Wheel-foot composite robot

Abstract

The invention discloses a wheel-foot composite robot, and relates to the technical field of robots, the wheel-foot composite robot comprises a machine body assembly, the machine body assembly comprises a machine shell and a shell cover, the shell cover is mounted at an opening in the top of the machine shell, the wheel-foot composite robot further comprises a shoulder moving mechanism, a foot type advancing mechanism, a foot bending mechanism and a wheel type advancing mechanism, the shoulder moving mechanism comprises a shoulder shaft, and the shoulder shaft is connected with the foot type advancing mechanism. Longitudinal shoulder shafts are rotationally connected to the left ends and the right ends of the front side and the rear side of the machine shell correspondingly, the ends, located on the outer side of the machine shell, of the four shoulder shafts are fixedly connected with four shoulder boxes correspondingly, the ends, located in the machine shell, of the four shoulder shafts are fixedly connected with output shafts of four side-sway motors correspondingly, and the side-sway motors are installed in the machine shell through motor frames. The foot type advancing mechanisms are installed on the shoulder box, the bottom of each foot type advancing mechanism is provided with a foot bending mechanism, and the bottom of each foot bending mechanism is provided with a wheel type advancing mechanism. The wheel-foot composite robot is good in adaptability to the road surface and higher in advancing efficiency.

Description

Technical Field

[0001] The invention relates to the technical field of robots, and in particular to a wheel-foot composite robot. Background Art

[0002] At present, quadruped robots have strong adaptability to harsh terrain, so they have a wide range of application scenarios in security inspection, rescue and exploration, etc. Quadruped robots have become the focus of current mobile robot research;

[0003] When walking on a relatively flat road, a wheeled robot has the characteristics of easy control and fast travel speed. However, when walking on gravel or muddy roads, the adaptability of a wheeled robot is far inferior to that of a footed robot. Therefore, the present application proposes a wheel-foot composite robot that combines a wheeled robot and a footed robot. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a wheel-foot composite robot, which adopts a wheeled walking mode on relatively flat roads and a footed walking mode on gravel or muddy roads. When adopting the wheeled walking mode, the robot can adjust its own height and the wheelbase of the left and right traveling wheels. When adopting the footed walking mode, the robot can change its own height and the area in contact with the ground. The robot has good adaptability to the road surface and higher travel efficiency, and can effectively solve the problems in the background technology.

[0005] To achieve the above object, the present invention provides the following technical solution: a wheel-foot composite robot, comprising a body assembly, wherein the body assembly comprises a housing and a housing cover, wherein the housing cover is installed at the opening at the top of the housing, and further comprising:

[0006] The shoulder movable mechanism includes a shoulder shaft, a motor frame, a side swing motor and a shoulder box. The left and right ends of the front and rear sides of the casing are rotatably connected to the longitudinal shoulder shafts through bearings, and the ends of the four shoulder shafts located outside the casing are respectively fixedly connected to the four shoulder boxes, and the ends of the four shoulder shafts located inside the casing are respectively fixedly connected to the output shafts of the four side swing motors. The side swing motor is installed inside the casing through the motor frame;

[0007] The foot-type traveling mechanism is installed on the shoulder box, and the bottom of each foot-type traveling mechanism is respectively installed with a foot bending mechanism, and the bottom of each foot bending mechanism is respectively installed with a wheel-type traveling mechanism.

[0008] When the foot-type walking method is adopted, the shoulder movable mechanism makes the foot-type walking mechanism in a vertical state, the foot bending mechanism and the wheel-type walking mechanism fold inward, so that the foot bending mechanism is in a horizontal state, and the bottom of the foot bending mechanism contacts the ground. At this time, the foot bending mechanism is used as the foot body, and the foot-type walking mechanism works to drive the foot bending mechanism to lift up and then step forward. The four groups of foot-type walking mechanisms and foot bending mechanisms imitate the stepping sequence of quadrupeds to complete the foot-type walking action. When the wheel-type walking method is adopted, the foot bending mechanism unfolds, pushing the wheel-type walking mechanism to unfold and become vertical. At this time, the wheel-type The bottom of the traveling mechanism is in rolling contact with the ground, and the wheeled traveling mechanism can travel in the highest posture when working. The motor frame is used to install the side-swing motor. The side-swing motor drives the shoulder shaft to rotate relative to the casing, thereby driving the shoulder box to rotate relative to the casing, which can change the angle between the foot-type traveling mechanism and the ground. When the side-swing motor drives the shoulder box to move outward through the shoulder shaft, the foot bending mechanism also bends inward to allow the wheeled traveling mechanism to fold inward relative to the bottom end of the foot-type traveling mechanism. At this time, the height of the casing from the ground gradually decreases, and the wheeled traveling mechanism is always perpendicular to the ground, so that the wheeled traveling mechanism can always work stably.

