Wearable man-machine co-fusion wheel-foot robot

Abstract

The invention belongs to the technical field of intelligent robots, and particularly relates to a wearable man-machine co-fusion wheel-foot robot which comprises a connecting platform, a left wheel leg, a right wheel leg, a butt joint module, a connecting spine and a lock catch. The left wheel leg comprises a thigh, a transmission connecting rod group, a shank and a wheel group; the shank comprises an ankle joint motor layout assembly, two ankle joint connecting rod lead screws and carbon tubes, a shank carbon tube, a knee-shank connecting plate and an ankle joint assembly; the thigh and the transmission connecting rod group are movably connected with the knee-shank connecting plate and the swinging motor; the shank carbon tube is connected with the knee-shank connecting plate, and the other two ends of the shank carbon tube are connected with the wheel set and the ankle joint motor layout assembly respectively; the two ankle joint connecting rod lead screws and the carbon tube are movably connected with the ankle joint motor layout assembly and the wheel set respectively; by driving the two ankle joint connecting rod lead screws and the carbon tubes to move, stable switching of the wheels and the feet is achieved; through the butt joint module, the spine and the lock catch, butt joint with the human body is achieved, left-right translation and swinging of the spine are achieved, and the wearing restraint feeling is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent robots, and in particular relates to a wearable human-machine integrated wheeled robot. Background Art

[0002] Exploring the mysteries of human movement and using engineering science methods to enhance human movement and load capacity is the dream of many scientific and technological workers, and is also one of the important scientific goals of basic research in interdisciplinary disciplines such as robotics. In modern society, it is still quite common to use manpower to carry long-distance and long-term load transportation tasks. In the civilian field, power inspectors often have to carry more than 10 kilograms of equipment to climb mountains and cross forests for more than ten kilometers to inspect important transmission lines; geological prospectors need to carry nearly 20 kilograms per person and travel between high mountains and deep valleys for inspection and exploration; and in many field scenes such as mines, airports, construction sites, and disaster relief, due to the lack of a good installation and use environment, the handling work cannot be completed by standard industrial and mobile robots, so most of them still rely on manpower. In addition, in the field of national defense, carrying a load of 30 kilograms and walking 50 kilometers in 8 hours is the norm for camping and training. In order to solve the outstanding problem of how to apply robot technology to improve the carrying and transportation capacity of manpower in these major fields, it is very necessary to study wearable transportation assistance robots with people as the core.

[0003] The robots currently on the market for transportation assistance can be roughly divided into two categories: wearable robots and ordinary transportation platforms.

[0004] Wearable robots mainly include various types of suspension backpacks, jet backpacks, rigid / flexible exoskeletons and their combinations. Suspension backpacks can effectively reduce dynamic loads and reduce the loss of metabolic energy consumption by adding elastic mechanisms or active control devices to the backpack to adjust the relative movement between the load and the wearer; jet backpacks use jets to propel the back load upward, thereby reducing the pressure of the load on the wearer; specially designed rigid exoskeletons can transfer part of the load to the ground, thereby reducing the burden on the wearer's body; and flexible exoskeletons provide corresponding auxiliary force to the joints of the lower limbs, which has been proven to reduce energy consumption during free walking and running. Despite the great progress that has been made, these types of human-machine collaborative wearable robots still have certain limitations:

[0005] The hover backpack can reduce the dynamic inertial force (dynamic load) of the load, but it cannot further eliminate most of the load brought by the load itself, while the jet backpack has low energy efficiency, short endurance and difficult control. In addition, the main body mechanism, drive device and power battery added to the backpack make the human body bear additional load, resulting in additional consumption of metabolic energy during the human body transportation process.

[0006] The inertia of the rigid exoskeleton body will affect a person's natural gait, and there is usually a misalignment problem between the robot joints and the human joints, which makes human-machine coordinated control difficult and has limited improvement in the wearer's carrying capacity; flexible robot exoskeletons can only provide assistance to the joints of the lower limbs, but cannot transfer the load, causing the human body to still bear a large load.

[0007] Most of the research on the transport auxiliary platform system is classified by the chassis mechanical structure, mainly focusing on: wheeled, footed, and tracked. Among them, the wheeled type focuses on the two-wheel balance system, which can be divided into three aspects: ordinary two-wheel inverted pendulum balance chassis, inverted pendulum balance chassis with sliders, and wheel-leg balance chassis.

[0008] Tracked chassis have good terrain passability, but lack in moving speed and flexibility. Among the foot-type chassis, the bipedal chassis and quadrupedal chassis have a more streamlined structure, and have stronger passability and flexibility, but the running speed is slower than that of wheeled and tracked chassis. Wheeled chassis can have a faster moving speed, especially transport robots represented by AGV robots. Their four-wheeled chassis can flexibly move in all directions, but the operating environment is flat ground and cannot adapt to complex terrain. Nowadays, in order to pursue smaller size and higher flexibility, the two-wheel balance system has become the research focus of wheeled chassis.

[0009] An ordinary two-wheeled inverted pendulum balancing chassis achieves the balance of the inverted pendulum by accelerating and decelerating the driving wheels, that is, when the vehicle body tilts forward (the center of gravity is in front of the support point), the driving wheels accelerate forward, and when the vehicle body leans backward (the center of gravity is behind the support point), the driving wheels accelerate backward. The center of gravity is adjusted by changing the pitch angle during the movement process, thereby achieving 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 torso (body) cannot maintain a vertical posture continuously during movement, that is, it is difficult to achieve the function of stable transportation. In addition, an ordinary two-wheeled inverted pendulum balancing chassis needs to be balanced by accelerating and decelerating the driving wheels, which is more suitable for continuous ground environments. It is easy to fall when encountering stepped terrain such as curbs and steps during movement.

[0010] The inverted pendulum balancing chassis with a slider can change the center of gravity by changing the position of the slider, thereby achieving forward and backward movement and acceleration and deceleration. The control is relatively simple and can start and stop quickly. The center of gravity can be changed by adjusting the slider while the robot torso remains in a vertical position to achieve movement. However, the inverted pendulum balancing chassis with a slider needs to add a slider device for center of gravity adjustment. The weight of the slider is relatively small compared to the entire robot, and the adjustment range of the robot's center of gravity is limited, making it difficult to obtain a large acceleration. In addition, the inverted pendulum balancing chassis with a slider is also suitable for continuous ground environments. When encountering stepped terrain such as curbs and stairs during movement, it is easy to fall.

[0011] The wheel-legged balancing chassis can quickly change its center of gravity by deforming its legs, thereby achieving forward and backward movement, acceleration and deceleration, and even bouncing, and the robot's trunk posture can remain vertical. However, the wheel-legged balancing chassis is still difficult to fully adapt to complex terrain, such as gravel and steps, and still needs to cooperate with people to complete the transportation work.

[0012] In addition, most of the above-mentioned transport chassis on the market are difficult to interact with humans and to help improve the human carrying and transporting capabilities. Summary of the invention

[0013] The purpose of the present invention is to provide a wearable human-machine integrated wheel-foot robot, which can adapt to complex road environments through wheel-foot switching, and the switching structure is flexible and stable.

[0014] To achieve the above-mentioned object, the present invention provides a human-machine integrated wheeled leg robot, comprising a connection platform and a left wheel leg and a right wheel leg movably connected to the connection platform via a swing motor; the left wheel leg comprises a thigh, a transmission connecting rod group, a shank and a wheel group; the right wheel leg has the same structure as the left wheel leg;

[0015] The calf includes an ankle joint motor layout assembly, two ankle joint connecting rod screws and carbon tubes, a calf carbon tube, a knee-calf connecting plate and an ankle joint assembly; one end of the thigh and the transmission connecting rod assembly are both movably connected to the knee-calf connecting plate, and the other end is movably connected to the swing motor; one end of the calf carbon tube is connected to the end of the knee-calf connecting plate, and the other end is movably connected to the wheel set through the ankle joint assembly; the other end of the knee-calf connecting plate is connected to the ankle joint motor layout assembly;

[0016] One ends of the two ankle joint connecting rod screws and the carbon tube are connected to the ankle joint motor layout assembly, and the other ends are movably connected to the wheel set through the ankle joint assembly; the movement of the two ankle joint connecting rod screws and the carbon tube is driven by the ankle joint motor layout assembly to realize wheel-foot switching.

