A bipedal robot using a wheel-track deformable wheel system and a working method thereof

Abstract

The present invention belongs to the field of bipedal robots, and specifically relates to a bipedal robot adopting a wheel-track deformable wheel system and a working method thereof, wherein the bipedal robot adopting the wheel-track deformable wheel system comprises a robot body and mechanical legs arranged on both sides of the robot body, and the mechanical legs comprise a rotating arm I, a rotating arm II and a wheel-track deformable wheel system. The bipedal robot adopting the wheel-track deformable wheel system provided by the present invention has a wheel-track deformable wheel system arranged at the end of the rotating arm II, so that the wheel-track deformable wheel is well integrated with the bipedal robot's bipedal feet, and can be switched among five working modes: a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode, a brake mode and a leg drive mode.

Description

Technical Field

[0001] The invention belongs to the field of biped robots, and in particular relates to a biped robot adopting a wheel-track deformable wheel system and a working method thereof. Background Art

[0002] Bipedal robots have high adaptability and a wide range of applicable scenarios. In the prior art, bipedal robots have two driving forms, one of which uses wheels as soles to move the wheels, and the other has elastic rubber pads as soles, and walking is achieved by alternately lifting and lowering the two soles. The former will cause unstable walking when the two wheels are alternately lifted and lowered as soles to achieve walking, so its obstacle surmounting ability is general, while the latter has a low movement speed and it is difficult to achieve fast walking. Therefore, there is an urgent need for a bipedal robot with strong obstacle surmounting ability that can adapt to various scenarios. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a biped robot which has a wheel-track deformable wheel system and a working method thereof and has a strong obstacle-crossing capability and is adaptable to various scenes.

[0004] The present invention provides a biped robot adopting a wheel-track deformable wheel system, comprising a robot body and mechanical legs arranged on both sides of the robot body, wherein the mechanical legs comprise a rotating arm I, a rotating arm II and a wheel-track deformable wheel system;

[0005] One end of the rotating arm I is rotationally connected to the robot body through a rotating drive mechanism II, and the other end is rotationally connected to the rotating arm II, and also includes a rotating drive mechanism III for driving the rotating arm II to rotate;

[0006] The wheel-track deformable wheel system comprises a wheel-track deformable wheel power drive mechanism disposed at the other end of the rotating arm II and a wheel-track deformable wheel connected to the wheel-track deformable wheel power drive mechanism;

[0007] The power drive mechanism for the wheel-track deformable wheel is used to switch the wheel-track deformable wheel among a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode and a brake mode.

[0008] Furthermore, the rotating arm II is provided with a hinged portion on a side protruding from the rotating arm I away from the wheel-track deforming wheel system;

[0009] The rotation drive mechanism III is a telescopic drive member, one end of which is hinged to the robot body, and the other end of which is hinged to the hinge part.

[0010] Furthermore, the robot body is provided with a connection and separation mechanism in the front and rear directions;

[0011] When there are more than two biped robots using the wheel-track deformable wheel system, the two or more biped robots using the wheel-track deformable wheel system can be connected front and back through the connecting and separating mechanism.

[0012] Furthermore, the wheel track deformable wheel power drive mechanism comprises a wheel frame drive member and an input end drive member of a self-rotating synchronous belt pulley group;

[0013] The wheel frame driving member includes an inner gear ring and an inner gear ring locking mechanism, one end of the inner gear ring is provided with a wheel frame fixing structure, a through hole I is provided in the middle of the wheel frame fixing structure, and the other end of the inner gear ring is provided with a through hole II, and the inner gear ring locking mechanism is used to control the inner gear ring to be locked or unlocked on the rotating arm II;

[0014] The input end driving member of the self-rotating synchronous belt pulley group includes an input shaft, a sun gear, a planetary gear, a planetary carrier and a planetary carrier locking mechanism, one end of the input shaft is located outside the through hole II, the part of the input shaft located outside the through hole II is used for rotationally mounting on the rotating arm II, and the other end extends into the through hole II and fixes the sun gear, the planetary carrier includes a frame body I that is rotationally matched with the through hole I and a frame body II that is rotationally matched with the through hole II, the gear shaft at one end of the planetary gear is rotationally matched with the frame body I, and the gear shaft at the other end is rotationally matched with the frame body II, and the planetary gear is meshed with the sun gear and the inner ring gear, the frame body I extends out of the through hole I and is provided with the input end driving shaft of the self-rotating synchronous belt pulley group, and the planetary carrier locking mechanism is used to control the frame body II to be locked or unlocked on the rotating arm II.

[0015] Furthermore, the inner gear ring locking mechanism and the planet carrier locking mechanism adopt friction locking mechanisms.

[0016] Furthermore, a brake disc I is provided on the inner gear ring;

[0017] The inner gear ring locking mechanism includes a brake caliper fixedly arranged on the rotating arm II and matched with the brake disc I.

[0018] Furthermore, one end of the frame body II passes through the through hole II and is connected to a brake disc II;

[0019] The planet carrier locking mechanism includes a brake caliper fixedly arranged on the rotating arm II and matched with the brake disc II.