[0009] Furthermore, the foot-type traveling mechanism includes a limited axis, a rocker arm, a movable axis, an upper leg, a movable disk, a swing leg and a swing leg power assembly. The outer side of each shoulder box is connected to the movable disk through a swing leg power assembly, the top of each movable disk is fixedly connected to the bottom of the upper leg, the top of each upper leg is movably connected to one end of the rocker arm through a movable axis, the other end of each rocker arm is movably connected to the outer top rear end of the corresponding shoulder box through the limited axis, and the bottom of each movable disk is fixedly connected to the top of the swing leg. The leg-swinging power assembly is used to drive the movable disk to make counterclockwise circular motion. When the movable disk is at the bottom, the swinging leg and movable axis 1 are both in a vertical state, and the swing rod is tilted with the front lower and the back higher. The movable disk rotates ninety degrees counterclockwise. Since the top of the upper leg is restricted by the swing rod, the bottom end of the swinging leg swings backward to complete the leg-retracting action of the swinging leg. Then the movable disk continues to rotate ninety degrees counterclockwise, and the swing rod becomes high in the front and low in the back. The swinging leg and movable axis 1 are both in a vertical state. At this time, the swinging leg is raised to the highest point, and the movable disk continues to rotate counterclockwise, and the bottom end of the swinging leg steps forward to complete the forward leg-moving action. As the leg-swinging power assembly continues to work, the swinging leg continuously completes the actions of leg-retracting, leg-raising and leg-moving to realize the action of foot-type walking.

[0010] Furthermore, the leg swing power assembly includes a second movable shaft, a rotating rod and a longitudinal swing motor. The front end of the bottom of each shoulder box is fixedly connected to a longitudinal swing motor. The output shaft of the longitudinal swing motor passes through the front end of the outer bottom of the shoulder box and is fixedly connected to one end of the rotating rod. The other end of the rotating rod is movably connected to the middle of the movable disk through the second movable shaft. The longitudinal swing motor drives the rotating rod to rotate counterclockwise, and the rotating rod drives the movable disk to make a counterclockwise circular motion through the second movable shaft.

[0011] Furthermore, the foot bending mechanism includes a foot rod, a side rod, a movable shaft four, a bending electric telescopic rod, a hinge seat and a hinge shaft, the bottom of each swing leg is movably connected to the top of the foot rod, the inner side of the bottom of each foot rod is fixedly connected to one end of the side rod, and the other end of the side rod is movably connected to the bottom end of the bending electric telescopic rod through the movable shaft four, the inner side of each swing leg is fixedly connected to the hinge seat, and each hinge seat is movably connected to the top of the corresponding bending electric telescopic rod through the hinge shaft. When the bending electric telescopic rod is extended to the longest state, the bending electric telescopic rod pushes the foot rod to a vertical state through the side rod at the bottom, the bending electric telescopic rod is gradually shortened, and the angle between the inner side of the foot rod and the inner side of the swing leg is gradually reduced. When the bending electric telescopic rod is shortened to the shortest state, the foot rod is perpendicular to the swing leg.

[0012] Furthermore, the foot bending mechanism also includes friction ridges, and the outer side of each foot bar is provided with friction ridges at equal distances. When the foot bar is perpendicular to the swinging leg, the bottom of the foot bar contacts the ground, and the foot bar is used as a foot. The friction ridges can increase the friction between the bottom of the foot bar and the ground, which is suitable for walking on gravel or muddy ground.

[0013] Furthermore, the wheeled travel mechanism includes a wheel frame, a travel wheel and a travel motor, the bottom end of each foot rod is fixedly connected to the wheel frame, the bottom of each wheel frame is rotatably connected to the travel wheel, and the inner side of each wheel frame is fixedly connected to the travel motor, and the output shaft of the travel motor is fixedly connected to the corresponding travel wheel. When the bent electric telescopic rod is extended to the longest state, the foot rod is in a vertical state, the travel wheel is in contact with the ground, and the travel motor drives the travel wheel to rotate relative to the wheel frame, so that the robot can move forward and backward in a wheeled walking manner.

