Wheel-leg type humanoid robot
By designing a wheel-legged humanoid robot, using a walking component with adaptive height adjustment and an automatic inflatable protective frame, the problem of limited mobility and inability to protect robots in complex terrain and harsh environments in the prior art is solved, and the effect of stable walking and effective protection is achieved.
Patent Information
- Application Number
- CN202411869219.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-18
- Publication Date
- 2025-03-21
AI Technical Summary
Existing humanoid robots have limited mobility in complex terrain and harsh environments, making them difficult to apply to various terrains, and cannot achieve protection functions when tilted or fell, resulting in damage to the robot.
A wheel-legged humanoid robot is designed, adopting mechanical legs and sliding box structures. The walking components can adaptively adjust the height to ensure that the robot walks stably on different terrains. Meanwhile, the robot has a built-in protective frame and main airbag, which automatically inflates the robot when dumping is detected by the starter assembly.
It realizes the stable walking and multi-applicability of the robot on complex terrain, and at the same time, it effectively protects when tilting or falling to avoid damage to the robot.
Smart Images
Figure CN119659793A_ABST
Abstract
Description
Technical Field
[0001] The invention belongs to the technical field of humanoid robots, and in particular relates to a wheel-legged humanoid robot. Background Art
[0002] A robot is a machine device that performs tasks automatically. It can accept human commands, run pre-programmed programs, or act according to principles formulated using artificial intelligence technology. Its task is to assist or replace human work, such as in manufacturing, construction, or dangerous work.
[0003] Humanoid robots are robots that are highly similar to humans in appearance, structure and movement. They are usually equipped with human features such as head, torso, limbs, etc., and can sense, make decisions and act through sensors and control systems. The manufacture of humanoid robots is inseparable from high-performance materials. In order to achieve the goals of lightweight, high strength and high durability, scientists have developed a variety of new materials, such as carbon fiber composite materials, high-strength aluminum alloys, etc. These materials not only reduce the weight of the robot, but also improve its load capacity and impact resistance. However, the humanoid robots in the prior art are limited in mobility in complex terrains and harsh environments, and are difficult to meet actual needs and cannot be used in various terrains. At the same time, when the robot tilts or falls, the protection function cannot be realized, resulting in damage to the robot. Summary of the invention
[0004] The purpose of the present invention is to provide a wheel-legged humanoid robot to solve the above-mentioned technical problems.
[0005] In order to solve the above technical problems, the specific technical solution of a wheel-legged humanoid robot of the present invention is as follows: A wheel-legged humanoid robot comprises a body, a mechanical leg is arranged at the bottom of the body, a sliding box is installed at the bottom of the mechanical leg, a walking component capable of adaptively adjusting height is arranged inside the sliding box, and the robot can be driven to walk on various terrains, a protective frame is arranged on the outer wall of the body, a starting component and a main airbag are arranged inside the body, the protective frame is drivingly connected to the starting component, the main airbag is sealed and fluid-conducted with the inside of the protective frame, and the starting component is used to start the main airbag to inflate the protective frame when it is detected that the robot has tipped over.
[0006] Furthermore, an oil pipeline is installed on the inner wall of the body.
[0007] Furthermore, the sliding box includes walking rollers and a driving motor, the driving motor is fixedly installed inside the sliding box, the walking rollers are installed at the bottom of the sliding box, there are multiple walking rollers, the walking rollers are drivingly connected to the driving motor, one end inside the sliding box is slidably connected to a sliding end shaft, the other end inside the sliding box is rotatably connected to a fixed end shaft, the fixed end shaft is fixedly connected to the output end of the driving motor, a connecting shaft is fixedly installed at the axis center of the walking roller, the connecting shaft is slidably connected to the inner side wall of the sliding box, and a pressing arc block is connected to the outer wall of the connecting shaft through a bearing. A pressing spring is fixedly installed on the top of the pressing arc block, and a fixing plate is fixedly installed on the inner top wall of the sliding box, and the top of the pressing spring is fixedly connected to the bottom of the fixing plate; when the heights are different, different walking rollers can be located at different heights to ensure the stability of the sliding box. When walking on a smooth road section, the walking rollers descend under the action of the pressing springs, and the sliding end shafts can adaptively adjust their positions to avoid the phenomenon that the driving motor cannot drive the walking rollers to rotate, and to ensure that when multiple walking rollers adjust their positions, they are continuously driven by the driving motor to achieve automatic compensation when the walking rollers adaptively adjust the distance.
