Mobile robot convenient for leg wheel switching

Abstract

The invention relates to the technical field of mobile robots, in particular to a mobile robot convenient for leg and wheel switching, which comprises a vehicle body, four wheel assemblies are symmetrically mounted on two sides of the vehicle body, the center of each wheel assembly is rotatably mounted on the vehicle body through a wheel axle, and each wheel axle is controlled to rotate by a swinging and rotating multiplexing motor; the wheel assembly comprises a wheel body structure composed of a thigh arc section and two shank arc sections, the middle of the thigh arc section is fixed to a wheel shaft body through a supporting piece, and one ends of the two shank arc sections are correspondingly and rotationally connected with the two ends of the thigh arc section through joint shafts correspondingly. The other ends of the two shank arc sections are respectively controlled by two joint motors to swing, open and close or walk; the mobile robot is smoother and more stable during leg wheel switching, small in height change, simple and light in structure and lower in energy consumption.

Description

Technical Field

[0001] The invention relates to the technical field of mobile robots, and in particular to a mobile robot which is convenient for leg wheel switching. Background Art

[0002] As is known, there are roughly three types of mobile robots: tracks, wheels and outriggers. However, these three types of mobile robots have their own advantages and disadvantages. Tracked robots are generally less used in civilian applications because of their slow speed, high energy consumption and complex maintenance. The more commonly used wheeled robots have a simple structure and a fast speed, but are suitable for flat ground and have poor stability on complex terrain. Outrigger robots are more adaptable to crossing complex obstacles and rugged terrain, but they are slow, consume a lot of energy, and have complex joint control and high cost. Therefore, the existing technology often combines wheeled robots and outrigger robots in design and use to achieve complementary advantages. For example, the Chinese invention patent with the announcement number CN104527835B discloses a robot with switchable wheel-leg mode, in which wheels and jointed legs are installed on both sides of the vehicle body. The jointed legs can be transformed to be unfolded or folded according to the requirements of the terrain of use. Its disadvantages are that the wheels and legs are designed independently, occupying a large space, the switching action is large, and it is not stable and smooth enough; the Chinese invention patent with the announcement number CN113844566B discloses a wheel-legged robot leg structure and a wheel-legged robot with autonomous switching power, which can combine the wheel structure with the knee joint of the leg, fold the calf, and use the wheels to move, but the height of the entire robot changes too much with the switching, and the knee joint must have both a driving device to control the movement of the wheel and a folding mechanism to control the calf to be retracted and extended, the structure is relatively complex, and the weight and energy consumption are large. Summary of the invention

[0003] In order to overcome the deficiencies in the background technology and solve the existing technical problems, the present invention discloses a mobile robot that is easy to switch leg wheels. The leg wheels are switched more smoothly and stably, with small height changes, simple and light structure, and lower energy consumption.

[0004] In order to achieve the above-mentioned object of the invention, the present invention adopts the following technical solutions: A mobile robot which facilitates leg-wheel switching comprises a vehicle body, four wheel assemblies are symmetrically mounted on both sides of the vehicle body, the center of each wheel assembly is rotatably mounted on the vehicle body via a wheel axle, and each wheel axle is controlled to rotate by a swing-rotation multiplexed motor; the wheel assembly comprises a wheel body structure consisting of a thigh arc segment and two calf arc segments, the middle portion of the thigh arc segment is fixed to the wheel axle body via a support, one end of the two calf arc segments are rotatably connected to the corresponding two ends of the thigh arc segment via a joint shaft, and the other ends of the two calf arc segments are respectively controlled to swing, open and close, or walk via two joint motors.

[0005] Furthermore, the thigh arc segment includes two arc splints spaced apart and arranged side by side, the arc splints are integrally connected to the support member, a joint axis is rotatably installed between the corresponding ends of the two arc splints, and the corresponding end of the calf arc segment is located between the two arc splints and fixedly connected to the joint axis.

[0006] Furthermore, the joint motor is installed between two arc-shaped clamping plates, a driven gear is coaxially fixed to the joint shaft, and a driving gear correspondingly meshed with the driven gear of the corresponding joint shaft is coaxially fixed to the output shaft of the shutdown motor.