[0014] Furthermore, it also includes a traveling ground contact mechanism, which includes a vertical groove, an opposing swing control component, a control rod, a ground contact plate and a friction pattern. Each foot rod is provided with a vertical groove, and the front and rear sides of the vertical groove extend to the front and rear side surfaces of the foot rod respectively. The tops of the two control rods are connected in each vertical groove through the opposing swing control component, and the bottoms of the two control rods are fixedly connected to the two ground contact plates respectively. The bottom of the ground contact plate is provided with a friction pattern.

[0015] When the bottom of the foot bar is in contact with the ground and used as a foot, the ground clearance of the bottom of the casing is small. If there is a stone in the middle of the travel path, it will hit the bottom of the casing. Therefore, a travel contact mechanism is set. When the foot bar and the swing leg are kept in a vertical state, the opposite swing control assembly drives the two control rods to move closer, and the two control rods drive the two contact plates to move closer, lift the bottom of the travel wheel, and the two contact plates replace the travel wheel to contact the ground. At this time, the two contact plates are used as feet, and the friction patterns can increase the friction with the ground. At this time, since the foot bar and the swing leg are kept in a vertical state, the ground clearance of the bottom of the casing becomes larger, and the foot-type travel mechanism can complete the highest posture of foot-type travel. As the height of the robot becomes higher, the travel stability will decrease. Therefore, whether to use the horizontal foot bar as the foot or the two contact plates as the foot needs to be determined according to the situation.

[0016] Further, the opposite swing control assembly includes gears, a control electric telescopic rod and a double-sided rack, the front and rear sides of the bottom of each vertical slot are respectively rotatably connected to two gears, the sides of the two gears are respectively fixedly connected to the tops of the two control rods, the top of each vertical slot is respectively fixedly connected to the top of the control electric telescopic rod, the bottom of each control electric telescopic rod is respectively fixedly connected to the top of the double-sided rack, the double-sided rack is located between the two gears, and the front and rear sides of the double-sided rack are respectively meshed with the two gears. The control electric telescopic rod is extended to drive the double-sided rack to move down in the vertical slot, the meshing action of the double-sided rack and the two gears can drive the two control rods away from each other, the two control rods can drive the two contact plates away from each other, the two contact plates will leave the ground until the bottom of the traveling wheel rolls and contacts the ground, the control electric telescopic rod is shortened to drive the double-sided rack to move up in the vertical slot, the meshing action of the double-sided rack and the two gears can drive the two control rods to synchronously move closer to each other, the two control rods drive the two contact plates to move closer, lift the bottom of the traveling wheel, and the two contact plates replace the traveling wheel to contact the ground.

[0017] Furthermore, it also includes a direction control mechanism and a mechanical arm, the mechanical arm includes an arm seat 1, a joint axis 1, a movable arm 1, a control motor 1, an arm seat 2, a joint axis 2, a movable arm 2, a control motor 2 and a disassembly seat, the front side of the shell cover is installed with a direction control mechanism, the top of the direction control mechanism is installed with an arm seat 1, the arm seat 1 is rotatably connected to the joint axis 1, the end of the joint axis 1 is fixedly connected to the output shaft of the control motor 1, the control motor 1 is installed on the side of the arm seat 1, the middle part of the joint axis 1 is fixedly connected to one end of the movable arm 1, the other end of the movable arm 1 is fixedly connected to the arm seat 2, the arm seat 2 is rotatably connected to the joint axis 2, the end of the joint axis 2 is fixedly connected to the output shaft of the control motor 2, the control motor 2 is installed on the side of the arm seat 2, the middle part of the joint axis 2 is fixedly connected to one end of the movable arm 2, and the other end of the movable arm 2 is fixedly connected to the disassembly seat. The control mechanism can drive the arm seat 1 to rotate, the control motor 1 can drive the movable arm 1 to move relative to the arm seat 1 through the joint shaft 1, and the control motor 2 can drive the movable arm 2 to move relative to the arm seat 2 through the joint shaft 2, thereby changing the position of the disassembly seat.