[0020] Furthermore, the inner gear ring includes a wheel connecting frame, an inner gear and a rotating arm II connecting frame which are fixedly connected in sequence;

[0021] The wheel frame fixing structure and through hole I are arranged on the wheel connecting frame, and the through hole II is arranged on the rotating arm II connecting frame.

[0022] Furthermore, the end of the input shaft away from the sun gear is connected to a rotation drive mechanism I, and the rotation drive mechanism I is fixed on the rotating arm II.

[0023] The present invention also provides a working method of a biped robot using a wheel-track deformable wheel system, wherein the biped robot using the wheel-track deformable wheel system has a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode, a brake mode and a leg drive mode;

[0024] In the deformable wheel rim revolution driving mode, the wheel-track deformable wheel is circular and the deformable wheel rim revolves, driving the bipedal robot to travel;

[0025] In the crawler drive mode, the crawler in the wheel-track deformable wheel is in a quadrilateral shape, and the crawler rotates to drive the bipedal robot to travel;

[0026] In the adaptive driving mode, the deformable wheel rim of the wheel-track deformable wheel is in an "∞" shape, the track of the wheel-track deformable wheel is in a quadrilateral shape, and the track rotates and / or the deformable wheel rim revolves, driving the bipedal robot to travel;

[0027] In the braking mode, the deformed wheel rim and the track in the wheel-track deformable wheel stop rotating;

[0028] In the leg-type driving mode, the two groups of rotating arms I and II alternately drive the wheel-track deformable wheels to perform leg-type walking.

[0029] The beneficial effect of the present invention is that the bipedal robot adopting the wheel-track deformable wheel system provided by the present invention integrates the wheel-track deformable wheel with the bipedal robot's bipedal feet very well by arranging the wheel-track deformable wheel system at the end of the rotating arm II. Specifically, five working modes can be performed, namely, a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode, a braking mode and a leg drive mode. Among them, the deformable wheel rim revolution drive mode and the track drive mode are suitable for application scenarios of conventional wheel bodies and track driving. The adaptive drive mode can be used for driving on a field where track driving is required and there are small obstacles that will jam the track driving, thereby improving the ability to overcome small obstacles. In the braking mode, the track of the wheel-track deformable wheel can be made into a quadrilateral, and one of the long sides of the quadrilateral is set parallel to the ground, thereby greatly improving the braking stability. In the leg-type drive mode, the track of the wheel-track deformable wheel can be made into a quadrilateral, and one of the long sides of the quadrilateral is set parallel to the ground, which can greatly improve the stability of leg-type walking. The long symmetry axis of the quadrilateral can also be perpendicular to the ground, so that the track is in a leg state, and then tiptoe walking is performed. In addition, in other drive forms other than the leg-type drive mode, the rotating arm I and the rotating arm II can be used to adjust the height of the robot body from the ground, and the rotating arm I, the rotating drive mechanism II, the rotating arm II and the rotating drive mechanism III can also form a suspension to provide buffering for the robot body.

[0030] Moreover, the above modes can be switched quickly and conveniently, thereby satisfying the rapid switching of diversified tasks of the bipedal robot, and the most suitable mode can be switched according to the conditions of the site, thereby improving the efficiency and success rate of task completion. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Attached Figure 1 This is a schematic diagram of the structure of the bipedal robot in the present invention when the deformable wheel rim is circular (the robot body is in a perspective state);

[0032] Attached Figure 2 It is a schematic diagram of the structure of the biped robot in the present invention when the deformable wheel rim is circular and the rotating arm I and the rotating arm II are contracted;

[0033] Attached Figure 3 It is a schematic diagram of the structure of the biped robot in the present invention when the track is in a quadrilateral shape;

[0034] Attached Figure 4 It is a schematic diagram of the structure of the biped robot in the present invention when the tracks are in a straight-leg state;

[0035] Attached Figure 5 It is a schematic diagram of the structure of the biped robot in the present invention when the track is in a quadrilateral shape and the rotating arm I and the rotating arm II are retracted;

[0036] Attached Figure 6It is a schematic structural diagram of a first angle when the wheel-track deformable wheel system of the present invention is in a circular state;

[0037] Attached Figure 7 It is a second angle structural schematic diagram of the wheel-track deformable wheel system of the present invention when the wheel-track deformable wheel is in a circular state;

[0038] Attached Figure 8 It is a front view of the wheel-track deformable wheel system of the present invention when the wheel-track deformable wheel is in a circular state;

[0039] Attached Fig. 9 For attachment Figure 8 Middle AA section view;

[0040] Attached Fig.10 It is an exploded schematic diagram when the wheel-track deformable wheel system is in a circular state;

[0041] Attached Fig.11 It is a schematic diagram of the structure when the track of the wheel-track deformable wheel in the wheel-track deformable wheel system is a quadrilateral.