[0007] Furthermore, an insertion rod is connected to the middle of the calf arc segment, a shaft sleeve is fixed to the wheel axle set, an outer wall of the shaft sleeve is provided with a slot corresponding to the insertion end of the insertion rod, and a self-locking mechanism for locking the insertion rod is provided in the slot.

[0008] Furthermore, two circular foot blocks are alternately arranged on the opening and closing end surfaces of the two calf arc segments, so that the two calf arc segments can fit tightly when closed.

[0009] Furthermore, a sliding groove is provided on the opening and closing end surface of the calf arc segment, a leg column is slidably inserted in the sliding groove, a compression spring is connected between the inner end of the leg column and the bottom of the sliding groove, and a limiting structure is provided at the sliding groove mouth to prevent the leg column from escaping from the sliding groove.

[0010] Furthermore, a rubber buffer pad is provided at the outer end of the leg column.

[0011] Furthermore, the slide groove and the leg column are both configured as arc structures along the arc section of the calf.

[0012] Furthermore, the wheel arc surfaces of the thigh arc segment and the two calf arc segments away from the wheel axle are paved and fixed with buffer strips.

[0013] Furthermore, the swing multiplexing motor and the joint motor are both configured as servo motors.

[0014] Due to the adoption of the above-mentioned technical solution, the present invention has the following beneficial effects: The mobile robot disclosed in the present invention is convenient for switching between legs and wheels. Under the control of the swing-multiplexing motor and the joint motor, the ingenious structural design of the thigh arc segment and the two calf arc segments can make the switching between the wheel form and the outrigger form smoother, the support height change before and after the switching is small, and the structure is simple. There are no unused parts to be folded up before and after the switching, and the space occupied is small. More importantly, after switching to the outrigger state, the thigh arc segment is dynamically symmetrical based on the wheel axle, that is, the thigh arc segment has better balance when walking with the wheel axle as the center. Compared with the traditional hip joint located at one end of the thigh, which needs to load the entire thigh and the drive motor, the present invention utilizes the lightness and simplicity of its own structure and this dynamic balance to greatly reduce the walking load and energy consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the wheel form of the present invention; Figure 2 It is a structural schematic diagram of the supporting leg form of the present invention; Figure 3 is a schematic diagram of the installation drive structure of the joint motor; Figure 4 is a schematic diagram of a closed state of the calf arc segment; Figure 5 It is a schematic diagram of the connection structure of the plug rod in the wheel form of the present invention; Figure 6 It is a schematic diagram of the connection structure of the outrigger column in the outrigger form of the present invention.

[0016] In the figure: 1, vehicle body; 2, thigh arc segment; 201, arc splint; 3, calf arc segment; 301, slideway; 4, axle; 5, swing multiplex motor; 6, joint shaft; 7, support member; 8, joint motor; 9, circular foot block; 10, driven gear; 11, driving gear; 12, bushing; 13, plug rod; 14, leg column; 15, compression spring. DETAILED DESCRIPTION

[0017] The technical solution of the present invention will be described below in conjunction with the drawings in the embodiments of the present invention. In the description, it should be understood that if there are terms such as "upper", "lower", "front", "back", "left", "right" and the like indicating directions or positional relationships, they are only corresponding to the drawings of the present invention, for the convenience of describing the present invention, and do not indicate or imply that the devices or components referred to must have a specific direction: Embodiment 1:

