Wheel-legged robot with switchable modes

Abstract

The present application provides a switchable mode wheel-leg robot, including a fuselage, a control module, a leg structure, a rotating shaft, a foot, a first bevel gear, a drive assembly and a drive wheel, each leg structure is horizontally provided with a rotating shaft, the foot includes a connected fixed seat and a foot end, each rotating shaft passes through the center of a first bevel gear and a fixed seat, each leg structure is equipped with a drive assembly including a first drive member and a second drive member, the first drive member is meshed and transmitted to the first bevel gear through the second bevel gear, when in walking mode, the control module controls the first drive member to rotate to synchronously drive the rotating shaft and the foot to rotate, each second drive member is connected to a drive wheel in transmission, when in driving mode, the control module controls the second drive member to rotate to drive the drive wheel to roll, and when in walking mode, the control module also controls the second drive member to lock. The robot provided by the present application is conducive to improving mobility and meeting the requirements of efficient operation under complex non-structured terrain.

Description

Technical Field

[0001] The present application relates to the technical field of robot settings, and specifically to a wheel-legged robot with switchable modes. Background Art

[0002] Nowadays, the complexity and diversity of working environments have put forward higher and higher requirements on the mechanical structure of mobile robots. Current robots only have a single mobile mode, which limits the mobility of robots and makes it difficult to meet the requirements of efficient operation in complex unstructured terrain. Summary of the invention

[0003] In order to overcome the shortcomings of the prior art, the purpose of the present invention is to provide a wheel-legged robot with switchable modes that is beneficial to improving maneuverability and meeting the requirements of efficient operation in complex unstructured terrain. The wheel-legged robot provided in this application can switch back and forth between walking mode and driving mode.

[0004] To solve the above problems, the technical solution adopted by the present invention is as follows:

[0005] A mode-switchable wheel-legged robot comprises a fuselage, a control module and a leg structure, wherein the control module is mounted on the fuselage, and the leg structures are connected to opposite sides of the fuselage when viewed along the moving direction of the wheel-legged robot, wherein the leg structure comprises a first leg and a second leg, wherein the first leg is connected between the fuselage and the second leg, and the second leg comprises two leg rods and a first support plate connected between the two leg rods, wherein the wheel-legged robot has a walking mode and a driving mode and further comprises:

[0006] A rotating shaft, when viewed along the moving direction, a rotating shaft is horizontally placed at one end of each leg structure away from the fuselage, the rotating shaft is rotatably connected between the two leg rods, and the first supporting plate is located on a side of the rotating shaft close to the first leg;

[0007] A foot, the foot comprising a fixed seat and a foot end connected to each other, the foot end being used to contact the ground to support the wheel-legged robot to walk;

[0008] A first bevel gear, each of the rotating shafts passes through the center of one of the first bevel gears and one of the fixing seats, and the first bevel gear and the fixing seat are both located between the two leg rods;

[0009] A driving assembly, wherein the driving assembly is installed at one end of each leg structure away from the fuselage, the driving assembly comprises a first driving member and a second driving member, the first driving member is meshed and driven with the first bevel gear through a second bevel gear, the first driving member is installed on a side of the first support plate opposite to the first leg, the second bevel gear is arranged on a side of the first support plate away from the first leg, the second driving member is connected to a leg rod away from the fuselage, so that the driving wheel is located beside the leg structure, and when in the walking mode, the control module controls the first driving member to rotate to synchronously drive the rotating shaft and the foot to rotate; and

[0010] The driving wheel, each of the second driving members is transmission-connected to one of the driving wheels. When in the driving mode, the control module controls the second driving member to rotate to drive the driving wheel to roll, and the control module controls the first driving member to drive the foot off the ground. When in the walking mode, the control module also controls the second driving member to lock.

[0011] In some possible implementations, the following further includes:

[0012] a third driving member, mounted on an end of the first leg away from the body, the third driving member being drivingly connected to the second leg so that the first leg and the second leg can open and close relative to each other; and

[0013] A fourth driving member is installed on the fuselage, and the fourth driving member is transmission-connected to the first leg to drive the leg structure to swing. The control module is also used to control the third driving member and the fourth driving member to rotate to switch between the high-position mode and the low-position mode.

[0014] In some possible implementations, the following further includes:

[0015] Two driving wheel assemblies, the driving wheel assemblies include a connecting shaft and two driven wheels, the connecting shaft is connected between the two driven wheels, the connecting shaft passes through the fuselage and is connected to the opposite side ends of the leg structure, so that the driven wheels are located on the sides of the fuselage, and the leg structure is located between the two driving wheel assemblies. When in the low-position driving mode, the driven wheels roll with the driving wheels.