[0008] Furthermore, the connecting shaft, the sliding end shaft and the fixed end shaft are connected by a transmission chain, and sprockets are fixedly installed on the outer walls of one end of the connecting shaft, the sliding end shaft and the fixed end shaft, and the sprockets are meshed and connected with the transmission chain.
[0009] Furthermore, a sliding groove is provided on the inner wall of the sliding box, and a bearing cylinder is slidably connected inside the sliding groove. A return spring is fixedly installed on the outer wall of the bearing cylinder, and the other end of the return spring is fixedly connected to the inner wall of the sliding groove, and one end of the sliding end shaft is rotatably connected to the inside of the bearing cylinder; when the position of the walking roller changes, the transmission chain is stretched, and the sliding end shaft will slide at this time, and the sliding end shaft is rotatably connected to the inside of the bearing cylinder, and the bearing cylinder will slide in the inside of the sliding groove, so as to realize the compensation distance when the walking roller is adjusted, and can always drive the walking roller to rotate. At the same time, when the walking roller is reset, the bearing cylinder is reset under the action of the return spring, which can always ensure that the transmission chain is in a tensioned state, and avoid the phenomenon that the transmission chain is loose and cannot drive the walking roller to rotate.
[0010] Furthermore, a partition is fixedly installed in the middle part of the inner part of the body, and the starting assembly is located on the top of the partition, including a fixed box, two fixed boxes are fixedly installed on the inner side walls of the front and rear of the body, the inner wall of the fixed box is slidably connected with a sliding shaft, and a limiting spring is fixedly installed on the outer wall of the sliding shaft, and the other end of the limiting spring is fixedly connected to the side wall of the fixed box, and a limiting arc plate is fixedly installed on one end of the two sliding shafts, and the limiting arc plate is slidably connected to the upper surface of the partition, the number of the limiting arc plates is two, and a counterweight block is arranged between the two limiting arc plates, and a guide block is fixedly installed on the bottom of the counterweight block; a guide groove is opened on the inner wall of the partition, and the counterweight block is slidably connected to the inside of the guide groove through the guide block; when the machine When the robot is offset or tilted and is about to fall, the counterweight block offsets under the action of gravity, etc. When the counterweight block offsets, it will hit the limiting arc plate, causing the limiting arc plate to be squeezed outward, causing the sliding shaft to move outward, and starting the protection. When the counterweight block offsets, the counterweight block slides inside the guide groove. In the initial state, the robot is in a stable state. At this time, the counterweight block is located in the middle position of the guide groove and will not slide. Only when it offsets, will it move to take effect. The guide block and guide groove can limit the displacement direction of the counterweight block, avoid the phenomenon of the counterweight block detaching, prevent the effect of being unable to start, and at the same time make the counterweight block can only offset to the left and right, and offset in a targeted manner.
[0011] Furthermore, a conducting tube is installed inside the fixed box, one end of which is sealed and connected to the main airbag and fluid is conducted, the other end of which matches the protective frame, a sealing assembly is installed inside the conducting tube, one end of the sliding shaft located inside the fixed box is connected to the sealing assembly, and the offset of the sliding shaft can drive the sealing assembly to open and close, thereby controlling the conduction and closing of the conducting tube.
[0012] Furthermore, the sealing assembly includes a sealing plate and a sliding plate, wherein the sealing plate is fixedly mounted inside the conducting tube, and the sliding plate is sealingly and slidably connected inside the conducting tube; a through hole is provided on the inner wall of the sealing plate, and one end of the sliding shaft seals and slides on the inner wall of the sealing plate and is fixedly connected to the outer wall of the sliding plate; a sealing column is fixedly mounted on the outer wall of the sliding plate, and the sealing column matches the through hole; an air inlet hole is provided on the outer wall of the sliding plate, and a tension spring is fixedly mounted on the outer wall of one end of the sliding plate, and the other end of the tension spring is fixedly mounted on one end of the sealing plate connection; when the body is offset or tilted, the displacement of the counterweight block will synchronously drive the sliding shaft to move, and the sliding shaft will push against the sliding plate to move. In the initial state, the sealing column is sealed and inserted into the inside of the through hole. At this time, the conducting tube is in a sealed state. When the sliding plate slides, the sealing column is separated from the blockage of the through hole, so that the through hole and the air inlet hole form a fluid channel; when the robot is tilted, the counterweight block can be offset, thereby driving the sliding shaft to move, automatically opening the fluid channel, and realizing the linkage effect. The tension spring is used for resetting.
