Robot caster and double-caster robot

Abstract

The invention relates to a robot caster. The robot caster comprises a supporting leg, a walking wheel and a foot assembly. The walking wheels are rotationally arranged at the lower ends of the supporting legs; the foot component is movably connected with the supporting leg, and the foot component can be switched between a working state and a non-working state; the invention further discloses a double-caster robot with the robot caster, through the structural design, the robot can be seamlessly switched between the flat ground and the rugged terrain, the adaptability and the moving efficiency on various terrains are remarkably improved, the structure of the robot is relatively simple, a control algorithm is easy to achieve, and the robot is suitable for being popularized and applied. Good market application prospects are realized.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot caster and a double-caster robot. Background Art

[0002] In modern robotics, traditional robots have significant deficiencies in multi-terrain adaptability. Although wheeled robots move efficiently on flat roads, they perform poorly on uneven or obstacle-filled terrains and are easily restricted by the terrain and cannot move effectively. For example, when faced with rugged terrain, traditional wheeled robots may slip or be unable to cross obstacles due to insufficient grip of the wheels. In addition, although legged robots perform well in terrain adaptability and can walk on complex terrain, their structures are complex and costly, and their mobility on flat roads is not as efficient as that of wheeled robots. This limitation limits the scope of application of robots in diverse environments, especially in scenarios that require fast movement and efficient operation.

[0003] Therefore, how to improve the robot's adaptability and mobility efficiency under multi-terrain conditions has become an important technical issue in the current development of robotics technology. Summary of the invention

[0004] Based on the above description, the present invention provides a robot caster and a dual-caster robot to solve the technical problems of low adaptability and low movement efficiency of robots in multiple terrain conditions in the prior art.

[0005] The technical solution of the present invention to solve the above technical problems is as follows: A robot wheel foot, comprising a leg, a walking wheel and a foot assembly; The walking wheel is rotatably arranged at the lower end of the supporting leg; The foot assembly is movably connected to the supporting leg, and the foot assembly can be switched between a working state and a non-working state.

[0006] Compared with the prior art, the technical solution of this application has the following beneficial technical effects: The robot caster significantly improves the robot's adaptability and mobility efficiency in multiple terrain conditions through the support legs, walking wheels and foot components. The foot components can be switched between working and non-working states according to actual needs, allowing the robot caster to form different states, thereby improving the robot's flexibility in movement and obstacle crossing ability using the robot caster, and expanding the robot's application range in diverse environments.

[0007] Based on the above technical solution, the present invention can also be improved as follows.

[0008] Furthermore, the foot assembly includes a connecting member, a foot seat and a driving mechanism, the connecting member is movably connected to the supporting leg, the foot seat is movably connected to the connecting member, and the driving mechanism and the foot seat are connected to switch the working state and the non-working state.

[0009] Furthermore, the connecting member includes a first end and a second end, the first end is rotatably connected to the support leg, and the second end is arranged on the circumferential outer side of the walking wheel; the foot seat is rotatably connected to the second end, the rotation axis of the foot seat is perpendicular to the rotation axis of the connecting member, and the driving mechanism is arranged on the support leg and connected to the foot seat, for driving the foot seat to fold up and down and / or swing left and right.

[0010] Furthermore, the connecting member is a U-shaped structure and its open end is a first end, the walking wheel is arranged on the inner side of the opening, and the foot seat is connected to the end of the U-shaped structure away from the opening.

[0011] Furthermore, the footrest includes a seat body and a movable shaft, one end of the movable shaft is rotatably connected to the connecting member, and the seat body is fixed to the other end of the movable shaft.

[0012] Furthermore, the driving mechanism is a linear motor.

[0013] Furthermore, the driving mechanism includes a rotating motor, a turntable and a connecting rod, the rotating motor is arranged on the supporting leg, the turntable is drivingly connected to the rotating motor, and the two ends of the connecting rod are movably connected to the edge of the turntable and the seat body respectively.

[0014] Furthermore, the travel wheel is a drive wheel with a built-in drive motor.

[0015] The present application also provides a dual-wheeled robot, comprising the above-mentioned robot wheels and feet.