[0016] In some possible implementations, the driving wheel includes:

[0017] Ring wheel core;

[0018] A tire skin, arranged around the circumferential surface of the annular wheel core for contacting the ground; and

[0019] A wheel hub end cover, the wheel hub end cover comprises a first part and a second part, the first part is connected to an end of the ring wheel core away from the second driving member, the first part covers the annular cavity of the ring wheel core, the second part is convexly arranged at an end of the first part away from the ring wheel core, the projection of the second part is placed in the first part, and the second driving member is drivingly connected to the wheel hub end cover;

[0020] The wheel-legged robot also includes:

[0021] A first bearing, arranged around a circumferential surface of the second portion;

[0022] a bearing cover plate connected to an end surface of the second portion facing away from the first portion, the bearing cover plate also abutting against the first bearing; and

[0023] A protective member is connected between the leg structure and the second driving member.

[0024] In some possible implementations, a limiting boss is provided on the surface of the rotating shaft, a slot is provided on the inner surface of the first bevel gear, and the limiting boss is disposed in the slot to prevent relative rotation between the rotating shaft and the first bevel gear.

[0025] In some possible implementations, the following further includes:

[0026] A plurality of second bearings, each of the second bearings is sleeved between the rotating shaft and one of the leg rods;

[0027] The second leg also includes:

[0028] at least two second support plates, disposed beside opposite sides of the first driving member, the second support plates being located on a side of the first support plate opposite to the first leg; and

[0029] A plurality of connecting columns, the second support plate and the connecting columns are connected between the two leg rods, a portion of the connecting columns are placed on the side of the first support plate close to the second bevel gear, and a portion of the connecting columns are placed on the side of the second support plate away from the first support plate.

[0030] In some possible implementations, the following further includes:

[0031] A camera module, used for photographing environmental obstacles, the control module is electrically connected to the camera module to control the wheel-legged robot to perform autonomous obstacle avoidance;

[0032] A lighting module, used for lighting, wherein the camera module and the lighting module are both installed at the front end of the fuselage;

[0033] A power module installed in the body to supply power to various electrical components; and

[0034] A human-machine interaction system is installed on the body and electrically connected to the control module, and the human-machine interaction system is used to display and set the motion parameters of the wheel-legged robot.

[0035] In some possible implementations, the fuselage includes:

[0036] Two skeletons arranged at intervals, the skeletons comprising a first frame rod, two second frame rods arranged at intervals, two third frame rods arranged at intervals, two fourth frame rods and a fifth frame rod, when viewed along the moving direction, the first frame rod, the second frame rod, the third frame rod and the fifth frame rod are connected end to end in sequence, the first frame rod and the two second frame rods jointly define an isosceles trapezoidal space, the two third frame rods and the fifth frame rod jointly define a square space, the large ends of the isosceles trapezoidal space are equally diameter-transitioned to the square space, and the two fourth frame rods are arranged in a V-shape and connected between the two third frame rods;

[0037] Two sixth racks, each of the sixth racks is connected between two adjacent third racks of two of the skeletons;

[0038] a seventh rack rod connected between the two fifth rack rods;

[0039] Two eighth racks are connected to form a V-shaped structure, the opening of the V-shaped structure is arranged opposite to the first rack, and the open end of the V-shaped structure is connected to each of the third racks located at the bottom end of each of the frameworks;

[0040] a ninth frame rod connected between the closed end of the V-shaped structure and the sixth frame rod at the bottom end of the frame;

[0041] a tenth frame rod connected between two adjacent second frame rods of two of the skeletons; and

[0042] A panel cover, each rod is arranged in the panel cover, the panel cover is connected to each of the frames, the inner surface of the panel cover abuts against each rod of the frame, the sixth rod, the eighth rod, the ninth rod and the tenth rod, and the parts connected to the fuselage are installed on the panel cover.

[0043] In some possible implementations, the following further includes:

[0044] A gravity compensation module, the gravity compensation module comprising:

[0045] a limiting member connected to one end of the first leg portion close to the third driving member, the limiting member being placed outside an opening and closing angle formed between the first leg portion and the second leg portion;

[0046] A guide column, one end of which is provided with a limit cover, and the other end of which passes through the limit member and is rotatably connected to the second leg; and

[0047] A reset member is arranged around the circumference of the guide column, one end of the reset member abuts against the limiting member, and the other end of the reset member abuts against the limiting cover.

[0048] Compared with the prior art, the present invention has the following beneficial effects:

[0049] In the present application, the coordinated cooperation of the rotating shaft, the foot, the first bevel gear, the drive assembly, the drive wheel, the second bevel gear and the control module enables the wheel-legged robot to have a walking mode and a driving mode, and can switch back and forth between the walking mode and the driving mode, thereby helping to improve the maneuverability of the wheel-legged robot and enabling the wheel-legged robot to meet the requirements of efficient operation in complex unstructured terrain.