[0018] Combined with Figure 1-4The mobile robot that is convenient for leg-wheel switching comprises a vehicle body 1, and four wheel assemblies are symmetrically installed on both sides of the vehicle body 1. The center of each wheel assembly is rotatably installed on the vehicle body 1 through a wheel axle 4, and each wheel axle 4 is controlled to rotate by a swing-rotation multiplexing motor 5. Specifically, the body of the swing-rotation multiplexing motor 5 can be fixed on the vehicle frame, and the wheel axle 4 is directly coaxially connected to the output shaft of the swing-rotation multiplexing motor 5. The swing-rotation multiplexing motor 5 can control the wheel axle 4 to swing, which is equivalent to the hip joint of the outrigger, and can also control the wheel axle 4 to rotate, thereby driving the wheel assembly to roll forward. It is generally set as a servo motor. The wheel assembly includes a wheel body structure composed of a thigh arc segment 2 and two calf arc segments 3, which ensures a simple structure, no unused parts to be folded before and after switching, and small space occupation; according to needs, the wheel arc surfaces of the thigh arc segment 2 and the two calf arc segments 3 away from the wheel axle 4 are paved and fixed with buffer strips, and when switched to the wheel form, the buffer strips contact the bottom surface for mobile buffering, which is equivalent to a tire; the middle part of the thigh arc segment 2 is fixed to the axle body of the wheel axle 4 through a support member 7, and the thigh arc segment 2 is driven to rotate by the wheel axle 4. When in the outrigger form, it is dynamically symmetrical and has better balance, which is conducive to reducing walking energy consumption; One end of the two calf arc segments 3 are respectively connected to the two ends of the thigh arc segment 2 through the joint shaft 6, and the joint shaft 6 is equivalent to the knee joint in the form of a supporting leg; according to needs, the thigh arc segment 2 includes two spaced and parallel arc splints 201, the arc splint 201 is connected to the support member 7 as a whole, and the joint shaft 6 is rotatably installed between the corresponding ends of the two arc splints 201, and the corresponding end of the calf arc segment 3 is located between the two arc splints 201 and is fixedly connected to the joint shaft 6, which ensures that the connection is stable while also making the width difference between the thigh arc segment 2 and the calf arc segment 3 smaller, thereby ensuring the consistency of the width of the entire wheel assembly; the other ends of the two calf arc segments 3 are respectively controlled by two joint motors 8 to swing, open and close or walk, and the joint motor 8 can generally also be set as a servo motor. At the moment of leg wheel switching, the two calf arc segments 3 need to be controlled to separate, and when the supporting leg is in the walking state, the calf arc segment 3 needs to be driven to swing by controlling the joint shaft 6; according to needs, as shown in the attached Figure 3 As shown, the joint motor 8 is installed between the two arc-shaped splints 201, which is hidden and firmly installed with high safety. The joint shaft 6 is coaxially fixed with a driven gear 10, and the output shaft of the shutdown motor 8 is coaxially fixed with a driving gear 11 correspondingly meshed with the driven gear 10 of the corresponding joint shaft 6. The joint motor 8 drives the driving gear 11 to rotate, and then can drive the joint shaft 6 and the calf arc segment 3 to swing through the driven gear 10; in addition, the end surfaces of the opening and closing ends of the two calf arc segments 3 are staggered with two circular foot blocks 9, so that the two calf arc segments 3 can fit tightly when closed, as shown in FIG. Figure 4 As shown, after closing, the two lower leg arc segments 3 are in contact with each other while ensuring that the width is flush. After opening, as shown in the attached Figure 2 As shown, the curved edge of the circular foot block 9 is used for support.

[0019] The mobile robot that facilitates leg-wheel switching of the present invention needs two joint motors 8 to control the two calf arc segments 3 to be in a closed state when moving in a wheel form, so that the thigh arc segment 2 and the two calf arc segments 3 form a wheel body structure, and then the swing multiplexing motor 5 is used to control the wheel axle 4 to rotate, driving the wheel body and the vehicle body 1 to move and turn normally; according to the terrain conditions, when it is necessary to switch to the outrigger form, the swing multiplexing motor 5 is first used to control the wheel body to rotate to the position where the thigh arc segment 2 is located above, and then the two joint motors 8 are used to control the two calf arc segments 3 to open and support the ground. When walking with the outriggers, the swing multiplexing motor 5 is needed to control the wheel axle 4 to swing as a hip joint, and the joint motor 8 controls the joint shaft 6 to move as a knee joint. Embodiment 2:

[0020] Combined with Figure 5 As shown, on the basis of Example 1, an insertion rod 13 is connected to the middle part of the calf arc segment 3, and a shaft sleeve 12 is fixedly mounted on the wheel axle 4. The outer wall of the shaft sleeve 12 is provided with a slot corresponding to the rod end of the insertion rod 13 for insertion. The slot is provided with a self-locking mechanism for locking the insertion rod 13. The specific self-locking mechanism can be set as an existing magnetic connection mechanism, or an automatic latch mechanism with a socket set on the insertion rod 13, which will not be described in detail here, so that the insertion rod 13 can be fixed on the shaft sleeve 12, thereby ensuring that when the wheel is in the state, the two calf arc segments 3 can be tightly closed, thereby reducing the control burden of the joint shaft 6, and when the joint shaft 6 controls the two calf arc segments 3 to open, the self-locking mechanism can also control the unlocking at the same time to make the insertion rod 13 disengage from the slot. Embodiment three:

[0021] Combined with Figure 6 The support leg 14 is preferably arranged on a support frame 302, the support frame 303 is provided with a plurality of support legs 14, and the support legs 14 are provided with a plurality of support legs 14.

