a first driving column, a second driving column, and an elastic cable motor mounted on the two driving columns. The first and second driving columns are arranged in an X-shape. The first end is connected to the structural basic unit located at the end of a semi-circular tensioned integral structure, and the tail end is connected to the structural basic unit located at the end of another semi-circular tensioned integral structure. The four elastic cables on the structural basic unit located at the end of each semi-circular tensioned integral structure are respectively connected to an elastic cable motor. Both the first and second drive pillars are rectangular structures composed of four pressure rods. Two elastic cable motors are installed on each pressure rod along the length of the rectangular structure. The two elastic cable motors are respectively connected to the two semi-circular tensioned integral structures, and one elastic cable motor is used to drive the inner elastic cable and the other elastic cable motor is used to drive the outer elastic cable.

2. The deformable wheel-foot structure based on a tensioned integral structure as described in claim 1, characterized in that, Both the first and second pillars are rectangular structures composed of four compression bars, and the first and second pillars are connected by four elastic cables.

3. The deformable wheel-foot structure based on a tensioned integral structure as described in claim 1, characterized in that, The annular tensioned integral structure includes an inner elastic cable inside the annulus and an outer elastic cable outside the annulus, and the inner and outer elastic cables have opposite expansion and contraction states.

4. The deformable wheel foot structure based on a tensioned integral structure as described in claim 3, characterized in that, When the inner elastic cable contracts and the outer elastic cable stretches, the two semi-circular tensioned structures gradually bend and close until the interlocking interface closes, thus forming a wheel shape.

5. The deformable wheel foot structure based on a tensioned integral structure as described in claim 3, characterized in that, When the inner elastic cable is stretched and the outer elastic cable is contracted, the bending degree of the overall annular tension structure decreases, the connection at the wheel fitting interface is broken, and thus the shape of the legs is switched.

6. A robot, comprising a robot body and a deformable wheel and foot structure based on a tensioned integral structure as described in any one of claims 1-5, wherein the deformable wheel and foot structure is disposed on both sides of the robot body.

7. A robot as described in claim 6, characterized in that, The deformable wheel structure is connected to the robot body via wheel hubs; In wheel mode, the drive motor inside the robot body drives the rotation of the wheel hub, which in turn drives the rotation of the deformable wheel foot structure, thus enabling the robot to roll. In its leg-wheel configuration, the robot crawls by controlling the extension and retraction of the elastic cables on its four legs through a drive mechanism.

8. A method for operating a robot, employing the robot according to any one of claims 6-7, comprising: The inner elastic cable contracts while the outer elastic cable stretches, causing the two semi-circular tensioned structures to gradually bend and close until the interlocking interface closes, thus forming a wheel shape. The drive motor inside the robot body drives the wheel hub to rotate, enabling the robot to roll. By controlling the extension of the inner elastic cable and the contraction of the outer elastic cable, the bending degree of the overall structure under ring tension is reduced, and the connection at the interlocking interface is broken, thereby switching to the leg-foot mode. By controlling the extension and contraction of the elastic cables on the four legs in the leg-foot mode, the deformation and movement of the legs are controlled, so as to realize the robot's crawling operation.

Images