[0018] Furthermore, it also includes a function execution mechanism, which includes a disassembly screw, a camera, a seat plate, a curved arm and a manipulator. The disassembly seat is equipped with a camera by disassembly screws, and the bottom of the movable arm 2 is detachably equipped with a seat plate, which is connected to a manipulator by a curved arm. The camera can observe situations in different directions as the disassembly seat moves. The seat plate and the curved arm are used to install the manipulator. The movement of the movable arm 2 can change the position of the manipulator, and the manipulator can grasp and manipulate objects as needed.

[0019] Compared with the existing technology, the beneficial effects of this wheel-foot composite robot are:

[0020] 1. When the electric telescopic rod is bent and shortened to the shortest state, the foot rod is perpendicular to the swing leg, and the bottom of the foot rod is in contact with the ground. At this time, the foot rod is used as the foot. With the operation of the foot-type traveling mechanism, the swing leg in the foot-type traveling mechanism can continuously complete the actions of retracting the leg, raising the leg and stepping the leg to realize the foot-type traveling action. The friction convex strips can increase the friction between the bottom of the foot rod and the ground, which is suitable for walking on gravel or muddy ground.

[0021] 2. When the electric telescopic rod is bent and extended to its longest state, the foot rod is in a vertical state, the traveling wheels are in contact with the ground, and the traveling motor drives the traveling wheels to rotate relative to the wheel frame, so that the robot can move forward and backward in a wheeled walking manner.

[0022] 3. The opposite swing control assembly drives the two control rods to move together, and the two control rods drive the two contact plates to move together, lifting the bottom of the traveling wheel. The two contact plates replace the traveling wheels to contact the ground. At this time, the two contact plates are used as feet, and the foot-type traveling mechanism can complete the highest posture of foot-type traveling.

[0023] 4. Wheeled walking is used on relatively flat roads, and foot-based walking is used on gravel or muddy roads. When using wheeled walking, the height and the wheelbase of the left and right wheels can be adjusted. When using foot-based walking, the height and the area in contact with the ground can be changed. It has good adaptability to the road surface and higher travel efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the structure of the wheel-foot composite robot of the present invention;

[0025] Figure 2 The wheel-foot composite robot of the present invention Figure 1 A schematic diagram of the partially enlarged structure at center A;

[0026] Figure 3 This is a schematic diagram of the internal structure of the wheel-foot composite robot of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the top of the wheel-foot composite robot of the present invention;

[0028] Figure 5 The local structure of the wheel-foot composite robot of the present invention is shown in FIG. Figure 1 ;

[0029] Figure 6 The local structure of the wheel-foot composite robot of the present invention is shown in FIG. Figure 2 ;

[0030] Figure 7 The wheel-foot composite robot of the present invention Figure 6 A schematic diagram of the partially enlarged structure at B in the middle;

[0031] Figure 8 The local structure of the wheel-foot composite robot of the present invention is shown in FIG. Figure 3 ;

[0032] In the figure: 1 body assembly, 11 housing, 12 body screws, 13 housing cover, 14 controller, 15 battery, 16 load installation frame, 2 shoulder movable mechanism, 21 shoulder shaft, 22 motor frame, 23 side swing motor, 24 shoulder box, 3 foot travel mechanism, 31 limit shaft, 32 swing rod, 33 movable shaft one, 34 upper leg, 35 movable plate, 36 movable shaft two, 37 rotary rod, 38 swing leg, 39 longitudinal swing motor, 4 foot bending mechanism, 41 support, 42 movable shaft three, 43 movable seat, 44 foot rod, 45 side rod, 46 movable shaft four, 47 bending electric telescopic rod, 48 articulated seat, 49 articulated shaft, 410 friction convex strip, 5 wheel Traveling mechanism, 51 wheel frame, 52 traveling wheel, 53 traveling motor, 6 traveling ground contact mechanism, 61 vertical slot, 62 gear, 63 control rod, 64 touching floor, 65 friction pattern, 66 control electric telescopic rod, 67 double-sided rack, 7 orientation control mechanism, 71 fixed plate, 72 rotating shaft, 73 steering seat, 74 orientation motor, 8 mechanical arm, 81 arm seat one, 82 joint axis one, 83 movable arm one, 84 control motor one, 85 arm seat two, 86 joint axis two, 87 movable arm two, 88 control motor two, 89 disassembly seat, 9 functional actuator, 91 disassembly screw, 92 camera, 93 seat plate, 94 bending arm, 95 mechanical arm. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] For example, see Figures 1 to 8 , This embodiment provides a technical solution: a wheel-foot composite robot, comprising a body component 1, the body component 1 comprises a housing 11 and a housing cover 13, and the housing cover 13 is installed at the opening at the top of the housing 11;