[0042] In the figure, 1-wheel frame driving member; 11-internal gear ring; 111-wheel frame fixing structure; 112-through hole I; 113-through hole II; 114-brake disc I; 115-wheel connecting frame; 116-internal gear; 117-rotating arm II connecting frame; 12-internal gear ring locking mechanism; 2-input end driving member of the self-rotating synchronous belt pulley group; 21-input shaft; 22-sun gear; 23-planetary gear; 24-planet carrier; 241-frame I; 2411-input end driving member of the self-rotating synchronous belt pulley group Input drive shaft; 242-frame II; 2421-through hole III; 2422-brake disc II; 243-connecting rod; 25-planet carrier locking mechanism; 3-rotation drive mechanism I; 4-wheel track deformation wheel; 41-wheel frame; 42-input end of self-rotation synchronous pulley set; 43-deformation wheel rim; 44-track; 45-support rod; 5-rotating arm II; 6-robot body; 7-rotating arm I; 8-rotation drive mechanism II; 9-rotation drive mechanism III; 10-connection and separation mechanism. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0045] In addition, in the present invention, descriptions such as "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0046] In the present invention, unless otherwise clearly specified and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0047] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in the field can implement it. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0048] As attached Figure 1 -Attached Fig.11 As shown, the present invention provides a biped robot using a wheel-track deformable wheel system, comprising a robot body 6 and mechanical legs arranged on both sides of the robot body 6, wherein the mechanical legs include a rotating arm Ⅰ7, a rotating arm Ⅱ5 and a wheel-track deformable wheel system;

[0049] One end of the rotating arm I7 is rotationally connected to the robot body 6 through a rotating drive mechanism II8, that is, the rotating drive mechanism II8 can drive the rotating arm I7 to actively rotate around the rotating connection of the rotating arm I7 and the robot body 6. The rotating drive mechanism II8 is preferably a rotating motor fixedly arranged on the robot body 6, and the output shaft of the rotating motor is fixedly connected to the rotating arm I7. The other end is rotationally connected to the rotating arm II5, and also includes a rotating drive mechanism III9 for driving the rotating arm II5 to rotate. The rotating drive mechanism III9 is ​​used to drive the rotating arm II5 to actively rotate around the rotating connection between the rotating arm II5 and the rotating arm I7, that is, the combination of the rotating arm I7 and the rotating arm II5 can form a leg-type driving mechanism similar to the thigh and calf of the human body;

[0050] The wheel-track deformable wheel system includes a wheel-track deformable wheel power drive mechanism disposed at the other end of the rotating arm II5 and a wheel-track deformable wheel 4 connected to the wheel-track deformable wheel power drive mechanism, that is, the wheel-track deformable wheel system is used as the foot of the leg-type drive mechanism;

[0051] The wheel-track deformable wheel power drive mechanism is used to switch the wheel-track deformable wheel 4 among a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode and a brake mode.

[0052] The present invention also provides a working method of a biped robot using a wheel-track deformable wheel system, wherein the biped robot using the wheel-track deformable wheel system has a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode, a brake mode and a leg drive mode;

[0053] Reference Figure 1 In the deformable wheel rim revolution driving mode, the wheel-track deformable wheel 4 is circular and the deformable wheel rim 43 revolves, driving the bipedal robot to travel. At this time, it is suitable for the bipedal robot to travel on flat ground or other places suitable for wheel travel;

[0054] Reference Figure 3 In the crawler drive mode, the crawler 44 in the wheel-track deformable wheel 4 is quadrilateral, and the crawler 44 rotates to drive the bipedal robot to travel. At this time, it is suitable for the bipedal robot to travel on a field where the crawler driving mode has better performance;

[0055] Reference Figure 3 In the adaptive driving mode, the deformable wheel rim 43 of the wheel-track deformable wheel 4 is in an "∞" shape, the crawler track 44 of the wheel-track deformable wheel 4 is in a quadrilateral shape, and the crawler track 44 rotates and / or the deformable wheel rim 43 revolves to drive the bipedal robot to travel. At this time, it is suitable for the bipedal robot to travel on a field where a crawler driving mode is required and there are small obstacles that will jam the crawler track 44;

[0056] In the braking mode, the deformed wheel rim 43 and the track 44 in the wheel-track deformable wheel 4 stop rotating. At this time, it is suitable for the bipedal robot to stop running. In the braking mode, the deformed wheel rim 43 can be circular or "∞" shaped. Preferably, refer to the attached Figure 3 In the braking mode, the deformable wheel rim 43 is in an "∞" shape, the crawler track 44 is in a quadrilateral, and one of the long sides of the quadrilateral is arranged parallel to the ground, so that the contact area between the wheel-track deformable wheel 4 and the ground can be increased, and the bipedal robot can be stably and reliably stopped on the ground by the wheel-track deformable wheel 4;

[0057] In the leg-type driving mode, the two groups of rotating arms I7 and II5 drive the wheel-track deformable wheels 4 alternately to perform leg-type walking. In the leg-type driving mode, the wheel-track deformable wheels 4 can be in any one of the working modes of the deformable wheel rim revolution driving mode, the track driving mode, the adaptive driving mode or the braking mode. Preferably, referring to the attached Figure 3 , the wheel-track deformable wheel 4 is in braking mode, and the track 44 is a quadrilateral, and one of the long sides of the quadrilateral is arranged parallel to the ground, so as to increase the contact area between the wheel-track deformable wheel 4 and the ground, thereby improving the support stability of the two wheel-track deformable wheels 4 with the ground when they are alternately lifted and dropped, and improving the stability of the leg-type driving mode. At this time, it is suitable for the bipedal robot to walk on a field with large obstacles when the wheel-track deformable wheel 4 cannot pass independently. Preferably, refer to the attached Figure 4 , the wheel-track deformable wheel 4 is in braking mode, and the track 44 is a quadrilateral, and the long symmetry axis of the quadrilateral is perpendicular to the ground. At this time, the wheel-track deformable wheel 4 is in a straight-leg state, thereby increasing the height of the robot body 6 and performing tiptoe walking.