[0050] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 A schematic diagram of the structure of a wheel-legged robot provided in one embodiment of the present application;

[0052] Figure 2 for Figure 1 A schematic structural diagram of the wheel-legged robot from another perspective is shown;

[0053] Figure 3 for Figure 1 Section along VI-VI;

[0054] Figure 4 for Figure 1 A schematic diagram showing the connection between the partial structure of the fuselage and the status indicator light;

[0055] Figure 5 A simplified diagram of the gravity compensation principle.

[0056] Description of reference numerals:

[0057] 10-fuselage; 11-frame; 111-first frame rod; 112-second frame rod; 113-third frame rod; 114-fourth frame rod; 115-fifth frame rod; 12-sixth frame rod; 13-seventh frame rod; 14-eighth frame rod; 15-ninth frame rod; 16-tenth frame rod; 17-plate cover; 20-control module; 30-leg structure; 31-first leg; 32-second leg; 321-leg rod; 322-first support plate; 323-second support plate; 324-connecting column; 41-rotating shaft; 42-foot; 421-fixed seat; 422-foot end; 43-first bevel gear; 431-slot; 44-drive assembly; 441-first drive member; 4 42-second driving member; 45-second bevel gear; 46-second bearing; 50-driving wheel; 51-ring wheel core; 52-tire skin; 53-hub end cover; 531-first part; 532-second part; 54-first bearing; 55-bearing cover plate; 56-protective member; 61-third driving member; 62-fourth driving member; 70-driving wheel assembly; 71-connecting shaft; 72-driven wheel; 81-camera module; 82-illumination module; 83-power module; 84-human-computer interaction system; 85-gyroscope; 86-status indicator light; 90-gravity compensation module; 91-limiting member; 92-guide column; 93-limiting cover; 94-resetting member; 95-convex shaft; 901-handle. DETAILED DESCRIPTION

[0058] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0059] The terms "first", "second", etc. in the specification and claims of this application and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. It should be noted that when an element is referred to as "fixed to" another element, it can be directly on the other element or there can be a centered element. When an element is referred to as "connected to" another element, it can be directly connected to the other element or there can be a centered element. When an element is referred to as "arranged on" another element, it can be arranged on the other element or there can be a centered element.

[0060] Reference Figure 1 and Figure 2An embodiment of the present application provides a wheel-legged robot with switchable modes, hereinafter referred to as the wheel-legged robot, which includes a fuselage 10, a control module 20, a leg structure 30, a rotating shaft 41, a foot 42, a first bevel gear 43, a driving assembly 44 and a driving wheel 50. The control module 20 is installed in the fuselage 10. Exemplarily, the control module 20 can be installed in the fuselage 10. When viewed along the moving direction of the wheel-legged robot, the opposite sides of the fuselage 10 are connected to the leg structures 30. In this embodiment, one side of the fuselage 10 is connected to a leg structure 30. The wheel-legged robot has a walking mode and a driving mode. When viewed along the moving direction, a rotating shaft 41 is horizontally placed at one end of each leg structure 30 away from the fuselage 10, and the rotating shaft 41 is rotatably connected to the leg structure 30. The foot 42 includes a fixed seat 421 and a foot end 422 connected to each other. The foot end 422 is used to contact the ground to support the wheel-legged robot to walk. For example, the foot end 422 can be a square structure, and the bottom of the foot end 422 can be a flexible part. Each rotating shaft 41 passes through the center of a first bevel gear 43 and a fixed seat 421. A driving assembly 44 is installed at one end of each leg structure 30 away from the fuselage 10. The driving assembly 44 includes a first driving member 441 and a second driving member 442. For example, the first driving member 441 and the second driving member 442 can both be servo motors or DC brushless reduction motors. The first driving member 441 is meshed and driven with the first bevel gear 43 through the second bevel gear 45, that is, the second bevel gear 45 is connected to the output shaft of the first driving member 441, and the tooth structure of the second bevel gear 45 is meshed with the first bevel gear 43. When in walking mode, the control module 20 controls the first driving member 441 to rotate to synchronously drive the rotating shaft 41 and the foot 42 to rotate. Each second driving member 442 is connected to a driving wheel 50 in a transmission manner. When in the driving mode, the control module 20 controls the second driving member 442 to rotate to drive the driving wheel 50 to roll, and the control module 20 controls the first driving member 441 to drive the foot 42 off the ground, thereby preventing the foot 42 from hindering the driving wheel 50 from rolling. In the walking mode, the control module 20 also controls the second driving member 442 to lock, so that in the walking mode, the driving wheel 50 will not roll, thereby facilitating the improvement of the ground contact friction, thereby facilitating the improvement of the stability of the walking mode. It can be understood that in the walking mode, the rotation direction or rotation amplitude of the first driving member 441 on different sides of the fuselage 10 can be different, thereby simulating the walking state. In the driving mode, the rotation direction and rotation speed of the second driving member 442 on different sides of the fuselage 10 can be the same, thereby driving the driving wheels 50 on different leg structures 30 to roll synchronously.