[0035] The body assembly 1 also includes body screws 12, and the four corners of the shell cover 13 are connected to the top four corners of the shell 11 through four body screws 12, so as to realize the detachable connection between the shell 11 and the shell cover 13;

[0036] The body assembly 1 also includes a controller 14, a battery 15, and a load mounting frame 16. The controller 14 and the battery 15 are respectively installed in the casing 11. The battery 15 is used to supply power to the controller 14 and other electrical components, and the controller 14 is used to control the operation of other electrical components. Two load mounting frames 16 are fixedly connected to the left and right sides of the casing 11, respectively. The load mounting frames 16 are provided with load mounting holes for installing different load components. For example, during inspection, inspection components can be installed on the load mounting frames 16.

[0037] It also includes a shoulder moving mechanism 2 and a foot-type traveling mechanism 3;

[0038] The shoulder movable mechanism 2 includes a shoulder shaft 21, a motor frame 22, a side swing motor 23 and a shoulder box 24. The left and right ends of the front and rear sides of the casing 11 are rotatably connected to the longitudinal shoulder shafts 21 through bearings, and the ends of the four shoulder shafts 21 located outside the casing 11 are respectively fixedly connected to the four shoulder boxes 24, and the ends of the four shoulder shafts 21 located inside the casing 11 are respectively fixedly connected to the output shafts of the four side swing motors 23, and the side swing motors 23 are installed inside the casing 11 through the motor frame 22;

[0039] The foot-type traveling mechanism 3 is installed on the shoulder box 24 , and a foot bending mechanism 4 is installed at the bottom of each foot-type traveling mechanism 3 , and a wheel-type traveling mechanism 5 is installed at the bottom of each foot bending mechanism 4 .

[0040] The foot-type traveling mechanism 3 includes a limited axis 31, a rocker arm 32, a movable axis 33, an upper leg 34, a movable disk 35, a swing leg 38 and a swing leg power assembly. The outer side of each shoulder box 24 is connected to the movable disk 35 through the swing leg power assembly, and the top of each movable disk 35 is fixedly connected to the bottom of the upper leg 34. The top of each upper leg 34 is movably connected to one end of the rocker arm 32 through the movable axis 33, and the other end of each rocker arm 32 is movably connected to the outer top rear end of the corresponding shoulder box 24 through the limited axis 31. The bottom of each movable disk 35 is fixedly connected to the top of the swing leg 38. The leg-swinging power assembly is used to drive the movable disk 35 to make a counterclockwise circular motion. When the movable disk 35 is at the bottom, the swing leg 38 and the movable shaft 33 are both in a vertical state, and the swing rod 32 is tilted with the front lower and the back higher. The movable disk 35 rotates ninety degrees counterclockwise. Since the top of the upper leg 34 is restricted by the swing rod 32, the bottom end of the swing leg 38 swings backward to complete the leg-retracting action of the swing leg 38, and then the movable disk 35 continues to rotate ninety degrees counterclockwise, and the swing rod 32 changes to a state of high front and low back. The swing leg 38 and the movable shaft 33 are both in a vertical state. At this time, the swing leg 38 lifts the leg to the highest point, and the movable disk 35 continues to rotate counterclockwise, and the bottom end of the swing leg 38 steps forward to complete the forward leg-moving action. As the leg-swinging power assembly continues to work, the swing leg 38 continuously completes the actions of retracting the leg, lifting the leg and moving the leg to realize the action of foot-type walking.

[0041] The swing leg power assembly includes a movable shaft 2 36, a rotating rod 37 and a longitudinal swing motor 39. The front end of the inner bottom of each shoulder box 24 is fixedly connected with a longitudinal swing motor 39. The output shaft of the longitudinal swing motor 39 passes through the front end of the outer bottom of the shoulder box 24 and is fixedly connected to one end of the rotating rod 37. The other end of the rotating rod 37 is movably connected to the middle of the movable disk 35 through the movable shaft 2 36. The longitudinal swing motor 39 drives the rotating rod 37 to rotate counterclockwise, and the rotating rod 37 drives the movable disk 35 to make a counterclockwise circular motion through the movable shaft 2 36.