[0017] Further, the ankle joint assembly includes a wheel set connecting flange, a universal joint, a second calf fixing member, an ankle joint limiter, a straight shaft, a first shaft connecting member, two second shaft connecting members and a wheel set connecting plate;

[0018] The wheel set connecting flange and the wheel set connecting plate are both fixedly connected to the wheel set, and the wheel set connecting flange is located in the middle of the wheel set connecting plate; one end of the second shank fixing piece is fixed to the wheel set connecting flange through the universal joint, and the other end is connected to the shank carbon tube;

[0019] The straight shaft is fixed to the side of the wheel assembly connecting plate through the first shaft connector, and the two ends of the straight shaft are respectively connected to a second shaft connector for connecting the two ankle joint connecting rod screws and the carbon tube.

[0020] Furthermore, the wheel set includes a driving motor, a wheel hub rotatably connected to a first end of the driving motor, and a tire sleeved on an outer side of the wheel hub, wherein the driving motor is used to drive the tire to rotate in a wheeled state;

[0021] The wheel set connecting flange includes a flange base fixedly connected to the second end of the driving motor and a flange limiting plate vertically arranged on the flange base; the second calf fixing member includes a fixing member body movably connected to the universal joint and a fixing member limiting plate fixed to one side of the fixing member body; the plane where the fixing member limiting plate is located is parallel to the calf carbon tube, and protrudes outward toward one end of the universal joint, so that in the wheeled state, it contacts the flange limiting plate to achieve the limitation of the wheeled state.

[0022] Furthermore, the wheel hub includes a first wheel hub outer plate, a first wheel hub support, a first wheel hub inner plate, a second wheel hub support, a second wheel hub inner plate, an isolation column and a second wheel hub outer plate which are fixed together in sequence by screws.

[0023] Furthermore, the ankle joint motor layout assembly includes two groups of motor-driven swing arms respectively used to be flexibly connected to the two ankle joint connecting rod screws and one end of the carbon tube, and a group of knee-calf connecting plate fixing parts flexibly connected to one end of the calf carbon tube; the fixing parts are located in the middle of the two groups of motor-driven swing arms;

[0024] Each group of the motor-driven swing arms comprises a first ankle joint motor output swing arm, a second ankle joint motor output swing arm, an ankle joint motor, a first ankle joint motor fixing part and a second ankle joint motor fixing part; the two ankle joint motors of the two groups of the motor-driven swing arms are coaxially arranged, the outer periphery of each ankle joint motor is fixed by the second ankle joint motor fixing part, the first ankle joint motor fixing part is located in the middle of the two ankle joint motors and can rotate, and the knee-calf connecting plate fixing part is connected to the end of the first ankle joint motor fixing part for fixing the knee-calf connecting plate;

[0025] One end of the second ankle joint motor output swing arm is movably connected to the ankle joint motor, and the other end is connected to the first ankle joint motor output swing arm. The knee joint connecting rod screw and carbon tube are movably connected to the first ankle joint motor output swing arm.

[0026] Further, the thigh includes a first thigh fixing member, a thigh carbon tube, a second thigh fixing member, a first cross roller bearing, a gasket and a thigh-knee connecting plate;

[0027] One end of the thigh carbon tube is movably connected to the swing motor through a first thigh fixing piece, and the other end is connected to the thigh-knee connecting plate through a second thigh fixing piece; the first cross roller bearing is fixed to the thigh-knee connecting plate, the gasket is fixed to the first cross roller bearing, and the thigh-knee connecting plate is movably connected to the knee-calf connecting plate through the first cross roller bearing.

[0028] Furthermore, the transmission connecting rod group includes a knee joint connecting rod screw and carbon tube, a calf swing motor output swing arm and a second swing arm pad; one end of the knee joint connecting rod screw and carbon tube is movably connected to the knee-calf connecting plate through a fisheye joint, and the other end is movably connected to the calf swing motor output swing arm through a fisheye joint, and the second swing arm pad is located between the fisheye joint and the calf swing motor output swing arm.

[0029] Further, the swing motor includes a thigh swing motor, a thigh pad, a hip-thigh connecting plate, a calf swing motor, a thigh reinforcement plate and a swing motor pad; the hip-thigh connecting plate, the swing motor pad and the thigh swing motor are connected and fixed by screws, and the thigh pad, the hip-thigh connecting plate and the thigh reinforcement plate are connected and fixed by screws and anti-loosening nuts; the calf swing motor is located between the hip-thigh connecting plate and the thigh reinforcement plate, and the calf swing motor is connected and fixed by screws from both sides of the hip-thigh connecting plate and the thigh reinforcement plate;

[0030] The angle between the thigh and the calf is changed by the calf swing motor to achieve the squatting and standing movements of the wheeled foot robot;

[0031] The thigh swing motor is used to control the wheeled-legged robot to move forward or backward.

[0032] Further, the connection platform includes a first fixing plate, two hip joint swing motors, a second fixing plate, four support members, a bottom plate, a third fixing plate and two hip joint assemblies;

[0033] The hip joint assembly includes a second crossed roller bearing, a first hip joint plate, a second hip joint plate, a first hip joint pad, a second hip joint pad, a third hip joint plate and a fourth hip joint plate;

[0034] The first fixing plate, the second fixing plate and the third fixing plate are fixed in parallel to the bottom plate through four supporting members, the hip joint assembly is located between the second fixing plate and the third fixing plate, and the two hip joint swing motors are fixed between the first fixing plate and the second fixing plate, and are respectively connected to the first hip joint plates of the two hip joint assemblies; the hip joint swing motors are used to realize the movement of the wheeled foot robot to step left or right;

[0035] The first hip joint plate, the second hip joint plate, the third hip joint plate and the fourth hip joint plate form a rectangular frame; the first hip joint plate and the fourth hip joint plate are respectively fixed to the second fixing plate and the third fixing plate through a second cross roller bearing;

[0036] The first hip joint pad and the second hip joint pad are respectively fixed to the inner walls of the second hip joint plate and the third hip joint plate, and the thigh swing motor is fixed between the first hip joint pad and the second hip joint pad.

[0037] Furthermore, the wheeled robot also includes a docking module connected to the connecting platform, a connecting spine fixed to the docking module, and a lock fixed to the end of the connecting spine, and the lock is used to dock the wheeled robot with the human body; the docking module is provided with a wire-retracting motor connected to the connecting spine, which is used to control the swing of the connecting spine to change the position of the lock.

[0038] The docking module includes a docking motor, a first fixing member, a lead screw coupling, a lead screw, a slide rail, a winding wheel, a take-up motor, a first pulley plate, a second pulley plate, a third pulley plate, a lead screw nut, a fourth pulley plate, a second aluminum column, a third aluminum column, a slider, a second fixing member and a lead screw flange bearing;

[0039] The connecting spine includes a first spine joint at the tail, a second spine joint at the tail, a first spine joint, a second spine joint, a spine flange bearing, a first spine joint at the head, and a second spine joint at the head;

[0040] The lock comprises a lock female end, a lock flange bearing, a lock button, a lock tongue and a lock male end;

[0041] The slide rail is fixed to the third fixed plate in the connecting platform by screw connection; the first spinal joint at the tail part of the connecting spine is fixed to the fourth pulley plate of the docking module by screw connection; the male head of the lock is fixed to the first spinal joint at the head part of the connecting spine by screw connection, and the female end of the lock is used to connect to a fixed point of the human body.