[0013] Furthermore, a secondary airbag is installed on the inner wall of the body, and the secondary airbag is connected to the main airbag through a conducting tube; a telescopic column is fixedly installed on one end of the protective frame, and the other end of the telescopic column abuts against the outer surface of the secondary airbag, and a protective spring is fixedly installed on the outer wall of the telescopic column, and the other end of the protective spring is fixedly connected to the inner wall of the body; after the sliding plate slides away to form a fluid channel, the gas inside the main airbag will enter the interior of the secondary airbag, so that the secondary airbag abuts against the protective frame for protection, and at the same time, the protective frame extends outward a short distance in the initial state to avoid external collision. In the event of a fall, the secondary airbag can play a role in shock absorption and protection to prevent the body from contacting the ground.
[0014] Furthermore, the main airbag is installed on the inner bottom wall of the body, and an extrusion plate is slidably connected to the inner bottom wall of the body, one end of the extrusion plate is against the outer surface of the main airbag, and the other end of the extrusion plate is fixedly installed with an extrusion spring, and the other end of the extrusion spring is fixedly connected to the inner wall of the body; in an initial state, the fluid channel is in a sealed state, and the conducting tube is in a blocked state. The extrusion plate squeezes the main airbag, so that after the fluid channel is opened, the gas inside the main airbag can quickly enter the interior of the auxiliary airbag under the elastic force of the extrusion spring.
[0015] The wheel-legged humanoid robot of the present invention has the following advantages: 1. The device is provided with an oil pipeline inside, which can prevent the external hydraulic hose from being easily worn and difficult to repair, thereby affecting the overall reliability and service life of the robot. At the same time, the sliding box of the device can drive the robot of the device to walk on various terrains, thereby achieving multi-applicability and avoiding the phenomenon of single use. At the same time, the protective frame of the device can protect the robot when it tilts or falls, thereby preventing the robot from being damaged.
[0016] 2. The device is provided with a connecting shaft with a sliding connection, so that the walking roller of the device can adaptively adjust the height when the device is traveling on a rugged road section or different sections of a slope. When the height is different, different walking rollers can be located at different heights to ensure the stability of the sliding box. When traveling on a smooth road section, the walking roller descends under the action of the pressing spring, and the sliding end shaft can adaptively adjust the position to avoid the phenomenon that the driving motor cannot drive the walking roller to rotate, and ensure that when multiple walking rollers adjust their positions, they are continuously driven by the driving motor, thereby realizing automatic compensation when the walking roller adaptively adjusts the distance.
[0017] 3. The bearing cylinder of the device is reset under the action of the reset spring, which can always ensure that the transmission chain is in a taut state, avoiding the phenomenon that the transmission chain is loose and cannot drive the walking roller to rotate.
[0018] 4. The guide block and guide groove of the device can limit the displacement direction of the counterweight block, avoid the counterweight block from detaching, and prevent the counterweight block from being unable to start. At the same time, the counterweight block can only be offset to the left and right, and the offset can be carried out in a targeted manner.
[0019] 5. When the device is tilted, the counterweight block can be offset, thereby driving the sliding shaft to move, automatically opening the fluid channel, and realizing the linkage effect; after the sliding plate of the device slides away to form a fluid channel, the gas inside the main airbag will enter the auxiliary airbag, so that the auxiliary airbag can be pressed against the protective frame for protection, thereby preventing the robot from being damaged when it falls. At the same time, the protective frame of the device extends outward a short distance in the initial state to avoid external collisions. When falling, the auxiliary airbag can play a role in shock absorption and protection to prevent the body from contacting the ground. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a schematic diagram of a front view of the present invention; Figure 2 It is a schematic diagram of a cross-section of the body of the present invention; Figure 3 It is a schematic diagram of a cross-section of a sliding box of the present invention; Figure 4 It is a three-dimensional schematic diagram of the walking roller of the present invention; Figure 5Schematic diagram of the meshing of the transmission chain and sprockets of the present invention; Figure 6 For the present invention Figure 3 The enlarged schematic diagram at A in the middle; Figure 7 A schematic diagram of a top view of a starting assembly of the present invention; Figure 8 It is a three-dimensional schematic diagram of the counterweight block and the partition plate of the present invention; Fig. 9 It is a schematic diagram of the interior of the fixed box of the present invention; Fig.10 It is a three-dimensional schematic diagram of the starting component of the present invention; Fig.11 It is a schematic diagram of the interior of the side wall of the body of the present invention.