[0042] The foot bending mechanism 4 includes a foot rod 44, a side rod 45, a movable shaft 46, a bending electric telescopic rod 47, a hinge seat 48 and a hinge shaft 49. The bottom of each swing leg 38 is movably connected to the top of the foot rod 44, and the inner side of the bottom of each foot rod 44 is fixedly connected to one end of the side rod 45. The other end of the side rod 45 is movably connected to the bottom end of the bending electric telescopic rod 47 through the movable shaft 46. The inner side of each swing leg 38 is fixedly connected to a hinge seat 48, and each hinge seat 48 is movably connected to the top of the corresponding bending electric telescopic rod 47 through the hinge shaft 49. When the bending electric telescopic rod 47 is extended to the longest state, the bending electric telescopic rod 47 pushes the foot rod 44 to a vertical state through the side rod 45 at the bottom, and the bending electric telescopic rod 47 is gradually shortened. The angle between the inner side of the foot rod 44 and the inner side of the swing leg 38 gradually decreases. When the bending electric telescopic rod 47 is shortened to the shortest state, the foot rod 44 is perpendicular to the swing leg 38.

[0043] Specifically, the foot bending mechanism 4 also includes a support 41, a movable axis three 42, and a movable seat 43. The bottom of each swing leg 38 is fixedly connected to the support 41, and the top of each foot rod 44 is fixedly connected to the movable seat 43. Each movable seat 43 is movably connected to the corresponding support 41 through the movable axis three 42. The support 41, the movable axis three 42 and the movable seat 43 are used to realize the movable connection between the swing leg 38 and the foot rod 44.

[0044] The foot bending mechanism 4 further includes friction ridges 410, and friction ridges 410 are equidistantly arranged on the outside of each foot bar 44. When the foot bar 44 is perpendicular to the swing leg 38, the bottom of the foot bar 44 contacts the ground, and the foot bar 44 is used as a foot. The friction ridges 410 can increase the friction between the bottom of the foot bar 44 and the ground, which is suitable for walking on gravel or muddy ground.

[0045] The wheeled traveling mechanism 5 includes a wheel frame 51, a traveling wheel 52 and a traveling motor 53. The bottom end of each foot rod 44 is fixedly connected to the wheel frame 51, and the bottom of each wheel frame 51 is rotatably connected to the traveling wheel 52. The inner side of each wheel frame 51 is fixedly connected to the traveling motor 53, and the output shaft of the traveling motor 53 is fixedly connected to the corresponding traveling wheel 52. When the bending electric telescopic rod 47 is extended to the longest state, the foot rod 44 is in a vertical state, the traveling wheel 52 is in contact with the ground, and the traveling motor 53 drives the traveling wheel 52 to rotate relative to the wheel frame 51, so that the robot can move forward and backward in a wheeled walking manner.

[0046] When in use, when the foot-type walking mode is adopted, the shoulder movable mechanism 2 makes the foot-type walking mechanism 3 in a vertical state, the foot bending mechanism 4 and the wheel-type walking mechanism 5 are folded inward, so that the foot bending mechanism 4 is in a horizontal state, and the bottom of the foot bending mechanism 4 is in contact with the ground. At this time, the foot bending mechanism 4 is used as the foot body, and the foot-type walking mechanism 3 works to drive the foot bending mechanism 4 to lift up and then step forward. The four groups of foot-type walking mechanisms 3 and foot bending mechanisms 4 imitate the stepping sequence of quadrupeds to complete the foot-type walking action. When the wheel-type walking mode is adopted, the foot bending mechanism 4 is unfolded to push the wheel-type walking mechanism 5 to unfold in a vertical state. At this time, the bottom of the wheel-type walking mechanism 5 In rolling contact with the ground, the wheeled travel mechanism 5 can travel in the highest posture when working. The motor frame 22 is used to install the side swing motor 23. The side swing motor 23 drives the shoulder shaft 21 to rotate relative to the casing 11, thereby driving the shoulder box 24 to rotate relative to the casing 11, which can change the angle between the foot-type travel mechanism 3 and the ground. When the side swing motor 23 drives the shoulder box 24 to move outward through the shoulder shaft 21, the foot bending mechanism 4 also bends inward to allow the wheeled travel mechanism 5 to fold inward relative to the bottom end of the foot-type travel mechanism 3. At this time, the height of the casing 11 from the ground gradually decreases, and the wheeled travel mechanism 5 is always perpendicular to the ground, so that the wheeled travel mechanism 5 can always work stably.