[0016] Furthermore, it includes a trunk and a fulcrum support module, wherein the fulcrum support module is arranged at the lower end of the trunk, and the robot wheels and the trunk are directly connected or indirectly connected to the trunk through an intermediate piece.

[0017] Further, the middle piece is two thigh modules; The two thigh modules are respectively arranged on both sides of the trunk, the upper ends of the thigh modules are connected to the trunk, and the lower ends of the thigh modules are rotatably connected to the upper ends of the legs; The fulcrum support module is arranged at the lower end of the trunk.

[0018] Furthermore, the torso includes a torso body, an energy system and a control system. The energy system and the control system are arranged on the torso body. The energy system is used to supply power to the two-wheeled robot. The control system includes an inertia unit and a central processing unit, which are used to control the posture of the fulcrum support module and the two leg modules according to the robot posture information to maintain balance.

[0019] Furthermore, the thigh module includes a hip joint and a thigh rod, the hip joint is arranged on both sides of the trunk body, and the thigh rod is correspondingly connected to the hip joint.

[0020] Furthermore, the fulcrum support module includes a support joint, a support rod and a universal wheel. The support joint is arranged at the lower end of the torso and connected to the upper end of the support rod to control the lifting or lowering of the support rod. The universal wheel is installed at the lower end of the support rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of the side structure of a robot wheel foot in a two-wheeled robot provided by an embodiment of the present invention; Figure 2 for Figure 1 Isometric structural diagram of Figure 3 for Figure 1 Schematic diagram of the front structure. DETAILED DESCRIPTION

[0022] In order to facilitate understanding of the present application, the present application will be described more fully below with reference to the relevant drawings. Embodiments of the present application are provided in the drawings. However, the present application can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present application more thorough and comprehensive.

[0023] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein in the specification of this application are only for the purpose of describing specific embodiments and are not intended to limit this application.

[0024] It will be appreciated that spatial relationship terms such as "under", "beneath", "below", "under", "above", "above", etc., may be used herein to describe the relationship of an element or feature shown in the figures to other elements or features. It will be appreciated that, in addition to the orientations shown in the figures, spatial relationship terms also include different orientations of the device in use and operation. For example, if the device in the accompanying drawings is flipped, an element or feature described as "under other elements" or "under it" or "under it" will be oriented as "on" the other elements or features. Thus, the exemplary terms "under" and "under" may include both upper and lower orientations. In addition, the device may also include additional orientations (e.g., rotated 90° or other orientations), and the spatial descriptors used herein are interpreted accordingly.

[0025] It should be noted that when an element is considered to be "connected" to another element, it can be directly connected to the other element, or connected to the other element through an intermediate element. The "connection" in the following embodiments should be understood as "electrical connection", "communication connection", etc. if the connected circuits, modules, units, etc. have electrical signals or data transmission between each other.

[0026] When used herein, the singular forms "a", "an", and "said / the" may also include plural forms, unless the context clearly indicates otherwise. It should also be understood that the terms "include / comprise" or "have" etc. specify the presence of stated features, wholes, steps, operations, components, parts or combinations thereof, but do not exclude the possibility of the presence or addition of one or more other features, wholes, steps, operations, components, parts or combinations thereof.

[0027] Example 1 like Figure 1 and Figure 2 As shown, the present invention provides a robot wheel caster, which includes a support leg 10, a walking wheel 20 and a foot assembly 30.

[0028] The legs 10 serve as the supporting structure of the entire caster, and a walking wheel 20 is rotatably provided at the lower end thereof. The walking wheel 20 is preferably a driving wheel with a built-in driving motor, which can autonomously drive the robot to move.

[0029] The foot assembly 30 is movably connected to the leg 10, and the foot assembly 30 can switch between a working state and a non-working state. It should be noted that the working state and the non-working state in the present invention are only used to explain whether the foot assembly 30 works in this state, and have nothing to do with whether the robot as a whole is in a working or non-working state.

[0030] When the foot assembly 30 is in a non-working state, the foot assembly 30 is completely folded or raised, for example, folded to a position close to the support leg 10 and approximately parallel to the support leg 10. At this time, the foot assembly 30 is not in contact with the ground, the foot assembly 30 is not in action, and only relies on the walking wheels 20 to move in contact with the ground. This state is suitable for relatively continuous and flat roads.