[0021] Explanation of the marks in the figure: 1. Machine body; 2. Mechanical arm; 3. Mechanical leg; 4. Sliding box; 401. Walking roller; 402. Driving motor; 403. Fixed end shaft; 404. Connecting shaft; 405. Pressing arc block; 406. Pressing spring; 407. Fixed plate; 408. Chain tooth; 409. Transmission chain; 410. Sliding end shaft; 411. Slideway; 412. Bearing cylinder; 413. Reset spring; 5. Protective frame; 501. Auxiliary airbag; 502. Telescopic column; 503. Protective Spring; 6. Starting assembly; 601. Fixed box; 602. Sliding shaft; 603. Limiting spring; 604. Limiting arc plate; 605. Counterweight; 606. Guide groove; 607. Guide block; 608. Conducting pipe; 7. Main airbag; 701. Extrusion plate; 702. Extrusion spring; 8. Partition; 9. Sealing assembly; 901. Sealing plate; 902. Sliding plate; 903. Through hole; 904. Sealing column; 905. Air inlet; 906. Tension spring; 10. Oil pipeline. DETAILED DESCRIPTION
[0022] In order to better understand the purpose, structure and function of the present invention, a wheel-legged humanoid robot of the present invention is further described in detail below in conjunction with the accompanying drawings.
[0023] As attached Figure 1-3As shown, a wheel-legged humanoid robot of the present invention comprises a body 1, a mechanical arm 2 is arranged on the side wall of the body 1, a mechanical leg 3 is arranged at the bottom of the body 1, a sliding box 4 is installed at the bottom of the mechanical leg 3, and a walking component capable of adaptively adjusting the height is arranged inside the sliding box 4, which can drive the robot of the device to walk on various terrains, realize multi-applicability, and avoid the phenomenon of single use. A protective frame 5 is arranged on the outer wall of the body 1, and a starting component 6 and a main airbag 7 are arranged inside the body 1. The protective frame 5 is connected to the starting component 6 by driving, and the main airbag 7 is sealed and fluid-conducted with the inside of the protective frame 5. The starting component 6 is used to start the main airbag 7 to inflate the protective frame 5 when the robot is detected to have fallen, so as to protect the robot and prevent the robot from being damaged.
[0024] An oil pipeline 10 is installed on the inner wall of the body 1. By arranging the oil pipeline 10 internally, the problem of easy wear and difficult maintenance of the external hydraulic hose can be avoided, thereby improving the overall reliability and service life of the robot.
[0025] As attached Figure 3-4 As shown, the sliding box 4 includes a walking roller 401 and a driving motor 402. The driving motor 402 is fixedly installed inside the sliding box 4. There are multiple walking rollers 401 installed at the bottom of the sliding box 4. The walking rollers 401 are drivingly connected to the driving motor 402.
[0026] One end of the sliding box 4 is slidably connected with a sliding end shaft 410, and the other end of the sliding box 4 is rotatably connected with a fixed end shaft 403, and the fixed end shaft 403 is fixedly connected to the output end of the driving motor 402. A connecting shaft 404 is fixedly installed at the axis of the walking roller 401, and the connecting shaft 404 is slidably connected to the inner wall of the sliding box 4, and a pressing arc block 405 is connected to the outer wall of the connecting shaft 404 through a bearing. A pressing spring 406 is fixedly installed on the top of the pressing arc block 405, and a fixed plate 407 is fixedly installed on the inner top wall of the sliding box 4, and the top of the pressing spring 406 is fixedly connected to the bottom of the fixed plate 407; the device is connected by sliding connection The setting of the shaft 404 can enable the walking roller 401 of the device to adaptively adjust the height when the device is traveling on a rugged road section or different slope sections. When the height is different, different walking rollers 401 can be located at different heights to ensure the stability of the sliding box 4. When traveling on a smooth road section, under the action of the pressing spring 406, the walking roller 401 descends, and the sliding end shaft 410 can adaptively adjust the position to avoid the phenomenon that the driving motor 402 cannot drive the walking roller 401 to rotate, and ensure that when multiple walking rollers 401 adjust their positions, they are continuously driven by the driving motor 402, thereby realizing automatic compensation when the walking roller 401 adaptively adjusts the distance.