[0042] In general, the above technical solution conceived by the present invention has the following technical advantages compared with the prior art:

[0043] 1. The human-machine integrated wheel-foot robot provided by the present invention has a knee joint structure formed by the movable connection between the thigh and the calf, and an ankle joint structure formed by the movable connection between the calf and the wheel set. The wheel-foot switching is achieved by changing the angle between the calf and the wheel set, and the movements of the thigh and calf driven by the swing motor are realized to realize squatting, standing up, stepping and other actions.

[0044] 2. The knee joint structure of the present invention is formed by the active connection between the thigh and the calf through the thigh carbon tube and the knee joint connecting rod screw and the carbon tube and the knee-calf connecting plate. It is light in weight and ensures the strength of use, and is easy to assemble and disassemble. The joint shaft adopts the first cross roller bearing, so that the joint lubrication of the knee joint will not be greatly affected when it is subjected to radial impact, and the impact on the joint can be effectively reduced when it is subjected to axial impact. And by rotating the connecting rod of the knee joint connecting rod screw and the carbon tube, the angle between the thigh and the calf can be changed, and the robot can squat and stand up, so the control flexibility is higher.

[0045] 3. The fisheye joint at the end of the ankle joint connecting rod screw and carbon tube is connected and fixed with the nylon gasket in the ankle joint motor layout assembly and the output swing arm of the first ankle joint motor by screws and anti-loosening nuts. By fixing the fisheye joint on the nylon gasket in a cantilevered and open manner, the range of motion of the fisheye joint can be effectively increased to a range of ±20°, making the movement of the robot ankle joint more flexible. In addition, the layout of the ankle joint motor takes into account the range of motion of the calf, that is, the second ankle joint motor fixing part will not interfere with the thigh when the calf moves; this design can make the angle between the calf and the thigh between 32° and 140°, ensuring the flexibility of the robot knee joint.

[0046] 4. The limiting structure of the second calf fixing part and the wheel set connecting flange of the present invention realizes mechanical limiting through the orthogonal contact of two surfaces on the parts in the wheeled state. Under the action of the gravity of the robot, the ankle joint motor does not apply a driving force and can ensure the stability of the wheeled state. That is, the position between the wheel set and the calf is determined and accurately stable, reducing the control burden of the robot.

[0047] 5. The present invention realizes the left and right translation of the connecting spine through the docking motor of the docking module, so that the robot can still calibrate the docking mechanism when it cannot be accurately aligned with the human body; the left and right swing of the connecting spine can be realized through the take-up motor, thereby changing the position of the end lock, so that when the robot wearer turns, the human body will not be affected by the direction of the robot, reducing the sense of restraint when wearing it.

[0048] 6. The wheeled-legged robot for human-machine integration of the present invention mainly includes a wheeled-legged robot chassis and a connecting part between the robot and the human body. The wheeled-legged balancing robot chassis can be connected and fixed to the human body through the connecting part between the robot and the human body, so as to lift the human waist and reduce the carrying burden of the human body; the wheeled-legged balancing robot chassis can also be operated independently to perform carrying tasks in the form of an individual robot. Therefore, it has a wide range of application scenarios and is practical and powerful. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 A front perspective view of a human-machine collaborative wheeled-legged robot according to the present invention;

[0050] Figure 2 It is a schematic diagram of the structure of the left wheel leg of the present invention;

[0051] Figure 3 It is a schematic diagram of the thigh structure of the present invention;

[0052] Figure 4 It is a schematic diagram of the lower leg structure of the present invention;

[0053] Figure 5 It is a schematic diagram of the structure of the ankle joint motor layout assembly of the present invention;

[0054] Figure 6 It is a schematic diagram of the ankle joint assembly structure of the present invention;

[0055] Figure 7 It is a schematic diagram of the wheel set structure of the present invention;

[0056] Figure 8 It is a schematic diagram of the hub structure of the present invention;

[0057] Fig. 9 It is a schematic diagram of the structure of the transmission connecting rod group of the present invention;

[0058] Fig.10 It is a schematic diagram of the connection platform structure of the present invention;

[0059] Fig.11 It is a schematic diagram of the structure of the hip joint assembly of the present invention;

[0060] Fig.12 It is a schematic diagram of the docking module structure of the present invention;

[0061] Fig.13 A schematic diagram of a connected spine structure of the present invention;

[0062] Fig.14 It is a schematic diagram of the lock structure of the present invention;

[0063] Fig.15 It is a schematic diagram of the ankle joint mechanical limiting structure of the present invention;

[0064] Fig.16 It is a schematic diagram of the limiting structure between the second calf fixing member and the wheel assembly connecting flange;

[0065] Fig.17 It is a schematic diagram of the structure of the lower leg at another angle of the present invention;

[0066] Fig.18 It is a schematic diagram of the wheeled mobile mode of the present invention;

[0067] Fig.19 It is a schematic diagram of the foot-type walking mode of the present invention;

[0068] Fig. 20 A schematic diagram of the complex terrain adaptive adjustment of the present invention;

[0069] Fig.21 It is a schematic diagram of wheel-foot posture switching of the present invention.

[0070] Throughout the drawings, the same reference numerals are used to denote the same elements or structures, wherein:

[0071] 1-connecting platform; 2-left wheel leg; 3-right wheel leg; 4-thigh; 5-transmission connecting rod group; 6-calf; 7-wheel group; 8-thigh swing motor; 9-thigh pad; 10-hip-thigh connecting plate; 11-calf swing motor; 12-thigh reinforcement plate; 13-swing motor pad; 14-first thigh fixing piece; 15-thigh carbon tube; 16-second thigh fixing piece; 171-first cross roller bearing; 172-second cross roller bearing; 18-gasket; 19-thigh-knee connecting plate;

[0072] 20-ankle joint motor layout assembly; 211-first fisheye joint; 212-second fisheye joint; 22-ankle joint connecting rod screw and carbon tube; 23-knee-calf connecting plate; 24-first calf fixing piece; 25-calf carbon tube; 26-ankle joint assembly; 27-nylon gasket; 28-first ankle joint motor output swing arm; 29-first swing arm pad; 30-second ankle joint motor output swing arm; 31-ankle joint motor pad; 32-ankle joint motor; 33-first ankle joint motor fixing piece; 34-second ankle joint motor fixing piece;

[0073] 35-second calf fixing part; 351-fixing part body; 352-fixing part limiting plate; 36-universal joint; 37-wheel set connecting flange; 371-flange base; 372-flange limiting plate; 38-ankle joint limiting; 39-slotted shaft; 40-first shaft connecting part; 41-second shaft connecting part; 42-wheel set connecting plate; 43-tire; 44-wheel hub; 45-driving motor; 46-first wheel hub outer plate; 47-first wheel hub support; 48-first wheel hub inner plate; 49-second wheel hub support; 50-second wheel hub inner plate; 51-isolating column; 52-second wheel hub outer plate; 53-calf swing motor output swing arm; 54-second swing arm pad; 55-knee joint connecting rod lead screw and carbon tube;

[0074] 56-first fixing plate; 57-hip joint swing motor; 58-second fixing plate; 59-support; 60-bottom plate; 61-third fixing plate; 62-hip joint assembly; 63-first hip joint plate; 64-second hip joint plate; 65-first hip joint pad; 66-first aluminum column; 67-second hip joint pad; 68-third hip joint plate; 69-fourth hip joint plate;

[0075] 70-docking module; 71-connecting spine; 72-lock; 73-docking motor; 74-first fixing piece; 75-screw coupling; 76-screw; 77-slide rail; 78-winding wheel; 79-reeling motor; 80-first pulley plate; 81-second pulley plate; 82-third pulley plate; 83-screw nut; 84-fourth pulley plate; 85-second aluminum column; 86-third aluminum column; 87-slider; 88-second fixing piece; 89-screw flange bearing; 90-first spine joint at the tail; 91-second spine joint at the tail; 92-first spine joint; 93-second spine joint; 94-spine flange bearing; 95-first spine joint at the head; 96-second spine joint at the head; 97-lock female end; 98-lock flange bearing; 99-lock button; 100-lock tongue; 101-lock male head. DETAILED DESCRIPTION

[0076] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is further described in detail below in conjunction with the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0077] like Figures 1 to 11 As shown, the wheeled-legged robot for human-machine integration provided by the present invention mainly includes a wheeled-legged robot chassis and a connecting part between the robot and the human body. The wheeled-legged balancing robot chassis can be connected and fixed to the human body through the connecting part between the robot and the human body, so as to achieve the purpose of lifting the human waist and reducing the carrying burden of the human body; the wheeled-legged balancing robot chassis can also operate independently and perform carrying tasks in the form of an individual robot.