[0031] Correspondingly, when the foot assembly 30 is not completely retracted or not completely raised, it is in working state. In working state, it can be divided into at least two working modes. The first working mode is that the foot assembly 30 intermittently leaves and contacts the ground according to the walking frequency of the robot. At this time, the walking wheel 20 and the foot seat 32 (the part of the foot assembly 30 that contacts the ground) contact the ground successively like the heel and the sole of the foot, and the two feet cooperate to form a bipedal walking mode (the walking wheel can be set to a locked state that cannot rotate at this time), which can adapt to uneven ground, even slopes and steps; the second working mode is when the robot is stationary, and its foot seat 32 is completely stationary and contacts the ground to provide stable support, so that the robot is not easy to move even if it is subjected to external force, ensuring its stability.

[0032] The foot assembly 30 includes a connecting member 31, a foot seat 32 and a driving mechanism 33. The connecting member 31 is a U-shaped structure, and one open end thereof is a first end 311, which is rotatably connected to the support leg 10; the other end is a second end 312, which is arranged on the circumferential outer side of the walking wheel 20. The foot seat 32 includes a seat body 321 and a movable shaft 322, one end of the movable shaft 322 is rotatably connected to the connecting member 31, the seat body 321 is fixed to the other end of the movable shaft 322, and the rotation axis of the foot seat 32 is perpendicular to the rotation axis of the connecting member 31.

[0033] The driving mechanism 33 includes a first driving member, a first connecting rod 332, a second driving member 3 and a second connecting rod 334. The first driving member 3 and the second driving member 3 are arranged on the supporting leg 10 at intervals along the length direction of the supporting leg 10. The first driving member is composed of a first driving motor 3311 and a first rotating disk 3312. The first rotating disk 3312 is driven and connected to the first driving motor 3311. The upper end of the first connecting rod 332 is hinged to the edge of the first rotating disk 3312, and the lower end is hinged to one side of the seat body 321. The second driving member 3 is composed of a second driving motor 3331 and a second rotating disk 3332. The second rotating disk 3332 is driven and connected to the second driving motor 3331. The upper end of the second connecting rod 334 is hinged to the edge of the second rotating disk 3332, and the lower end is hinged to the other side of the seat body 321. The first rotating disk 3312 and the second rotating disk 3332 are respectively located on both sides of the supporting leg 10.

[0034] The first drive motor 3311 and the second drive motor 3331 respectively drive the first turntable 3312 and the second turntable 3332 to rotate, and the first connecting rod 332 and the second connecting rod 334 are pulled up or down to drive the foot seat 32 to fold up and down and swing left and right. This design enables the robot's wheel feet to flexibly adapt to different terrains and improve the robot's mobility and stability in complex environments.

[0035] Specifically, in order to switch the foot assembly between the working state and the non-working state, the foot seat 32 needs to be swung up and down, and the first drive motor 3311 and the second drive motor 3331 work synchronously to ensure that the lifting or lowering degree of the first connecting rod 332 and the second connecting rod 334 is consistent. Specifically, if the foot seat 32 is to be completely retracted or lifted upward (i.e. switched to the non-working state), the two motors rotate in the same direction, driving the two connecting rods to be lifted at the same time, and the foot seat 32 drives the connecting member to flip and fold upward along the axis of the connecting member 31, and the angle with the horizontal plane is increased, which is suitable for fast travel on a flat road; if the foot seat 32 is to be swung and spread downward (i.e. switched to the working state), the two motors rotate in the opposite direction, driving the two connecting rods to be lowered at the same time, and the foot seat 32 drives the connecting member to flip and lower along the axis of the connecting member, and the angle with the horizontal plane is reduced to contact with the ground, and the grip is improved, which is suitable for moving on complex terrain.