[0058] In addition, in other driving modes other than the leg-type driving mode, the rotating arm I7 and the rotating arm II5 can also be in two states: extended and contracted. Figure 1 , Attachment Figure 3 and attached Figure 4 At this time, the height of the robot body 6 from the ground can be relatively high, and when it is in the retracted state, refer to the attached Figure 2 and attached Figure 5 At this time, the height of the robot body 6 from the ground can be relatively low, and the center of gravity can be lower, which improves the stability during walking. In addition, in other driving forms other than the leg-type driving mode, the rotating arm I7 and the rotating arm II5 can also be used as the suspension of the wheel-track deformable wheel 4 to provide a buffering effect.

[0059] The bipedal robot with a wheel-track deformable wheel system provided by the present invention integrates the wheel-track deformable wheel 4 with the bipedal robot's feet very well by arranging the wheel-track deformable wheel system at the end of the rotating arm II 5. Specifically, five working modes can be performed, namely, a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode, a braking mode and a leg drive mode. Among them, the deformable wheel rim revolution drive mode and the track drive mode are suitable for application scenarios of conventional wheel bodies and track driving. The adaptive drive mode can be used for driving on a field where track driving is required and there are small obstacles that will jam the track 44, thereby improving the ability to overcome small obstacles. In the braking mode, the track 44 of the wheel-track deformable wheel 4 can be made into a quadrilateral, and one of the long sides of the quadrilateral is set parallel to the ground, thereby greatly improving the braking stability. In the leg-type driving mode, the crawler 44 of the wheel-track deformable wheel 4 can be made into a quadrilateral, and one of the long sides of the quadrilateral is set parallel to the ground, thereby greatly improving the stability of leg-type walking, and the long symmetry axis of the quadrilateral can be perpendicular to the ground, so that the crawler is in a state of outriggers, and then walking on tiptoe. In addition, in other driving forms other than the leg-type driving mode, the rotating arm I7 and the rotating arm II5 can be used to adjust the height of the robot body 6 from the ground, and the rotating arm I7, the rotating drive mechanism II8, the rotating arm II5 and the rotating drive mechanism III can also form a suspension to provide buffering for the robot body 6.

[0060] Moreover, the above modes can be switched quickly and conveniently, thereby satisfying the rapid switching of diversified tasks of the bipedal robot, and the most suitable mode can be switched according to the conditions of the site, thereby improving the efficiency and success rate of task completion.

[0061] In one embodiment, the rotating arm II5 is provided with a hinged portion 51 on a side protruding from the rotating arm I7 away from the wheel-track deforming wheel system;

[0062] The rotating drive mechanism III9 is ​​a telescopic drive component, which can be a cylinder, a hydraulic cylinder or an electric cylinder. One end of the telescopic drive component is hinged to the robot body 6, and the other end is hinged to the hinge part 51. The telescopic drive component can be extended and retracted to drive the rotating arm II5 to rotate around the rotating connection between the rotating arm II5 and the rotating arm I7.

[0063] In other embodiments, the rotary drive mechanism III9 may be a rotary motor fixedly mounted on the rotary arm I7, and the output shaft of the rotary motor is fixedly connected to the rotary arm II5.

[0064] In one embodiment, the robot body 6 is provided with a connection and separation mechanism 10 in the front-to-back direction;

[0065] When there are more than two bipedal robots using the wheel-track deformable wheel system, the two or more bipedal robots of the wheel-track deformable wheel system can be connected front to back through the connection and separation mechanism 10, and then the bipedal robots can be quickly combined into a multi-legged robot with more than four legs, further improving the passing ability and carrying capacity of a single bipedal robot.

[0066] In one of the embodiments, the power drive mechanism for the wheel-track deformable wheel is used to drive the wheel-track deformable wheel 4, and the wheel-track deformable wheel 4 can be the wheel frame, track driving wheel, track driven wheel, track supporting wheel, deformation power device, deformation drive motor, gear reducer, lead screw, deformation wheel rim, arc wheel rim piece, track, deformation slider, spring stretching rod and the combination of the above-mentioned parts in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot", that is, the combination of the above-mentioned structures is equivalent to the wheel-track deformable wheel 4 of the present application. At this time, the power drive mechanism for the wheel-track deformable wheel of the present invention is used to replace the travel power device in the above-mentioned patent. Of course, the present invention can also be used to drive wheel-track deformable wheels of other structures with the same principle as the above-mentioned patent.