[0061] Reference combination Figure 2 and Figure 3The leg structure 30 includes a first leg 31 and a second leg 32. The first leg 31 is connected between the fuselage 10 and the second leg 32. The second leg 32 includes two leg rods 321 and a first support plate 322. The rotating shaft 41 is rotatably connected between the two leg rods 321. The first bevel gear 43 and the fixing seat 421 are both located between the two leg rods 321. The first support plate 322 is connected between the two leg rods 321. The first support plate 322 is located on the side of the rotating shaft 41 close to the first leg 31. For example, the first support plate 322 can be riveted between the two leg rods 321 to reduce the weight of the parts. The first driving member 441 is installed on the side of the first supporting plate 322 opposite to the first leg 31. For example, the first driving member 441 can be fixedly installed by screws. The second bevel gear 45 is arranged on the side of the first supporting plate 322 away from the first leg 31, that is, the output shaft of the first driving member 441 can be arranged through the first supporting plate 322. The second driving member 442 is connected to a leg rod 321 away from the fuselage 10, so that the driving wheel 50 is located beside the leg structure 30. The structure of the leg structure 30 cooperates with the position arrangement of the driving assembly 44, the second bevel gear 45, the fixing seat 421 and the driving wheel 50 to improve the compactness of the structure and the balance of the rotation force.

[0062] In the present application, the coordinated cooperation of the rotating shaft 41, the foot 42, the first bevel gear 43, the driving assembly 44, the driving wheel 50, the second bevel gear 45 and the control module 20 enables the wheel-legged robot to have a walking mode and a driving mode, and can switch back and forth between the walking mode and the driving mode, thereby helping to improve the maneuverability of the wheel-legged robot and enabling the wheel-legged robot to meet the requirements of efficient operation in complex unstructured terrain.

[0063] In some embodiments, the wheel-legged robot further includes a third driving member 61 and a fourth driving member 62. The third driving member 61 is mounted on an end of the first leg 31 away from the fuselage 10. The third driving member 61 is transmission-connected to the second leg 32, so that the first leg 31 and the second leg 32 can be relatively opened and closed, that is, the output shaft of the third driving member 61 can drive the second leg 32 to rotate relative to the first leg 31 to achieve relative opening and closing of the two. The fourth driving member 62 is mounted on the fuselage 10. Exemplarily, both the third driving member 61 and the fourth driving member 62 can be installed by screw fixing. The fourth driving member 62 is connected to the first leg 31 to drive the leg structure 30 to swing. The control module 20 is also used to control the third driving member 61 and the fourth driving member 62 to rotate to change the high-position mode and the low-position mode. When the third driving member 61 drives the angle between the first leg 31 and the second leg 32 to become smaller, the wheel-legged robot is in the low-position mode, and the wheel-legged robot can move in the driving mode. When the third driving member 61 drives the angle between the first leg 31 and the second leg 32 to increase, the wheel-legged robot is in the high-position mode, and the wheel-legged robot can choose to move in the driving mode or the walking mode. It can be understood that when the third driving member 61 drives the angle between the first leg 31 and the second leg 32 to change, the fourth driving member 62 can adaptively adjust the swing direction of the first leg 31 according to the change of the angle between the first leg 31 and the second leg 32. The addition of the third driving member 61 and the fourth driving member 62 is conducive to increasing the maneuverability of the wheel-legged robot, thereby further improving the maneuverability.

[0064] In some embodiments, the leg rod 321 facing away from the fuselage 10 may be longer than the leg rod 321 close to the fuselage 10 , and the third driving member 61 is transmission-connected to the leg rod 321 facing away from the fuselage 10 , thereby facilitating reducing the integrated volume of the leg structure 30 .

[0065] In some embodiments, the wheel-leg robot further comprises two driving wheel assemblies 70, the driving wheel assembly 70 comprises a connecting shaft 71 and two driven wheels 72, the connecting shaft 71 is connected between the two driven wheels 72, the connecting shaft 71 passes through the fuselage 10 and is connected to the opposite side ends of the leg structure 30, so that the driven wheels 72 are located on the side of the fuselage 10, and the leg structure 30 is located between the two driving wheel assemblies 70, when in the low-position driving mode, the driven wheels 72 roll along with the driving wheels 50, that is, the driven wheels 72 can rotate relative to the connecting shaft 71, the connecting shaft 71 passes through the center of the driven wheels 72, and the driven wheels 72 can be limited to a predetermined position of the connecting shaft 71 by the cooperation of the retaining spring and the retaining spring groove provided on the circumferential surface of the connecting shaft 71, specifically, the retaining spring is fixed in the retaining spring groove and abuts against the end face of the driven wheel 72, and it can be understood that the connecting shaft 71 and the driven wheels 72 can also be connected in rotation by a bearing structure. Adding the driving wheel assembly 70 is conducive to improving the driving stability of the low-position driving mode.