[0036] When the footrest is in working state, in order to adapt to different terrains, the footrest 32 can be offset left and right. Specifically, when it is necessary to realize the left and right swing of the footrest 32, the first drive motor 3311 and the second drive motor 3331 work respectively, so that the lifting or lowering degree of the first connecting rod 332 and the second connecting rod 334 are inconsistent. For example, when swinging to the left, the first drive motor 3311 drives the first connecting rod 332 to lift, and the second drive motor 3331 drives the second connecting rod 334 to lower, and the footrest 32 swings to the left around the movable shaft 322, which is suitable for terrains with higher right side or lower left side; for example, when swinging to the right, the first drive motor 3311 drives the first connecting rod 332 to lower, and the second drive motor 3331 drives the second connecting rod 334 to lift, and the footrest 32 swings to the right around the movable shaft 322, which is suitable for terrains with higher left side or lower right side, so that the footrest of a single leg has at least two points in contact with the ground, and is coplanar with the walking wheel 20 at three points, forming a stable support. By precisely controlling the rotation speed and rotation direction of the two motors, the foot base 32 can be precisely adjusted, so that the wheel feet of the robot can flexibly adapt to complex terrains and improve mobility and stability.

[0037] When the robot wheel base 32 with the above structure is in working state, the first connecting rod 332 and the second connecting rod 334 are lowered, so that the foot base 32 is put down, so that it contacts with the ground and is subjected to force, which is similar to the soles of human feet when walking. Among them, the first connecting rod 332 and the second connecting rod 334 make the two sides of the foot base 32 bear the ground pressure. At this time, the walking wheel 20 and the foot base 32 form a three-point grounding form to ensure stability during walking.

[0038] It is understandable that the rotational drive method of the foot seat 32 and the connecting member 31 can also be achieved by directly installing a built-in or external motor at the position of the movable shaft 322 to achieve controllable rotation of the foot seat 32. Correspondingly, a corresponding rotational drive motor is also designed at the position where the connecting member 31 and the leg 10 are connected to achieve controllable rotation of the connecting member 31.

[0039] The driving mechanism 33 may also be directly designed as two corresponding linear motors or electric push cylinders, and the lifting or lowering of the footrest 32 may be controlled by the extension and retraction of the linear motors or electric push cylinders.

[0040] The robot caster significantly improves the adaptability and mobility efficiency of the robot under multi-terrain conditions through the coordinated work of the legs 10, the walking wheels 20 and the foot assembly 30. The combination of the legs 10 and the walking wheels 20 not only ensures the rapid movement of the robot on a flat road, but also provides necessary support and buffering for complex terrain. The built-in design of the driving motor of the walking wheel 20 simplifies the transmission structure, improves the energy transfer efficiency, and enables the robot to travel more flexibly on various roads. The introduction of the foot assembly 30 gives the robot a stronger ability to adapt to terrain. The U-shaped structure of the connecting piece 31 cleverly connects the foot seat 32 with the walking wheel 20, so that the foot seat 32 can rotate flexibly in different directions. The up and down folding and left and right swinging functions of the foot seat 32 enable the robot to easily cope with uneven or obstacle-filled ground. In addition, the robot caster also has good expansibility and compatibility. The modular design of the legs 10, the walking wheels 20 and the foot assembly 30 enables robots of different models to be quickly assembled and replaced according to actual needs, expanding the application range of the robot in complex environments.

[0041] Embodiment 2 Combination Figure 3 As shown, this embodiment provides a two-wheeled caster robot that adopts the robot caster 100 disclosed in the previous embodiment, which also includes a trunk 40 and a fulcrum support module 50, wherein the fulcrum support module 50 is arranged at the lower end of the trunk 40, and the robot caster 100 is directly connected to the trunk 40 or indirectly connected to the trunk 40 through an intermediate piece.

[0042] The direct connection method is relatively simple and will not be elaborated here. The indirect connection method through the middleware is mainly described. Specifically, the middleware is two thigh modules 60.

[0043] The two thigh modules 60 are respectively arranged on both sides of the trunk 40 , the upper end of the thigh module 60 is connected to the trunk 40 , and the lower end of the thigh module 60 is rotatably connected to the upper end of the supporting leg 10 .