[0067] The power drive mechanism for the wheel track deformable wheel includes a wheel frame drive member 1 and an input end drive member 2 of a self-rotating synchronous belt pulley group. The wheel frame drive member 1 is used to drive the wheel frame 41 of the wheel track deformable wheel 4 to rotate, and is particularly suitable for when its deformable wheel rim 43 is circular and the wheel track deformable wheel 4 is in a circular wheel shape for revolution drive. The input end drive member 2 of the self-rotating synchronous belt pulley group is used to drive the input end 42 of the self-rotating synchronous belt pulley group of the wheel track deformable wheel 4 to rotate, thereby driving the output end of the self-rotating synchronous belt pulley group to drive the track driving wheel to rotate, and drive the track 44 to rotate, and is particularly suitable for when its deformable wheel rim 43 is irregular and the wheel track deformable wheel 4 uses the track 44 to travel.

[0068] The wheel carrier driving member 1 and the input end driving member 2 of the self-rotating synchronous belt pulley group form a planetary gear train;

[0069] The wheel frame driving member 1 includes an inner gear ring 11 and an inner gear ring locking mechanism 12. A wheel frame fixing structure 111 is provided at one end of the inner gear ring 11. The wheel frame fixing structure 111 is used to be fixedly connected to the middle of the wheel frame 41 of the wheel track deforming wheel 4, so that when the inner gear ring 11 rotates, the wheel frame 41 can be driven to rotate. A through hole Ⅰ112 is provided in the middle of the wheel frame fixing structure 111, and a through hole Ⅱ113 is provided at the other end of the inner gear ring 11. The inner gear ring locking mechanism 12 is used to control the inner gear ring 11 to be locked or unlocked on the rotating arm Ⅱ5;

[0070] The input end driving member 2 of the self-rotating synchronous belt pulley group includes an input shaft 21, a sun gear 22, a planetary gear 23, a planetary carrier 24 and a planetary carrier locking mechanism 25, wherein the input shaft 21, the sun gear 22, the planetary gear 23, the planetary carrier 24 and the inner gear ring 11 constitute a planetary gear system, one end of the input shaft 21 is located outside the through hole Ⅱ113, the part of the input shaft 21 located outside the through hole Ⅱ113 is used for rotational installation on the rotating arm Ⅱ5, and the other end extends into the through hole Ⅱ113 and fixes the sun gear 22. Preferably, the position of the sun gear 22 corresponds to the position of the inner teeth 116 of the inner gear ring 11, and the planetary carrier 24 includes a frame body Ⅰ241 that rotates with the through hole Ⅰ112 and a frame body Ⅱ242 that rotates with the through hole Ⅱ113. The gear shaft at one end of the planetary gear 23 rotates with the frame body Ⅰ241, and the gear shaft at the other end rotates with the frame body Ⅱ242, that is, the planetary The gear 23 connects the frame body Ⅰ241 and the frame body Ⅱ242 to form a whole that rotates synchronously. Preferably, the frame body Ⅰ241 and the frame body Ⅱ242 can also form a whole through a connecting rod 243 to further improve the integrity of the frame body Ⅰ241 and the frame body Ⅱ242, and the planetary gear 23 is meshed with the sun gear 22 and the inner ring gear 11. Specifically, the planetary gear 23 is meshed with the outer gear of the sun gear 22 and the inner teeth 116 of the inner ring gear 11. The frame body Ⅰ241 extends out of the through hole Ⅰ112 and is provided with an input end drive shaft 2411 of the self-rotating synchronous belt pulley group. The input end drive shaft 2411 of the self-rotating synchronous belt pulley group is used to be fixedly connected to the input end 42 of the self-rotating synchronous belt pulley group, so that when the planetary frame 24 rotates, the input end 42 of the self-rotating synchronous belt pulley group can be driven to rotate. The planetary frame locking mechanism 25 is used to control the frame body Ⅱ242 to lock or unlock on the rotating arm Ⅱ5.

[0071] The wheel-track deformable wheel power drive mechanism of the present invention is used to drive the wheel-track deformable wheel 4, so that four driving modes can be realized: a deformable wheel rim revolution driving mode, a track driving mode, an adaptive driving mode and a braking mode.

[0072] Reference Figure 6 -Attached Fig. 9In the deformable wheel rim revolution driving mode, the inner gear ring locking mechanism 12 unlocks the inner gear ring 11, and the planet carrier locking mechanism 25 locks the frame body II 242. Since the rotation of the frame body II 242 and the frame body I 241 is synchronized under the connection of the planetary gear 23, the planet carrier locking mechanism 25 will also lock the rotation of the frame body I 241. At the same time, the axis position of the planetary gear 23 is locked, and the frame body I 241 is fixedly locked. The rotation of the input shaft 21 drives the sun gear 22 rotates, the sun gear 22 drives the planetary gears 23 and the inner gear ring 11 to rotate in turn. At this time, the planetary gears 23 can only rotate along their own axis, but cannot revolve along the axis of the sun gear 22. Therefore, the sun gear 22 only drives the inner gear ring 11 to rotate, and the inner gear ring 11 drives the wheel frame 41 of the wheel track deformation wheel 4 to rotate, so that the deformation wheel ring 43 of the wheel track deformation wheel 4 revolves, while at this time, the frame body I 241 and the input end drive shaft 2411 of the self-rotating synchronous belt pulley group cannot rotate, and the crawler track 44 is locked;