[0078] The chassis of the wheel-foot robot mainly includes a connection platform 1 and a left wheel leg 2 and a right wheel leg 3 that are movably connected to the connection platform 1 through a swing motor; the left wheel leg 2 includes a thigh 4, a transmission connecting rod group 5, a shank 6 and a wheel group 7; the right wheel leg 3 has the same structure as the left wheel leg 2. The thigh 4 and the shank 6 are movably connected to form a knee joint structure, and the shank 6 and the wheel group 7 are movably connected to form an ankle joint structure. The wheel-foot switch is performed by changing the angle between the shank 6 and the wheel group 7, and the thigh 4 and the shank 6 are driven by the swing motor to move to achieve squatting, standing up, stepping and other actions.

[0079] The calf 6 includes an ankle joint motor layout assembly 20, two ankle joint connecting rod screws and carbon tubes 22, a calf carbon tube 25, a knee-calf connecting plate 23 and an ankle joint assembly 26; one end of the thigh 4 and the transmission connecting rod assembly 5 are both movably connected to the knee-calf connecting plate 23, and the other end is movably connected to the swing motor; one end of the calf carbon tube 25 is connected to the end of the knee-calf connecting plate 23, and the other end is movably connected to the wheel set 7 through the ankle joint assembly 26; the other end of the knee-calf connecting plate 23 is connected to the ankle joint motor layout assembly 20;

[0080] One end of the two ankle joint connecting rod screws and the carbon tube 22 are connected to the ankle joint motor layout assembly 20, and the other end is movably connected to the wheel group 7 through the ankle joint assembly 26; the movement of the two ankle joint connecting rod screws and the carbon tube 22 is driven by the ankle joint motor layout assembly 20 to realize wheel-foot switching.

[0081] The connection method between the left wheel leg 2 and the connection platform 1 is: the thigh swing motor 8 on the left wheel leg 2 is installed and fixed between the first hip joint pad 65 and the second hip joint pad 67 on the connection platform 1 by screws. The connection method of the right wheel leg 3 and the connection platform 1 is similar. The slide rail 77 on the connection platform side of the docking module 70 is fixed to the third fixing plate 61 in the connection platform 1 by screw connection, so as to achieve the fixed connection between the docking module 70 and the connection platform 1. The first spine joint 90 at the tail of the connecting spine 71 is fixed to the fourth pulley plate 84 in the docking module 70 by screw connection, so as to achieve the fixed connection between the connecting spine 71 and the docking module 70. The male lock 101 in the lock 72 is fixed to the first spine joint 95 at the head of the connecting spine 71 by screw connection, so as to achieve the fixed connection between the lock 72 and the connecting spine 71. The female end 97 in the lock 72 is connected to the fixed point of the human body.

[0082] See also Fig.10 and 11The connection platform 1 includes a swing motor pad 13, a first fixing plate 56, two hip joint swing motors 57, a second fixing plate 58, four support members 59, a bottom plate 60, a third fixing plate 61 and two hip joint assemblies 62. The four support members 59 are fixed to the corresponding positions of the bottom plate 60 by screws and lock nuts; the first fixing plate 56, the second fixing plate 58 and the third fixing plate 61 are connected and fixed to the support member 59 in parallel by screws and lock nuts to complete the construction of the connection platform frame. Among them, the first fixing plate 56 and the second fixing plate 58 are fixed adjacently to one side of the support member 59, and the third fixing plate 61 is fixed to the other side of the support member 59. The two hip joint swing motors 57 are fixed between the first fixing plate 56 and the second fixing plate 58 by screws, and are respectively located at the two ends of the first fixing plate 56 and the second fixing plate 58, and are respectively used to cooperate with the two hip joint assemblies 62. The hip joint assembly 62 is fixed between the swing motor pad 13 and the third fixing plate 61 by screws. Among them, the fixing method for connecting one side of the swing motor pad 13 is: use screws to pass through the first hip joint plate 63 and the motor pad 13 in the hip joint assembly 62, and finally connect and fix them at the corresponding hole position on the hip joint swing motor 57; the fixing method for connecting one side of the third fixed plate 61 is: use screws to pass through the fourth hip joint plate 69, the second cross roller bearing 172, the gasket 18 and the third fixed plate 61 in the hip joint assembly 62, and use a lock nut at the end of the screw to lock all the passed parts to complete the connection and fixation.

[0083] See also Fig.11 , the hip joint assembly 62 comprises a second cross roller bearing 172, a gasket 18, a first hip joint plate 63, a second hip joint plate 64, a first hip joint pad 65, a first aluminum column 66, a second hip joint pad 67, a third hip joint plate 68 and a fourth hip joint plate 69. The first hip joint plate 63 and the fourth hip joint plate 69 are located between the second hip joint plate 64 and the third hip joint plate 68, and the first hip joint plate 63 and the fourth hip joint plate 69 are spliced ​​at the corresponding slots on the second hip joint plate 64 and the third hip joint plate 68. The second hip joint plate 64 and the third hip joint plate 68 are fixed with an aluminum column 66 by screw connection to tighten the two plates, and the first hip joint plate 63 and the fourth hip joint plate 69 are clamped to prevent loosening. The first hip joint plate 63, the second hip joint plate 64, the third hip joint plate 68 and the fourth hip joint plate 69 form a rectangular frame. The first hip joint pad 65 is fixed to the second hip joint plate 64 by screws; the second hip joint pad 67 is fixed to the third hip joint plate 68 by screws. The second cross roller bearing 172 is fixedly mounted on the fourth hip joint plate 69 by screws and lock nuts. The washer 18 is fixed to the second cross roller bearing 172 by screws.

[0084] See also Figure 2-9The left wheel leg 2 includes a thigh 4, a transmission connecting rod group 5, a shank 6 and a wheel group 7. Use screws to sequentially penetrate the first cross roller bearing 171 in the thigh 4, the gasket 18, the thigh-knee connecting plate 19 and the knee-shank connecting plate 23 in the shank 6. The end of the screw is locked with a lock nut to complete the connection and fixation of the thigh and the shank. Fig. 9 , use screws to pass through the output swing arm 53 of the calf swing motor in the transmission link group 5 and the motor pad 13 in the thigh 4, and finally connect and fix them to the corresponding holes on the thigh swing motor 8 in the thigh 4, completing the connection and fixation of the transmission link group 5 and the thigh 4. Use screws to connect the second fisheye joint 212 in the transmission link group 5 and the corresponding position of the knee-calf connecting plate 23 in the calf 6, completing the connection and fixation of the transmission link group 5 and the calf 6. Please refer to Figure 6 and 7 , use screws to pass through the ankle joint limit 38 and the wheel set connecting plate 42 in the ankle joint assembly 26 in the calf 6 in sequence, and finally connect and fix them to the corresponding hole positions of the drive motor 45 in the wheel set 7; use screws to pass through the wheel set connecting flange 37 in the ankle joint assembly 26 in the calf 6, and connect and fix them to the corresponding hole positions of the drive motor 45 in the wheel set 7 to complete the connection and fixation of the wheel set 7 and the calf 6.