[0027] As attached Figure 5As shown, the connecting shaft 404, the sliding end shaft 410 and the fixed end shaft 403 are driven and connected by a transmission chain 409, and sprockets 408 are fixedly installed on the outer walls of one end of the connecting shaft 404, the sliding end shaft 410 and the fixed end shaft 403, and the sprockets 408 are meshed and connected with the transmission chain 409.
[0028] As attached Figure 3 and attached Figure 6 As shown, the inner wall of the sliding box 4 is provided with a sliding groove 411, and the interior of the sliding groove 411 is slidably connected with a bearing cylinder 412, and a return spring 413 is fixedly installed on the outer wall of the bearing cylinder 412, and the other end of the return spring 413 is fixedly connected to the inner wall of the sliding groove 411, and one end of the sliding end shaft 410 is rotatably connected to the interior of the bearing cylinder 412; when the device travels on a rugged road section, the height between the walking rollers 401 automatically changes to meet the use of different terrains. When the position of the walking roller 401 changes, the transmission chain 409 will be stretched, and the sliding roller 401 will be pulled back. The moving end shaft 410 will slide, and the sliding end shaft 410 will rotate and be connected to the inside of the bearing tube 412. At this time, the bearing tube 412 will slide inside the slide groove 411, so as to realize the compensation distance when adjusting the walking roller 401, and can always drive the walking roller 401 to rotate. At the same time, when the walking roller 401 is reset, the bearing tube 412 is reset under the action of the reset spring 413, which can always ensure that the transmission chain 409 is in a tensioned state, avoiding the phenomenon that the transmission chain 409 is loose and cannot drive the walking roller 401 to rotate.
[0029] As attached Figure 2 and attached Figure 7-8As shown, a partition 8 is fixedly installed in the middle of the body 1, and the starting component 6 is located on the top of the partition 8, including a fixed box 601, two fixed boxes 601 are fixedly installed on the inner side walls of the body 1 at the front and rear, the inner wall of the fixed box 601 is slidably connected with a sliding shaft 602, and a limiting spring 603 is fixedly installed on the outer wall of the sliding shaft 602, and the other end of the limiting spring 603 is fixedly connected to the side wall of the fixed box 601, and one end of the two sliding shafts 602 is fixedly installed with a limiting arc plate 604, and the limiting arc plate 604 is slidably connected to the upper surface of the partition 8. The number of limiting arc plates 604 is two, and a counterweight block 605 is arranged between the two limiting arc plates 604, and a guide block 607 is fixedly installed on the bottom of the counterweight block 605; a guide groove 606 is opened on the inner wall of the partition 8, and the counterweight block 605 is slidably connected to the inside of the guide groove 606 through the guide block 607; this device is used When the robot is offset or tilted and is about to fall, the counterweight block 605 is offset under the action of gravity, etc. When the counterweight block 605 is offset, it will hit the limiting arc plate 604, causing the limiting arc plate 604 to be squeezed outward, causing the sliding shaft 602 to move outward, and starting the protection of the device. When the counterweight block 605 is offset, the counterweight block 605 slides inside the guide groove 606. In the initial state, the robot is in a stable state. At this time, the counterweight block 605 is located in the middle position of the guide groove 606 and will not slide. Only when it is offset, will it be displaced. The guide block 607 and the guide groove 606 can limit the displacement direction of the counterweight block 605, avoid the phenomenon of the counterweight block 605 being detached, and prevent the effect of being unable to start. At the same time, the counterweight block 605 can only be offset to the left and right, and the offset is carried out in a targeted manner.
[0030] As attached Fig. 9 As shown, a conducting tube 608 is installed inside the fixed box 601, one end of the conducting tube 608 is sealed and connected to the main airbag 7 and fluid is conducted, the other end of the conducting tube 608 matches the protection frame 5, a sealing assembly 9 is installed inside the conducting tube 608, and one end of the sliding shaft 602 located inside the fixed box 601 is connected to the sealing assembly 9. The deviation of the sliding shaft 602 can drive the sealing assembly 9 to open and close, thereby controlling the conduction and closing of the conducting tube 608.