[0044] Among them, the trunk 40, as the main structure of the robot, plays the role of support and bearing. It includes a trunk body 41, an energy system and a control system. The trunk body 41 is the core bearing structure of the robot, and the energy system and the control system are arranged on it. The energy system supplies energy to the entire two-wheeled robot to ensure that the robot can operate continuously and stably. The control system includes an inertia unit and a central processing unit. The inertia unit is used to detect the current posture information of the robot, such as the tilt angle, acceleration, etc.; the central processing unit calculates and controls the posture of the fulcrum thigh module 50 and the two leg modules 60 in real time according to these posture information to maintain the overall balance of the robot, so that it can walk stably in various terrains and motion states.

[0045] The two thigh modules 60 are respectively arranged on both sides of the torso 40 to provide the main movement and support functions for the robot. They include a thigh rod 61 and a hip joint 62, wherein the upper end of the thigh rod 61 is connected to both sides of the torso body 41 through the hip joint 62, and the hip joint 62 enables the robot to flexibly adjust the direction and gait of the legs.

[0046] The lower end of the thigh rod 61 is rotatably connected to the upper end of the leg 10, and the walking wheel 20 at the lower end of the leg 10 is a driving wheel built into the driving motor, which can autonomously drive the robot to move. The foot seat 32 of the foot assembly 30 can swing up and down and left and right, further enhancing the adaptability and stability of the robot in complex terrain.

[0047] The fulcrum support module 50 is arranged at the lower end of the trunk 40 to provide additional support and balance adjustment functions for the robot. It includes a support joint 51, a support rod 52 and a universal wheel 53. The support joint 51 is installed at the lower end of the trunk and connected to the upper end of the support rod 52, and can control the lifting or lowering of the support rod 52. When the robot needs to maintain balance on the ground, the support joint 51 can drive the support rod 52 to lower, so that the universal wheel 53 contacts the ground, providing a stable fulcrum for the robot.

[0048] The universal wheel 53 is mounted at the lower end of the support rod 52 and has the ability to rotate 360°, so that the robot can flexibly adjust the position and direction of the fulcrum during movement, further enhancing the maneuverability and adaptability of the robot.

[0049] According to the above design, the robot can realize at least the following modes according to the lifting (non-working state) and lowering (working state) of the footrest and the retraction and lowering of the fulcrum support module 50; 1. The footrest 32 is fully raised (non-working state). If the fulcrum support module 50 is retracted at this time, only the two running wheels 20 are in contact with the ground and can rotate. The two feet cooperate to form a two-wheel motion mode. It can adapt to continuous roads without sudden changes and is extremely flexible, similar to the motion of commercially available two-wheeled balance cars.

[0050] 2. The walking wheel 20 is locked and cannot rotate, the foot seat 32 is lowered, and the walking wheel 20 and the foot seat 32 cooperate to contact the ground one after another. Because the foot seat 32 has two connecting rod drive heads and the movable shaft 322 is driven by rotation, the walking wheel 20 and the foot seat 32 are in contact with the ground to form a three-point contact effect. The two feet cooperate to form a bipedal walking mode, which can adapt to uneven ground, even slopes and steps.

[0051] 3. The fulcrum support module 50 is lowered, the universal wheel 53 contacts the ground, the running wheel 20 is closed and locked, and the two running wheels 20 and the universal wheel 53 are on the ground at three points. At this time, the robot can rest in situ, forming a rest mode to save energy consumption; the foot seat 32 can be raised or lowered. If lowered, it can assist in braking, so that the robot is not easy to move even if it is subjected to external force, thereby ensuring its stability.

[0052] 4. The fulcrum support module 50 is lowered, the universal wheel 53 contacts the ground, the foot seat 32 is lifted, and the walking wheel 20 can rotate, forming a three-wheel motion mode, which is suitable for motion on paved roads; the control is simple, safe and reliable. At this time, the motor of the robot leg can be powered off and rested, reducing energy consumption and increasing service life.