[0085] See also Figure 3The thigh 4 includes a thigh swing motor 8, a thigh pad 9, a hip-thigh connecting plate 10, a calf swing motor 11, a thigh reinforcement plate 12, a swing motor pad 13, a first thigh fixing member 14, a thigh carbon tube 15, a second thigh fixing member 16, a first cross roller bearing 171, a gasket 18 and a thigh-knee connecting plate 19. Screws are used to pass through the hip-thigh connecting plate 10, the swing motor pad 13 and the thigh swing motor 8 to complete the connection and fixation. The thigh pad 9, the hip-thigh connecting plate 10 and the thigh reinforcement plate 12 are connected and fixed by screws and anti-loosening nuts. The calf swing motor 11 is located between the hip-thigh connecting plate 10 and the thigh reinforcement plate 12, and the calf swing motor 11 is connected and fixed by screws from both sides of the hip-thigh connecting plate 10 and the thigh reinforcement plate 12. The first thigh fixing member 14 and the second thigh fixing member 16 are respectively fixed by screws at both ends of the thigh carbon tube 15. Use screws to pass through the corresponding holes of the hip-thigh connecting plate 10, the first thigh fixing member 14 and the thigh reinforcing plate 12 in sequence to complete the connection and fixation of the thigh carbon tube 15 on the hip joint side; use screws to pass through the corresponding holes of the thigh-knee connecting plate 19, the second thigh fixing member 16 and the knee-calf connecting plate 23 in sequence to complete the connection and fixation of the thigh carbon tube 15 on the knee joint side. The gasket 18 is fixed to the first cross roller bearing 171 by screw connection. The first cross roller bearing 171 is fixed to the thigh-knee connecting plate 19 by screws and anti-loosening nuts. The main load-bearing structure of the thigh 4 is the thigh carbon tube 15, which ensures the strength of use while being light in weight, and the internal space is convenient for the wiring of related motors and control devices. The first thigh fixing member 14 and the second thigh fixing member 16 are made of nylon sintering technology, which has good structural strength while being light in material.

[0086] See also Figure 4The calf 6 includes an ankle joint motor layout assembly 20, a first fisheye joint 211, two ankle joint connecting rod screws and a carbon tube 22, a knee-calf connecting plate 23, a first calf fixing piece 24, a calf carbon tube 25 and an ankle joint assembly 26. The two ends of the calf carbon tube 25 are fixed with the first calf fixing piece 24 and the second calf fixing piece 35 in the joint motor layout assembly 20 by screw connection. The knee-calf connecting plate 23 is fixed to the first calf fixing piece 24 by screw connection. The ankle joint motor layout assembly 20 is fixed between the two knee-calf connecting plates 23 by screws and anti-loosening nuts. The first fisheye joint 211 is connected and fixed to the two ends of the ankle joint connecting rod screw and the carbon tube 22. The first fisheye joint 211 at one end of each ankle joint connecting rod screw and carbon tube 22 is connected and fixed to the nylon gasket 27 and the first ankle joint motor output swing arm 28 in the ankle joint motor layout assembly 20 by screws and anti-loosening nuts; the first fisheye joint 211 at the other end is connected and fixed to the second shaft connector 41 in the ankle joint assembly 20 by screws and anti-loosening nuts. The main load-bearing structure of the calf 6 is the calf carbon tube 25, which ensures the strength of use while being light in weight, and the internal space facilitates the wiring of related motors and control devices. The first calf fixing member 24 and the second calf fixing member 35 are made of nylon sintering technology, which has good structural strength while being light in material.

[0087] The second thigh fixing part 16, the first cross roller bearing 171, the gasket 18, the thigh-knee connecting plate 19, the knee-calf connecting plate 23 and the first calf fixing part 24 together constitute the knee joint of the robot. Because carbon fiber plates and nylon sintered parts are used, the weight is light while ensuring the strength of use, and it is easy to assemble and disassemble. The joint shaft adopts the first cross roller bearing 171, so that the joint lubrication of the knee joint will not be greatly affected when it is subjected to radial impact, and it can also effectively reduce the impact on the joint when it is subjected to axial impact.

[0088] See also Figure 5The ankle joint motor layout assembly 20 includes a nylon gasket 27, two first ankle joint motor output swing arms 28, two first swing arm pads 29, two second ankle joint motor output swing arms 30, an ankle joint motor pad 31, an ankle joint motor 32, a first ankle joint motor fixing piece 33 and a second ankle joint motor fixing piece 34. Use screws to pass through the second ankle joint motor fixing piece 34 to connect and fix it to the corresponding hole position of the ankle joint motor 32, and use screws to pass through the second ankle joint motor fixing piece 34 to connect and fix it to the corresponding hole position of the first ankle joint motor fixing piece 33 to complete the installation and fixation of the ankle joint motor 32. Use screws and anti-loosening nuts to connect and fix the first ankle joint motor output swing arm 28, the first swing arm pad 29, and the second ankle joint motor output swing arm 30 to complete the installation of the output swing arm as a whole. Use screws to pass through the second ankle joint motor output swing arm 30 and the ankle joint motor pad 31 in sequence to connect and fix them to the corresponding hole positions on the rotor of the ankle joint motor 32. The nylon gasket 27 is fixed to the first ankle joint motor output swing arm 28 by screws. The first fisheye joint 211 at the end of the ankle joint connecting rod lead screw and the carbon tube 22 is connected and fixed to the nylon gasket 27 and the first ankle joint motor output swing arm 28 in the ankle joint motor layout assembly 20 by screws and anti-loosening nuts. The first fisheye joint 211 is fixed to the nylon gasket 27 in a cantilevered and open manner, which can effectively increase the range of motion of the first fisheye joint 211 to a range of ±20°, making the movement of the robot ankle joint more flexible. In addition, the layout of the ankle joint motor 32 takes into account the range of motion of the calf, that is, the second ankle joint motor fixing part 34 will not interfere with the thigh 4 when the calf moves; this design can make the activity angle between the calf and the thigh between 32° and 140°, ensuring the flexibility of the robot knee joint.

[0089] See also Figure 6The ankle joint assembly 26 includes a second calf fixing member 35, a universal joint 36, a wheel set connection flange 37, an ankle joint limiter 38, a straight shaft 39, a first shaft connector 40, a second shaft connector 41 and a wheel set connection plate 42. The two sides of the universal joint 36 are connected and fixed with the second calf fixing member 35 and the wheel set connection flange 37 by means of top screws. The two ends of the straight shaft 39 are connected and fixed with the first shaft connector 40 and the second shaft connector 41 by means of top screws, so that the first shaft connector 40 and the second shaft connector 41 can perform a single degree of freedom relative rotation. The first shaft connector 40 is fixed to the wheel set connection plate 42 by means of screws and anti-loosening nuts. The ankle joint limiter 38 is fixed to the wheel set connection plate 42 by means of screws. The first shaft connector 40 and the second shaft connector 41 are respectively connected to two ankle joint connecting rod screws and carbon tubes, and the second calf fixing member 35 is connected to the calf carbon tube 25. The inclination angle of the limiting surface in the ankle limit 38 is determined according to the range of motion of the ankle joint, that is, there will be no interference between the components related to the ankle joint movement. The inclination angle of the limiting surface is slightly larger than the extreme grounding angle of the lower leg, ensuring that when the ankle joint reaches the extreme position, the other components will not interfere and cause damage.