[0047] For example 2, please refer to Figures 1 to 8 This embodiment provides a technical solution: a wheel-foot composite robot. The structure of this embodiment is roughly the same as that of the first embodiment, except that:

[0048] The footrest 44 further includes a traveling ground contact mechanism 6, which includes a vertical groove 61, an opposing swing control assembly, a control rod 63, a ground contact plate 64 and a friction pattern 65. Each foot rod 44 is provided with a vertical groove 61, and the front and rear sides of the vertical groove 61 extend to the front and rear side surfaces of the foot rod 44 respectively. The tops of two control rods 63 are connected in each vertical groove 61 through the opposing swing control assembly, and the bottoms of the two control rods 63 are fixedly connected to two ground contact plates 64 respectively. The bottoms of the ground contact plates 64 are provided with friction patterns 65.

[0049] The opposite swing control assembly includes a gear 62, a control electric telescopic rod 66 and a double-sided rack 67. The front and rear sides of the bottom of each vertical slot 61 are rotatably connected to two gears 62 respectively. The sides of the two gears 62 are fixedly connected to the tops of two control rods 63 respectively. The top of each vertical slot 61 is fixedly connected to the top of the control electric telescopic rod 66 respectively. The bottom end of each control electric telescopic rod 66 is fixedly connected to the top of the double-sided rack 67 respectively. The double-sided rack 67 is located between the two gears 62, and the front and rear sides of the double-sided rack 67 are respectively meshed with the two gears 62. The electric telescopic rod 66 is controlled to extend and drive the double-sided rack 67 to move downward in the vertical groove 61. The meshing action of the double-sided rack 67 and the two gears 62 can drive the two control rods 63 to move away from each other. The two control rods 63 can drive the two contact plates 64 to move away from each other. The two contact plates 64 will leave the ground until the bottom of the traveling wheel 52 rolls in contact with the ground. The electric telescopic rod 66 is controlled to shorten and drive the double-sided rack 67 to move upward in the vertical groove 61. The meshing action of the double-sided rack 67 and the two gears 62 can drive the two control rods 63 to move toward each other synchronously. The two control rods 63 drive the two contact plates 64 to move toward each other, lift the bottom of the traveling wheel 52, and the two contact plates 64 replace the traveling wheel 52 to contact the ground.

[0050] During use, when the bottom of the foot rod 44 contacts the ground and is used as a foot, the ground clearance at the bottom of the casing 11 is small. If there is a stone in the middle of the travel path, it will hit the bottom of the casing 11. Therefore, a travel contact mechanism 6 is set. When the foot rod 44 and the swing leg 38 remain in a vertical state, the opposite swing control assembly drives the two control rods 63 to move closer, and the two control rods 63 drive the two contact floors 64 to move closer, lift the bottom of the travel wheel 52, and the two contact floors 64 replace the travel wheel 52 to contact the ground. At this time, the two contact floors 64 are used as feet, and the friction pattern 65 can increase the friction with the ground. At this time, since the foot rod 44 and the swing leg 38 remain in a vertical state, the ground clearance at the bottom of the casing 11 becomes larger, and the foot-type travel mechanism 3 can work to complete the highest posture of foot-type travel. As the height of the robot becomes higher, the travel stability will decrease. Therefore, whether to use the horizontal foot rod 44 as a foot or the two contact floors 64 as a foot needs to be determined according to the situation.

[0051] After adding the walking and contacting mechanism 6, the wheel-foot compound robot has three foot-type walking modes and one wheel-type walking mode;

[0052] Foot-type walking mode 1: When the bending electric telescopic rod 47 is extended to the longest state, the bending electric telescopic rod 47 pushes the foot rod 44 to a vertical state through the side rod 45 at the bottom;

[0053] The electric telescopic rod 66 is controlled to shorten and drive the double-sided rack 67 to move upward in the vertical groove 61. The meshing action of the double-sided rack 67 and the two gears 62 can drive the two control rods 63 to move toward each other synchronously. The two control rods 63 drive the two contact plates 64 to move toward each other, and the bottom of the traveling wheel 52 is lifted. The two contact plates 64 replace the traveling wheel 52 to contact the ground.