[0073] Reference Fig.11 In the crawler track drive mode, the inner gear ring locking mechanism 12 locks the inner gear ring 11. At this time, the position of the inner gear ring 11 is locked, and the planetary carrier locking mechanism 25 unlocks the frame body II 242. The planetary carrier 24 can rotate around the axis of the input shaft 21, and the axis of the planetary gear 23 can revolve around the axis of the input shaft 21. The rotation of the input shaft 21 drives the sun gear 22 to rotate, and the sun gear 22 drives the planetary gear 23 to rotate along its axial direction and revolve around the axis of the input shaft 21, thereby driving the frame body I 241 and the input end drive shaft 2411 of the self-rotating synchronous belt pulley group to rotate around the axis of the input shaft 21. The input end drive shaft 2411 of the self-rotating synchronous belt pulley group drives the input end 42 of the self-rotating synchronous belt pulley group of the wheel-track deformation wheel 4 to rotate, thereby realizing the rotation of the crawler track 44 of the wheel-track deformation wheel 4. At this time, since the position of the inner gear ring 11 is locked, the wheel frame 41 is fixed and the deformation wheel ring 43 is locked;

[0074] In the adaptive driving mode, it is preferred that the adaptive driving mode is adopted when the track 44 in the wheel-track deformable wheel 4 is a quadrilateral. For example, the track 44 is used in a quadrilateral state, the inner ring gear locking mechanism 12 unlocks the inner ring gear 11, the planetary carrier locking mechanism 25 unlocks the frame body II 242, and the input shaft 21 rotates to drive the sun gear 22 to rotate. When the wheel-track deformable wheel 4 encounters an obstacle, the wheel frame fixing structure 111 and the input end drive shaft 2411 of the self-rotating synchronous pulley group adaptively distribute the torque transmission force of the sun gear 22, that is, if the rotation resistance of the track 44 is greater than the turnover resistance of the deformable wheel rim 43, the deformable wheel rim 43 rotates and the deformable wheel rim 43 rotates and moves, and if the rotation resistance of the track 44 is less than the turnover resistance of the deformable wheel rim 43, the track 44 rotates and moves, thereby realizing the adaptive deployment of the deformable wheel rim revolution drive mode and the track drive mode. In the adaptive driving mode, the off-road performance of the wheel-track deformable wheel 4 can be maximized to cope with the changing terrain scenes, and the stability and complex environment adaptability of the robot carried by the wheel-track deformable wheel 4 can be effectively improved;

[0075] In the braking mode, the inner gear ring locking mechanism 12 locks the inner gear ring 11, the planet carrier locking mechanism 25 locks the frame body II 242, the input shaft 21 stops rotating, and the deformable wheel rim 43 and the track 44 are locked synchronously.

[0076] The power drive mechanism for the wheel-track deformable wheel provided by the present invention can realize both track driving and deformable wheel rim revolution driving through a rotation drive mechanism Ⅰ3. Compared with the travel power device in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot", it can save a rotation drive mechanism Ⅰ, thereby reducing costs. In addition, the power drive mechanism for the wheel-track deformable wheel can not only realize the deformable wheel rim revolution driving mode and the track driving mode, but also can perform adaptive driving modes of the deformable wheel rim revolution driving mode and the track driving mode, thereby reducing the possibility of the wheel-track deformable wheel 4 getting stuck when encountering obstacles, and can greatly improve the obstacle crossing ability of the wheel-track deformable wheel 4.

[0077] In one of the embodiments, the inner ring gear locking mechanism 12 and the planetary carrier locking mechanism 25 adopt a friction locking mechanism. With this arrangement, the locking force of the inner ring gear 11 and the planetary carrier 24 can be controlled, so that different locking damping can be achieved by adjusting the inner ring gear 11 and the planetary carrier 24, and then the priority of the deformable wheel rim revolution driving mode and the track driving mode in the adaptive driving mode can be actively controlled to realize an active dynamic adaptive driving mode.

[0078] In other embodiments, the inner gear ring locking mechanism 12 and the planet carrier locking mechanism 25 may also be fixedly locked by means of a pin or a hole.

[0079] In one of the preferred embodiments, a brake disc Ⅰ 114 is provided on the inner gear ring 11;

[0080] The inner gear ring locking mechanism 12 includes a brake caliper fixedly arranged on the rotating arm II5 and cooperating with the brake disc I114.

[0081] In one embodiment, one end of the frame II 242 passes through the through hole II 113 and is connected to a brake disc II 2422 ;

[0082] The planet carrier locking mechanism 25 includes a brake caliper fixedly arranged on the rotating arm II5 and cooperating with the brake disc II2422.

[0083] In this embodiment, locking is achieved by combining a brake caliper with a brake disc, which is convenient and quick to control, and the locking damping can be adjusted by controlling the caliper force of the brake caliper.

[0084] In one embodiment, the frame body I 241 is also rotatably matched with the sun gear 22 and the input shaft 21;

[0085] The carrier II 242 is also rotationally matched with the sun gear 22 and the input shaft 21. Such an arrangement can improve the rotation stability of the planet carrier 24. Preferably, the rotational match of the planet carrier 24 is achieved through bearings to reduce friction resistance.