[0053] The dual-wheeled robot significantly improves the adaptability and mobility efficiency of the robot on various terrains through the coordinated work of the trunk 40, the fulcrum support module 50 and the two leg modules 60. The design of the robot's wheel feet enables the leg module 60 to flexibly adjust the foot posture, easily cope with uneven or obstacle-filled ground, and maintain fast movement on flat ground, achieving seamless switching between different terrains, expanding the application scenarios of the robot and enhancing its practicality. The universal wheel 53 of the fulcrum support module 50 provides additional support when needed, and forms a three-point support structure with the two leg modules, so that the whole machine remains relatively stable during movement and reduces the risk of tipping over. In addition, the structure of the robot is relatively simple, the control algorithm is easy to implement, and the inertia unit and the central processor can accurately detect posture information and quickly adjust the posture of each module, ensuring that the robot can operate stably in various environments, reducing R&D and maintenance costs, and improving the market competitiveness of the robot.

[0054] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A robot caster, characterized in that: Includes outriggers, running wheels and foot assemblies; The walking wheel is rotatably arranged at the lower end of the supporting leg; The foot assembly is movably connected to the supporting leg, and the foot assembly can be switched between a working state and a non-working state.

2. The robot caster according to claim 1, characterized in that: The foot assembly includes a connecting piece, a foot seat and a driving mechanism, wherein the connecting piece is movably connected to the supporting leg, the foot seat is movably connected to the connecting piece, and the driving mechanism is connected to the foot seat to switch between the working state and the non-working state.

3. The robot caster according to claim 2, characterized in that: The connecting member includes a first end and a second end, the first end is rotatably connected to the support leg, and the second end is arranged on the circumferential outer side of the walking wheel; the foot seat is rotatably connected to the second end, and the rotation axis of the foot seat is perpendicular to the rotation axis of the connecting member. The driving mechanism is arranged on the support leg and connected to the foot seat, and is used to drive the foot seat to fold up and down and / or swing left and right.

4. The robot caster according to claim 2, characterized in that: The connecting member is a U-shaped structure, and the open end thereof is the first end. The walking wheel is arranged on the inner side of the opening, and the foot seat is connected to the end of the U-shaped structure away from the opening.

5. The robot caster according to claim 2, characterized in that: The foot seat comprises a seat body and a movable shaft, one end of the movable shaft is rotatably connected to the connecting member, and the seat body is fixed to the other end of the movable shaft.

6. The robot caster according to claim 3, characterized in that: The driving mechanism is a linear motor.

7. The robot caster according to claim 3, characterized in that: The driving mechanism comprises a rotating motor, a rotating disk and a connecting rod. The rotating motor is arranged on the supporting leg. The rotating disk is drivingly connected to the rotating motor. The two ends of the connecting rod are movably connected to the edge of the rotating disk and the seat body respectively.

8. The robot caster according to claim 3, characterized in that: The traveling wheel is a driving wheel built into the driving motor.

9. A two-wheeled robot, characterized in that: The invention comprises a robot caster as described in any one of claims 1 to 8.

10. The two-wheeled robot according to claim 9, characterized in that: It comprises a trunk and a fulcrum support module, wherein the fulcrum support module is arranged at the lower end of the trunk, and the robot wheels and feet are directly connected to the trunk or indirectly connected to the trunk through an intermediate piece.

11. The two-wheeled leg robot according to claim 10, characterized in that: The middle piece is two thigh modules; The two thigh modules are respectively arranged on both sides of the trunk, the upper ends of the thigh modules are connected to the trunk, and the lower ends of the thigh modules are rotatably connected to the upper ends of the legs; The fulcrum support module is arranged at the lower end of the trunk.

12. The two-wheeled robot according to claim 9, characterized in that: The torso includes a torso body, an energy system and a control system. The energy system and the control system are arranged on the torso body. The energy system is used to supply energy to the two-wheeled robot. The control system includes an inertia unit and a central processing unit, which are used to control the posture of the fulcrum support module and the two leg modules according to the robot posture information to maintain balance.

13. The two-wheeled leg robot according to claim 12, characterized in that: The thigh module comprises a hip joint and a thigh rod, wherein the hip joint is arranged on both sides of the trunk body, and the thigh rod is correspondingly connected to the hip joint.

14. The two-wheeled robot according to claim 9, characterized in that: The fulcrum support module includes a support joint, a support rod and a universal wheel. The support joint is arranged at the lower end of the trunk and connected to the upper end of the support rod to control the lifting or lowering of the support rod. The universal wheel is installed at the lower end of the support rod.

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