[0022] The parts of the present invention that are not described in detail are prior art. It is obvious to those skilled in the art that the present invention is not limited to the details of the above-mentioned exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the above-mentioned embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is limited by the attached claims rather than the above description. Therefore, it is intended to include all changes within the meaning and scope of the equivalent elements of the claims in the present invention, and any figure marks in the claims should not be regarded as limiting the content of the claims involved.

Claims

1. A mobile robot that facilitates leg-wheel switching, characterized in that: The invention comprises a vehicle body (1), wherein four wheel assemblies are symmetrically mounted on both sides of the vehicle body (1), wherein the center of each wheel assembly is rotatably mounted on the vehicle body (1) via a wheel axle (4), and each wheel axle (4) is controlled to rotate by a swing-rotation multiplex motor (5); the wheel assembly comprises a wheel body structure consisting of a thigh arc segment (2) and two calf arc segments (3), wherein the middle part of the thigh arc segment (2) is fixed to the shaft body of the wheel axle (4) via a support member (7), one end of the two calf arc segments (3) are rotatably connected to the two ends of the thigh arc segment (2) via a joint shaft (6), and the other ends of the two calf arc segments (3) are respectively controlled to swing, open and close, or walk via two joint motors (8).

2. The mobile robot for facilitating leg-wheel switching according to claim 1 is characterized in that: The thigh arc segment (2) comprises two spaced-apart arc splints (201) arranged side by side, the arc splints (201) being integrally connected to the support member (7), a joint shaft (6) being rotatably mounted between corresponding ends of the two arc splints (201), and a corresponding end of the calf arc segment (3) being located between the two arc splints (201) and fixedly connected to the joint shaft (6).

3. The mobile robot for facilitating leg-wheel switching according to claim 2 is characterized in that: The joint motor (8) is installed between two arc-shaped clamping plates (201); a driven gear (10) is coaxially fixed to the joint shaft (6); and a driving gear (11) correspondingly meshing with the driven gear (10) of the corresponding joint shaft (6) is coaxially fixed to the output shaft of the shutdown motor (8).

4. The mobile robot with easy leg-wheel switching according to claim 1 is characterized in that: The middle of the calf arc segment (3) is connected to an insertion rod (13), the wheel axle (4) is fitted with a shaft sleeve (12) and fixed thereto, the outer wall of the shaft sleeve (12) is provided with a slot corresponding to the rod end of the insertion rod (13) being inserted, and the slot is provided with a self-locking mechanism for locking the insertion rod (13).

5. The mobile robot with easy leg-wheel switching according to claim 1 is characterized in that: Two circular foot blocks (9) are staggeredly arranged on the opening and closing end surfaces of the two calf arc segments (3), so that the two calf arc segments (3) can fit tightly together when closed.

6. The mobile robot with easy leg-wheel switching according to claim 1 is characterized in that: The end surface of the opening and closing end of the calf arc segment (3) is provided with a slide groove (301), a leg column (14) is slidably inserted in the slide groove (301), a compression spring (15) is connected between the inner end of the leg column (14) and the bottom of the inner groove of the slide groove (301), and a limiting structure is provided at the notch of the slide groove (301) to prevent the leg column (14) from escaping from the slide groove (301).

7. The mobile robot for facilitating leg-wheel switching according to claim 6 is characterized in that: The outer end of the leg column (14) is provided with a rubber buffer pad.

8. The mobile robot for facilitating leg-wheel switching according to claim 6 is characterized in that: The sliding groove (301) and the leg support column (14) are both configured as arc-shaped structures along the calf arc segment (3).

9. The mobile robot with easy leg-wheel switching according to claim 1 is characterized in that: The wheel arc surfaces of the thigh arc segment (2) and the two calf arc segments (3) away from the wheel axle (4) are all paved and fixed with buffer strips.

10. The mobile robot with easy leg-wheel switching according to claim 1 is characterized in that: The swing multiplexing motor (5) and the joint motor (8) are both configured as servo motors.

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