[0090] See also Fig.15 and 16 , the second calf fixing member 35 is connected to the wheel set connection flange 37 through the universal joint 36. Specifically, the second calf fixing member 35 includes a fixing member body 351 and a fixing member limiting plate 352 which are connected as one body. The fixing member limiting plate 352 protrudes outwards compared with the fixing member body 351 at one end close to the universal joint 36, forming a step structure. The wheel set connection flange 37 includes a flange base 371 and a flange limiting plate 372. The flange base 371 is fixed on the driving motor. The flange limiting plate 372 is vertically arranged on the flange base 371 to form a convex structure. When the universal joint 36 rotates so that the calf carbon tube 25 is parallel to the plane where the flange base 371 is located (i.e. in the wheel state), the fixing member limiting plate 352 and the flange limiting plate 372 abut against each other to form a limiting structure.

[0091] Since the wheel set 7 and the calf 6 are connected by the universal joint 36, which is a key component in the ankle joint assembly 26, and the universal joint 36 has certain defects due to its processing accuracy and design, when the ankle joint motor 32 does not participate in the control of applying driving force for constraint, there are two rotational degrees of freedom (such as Fig.15 Therefore, the limiting structure of the second calf fixing member 35 and the wheel connecting flange 37 designed in the present invention realizes mechanical limiting (such as Fig.15Right), under the action of the robot's gravity, the ankle joint motor 32 can ensure the stability of the wheeled state without applying a driving force, that is, the position between the wheel group 7 and the calf 6 is determined and accurately stable, reducing the control burden of the robot.

[0092] See also Figure 7 The wheel set 7 includes pneumatic wheel inner and outer tubes 43, a wheel hub 44 and a driving motor 45. The pneumatic wheel inner and outer tubes 43 are installed in the grooves of the wheel hub 44. The wheel hub 44 is fixed to the corresponding position of the rotor of the driving motor 45 by screws.

[0093] See also Figure 8 The wheel hub 44 includes a first wheel hub outer plate 46, a first wheel hub support 47, a first wheel hub inner plate 48, a second wheel hub support 49, a second wheel hub inner plate 50, a spacer 51 and a second wheel hub outer side plate 52. Screws are used to sequentially penetrate the first wheel hub outer plate 46, the first wheel hub support 47, the first wheel hub inner plate 48, the second wheel hub support 49, the second wheel hub inner plate 50, the spacer 51 and the second wheel hub outer side plate 52. The end of the screw is locked with a lock nut to complete the connection and fixation of all parts of the wheel hub. The design structure of the wheel hub 44 is convenient for the later replacement of pneumatic wheel inner and outer tires 43 of different sizes and drive motors 45 of different models.

[0094] See also Fig. 9 The transmission connecting rod group 5 includes a second fisheye joint 212, a calf swing motor output swing arm 53, a second swing arm pad 54, a knee joint connecting rod lead screw and a carbon tube 55. The second fisheye joint 212 is connected and fixed to both ends of the knee joint connecting rod lead screw and the carbon tube 55. The calf swing motor output swing arm 53 and the second swing arm pad 54 are connected and fixed using screws and lock nuts. The screws are used to pass through the second fisheye joint 212, the second swing arm pad 54 and the calf swing motor output swing arm 53 at one end of the connecting rod in sequence, and the end of the screw is locked with a lock nut to complete the connection and fixation of all the parts passed through.

[0095] The wheeled robot also includes a docking module 70 connected to the connecting platform 1, a connecting spine 71 fixed to the docking module 70, and a lock 72 fixed to the end of the connecting spine 71, wherein the lock 72 is used to dock the wheeled robot with the human body; the docking module 70 is provided with a wire-retracting motor connected to the connecting spine 71, which is used to control the swing of the connecting spine 71 to change the position of the lock 72.

[0096] See also Fig.12The docking module 70 includes a docking motor 73, a first fixing member 74, a lead screw coupling 75, a lead screw 76, a slide rail 77, a winding wheel 78, a take-up motor 79, a first pulley plate 80, a second pulley plate 81, a third pulley plate 82, a lead screw nut 83, a fourth pulley plate 84, a second aluminum column 85, a third aluminum column 86, a slider 87, a second fixing member 88 and a lead screw flange bearing 89. The docking motor 73 and one end of the slide rail 77 are respectively fixed to the first fixing member 74 by screws, and the other end of the slide rail 77 is fixed to the second fixing member 88 by screws. The rotor of the docking motor 73 is connected to the lead screw 76 through the lead screw coupling 75. The other end of the lead screw 76 is inserted into the lead screw flange bearing 89 embedded in the second fixing member 88. The slider 87 is located on the slide rail 77 and moves between the first fixing member 74 and the second fixing member 88. The slider 87 is fixed to the first pulley plate 80 by screws. The second pulley plate 81 and the third pulley plate 82 are spliced ​​between the two first pulley plates 80, and are locked and connected by the second aluminum column 85 and the corresponding screws. The lead screw nut 83 is fixed to the third pulley plate 82 by screws. The take-up motor 79 is fixed to the second pulley plate 81 by screws. The fourth pulley plate 84 is connected and fixed to the first pulley plate 80 by the third aluminum column 86 and the corresponding screws. The winding wheel 78 is fixed to the output rotor of the take-up motor 79 by screws. The rope on the winding wheel 78 is connected to the connecting spine 71.

[0097] See also Fig.13, the connecting spine 71 includes the first tail spine joint 90, the second tail spine joint 91, the first spine joint 92, the second spine joint 93, the spine flange bearing 94, the first head spine joint 95 and the second head spine joint 96. The first head spine joint 95 and the second head spine joint 96, the first spine joint 92 and the second spine joint 93, the first tail spine joint 90 and the second tail spine joint 91 are respectively connected and fixed to form joint modules with complete strokes by screws and nuts, and the spine flange bearings 94 are respectively embedded in the corresponding positions of the first head spine joint 95 and the first spine joint 92. The corresponding protrusion position of each joint module is inserted into the spine flange bearing 94 of the next joint to complete the connection of the entire connecting spine. The first tail spine joint 90 in the connecting spine 71 is fixed to the fourth pulley plate 84 in the docking module 70 by screw connection, so as to realize the fixed connection between the connecting spine 71 and the docking module 70. The openings on both sides of the connecting spine 71 are respectively passed through the spring and the Bowden wire, that is, the spring is fixed between the front and rear spine joints, and each spine joint is tightened by the spring to make the connecting spine 71 deflect to one side; the Bowden wire used on the other side is fixed at one end to the first spine joint 90 of the tail, passes through the first spine joint 92 and the first spine joint 90 of the head, and the other end is fixed on the winding wheel 78, and finally the purpose of the connecting spine 71 being able to swing left and right with only one motor control is achieved. The position of the connecting spine 71 is changed by sliding the four pulley plates 84, and the left and right swing of the connecting spine is achieved by the take-up motor 79, and the position of the end lock buckle 72 is changed, so that the human body of the robot wearer is not affected by the direction of the robot when turning, reducing the sense of restraint when wearing.

[0098] See also Fig.14 The lock 72 includes a lock female end 97, a lock flange bearing 98, a lock button 99, a lock tongue 100, and a lock male end 101. The lock flange bearing 98 is embedded in the corresponding position of the lock female end 97, and the lock tongue 100 is installed and fixed between the two lock flange bearings 98. The lock button 99 is placed in the corresponding empty space of the lock female end 97. The lock male end 101 in the lock 72 is fixed to the first spinal joint 95 of the head in the connecting spine 71 by screw connection, so as to realize the fixed connection between the lock 72 and the connecting spine 71. The female end 97 in the lock 72 is connected to the fixed point of the human body.

[0099] The connection platform 1 is internally provided with a battery pack and a controller (not shown) connected to the battery pack; the thigh swing motor 8, the calf swing motor 11, the ankle joint motor 32, the drive motor 45, the hip joint swing motor 57, the docking motor 73, and the wire-reeling motor 79 are all connected to the controller.