[0086] In one of the embodiments, the frame body II242 is provided with a through hole III2421 coaxial with the through hole II113, and the input shaft 21 is arranged in the through hole III2421. In this embodiment, the frame body II242 can avoid interfering with the installation of the input shaft 21. In the embodiment where the brake disc II242 is provided on the frame body II242, one end of the frame body II242 passes through the through hole II113, and the brake disc II2422 is arranged at the position where the frame body II242 passes through the through hole II113, so that the brake disc II2422 cooperates with the brake caliper located on the outside of the inner gear ring 11.

[0087] In one embodiment, the inner gear ring 11 includes a wheel connecting frame 115, an inner tooth 116 and a rotating arm II connecting frame 117 which are fixedly connected in sequence. In this embodiment, the inner tooth 116 is a cylindrical structure, and an inner gear is arranged on the inner wall of the cylinder, and the wheel connecting frame 115 and the rotating arm II connecting frame 117 both include an end face disc and an annular plate arranged on the outermost side of the end face disc, and the two annular plates are connected to the cylindrical wall of the inner tooth 116, so that the inner gear ring 11 can form an enclosing structure, that is, the inner gear ring 11 is not only a part of the planetary gear train, but also serves as the outer shell of the power drive mechanism for the wheel deformation wheel, and the planetary gear train is wrapped in the inner gear ring 11, so that the planetary gear train can be physically protected, and its service life and environmental adaptability can be improved;

[0088] The wheel frame fixing structure 111 and the through hole I 112 are arranged on the wheel connecting frame 115 , specifically on the end face disc of the wheel connecting frame 115 ; the through hole II 113 is arranged on the rotating arm II connecting frame 117 , specifically on the end face disc of the rotating arm II connecting frame 117 .

[0089] In one embodiment, the end of the input shaft 21 away from the sun gear 22 is connected to a rotation drive mechanism I3, and the rotation drive mechanism I3 is fixed on the rotating arm II5. The rotation drive mechanism I3 is used to drive the input shaft 21 to rotate, and preferably a motor is used.

[0090] The present invention also provides a wheel-track deformable wheel system, including a wheel-track deformable wheel 4 and a power drive mechanism for the wheel-track deformable wheel, wherein the wheel-track deformable wheel 4 can be consistent with the wheel frame, track driving wheel, track driven wheel, track support wheel, deformation power device, deformation drive motor, gear reducer, lead screw, deformation wheel rim, arc wheel rim piece, track, deformation slider, spring stretch rod and the combination of the above parts in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot";

[0091] In a preferred embodiment, the wheel-track deformable wheel 4 is consistent with the wheel frame, track driving wheel, track driven wheel, track support wheel, deformation power device, deformation drive motor, gear reducer, lead screw, deformation wheel rim, arc wheel rim piece, track, deformation slider and the combination of the above parts in the Chinese invention patent "CN105564148B-A deformable wheel-track-leg composite robot", but the spring stretching rod is replaced by two support rods 45 fixed on the wheel frame 41, the two support rods 45 are one long and one short, and are respectively arranged on the wheel frame 41 and the retractable long end of the wheel frame 41, and are used to support the track 44 when the deformable wheel rim 43 is deformed into an "∞" shape;

[0092] The wheel frame 41 of the wheel track deforming wheel 4 is fixedly connected to the wheel frame fixing structure 111;

[0093] The input end 42 of the self-rotating synchronous pulley group of the wheel-track deforming wheel 4 is fixedly connected to the input end driving shaft 2411 of the self-rotating synchronous pulley group, thereby realizing the connection between the wheel-track deforming wheel 4 and the power driving mechanism for the wheel-track deforming wheel.

[0094] The above is only an embodiment and does not limit the present invention in any way. Any person skilled in the art can use the above disclosed technical contents to make many possible changes, modifications or modifications to the technical solutions of the present invention into equivalent embodiments of equivalent changes without departing from the scope of the technical solutions of the present invention. Therefore, any simple modification, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the scope of protection of the technical solutions of the present invention.