[0031] As attached Fig.10As shown, the sealing assembly 9 includes a sealing plate 901 and a sliding plate 902, the sealing plate 901 is fixedly installed inside the conducting tube 608, and the sliding plate 902 is sealingly slidably connected inside the conducting tube 608; a through hole 903 is opened on the inner wall of the sealing plate 901, and the number of the through holes 903 is multiple, one end of the sliding shaft 602 is sealingly slid on the inner wall of the sealing plate 901 and is fixedly connected to the outer wall of the sliding plate 902; a sealing column 904 is fixedly installed on the outer wall of the sliding plate 902, and the sealing column 904 matches the through hole 903, an air inlet hole 905 is opened on the outer wall of the sliding plate 902, and the number of the air inlet holes 905 is multiple, and a tension spring 906 is fixedly installed on the outer wall of one end of the sliding plate 902, and the tension spring 90 The other end of 6 is fixedly connected to one end of the sealing plate 901; when the body 1 of the device is offset or tilted, the displacement of the counterweight block 605 will synchronously drive the sliding shaft 602 to move, and the sliding shaft 602 will push against the sliding plate 902 to move. In the initial state, the sealing column 904 is sealed and plugged into the inside of the through hole 903, and the guide tube 608 is in a sealed state. When the sliding plate 902 slides, the sealing column 904 is separated from the blockage of the through hole 903, so that the through hole 903 and the air inlet 905 form a fluid channel; when the device is tilted, the counterweight block 605 can be offset, thereby driving the sliding shaft 602 to move, automatically opening the fluid channel, and realizing the linkage effect. The tension spring 906 is used for resetting.
[0032] As attached Fig.11 As shown, a secondary airbag 501 is installed on the inner wall of the body 1, and the secondary airbag 501 is connected to the main airbag 7 through a conducting tube 608; a telescopic column 502 is fixedly installed at one end of the protective frame 5, and the other end of the telescopic column 502 abuts against the outer surface of the secondary airbag 501, and a protective spring 503 is fixedly installed on the outer wall of the telescopic column 502, and the other end of the protective spring 503 is fixedly connected to the inner wall of the body 1; after the sliding plate 902 slides away to form a fluid channel, the gas inside the main airbag 7 will enter the secondary airbag 501, so that the secondary airbag 501 abuts against the protective frame 5 for protection, avoiding damage to the robot when it falls. At the same time, the protective frame 5 of the device extends outward a short distance in the initial state to avoid external collision. When falling, the secondary airbag 501 can play a role in shock absorption and protection to avoid the body 1 from contacting the ground.
[0033] As attached Figure 2As shown, the main airbag 7 is installed on the inner bottom wall of the body 1, and an extrusion plate 701 is slidably connected to the inner bottom wall of the body 1. One end of the extrusion plate 701 is against the outer surface of the main airbag 7, and the other end of the extrusion plate 701 is fixedly installed with an extrusion spring 702, and the other end of the extrusion spring 702 is fixedly connected to the inner wall of the body 1; in the initial state of the device, the fluid channel is in a sealed state, the conducting tube 608 is in a blocked state, and the extrusion plate 701 squeezes the main airbag 7, so that after the fluid channel is opened, the gas inside the main airbag 7 can quickly enter the interior of the auxiliary airbag under the elastic force of the extrusion spring 702.
[0034] It is to be understood that the present invention is described by some embodiments, and it is known to those skilled in the art that various changes or equivalent substitutions may be made to these features and embodiments without departing from the spirit and scope of the present invention. In addition, under the teachings of the present invention, these features and embodiments may be modified to adapt to specific circumstances and materials without departing from the spirit and scope of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of this application are within the scope of protection of the present invention.
Claims
1. A wheel-legged humanoid robot, comprising a body (1), a mechanical leg (3) being arranged at the bottom of the body (1), a sliding box (4) being installed at the bottom of the mechanical leg (3), characterized in that: The interior of the sliding box (4) is provided with a walking component capable of adaptively adjusting height, and can drive the robot to walk on various terrains. A protective frame (5) is provided on the outer wall of the body (1), and a starting component (6) and a main airbag (7) are provided in the body (1). The protective frame (5) is drivingly connected to the starting component (6), and the main airbag (7) is sealed and fluidically connected to the interior of the protective frame (5). The starting component (6) is used to start the main airbag (7) to inflate the protective frame (5) when it is detected that the robot has fallen over.
2. The wheel-legged humanoid robot according to claim 1, characterized in that: An oil delivery pipe (10) is installed on the inner wall of the machine body (1).