[0100] The working principle of the above-mentioned human-machine fusion wheeled robot is as follows:

[0101] The power supply element disposed inside the connection platform 1 provides a power source for the driving motor 45, so that the wheel set 7 can continue to operate and the robot can move in a wheeled state;

[0102] The power supply element provides a power source for the ankle joint motor 32. By controlling the two ankle joint motors 32 on the left wheel leg 2 or the right wheel leg 3, the posture of the wheel set 7 is changed to achieve different ground contact angles between the wheel set 7 and the ground and the wheel-foot switching function; the power supply element provides a power source for the calf swing motor 11. By controlling the calf swing motor 11, the angle between the thigh 4 and the calf 6 can be changed to achieve the robot's squatting and standing movements;

[0103] The power supply element provides a power source for the thigh swing motor 8, and the robot can move forward or backward by controlling the thigh swing motor 8;

[0104] The power supply element provides a power source for the hip joint swing motor 57, and the robot can move its legs to the left or right by controlling the hip joint swing motor 57;

[0105] The power supply element provides a power source for the docking motor 73. By controlling the docking motor 73, the left and right translation of the connection spine 71 can be achieved, so that the robot can still calibrate the docking mechanism when it cannot be accurately aligned with the human body;

[0106] The power supply element provides a power source for the take-up motor 79. By controlling the take-up motor 79, the connection spine 71 can be swung left and right, and the position of the end lock 72 can be changed, so that the human body of the robot wearer will not be affected by the direction of the robot when turning, reducing the sense of restraint when wearing it.

[0107] By controlling the thigh swing motor 8, the calf swing motor 11, the ankle joint motor 32, the drive motor 45, and the hip joint swing motor 57, the robot can achieve high-flexibility movement similar to the lower limbs of the human body and achieve multi-modal movement effects, including but not limited to wheeled movement, foot-based walking, adaptive adjustment of complex terrain, wheel-foot posture switching functions, and conversion actions between any two of the above modes.

[0108] The working principles of each mode of the present invention are as follows:

[0109] like Fig.18 As shown, wheeled movement: by controlling the ankle joint motor 32 on the left wheel leg 2 and the right wheel leg 3, the wheel set 7 on the left wheel leg 2 and the right wheel leg 3 is in a wheeled posture; by controlling the drive motor 45 on the left wheel leg 2 and the right wheel leg 3, the robot can achieve wheeled movement and keep the connection platform 1 balanced. At the same time, by coordinating and controlling the calf swing motor 11, the height of the connection platform 1 from the ground can be adjusted to achieve squatting movements.

[0110] like Fig.19 As shown, foot-type walking: by controlling the ankle joint motor 32 on the left wheel leg 2 and the right wheel leg 3, the wheel group 7 on the left wheel leg 2 and the right wheel leg 3 is in a foot-type posture, and the ankle joint motor 32 is always adjusted to form a suitable contact angle between the wheel group 7 and the ground; by controlling the thigh swing motor 8 and the calf swing motor 11, the robot can move forward and backward; by controlling the calf swing motor 11, the robot can move forward and backward and the hip joint swing motor 57 can be controlled to move the robot left and right. At the same time, the height of the connection platform 1 from the ground can be adjusted by coordinating the control of the calf swing motor 11, so as to achieve the action of squatting.

[0111] like Fig. 20 As shown, adaptive adjustment for complex terrain: by controlling the ankle joint motor 32 on the left wheel leg 2 and the right wheel leg 3, the wheel group 7 on the left wheel leg 2 and the right wheel leg 3 are placed in a wheeled or footed posture, and the ankle joint motor 32 is always adjusted to ensure that the wheel group 7 forms a suitable contact angle with the ground.

[0112] like Fig.21 As shown, the wheel-foot posture switching: by controlling the thigh swing motor 8 and the shank swing motor 11, the wheel set 7 to be switched is lifted off the ground, and then the ankle joint motor 32 on the left wheel leg 2 and the right wheel leg 3 is controlled to change the posture of the wheel set 7. At the same time, the thigh swing motor 8 and the shank swing motor 11 must be controlled at all times to ensure the balance of the robot during the whole process.

[0113] In summary, a hip joint swing motor 57 is fixedly mounted on the connection platform 1 of the present invention to control the side kicking and retracting action of the wheel leg. The hip joint swing motor 57 is connected to the thigh swing motor 8 via a bracket to control the forward and backward swinging action of the thigh. The thigh swing motor 8 is connected to the thigh connecting rod via a connecting piece, and a calf swing motor 11 is fixedly mounted on the thigh connecting rod to control the forward and backward swinging action of the calf. A pair of ankle joint motors 32 are fixedly mounted at the end of the calf to realize the wheel-foot switching function and provide the required degree of freedom for the ankle joint movement. A drive motor 45 for providing running power is fixedly mounted at the end of the ankle joint.

[0114] One end of the docking module 70 is fixed on the connection platform 1, and the other end is installed with the tail end of the connection spine 71, and the first section of the connection spine 71 is installed with a lock 72 for docking with a person. The docking motor 73 in the docking module 70 can drive the pulley structure in the docking module to achieve left and right movement, so as to achieve the purpose of adjusting the docking position during the docking process. The wire-retracting motor 73 in the docking module 70 realizes the left and right swing of the connection spine 71 by retracting and releasing the Bowden wire that runs through the entire connection spine, so as to achieve the purpose of conforming to the turning of the human body. The male head in the lock 72 can be inserted into the female end to achieve locking, and the button on the female end can be pressed to achieve unlocking.

[0115] The operation mode of the wheel-legged balancing robot chassis is a composite wheel-legged mode, and the two can be switched freely. When the running speed is required, the wheeled state is mainly used, and when the complex terrain needs to be passed, the footed state is mainly used. That is, the strong terrain adaptability of the bipedal chassis and the speed and flexibility of the wheel-legged balancing chassis are integrated into one chassis. The connection part between the robot and the human body can be quickly connected, locked and disconnected with the human body, and its structure can better transmit the lifting force provided by the wheel-legged balancing robot chassis to the human waist, so as to help improve the human carrying and transportation capacity.

[0116] It will be easily understood by those skilled in the art that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A human-machine collaborative wheeled robot, characterized in that: It comprises a connecting platform (1) and a left wheel leg (2) and a right wheel leg (3) movably connected to the connecting platform (1) via a swing motor; the left wheel leg (2) comprises a thigh (4), a transmission connecting rod group (5), a shank (6) and a wheel group (7); the right wheel leg (3) has the same structure as the left wheel leg (2); The calf (6) comprises an ankle joint motor layout assembly (20), two ankle joint connecting rod screws and carbon tubes (22), a calf carbon tube (25), a knee-calf connecting plate (23) and an ankle joint assembly (26); one end of the thigh (4) and the transmission connecting rod assembly (5) are both movably connected to the knee-calf connecting plate (23), and the other end is both movably connected to the swing motor; one end of the calf carbon tube (25) is connected to the end of the knee-calf connecting plate (23), and the other end is movably connected to the wheel set (7) through the ankle joint assembly (26); the other end of the knee-calf connecting plate (23) is connected to the ankle joint motor layout assembly (20); One end of the two ankle joint connecting rod screws and the carbon tube (22) are connected to the ankle joint motor layout assembly (20), and the other end is movably connected to the wheel set (7) through the ankle joint assembly (26); the movement of the two ankle joint connecting rod screws and the carbon tube (22) is driven by the ankle joint motor layout assembly (20) to realize wheel-foot switching.