[0066] In some embodiments, reference Figure 3 The driving wheel 50 includes a ring wheel core 51, a tire skin 52 and a hub end cover 53. Exemplarily, the material of the ring wheel core 51 can be 6061 aluminum alloy to improve the mechanical properties of the driving wheel 50. Exemplarily, the surface of the 6061 aluminum alloy can be anodized black. The tire skin 52 is arranged on the circumferential surface of the ring wheel core 51 for contacting the ground. Exemplarily, the thickness of the tire skin 52 can be at least 7.5 mm, and the material of the tire skin 52 can be 65A polyurethane to improve the wear resistance and fatigue resistance of the driving wheel 50. The hub end cover 53 includes a first part 531 and a second part 532. The first part 531 is connected to one end of the ring wheel core 51 away from the second driving member 442, and the first part 531 covers the annular cavity of the ring wheel core 51. The second part 532 is convexly arranged on the end of the first part 531 away from the ring wheel core 51, and the projection of the second part 532 is placed in the first part 531. The second driving member 442 is connected to the hub end cover 53. Exemplarily, the output shaft of the second driving member 442 is sequentially arranged through the first part 531 and the second part 532. Exemplarily, the first part 531 and the second part 532 can be integrally formed. The first part 531 can be connected to the ring wheel core 51 by screw fixation. Exemplarily, the material of the hub end cover 53 can be polyoxymethylene resin (POM), which has the advantages of light weight, high strength, high rigidity, excellent wear resistance and chemical resistance. The wheel-legged robot also includes a first bearing 54, a bearing cover plate 55 and a protective member 56. The first bearing 54 is arranged around the circumferential surface of the second part 532. The bearing cover plate 55 is connected to the end surface of the second part 532 away from the first part 531, and the bearing cover plate 55 also abuts against the first bearing 54. The protective member 56 is connected between the leg structure 30 and the second driving member 442, and can be fixed by screws to achieve the installation of the protective member 56. The hub end cover 53 is provided to transfer most of the load away from the ring wheel core 51, thereby reducing the risk of failure of the drive wheel 50 due to deformation or damage. In addition, the hub end cover 53 can also reduce the adverse effects of adverse factors in the external environment (such as dust, sand, or acid, alkali, and oil stains) on the second drive member 442 and the ring wheel core 51. In addition, the protective member 56 is conducive to reducing the radial impact on the second drive member 442 during operation. Therefore, the combination of the above components is conducive to increasing the service life of the drive wheel 50 and the second drive member 442.

[0067] In some embodiments, reference Figure 3The surface of the rotating shaft 41 is provided with a limiting boss 411, and the inner surface of the first bevel gear 43 is provided with a clamping groove 431. The limiting boss 411 is arranged in the clamping groove 431 to prevent the rotating shaft 41 and the first bevel gear 43 from rotating relative to each other, thereby facilitating the increase of the driving load of the second driving member 442, and further facilitating the appropriate expansion of the size of the foot end 422, thereby facilitating the improvement of the stability of the walking mode of the wheel-legged robot. Exemplarily, the relative position between the first bevel gear 43 and the rotating shaft 41 can also be limited by the cooperation of a retaining spring and a retaining spring groove. Specifically, the retaining spring groove can be arranged on the rotating shaft 41.

[0068] In some embodiments, the wheel-legged robot further includes a plurality of second bearings 46, each of which is sleeved between the rotating shaft 41 and a leg rod 321. The second bearings 46 are conducive to bearing axial force and radial force, thereby facilitating improving the service life of the rotating shaft 41. Exemplarily, the second bearings 46 can be deep groove ball bearings of model F6901ZZ. Exemplarily, the second bearings 46 can also be installed at a predetermined position of the rotating shaft 41 by means of a retaining ring and a retaining ring groove. Figure 2 and Figure 3 The second leg 32 also includes at least two second support plates 323 (two second support plates 323 are shown in the figure) and a plurality of connecting columns 324. At least two second support plates 323 are arranged on opposite sides of the first driving member 441, and the second support plates 323 are located on the side of the first support plate 322 relative to the first leg 31. The second support plate 323 and the connecting column 324 are both connected between the two leg rods 321. For example, the second support plate 323 can be riveted between the two leg rods 321. The connecting column 324 can be installed between the two leg rods 321 by fixing the mounting holes. A part of the connecting column 324 is placed on the side of the first support plate 322 close to the second bevel gear 45, and a part of the connecting column 324 is placed on the side of the second support plate 323 away from the first support plate 322. The structure of the second leg 32 is conducive to improving the strength, and is also conducive to reducing the adverse effects caused by the limit line displacement caused by various forces during the movement of the wheel-legged robot, thereby improving the service life.