3. The wheel-legged humanoid robot according to claim 1, characterized in that: The sliding box (4) comprises a walking roller (401) and a driving motor (402), wherein the driving motor (402) is fixedly mounted inside the sliding box (4), the walking roller (401) is mounted at the bottom of the sliding box (4), the walking roller (401) is provided with a plurality of walking rollers (401), the walking rollers (401) are drivingly connected to the driving motor (402), one end inside the sliding box (4) is slidably connected to a sliding end shaft (410), the other end inside the sliding box (4) is rotatably connected to a fixed end shaft (403), the fixed end shaft (403) is fixedly connected to the output end of the driving motor (402), a connecting shaft (404) is fixedly mounted at the axis of the walking roller (401), the connecting shaft (404) is slidably connected to the inner wall of the sliding box (4), and a pressing shaft (404) is connected to the outer wall of the connecting shaft (404) via a bearing. The arc pressing block (405) is fixedly provided with a pressing spring (406) on the top of the arc pressing block (405), and a fixing plate (407) is fixedly provided on the inner top wall of the sliding box (4), and the top of the pressing spring (406) is fixedly connected to the bottom of the fixing plate (407); when the heights are different, different walking rollers (401) can be located at different heights to ensure the stability of the sliding box (4); when walking on a stable road section, under the action of the pressing spring (406), the walking roller (401) descends, and the sliding end shaft (410) can adaptively adjust the position to avoid the phenomenon that the driving motor (402) cannot drive the walking roller (401) to rotate, and ensure that when the multiple walking rollers (401) adjust their positions, they are continuously driven by the driving motor (402), so as to realize automatic compensation when the walking roller (401) adaptively adjusts the distance.
4. The wheel-legged humanoid robot according to claim 3, characterized in that: The connecting shaft (404), the sliding end shaft (410) and the fixed end shaft (403) are connected by driving via a transmission chain (409); sprockets (408) are fixedly mounted on the outer walls of one end of the connecting shaft (404), the sliding end shaft (410) and the fixed end shaft (403); and the sprockets (408) are meshingly connected with the transmission chain (409).
5. The wheel-legged humanoid robot according to claim 3, characterized in that: The inner wall of the sliding box (4) is provided with a sliding groove (411), the interior of the sliding groove (411) is slidably connected to a bearing cylinder (412), a return spring (413) is fixedly installed on the outer wall of the bearing cylinder (412), the other end of the return spring (413) is fixedly connected to the inner wall of the sliding groove (411), and one end of the sliding end shaft (410) is rotatably connected to the interior of the bearing cylinder (412); when the position of the walking roller (401) changes, the transmission chain (409) is stretched, and the sliding end shaft (410) will slide, and the sliding end shaft ( The bearing sleeve (410) is rotatably connected to the inside of the bearing sleeve (412), and the bearing sleeve (412) slides inside the slide groove (411), thereby realizing the compensation distance when adjusting the walking roller (401), and can always drive the walking roller (401) to rotate. At the same time, when the walking roller (401) is reset, the bearing sleeve (412) is reset under the action of the reset spring (413), and can always ensure that the transmission chain (409) is in a taut state, so as to avoid the phenomenon that the transmission chain (409) is loose and cannot drive the walking roller (401) to rotate.
6. The wheel-legged humanoid robot according to claim 1, characterized in that: A partition (8) is fixedly installed in the middle of the body (1), and the starting assembly (6) is located on the top of the partition (8), comprising a fixed box (601), wherein the two fixed boxes (601) are fixedly installed on the front and rear inner side walls of the body (1), the inner wall of the fixed box (601) is slidably connected to a sliding shaft (602), and a limiting spring (603) is fixedly installed on the outer wall of the sliding shaft (602), and the other end of the limiting spring (603) is fixedly connected to the side wall of the fixed box (601). A limiting arc plate (604) is fixedly installed at one end of the two sliding shafts (602), and the limiting arc plate (604) is slidably connected to the upper surface of the partition (8). There are two limiting arc plates (604), and a counterweight block (605) is arranged between the two limiting arc plates (604). A guide block (607) is fixedly installed at the bottom of the counterweight block (605); a guide groove (606) is opened on the inner wall of the partition (8), and the counterweight block (605) is guided by the guide block (607) ) is slidably connected to the inside of the guide groove (606); when the robot is offset or tilted and is about to fall, the counterweight block (605) is offset under the action of gravity, etc. When the counterweight block (605) is offset, it will press against the limiting arc plate (604), so that the limiting arc plate (604) is squeezed outward, and the sliding shaft (602) is displaced outward, and the protection is activated. When the counterweight block (605) is offset, the counterweight block (605) slides in the guide groove (606). Internally, in the initial state, the robot is in a stable state. At this time, the counterweight block (605) is located in the middle of the guide groove (606) and will not slide. Only when it is offset, will it move to take effect. The guide block (607) and the guide groove (606) can limit the displacement direction of the counterweight block (605), avoid the phenomenon of the counterweight block (605) being detached, and prevent the effect of being unable to start. At the same time, the counterweight block (605) can only be offset to the left and right, and the offset is carried out in a targeted manner.