2. The human-machine collaborative wheeled robot according to claim 1, characterized in that: The ankle joint assembly (26) comprises a wheel set connecting flange (37), a universal joint (36), a second calf fixing member (35), an ankle joint limiter (38), a straight shaft (39), a first shaft connecting member (40), two second shaft connecting members (41) and a wheel set connecting plate (42); The wheel set connecting flange (37) and the wheel set connecting plate (42) are both fixedly connected to the wheel set (7), and the wheel set connecting flange (37) is located in the middle of the wheel set connecting plate (42); one end of the second shank fixing member (35) is fixed to the wheel set connecting flange (37) through the universal joint (36), and the other end is connected to the shank carbon tube (25); The straight shaft (39) is fixed to the side of the wheel assembly connecting plate (42) through the first shaft connecting member (40), and the two ends of the straight shaft (39) are respectively connected to a second shaft connecting member (41) for connecting the two ankle joint connecting rod screws and the carbon tube (22).

3. The human-machine collaborative wheeled robot according to claim 2, characterized in that: The wheel set (7) comprises a driving motor (45), a wheel hub (44) rotatably connected to a first end of the driving motor (45), and a tire (43) sleeved on the outer side of the wheel hub (44), wherein the driving motor (45) is used to drive the tire (43) to rotate in a wheeled state; The wheel assembly connecting flange (37) includes a flange base (371) fixedly connected to the second end of the drive motor (45) and a flange limiting plate (372) vertically arranged on the flange base (371); the second calf fixing member (35) includes a fixing member body (351) movably connected to the universal joint (36) and a fixing member limiting plate (352) fixed to one side of the fixing member body (351); the plane where the fixing member limiting plate (352) is located is parallel to the calf carbon tube (25) and protrudes outwardly toward one end of the universal joint (36) so as to contact the flange limiting plate (372) in the wheeled state to achieve the limitation of the wheeled state.

4. The human-machine collaborative wheeled robot according to claim 3, characterized in that: The wheel hub (44) comprises a first wheel hub outer side plate (46), a first wheel hub support member (47), a first wheel hub inner side plate (48), a second wheel hub support member (49), a second wheel hub inner side plate (50), an isolation column (51) and a second wheel hub outer side plate (52) which are fixed together in sequence by screws.

5. The human-machine collaborative wheeled robot according to claim 1, characterized in that: The ankle joint motor layout assembly (20) comprises two groups of motor-driven swing arms respectively used for being movably connected to the two ankle joint connecting rod screws and one end of the carbon tube (22), and a group of knee-calf connecting plate fixing parts movably connected to one end of the calf carbon tube (25); the fixing parts are located in the middle of the two groups of motor-driven swing arms; Each group of the motor-driven swing arms comprises a first ankle joint motor output swing arm (28), a second ankle joint motor output swing arm (30), an ankle joint motor (32), a first ankle joint motor fixing piece (33) and a second ankle joint motor fixing piece (34); the two ankle joint motors (32) of the two groups of the motor-driven swing arms are coaxially arranged, the outer periphery of each ankle joint motor (32) is fixed by the second ankle joint motor fixing piece (34), the first ankle joint motor fixing piece (33) is located in the middle of the two ankle joint motors (32) and can rotate, and the knee-calf connecting plate fixing piece is connected to the end of the first ankle joint motor fixing piece (33) for fixing the knee-calf connecting plate (23); One end of the second ankle joint motor output swing arm (30) is movably connected to the ankle joint motor (32), and the other end is connected to the first ankle joint motor output swing arm (28); the ankle joint connecting rod screw and carbon tube (22) are movably connected to the first ankle joint motor output swing arm (28) via a first fisheye joint (211).

6. The human-machine collaborative wheeled robot according to claim 1, characterized in that: The thigh (4) comprises a first thigh fixing member (14), a thigh carbon tube (15), a second thigh fixing member (16), a first cross roller bearing (171), a gasket (18) and a thigh-knee connecting plate (19); One end of the thigh carbon tube (15) is movably connected to the swing motor via a first thigh fixing member (14), and the other end is connected to the thigh-knee connecting plate (19) via a second thigh fixing member (16); the first cross roller bearing (171) is fixed to the thigh-knee connecting plate (19), the gasket (18) is fixed to the first cross roller bearing (171), and the thigh-knee connecting plate (19) is movably connected to the knee-calf connecting plate (23) via the first cross roller bearing (171).

7. The human-machine collaborative wheeled robot according to claim 6, characterized in that: The transmission connecting rod assembly (5) comprises a knee joint connecting rod lead screw and a carbon tube (55), a calf swing motor output swing arm (53) and a second swing arm pad (54); one end of the knee joint connecting rod lead screw and the carbon tube (55) is movably connected to the knee-calf connecting plate (23) via a second fisheye joint (212), and the other end is movably connected to the calf swing motor output swing arm (53) via another second fisheye joint (212); the second swing arm pad (54) is located between the second fisheye joint (212) and the calf swing motor output swing arm (53).

8. The human-machine collaborative wheeled robot according to claim 6, characterized in that: The swing motor comprises a thigh swing motor (8), a thigh pad (9), a hip-thigh connecting plate (10), a calf swing motor (11), a thigh reinforcement plate (12) and a swing motor pad (13); the hip-thigh connecting plate (10), the swing motor pad (13) and the thigh swing motor (8) are connected and fixed by screws, and the thigh pad (9), the hip-thigh connecting plate (10) and the thigh reinforcement plate (12) are connected and fixed by screws and anti-loosening nuts; the calf swing motor (11) is located between the hip-thigh connecting plate (10) and the thigh reinforcement plate (12), and the calf swing motor (11) is connected and fixed by screws from both sides of the hip-thigh connecting plate (10) and the thigh reinforcement plate (12); The angle between the thigh (4) and the calf (6) is changed by the calf swing motor (11) to achieve the squatting and standing movements of the wheeled foot robot; The thigh swing motor (8) is used to control the forward or backward movement of the wheeled-legged robot.

9. The human-machine collaborative wheeled robot according to claim 8, characterized in that: The connection platform (1) comprises a first fixing plate (56), two hip joint swing motors (57), a second fixing plate (58), four support members (59), a bottom plate (60), a third fixing plate (61) and two hip joint assemblies (62); The hip joint assembly (62) includes a second cross roller bearing (172), a first hip joint plate (63), a second hip joint plate (64), a first hip joint pad (65), a second hip joint pad (67), a third hip joint plate (68) and a fourth hip joint plate (69); The first fixing plate (56), the second fixing plate (58) and the third fixing plate (61) are fixed in parallel to the base plate (60) via four supporting members (59); the hip joint assembly (62) is located between the second fixing plate (58) and the third fixing plate (61); the two hip joint swing motors (57) are fixed between the first fixing plate (56) and the second fixing plate (58), and are respectively connected to the first hip joint plates (63) of the two hip joint assemblies (62); the hip joint swing motors (57) are used to realize the movement of the wheeled foot robot to step left or right; The first hip joint plate (63), the second hip joint plate (64), the third hip joint plate (68) and the fourth hip joint plate (69) form a rectangular frame; the first hip joint plate (63) and the fourth hip joint plate (69) are respectively fixed to the second fixing plate (58) and the third fixing plate (61) via a second cross roller bearing (172); The first hip joint pad (65) and the second hip joint pad (67) are respectively fixed to the inner walls of the second hip joint plate (64) and the third hip joint plate (68), and the thigh swing motor (8) is fixed between the first hip joint pad (65) and the second hip joint pad (67).

10. The human-machine collaborative wheeled robot according to any one of claims 1 to 9, characterized in that: The wheeled robot also includes a docking module (70) connected to the connection platform (1), a connection spine (71) fixed to the docking module (70), and a lock (72) fixed to the end of the connection spine (71), wherein the lock (72) is used to dock the wheeled robot with a human body; the docking module (70) is provided with a wire-retracting motor connected to the connection spine (71), which is used to control the swing of the connection spine (71) to change the position of the lock (72).

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