[0069] In some embodiments, reference Figure 1 and Figure 2The wheel-legged robot also includes a camera module 81, a lighting module 82, a power module 83 and a human-computer interaction system 84. The camera module 81 is used to shoot environmental obstacles. The control module 20 is electrically connected to the camera module 81 to control the wheel-legged robot to perform autonomous obstacle avoidance. Specifically, the control module 20 can drive the driving member to work according to the received environmental obstacle information to adjust the movement mode of the wheel-legged robot, so that the wheel-legged robot can avoid obstacles or cross obstacles. The lighting module 82 is used for lighting. The lighting module 82 may include an LED lamp. The lighting module 82 can be turned on or off as needed according to the brightness of the use environment, thereby helping to broaden the use environment of the wheel-legged robot. The power module 83 is installed in the fuselage 10 to supply power to various electrical parts. Exemplarily, the power module 83 can be fixedly installed in the form of a buckle. The human-machine interaction system 84 is installed on the body 10 and electrically connected to the control module 20. The human-machine interaction system 84 is used to display and set the motion parameters of the wheel-legged robot. Specifically, the motion parameters can be displayed on the display screen of the human-machine interaction system 84, and the parameter settings in the human-machine interaction system 84 can also be modified by touching or pressing buttons. Exemplarily, the above modules can also be installed by screw fixing or snapping.

[0070] In some embodiments, a status indicator light 86 may be installed on the surface of the body 10 of the wheel-legged robot, and the status indicator light 86 is used to indicate the running state of the wheel-legged robot. A gyroscope 85 may also be installed in the body 10, and the gyroscope 85 is used to sense the direction and position of the wheel-legged robot itself. Exemplarily, the status indicator light 86 and the gyroscope 85 may be connected to the control module 20 by telecommunication.

[0071] In some embodiments, reference Figure 1 , Figure 2 and Figure 4The fuselage 10 includes two frames 11 arranged at intervals, two sixth frames 12, a seventh frame 13, two eighth frames 14, a ninth frame 15, a tenth frame 16 and a panel cover 17. The frame 11 includes a first frame 111, two second frames 112 arranged at intervals, two third frames 113 arranged at intervals, two fourth frames 114 and a fifth frame 115. When viewed along the moving direction, the first frame 111, the second frame 112, the third frame 113 and the fifth frame 115 are connected end to end in sequence. The first frame 111 and the two second frames 112 jointly define an isosceles trapezoidal space, the two third frames 113 and the fifth frame 115 jointly define a square space, the large end of the isosceles trapezoidal space is equal in diameter and transitions to the square space, and the two fourth frames 114 are arranged in a V shape and connected between the two third frames 113. Each sixth frame 12 is connected between two adjacent third frames 113 of the two frames 11. The seventh frame rod 13 is connected between two fifth frame rods 115. Two eighth frame rods 14 are connected to form a V-shaped structure, the opening of the V-shaped structure is arranged opposite to the first frame rod 111, and the open end of the V-shaped structure is connected to each third frame rod 113 at the bottom end of each frame 11. The ninth frame rod 15 is connected between the closed end of the V-shaped structure and the sixth frame rod 12 at the bottom end of the frame 11. The tenth frame rod 16 is connected between two adjacent second frame rods 112 of the two frames 11. Each frame rod is arranged in a panel cover 17, and the panel cover 17 is connected to each frame 11. The inner surface of the panel cover 17 abuts against each frame rod, the sixth frame rod 12, the eighth frame rod 14, the ninth frame rod 15 and the tenth frame rod 16 of the frame 11. The parts connected to the fuselage 10 are installed on the panel cover 17. That is, the camera module 81, the lighting module 82, the power module 83, the human-computer interaction system 84, the status indicator light 86, and the gyroscope 85 are all installed on the panel cover 17, the connecting shaft 71 is arranged through the panel cover 17, and the fourth driving member 62 is installed on the panel cover 17. Exemplarily, different racks can be fixed by screws or by screws in combination with a connecting plate. When fixed by screws and connecting plates, the connecting plate is stacked at the joint of two adjacent racks and abuts against each rack, and the connecting plate and each rack are fixed by screws, thereby further improving strength and rigidity. The structural setting of the fuselage 10 is conducive to improving impact resistance, stability, compactness and strength.

[0072] In some embodiments, the wheel-legged robot further includes a gravity compensation module 90, which includes a stopper 91, a guide column 92, and a reset member 94. The stopper 91 is connected to one end of the first leg 31 close to the third driving member 61. The stopper 91 is placed outside the opening and closing angle formed between the first leg 31 and the second leg 32. A stopper cover 93 is provided at one end of the guide column 92, and the other end of the guide column 92 passes through the stopper 91 and is rotatably connected to the second leg 32. In this embodiment, the guide column 92 is rotatably connected to the leg rod 321, and the reset member 94 is arranged around the circumference of the guide column 92, one end of the reset member 94 abuts against the stopper 91, and the other end of the reset member 94 abuts against the stopper cover 93. Therefore, when the first leg 31 and the second leg 32 are relatively opened and closed, the guide column 92 can be driven to move, thereby prompting the reset member 94 to telescopically deform between the stopper cover 93 and the stopper 91, thereby providing elastic force. Exemplarily, the reset member 94 may be a spring or an elastic sleeve.