Claims

1. A bipedal robot using a wheel-track deformable wheel system, characterized in that: It comprises a robot body (6) and mechanical legs arranged on both sides of the robot body (6), wherein the mechanical legs comprise a rotating arm I (7), a rotating arm II (5) and a wheel-track deformable wheel system; One end of the rotating arm I (7) is rotationally connected to the robot body (6) via a rotating drive mechanism II (8), and the other end is rotationally connected to the rotating arm II (5), and also includes a rotating drive mechanism III (9) for driving the rotating arm II (5) to rotate; The wheel-track deforming wheel system comprises a wheel-track deforming wheel power drive mechanism arranged at the other end of the rotating arm II (5) and a wheel-track deforming wheel (4) connected to the wheel-track deforming wheel power drive mechanism; The wheel track deformable wheel power drive mechanism is used to switch the wheel track deformable wheel (4) among a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode and a braking mode; The power drive mechanism for the wheel-track deformable wheel comprises a wheel frame drive component (1) and an input end drive component (2) of a self-rotating synchronous belt pulley group; The wheel frame driving member (1) comprises an inner gear ring (11) and an inner gear ring locking mechanism (12); a wheel frame fixing structure (111) is provided at one end of the inner gear ring (11); a through hole I (112) is provided in the middle of the wheel frame fixing structure (111); a through hole II (113) is provided at the other end of the inner gear ring (11); and the inner gear ring locking mechanism (12) is used to control the inner gear ring (11) to be locked or unlocked on the rotating arm II (5); The input end driving member (2) of the self-rotating synchronous belt pulley group comprises an input shaft (21), a sun gear (22), a planetary gear (23), a planetary carrier (24) and a planetary carrier locking mechanism (25); one end of the input shaft (21) is located outside the through hole II (113); the part of the input shaft (21) located outside the through hole II (113) is used for rotationally mounting on a rotating arm II (5); the other end extends into the through hole II (113) and fixes the sun gear (22); the planetary carrier (24) comprises a frame body I (241) rotatably matched with the through hole I (112) and a frame body I (241) rotatably matched with the through hole I (112) The planetary gear (23) is provided with a frame body II (242) that is rotatably matched with the hole II (113), the gear shaft at one end of the planetary gear (23) is rotatably matched with the frame body I (241), and the gear shaft at the other end is rotatably matched with the frame body II (242), and the planetary gear (23) is meshed with the sun gear (22) and the inner gear ring (11), the frame body I (241) extends out of the through hole I (112) and is provided with an input end drive shaft (2411) of a self-rotating synchronous belt pulley group, and the planetary frame locking mechanism (25) is used to control the frame body II (242) to be locked or unlocked on the rotating arm II (5); In the adaptive driving mode, the inner gear ring locking mechanism (12) unlocks the inner gear ring (11), the planet carrier locking mechanism (25) unlocks the frame body II (242), and the wheel carrier fixing structure (111) and the input end drive shaft (2411) of the self-rotating synchronous belt pulley group adaptively distribute the torque transmission force of the sun gear (22).

2. The biped robot using a wheel-track deformable wheel system as claimed in claim 1, characterized in that: The rotating arm II (5) is provided with a hinged portion (51) on a side protruding from the rotating arm I (7) away from the wheel-track deforming wheel system; The rotation drive mechanism III (9) is a telescopic drive member, one end of which is hinged to the robot body (6) and the other end of which is hinged to the hinge part (51).

3. The biped robot using a wheel-track deformable wheel system as claimed in claim 2, characterized in that: The robot body (6) is provided with a connecting and separating mechanism (10) in the front-to-back direction; When there are more than two biped robots using the wheel-track deformable wheel system, the two or more biped robots using the wheel-track deformable wheel system can be connected front and back through the connection and separation mechanism (10).

4. The biped robot using a wheel-track deformable wheel system as claimed in claim 1, characterized in that: The inner gear ring locking mechanism (12) and the planet carrier locking mechanism (25) adopt friction locking mechanisms.

5. The biped robot using a wheel-track deformable wheel system as claimed in claim 4, characterized in that: A brake disc I (114) is provided on the inner gear ring (11); The inner gear ring locking mechanism (12) comprises a brake caliper fixedly arranged on the rotating arm II (5) and cooperating with the brake disc I (114).

6. The biped robot using a wheel-track deformable wheel system as claimed in claim 4, characterized in that: One end of the frame II (242) passes through the through hole II (113) and is connected to a brake disc II (2422); The planet carrier locking mechanism (25) comprises a brake caliper fixedly arranged on the rotating arm II (5) and cooperating with the brake disc II (2422).

7. The biped robot using a wheel-track deformable wheel system as claimed in claim 1, characterized in that: The inner gear ring (11) comprises a wheel connecting frame (115), inner teeth (116) and a rotating arm II connecting frame (117) which are fixedly connected in sequence; The wheel frame fixing structure (111) and the through hole I (112) are arranged on the wheel connecting frame (115), and the through hole II (113) is arranged on the rotating arm II connecting frame (117).

8. The biped robot using a wheel-track deformable wheel system as claimed in any one of claims 1 to 7, characterized in that: The end of the input shaft (21) facing away from the sun gear (22) is connected to a rotary drive mechanism I (3), and the rotary drive mechanism I (3) is fixed on the rotating arm II (5).

9. A method for operating a bipedal robot using a wheel-track deformable wheel system, characterized in that: A biped robot using a wheel-track deformable wheel system as described in any one of claims 1 to 8, having a deformable wheel rim revolution drive mode, a track drive mode, an adaptive drive mode, a brake mode and a leg drive mode; In the deformable wheel rim revolution driving mode, the wheel-track deformable wheel (4) is circular and the deformable wheel rim (43) revolves, driving the bipedal robot to travel; In the crawler drive mode, the crawler (44) in the wheel-track deformable wheel (4) is in a quadrilateral shape, and the crawler (44) rotates to drive the bipedal robot to travel; In the adaptive driving mode, the deformable wheel rim (43) in the wheel-track deformable wheel (4) is in an "∞" shape, the crawler track (44) in the wheel-track deformable wheel (4) is in a quadrilateral shape, and the crawler track (44) rotates and / or the deformable wheel rim (43) revolves, thereby driving the bipedal robot to travel; In the braking mode, the deformed wheel rim (43) and the crawler track (44) in the wheel-track deformable wheel (4) stop rotating; In the leg-type driving mode, the two groups of rotating arms I (7) and rotating arms II (5) alternately drive the wheel-track deformable wheels (4) to perform leg-type walking.

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