7. The wheel-legged humanoid robot according to claim 6, characterized in that: A conducting tube (608) is installed inside the fixed box (601), one end of the conducting tube (608) is sealed and connected to the main airbag (7) and fluid is conducted therethrough, the other end of the conducting tube (608) matches the protective frame (5), a sealing assembly (9) is installed inside the conducting tube (608), one end of the sliding shaft (602) located inside the fixed box (601) is connected to the sealing assembly (9), and the displacement of the sliding shaft (602) can drive the sealing assembly (9) to open and close, thereby controlling the conduction and closing of the conducting tube (608).
8. The wheel-legged humanoid robot according to claim 6, characterized in that: The sealing assembly (9) comprises a sealing plate (901) and a sliding plate (902), wherein the sealing plate (901) is fixedly mounted inside the conducting tube (608), and the sliding plate (902) is sealingly and slidably connected inside the conducting tube (608); a through hole (903) is provided on the inner wall of the sealing plate (901), and one end of the sliding shaft (602) sealingly slides on the inner wall of the sealing plate (901) and is fixedly connected to the outer wall of the sliding plate (902); a sealing column (904) is fixedly mounted on the outer wall of the sliding plate (902), and the sealing column (904) matches the through hole (903); an air inlet hole (905) is provided on the outer wall of the sliding plate (902); a tension spring (906) is fixedly mounted on the outer wall of one end of the sliding plate (902), and the other end of the tension spring (906) is connected to the outer wall of the sliding plate (902). One end of the sealing plate (901) is fixedly connected; when the body (1) is offset or tilted, the displacement of the counterweight (605) will synchronously drive the sliding shaft (602) to move, and the sliding shaft (602) will push against the sliding plate (902) to move. In the initial state, the sealing column (904) is sealed and inserted into the inside of the through hole (903), and the guide tube (608) is in a sealed state. When the sliding plate (902) slides, the sealing column (904) is separated from the blockage of the through hole (903), so that the through hole (903) and the air inlet (905) form a fluid channel; when the robot is tilted, the counterweight (605) can be offset, thereby driving the sliding shaft (602) to move, automatically opening the fluid channel, and realizing the linkage effect, and the tension spring (906) is used for resetting.
9. The wheel-legged humanoid robot according to claim 8, characterized in that: A secondary airbag (501) is mounted on the inner wall of the body (1), and the secondary airbag (501) is connected to the main airbag (7) via a conducting tube (608); a telescopic column (502) is fixedly mounted on one end of the protective frame (5), and the other end of the telescopic column (502) abuts against the outer surface of the secondary airbag (501); a protective spring (503) is fixedly mounted on the outer wall of the telescopic column (502), and the other end of the protective spring (503) is fixedly connected to the inner wall of the body (1); after the sliding plate (902) slides away to form a fluid channel, the gas inside the main airbag (7) will enter the secondary airbag (501), so that the secondary airbag (501) abuts against the protective frame (5) for protection; at the same time, the protective frame (5) extends outwards a short distance in an initial state to avoid external collision. When falling, the secondary airbag (501) can play a role of shock absorption and protection to prevent the body (1) from contacting the ground.
10. The wheel-legged humanoid robot according to claim 8, characterized in that: The main airbag (7) is mounted on the inner bottom wall of the body (1), and a pressing plate (701) is slidably connected to the inner bottom wall of the body (1), one end of the pressing plate (701) abuts against the outer surface of the main airbag (7), and a pressing spring (702) is fixedly mounted on the other end of the pressing plate (701), and the other end of the pressing spring (702) is fixedly connected to the inner wall of the body (1); in an initial state, the fluid channel is in a sealed state, and the conducting tube (608) is in a blocked state. The pressing plate (701) presses the main airbag (7), so that after the fluid channel is opened, the gas inside the main airbag (7) can quickly enter the inside of the auxiliary airbag (501) under the elastic force of the pressing spring (702).