[0073] The schematic diagram of the gravity compensation principle is as follows: Figure 5 As shown in the simplified diagram, m, L, θ represent the mass of the center of mass, the length of the connecting rod and the joint angle respectively. Under the action of the gravity at the center of mass M, a gravity torque will be generated on the output shaft O of the third driving member 61, and the magnitude is:

[0074]

[0075] The gravitational moment at point A is equivalent to f g ,h 1 is the distance from the fixed point of the reset member 94 to the output shaft point O, as follows:

[0076]

[0077] When the mechanism is in equilibrium, f g and the elastic force f The resultant force f follows the force quadrilateral law z It will pass through the output shaft point O, at which time the gravity moment on the output shaft O is zero. When the elongation of the reset member 94 is x, it is easy to obtain f, f by combining static analysis. z 、f g The force triangle formed is similar to △AOB, so:

[0078]

[0079]

[0080] Substitute the tension f = kx (k is the stiffness coefficient of the reset member) of the reset member 94 into the equation and eliminate f to obtain:

[0081]

[0082]

[0083]

[0084] The numerical values ​​of the symbols in the simplified formula are all constants, which are consistent with That is, when the k value of the reset member 94 satisfies the above formula, the mechanism will be in a static equilibrium state, and regardless of No matter what the value of k is, the pulling torque generated by the reset member 94 on the point O can just offset the gravitational torque generated by gravity on the point O, that is, a perfect balance is achieved. When the k value of the reset member 94 is selected to be other values, at least part of the gravitational torque generated by gravity on the point O can be offset, thereby reducing the degree of additional work done by the third drive member 61, and further helping to prevent the third drive member 61 from overheating or damage.

[0085] Exemplarily, the guide column 92 can be rotatably connected to the second leg 32 via a fisheye bearing or a universal ball bearing. Specifically, a convex shaft 95 is convexly provided on the outer end surface of a leg rod 321 of the second leg 32 that is away from the fuselage 10. The convex shaft 95 passes through the fisheye bearing or the universal ball bearing, so that the fisheye bearing or the universal ball bearing can rotate around the convex shaft 95, thereby realizing a rotatable connection between the guide column 92 and the second leg 32.

[0086] In some embodiments, the wheel-legged robot further includes a handle 901 , which can be installed on the top of the body 10 , thereby facilitating the user to move or debug the wheel-legged robot.

[0087] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by technicians in this field on the basis of the present invention shall fall within the scope of protection required by the present invention.

Claims

1. A wheel-legged robot with switchable modes, comprising a fuselage, a control module and a leg structure, wherein the control module is mounted on the fuselage, and when viewed along the moving direction of the wheel-legged robot, the leg structures are connected to opposite sides of the fuselage, characterized in that: The leg structure includes a first leg and a second leg, the first leg is connected between the fuselage and the second leg, the second leg includes two leg rods and a first support plate connected between the two leg rods, The wheel-legged robot has a walking mode and a driving mode and further comprises: A rotating shaft, when viewed along the moving direction, a rotating shaft is horizontally placed at one end of each leg structure away from the fuselage, the rotating shaft is rotatably connected between the two leg rods, and the first supporting plate is located on a side of the rotating shaft close to the first leg; A foot, the foot comprising a fixed seat and a foot end connected to each other, the foot end being used to contact the ground to support the wheel-legged robot to walk; A first bevel gear, each of the rotating shafts passes through the center of one of the first bevel gears and one of the fixing seats, and the first bevel gear and the fixing seat are both located between the two leg rods; A driving assembly, wherein the driving assembly is installed at one end of each leg structure away from the fuselage, the driving assembly comprises a first driving member and a second driving member, the first driving member is meshed and driven with the first bevel gear through a second bevel gear, the first driving member is installed on a side of the first support plate opposite to the first leg, the second bevel gear is arranged on a side of the first support plate away from the first leg, the second driving member is connected to a leg rod away from the fuselage, and when in the walking mode, the control module controls the first driving member to rotate to synchronously drive the rotating shaft and the foot to rotate; and A driving wheel, each of the second driving members is drivingly connected to a driving wheel, and the driving wheel is located beside the leg structure. When in the driving mode, the control module controls the second driving member to rotate to drive the driving wheel to roll, and the control module controls the first driving member to drive the foot off the ground. When in the walking mode, the control module also controls the second driving member to lock; The fuselage comprises: Two skeletons arranged at intervals, the skeletons comprising a first frame rod, two second frame rods arranged at intervals, two third frame rods arranged at intervals, two fourth frame rods and a fifth frame rod, when viewed along the moving direction, the first frame rod, the second frame rod, the third frame rod and the fifth frame rod are connected end to end in sequence, the first frame rod and the two second frame rods jointly define an isosceles trapezoidal space, the two third frame rods and the fifth frame rod jointly define a square space, the large ends of the isosceles trapezoidal space are equally diameter-transitioned to the square space, and the two fourth frame rods are arranged in a V shape and connected between the two third frame rods; Two sixth racks, each of the sixth racks is connected between two adjacent third racks of two of the skeletons; a seventh rack rod connected between the two fifth rack rods; Two eighth racks are connected to form a V-shaped structure, the opening of the V-shaped structure is arranged opposite to the first rack, and the open end of the V-shaped structure is connected to each of the third racks at the bottom end of each of the frameworks; a ninth frame rod connected between the closed end of the V-shaped structure and the sixth frame rod at the bottom end of the frame; The tenth frame rod is connected between two adjacent second frame rods of the two skeletons.

2. The wheel-legged robot according to claim 1, characterized in that: Also includes: a third driving member, mounted on an end of the first leg away from the fuselage, the third driving member being transmission-connected to the second leg so that the first leg and the second leg can be relatively opened and closed; as well as A fourth driving member is installed on the fuselage, and the fourth driving member is transmission-connected to the first leg to drive the leg structure to swing. The control module is also used to control the third driving member and the fourth driving member to rotate to switch between the high-position mode and the low-position mode.

3. The wheel-legged robot according to claim 2, characterized in that: Also includes: Two driving wheel assemblies, the driving wheel assemblies include a connecting shaft and two driven wheels, the connecting shaft is connected between the two driven wheels, the connecting shaft passes through the fuselage and is connected to the opposite side ends of the leg structure, so that the driven wheels are located on the sides of the fuselage, and the leg structure is located between the two driving wheel assemblies. When in the low-position driving mode, the driven wheels roll with the driving wheels.

4. The wheel-legged robot according to claim 1, characterized in that: The driving wheel comprises: Ring wheel core; A tire skin, arranged around the circumferential surface of the annular wheel core for contacting the ground; and A wheel hub end cover, the wheel hub end cover comprises a first part and a second part, the first part is connected to an end of the ring wheel core away from the second driving member, the first part covers the annular cavity of the ring wheel core, the second part is convexly arranged at an end of the first part away from the ring wheel core, the projection of the second part is placed in the first part, and the second driving member is drivingly connected to the wheel hub end cover; The wheel-legged robot also includes: A first bearing, arranged around a circumferential surface of the second portion; a bearing cover plate connected to an end surface of the second portion facing away from the first portion, the bearing cover plate also abutting against the first bearing; and A protective member is connected between the leg structure and the second driving member.

5. The wheel-legged robot according to claim 1, characterized in that: A limiting boss is provided on the surface of the rotating shaft, and a clamping groove is provided on the inner surface of the first bevel gear. The limiting boss is arranged in the clamping groove to prevent relative rotation between the rotating shaft and the first bevel gear.

6. The wheel-legged robot according to claim 1, characterized in that: Also includes: A plurality of second bearings, each of the second bearings is sleeved between the rotating shaft and one of the leg rods; The second leg also includes: At least two second support plates are disposed beside opposite sides of the first driving member, the second support plates being located on a side of the first support plate opposite to the first leg portion; as well as A plurality of connecting columns, the second support plate and the connecting columns are connected between the two leg rods, a portion of the connecting columns are placed on the side of the first support plate close to the second bevel gear, and a portion of the connecting columns are placed on the side of the second support plate away from the first support plate.

7. The wheel-legged robot according to claim 1, characterized in that: Also includes: A camera module, used for photographing environmental obstacles, the control module is electrically connected to the camera module to control the wheel-legged robot to perform autonomous obstacle avoidance; A lighting module, used for lighting, wherein the camera module and the lighting module are both installed at the front end of the fuselage; A power module, installed in the body to supply power to various electrical components; as well as A human-machine interaction system is installed on the body and electrically connected to the control module, and the human-machine interaction system is used to display and set the motion parameters of the wheel-legged robot.

8. The wheel-legged robot according to claim 1, characterized in that: The fuselage also includes: A panel cover, each rod is arranged in the panel cover, the panel cover is connected to each of the frames, the inner surface of the panel cover abuts against each rod of the frame, the sixth rod, the eighth rod, the ninth rod and the tenth rod, and the parts connected to the fuselage are installed on the panel cover.

9. The wheel-legged robot according to claim 2, characterized in that: Also includes: A gravity compensation module, the gravity compensation module comprising: a limiting member connected to one end of the first leg portion close to the third driving member, the limiting member being placed outside an opening and closing angle formed between the first leg portion and the second leg portion; A guide column, one end of which is provided with a limit cover, and the other end of which passes through the limit member and is rotatably connected to the second leg; and A reset member is arranged around the circumference of the guide column, one end of the reset member abuts against the limiting member, and the other end of the reset member abuts against the limiting cover.

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