[0054] The vertical swing motor 39 drives the rotating rod 37 to rotate counterclockwise, and the rotating rod 37 drives the movable plate 35 to make counterclockwise circular motion through the movable shaft 2 36. When the movable plate 35 is at the bottom, the swing leg 38 and the movable shaft 1 33 are both in a vertical state, and the swing rod 32 is tilted with the front lower and the back higher. The movable plate 35 rotates 90 degrees counterclockwise. Since the top of the upper leg 34 is restricted by the swing rod 32, the bottom end of the swing leg 38 swings backward, completing the leg retraction action of the swing leg 38, and then The movable plate 35 continues to rotate counterclockwise by 90 degrees, and the swing rod 32 changes to a state where the front is high and the back is low. The swing leg 38 and the movable shaft 1 33 are both in a vertical state. At this time, the swing leg 38 lifts the leg to the highest point, and the movable plate 35 continues to rotate counterclockwise, and the bottom end of the swing leg 38 swings forward to complete the forward stepping action. As the longitudinal swing motor 39 continues to work, the swing leg 38 continuously completes the actions of retracting the leg, lifting the leg and stepping the leg, and uses the two contacting floors 64 as feet to achieve the action of foot-type walking;

[0055] In this mode, the wheel-foot composite robot has the longest legs and the ground clearance at the bottom of the housing 11 is the largest, which is suitable for crossing roads with a lot of gravel to avoid the gravel on the travel path from hitting the housing 11. Due to the long legs, the stability of the wheel-foot composite robot will be reduced and it is easy to tip over.

[0056] Foot-type walking mode 2: bend the electric telescopic rod 47 to shorten it to the shortest state, the foot rod 44 is perpendicular to the swing leg 38, and the bottom of the foot rod 44 is in contact with the ground. At this time, the foot rod 44 is used as a foot, and the friction convex strip 410 is provided to increase the friction between the bottom of the foot rod 44 and the ground;

[0057] The vertical swing motor 39 drives the rotating rod 37 to rotate counterclockwise, and the rotating rod 37 drives the movable plate 35 to make counterclockwise circular motion through the movable shaft 2 36. When the movable plate 35 is at the bottom, the swing leg 38 and the movable shaft 1 33 are both in a vertical state, and the swing rod 32 is tilted with the front lower and the back higher. The movable plate 35 rotates 90 degrees counterclockwise. Since the top of the upper leg 34 is restricted by the swing rod 32, the bottom end of the swing leg 38 swings backward, completing the leg retraction action of the swing leg 38, and then The movable plate 35 continues to rotate counterclockwise by 90 degrees, and the swing rod 32 changes to a state where the front is high and the back is low. The swing leg 38 and the movable shaft 1 33 are both in a vertical state. At this time, the swing leg 38 lifts the leg to the highest point, and the movable plate 35 continues to rotate counterclockwise, and the bottom end of the swing leg 38 swings forward to complete the forward stepping action. With the continuous operation of the longitudinal swing motor 39, the swing leg 38 continuously completes the actions of retracting the leg, lifting the leg and stepping the leg, and uses the bottom of the foot rod 44 as the foot to realize the foot-type walking action;

[0058] In this mode, the legs of the wheel-legged robot become shorter, the contact area between the foot rod 44 and the ground becomes larger, the ground clearance of the bottom of the housing 11 is reduced, and the wheel-legged robot has better travel stability and is not easy to tip over.

[0059] Foot-type walking mode three: the side swing motor 23 works to drive the shoulder shaft 21 to rotate relative to the housing 11, so that the bottom of the shoulder box 24 moves outward, until the shoulder box 24 rotates 90 degrees so that the upper leg 34 and the swing leg 38 are in a horizontal state, and the swing leg 38 faces outward;

[0060] The electric telescopic rod 47 is bent and shortened to the shortest state, and the foot rod 44 is perpendicular to the swing leg 38. Since the swing leg 38 is in a horizontal state, the foot rod 44 is in a vertical state. The electric telescopic rod 66 is controlled to shorten and drive the double-sided rack 67 to move upward in the vertical groove 61. The meshing action of the double-sided rack 67 and the two gears 62 can drive the two control rods 63 to move closer to each other synchronously. The two control rods 63 drive the two contact plates 64 to move closer, and the bottom of the traveling wheel 52 is lifted. The two contact plates 64 replace the traveling wheel 52 to contact the ground. The two contact plates 64 are used as feet. At this time, the wheel-foot composite robot is in the widest state.

[0061] The longitudinal swing motor 39 drives the end of the swing leg 38 away from the casing 11 to swing back and forth. When the end of the swing leg 38 away from the casing 11 swings forward, the side swing motor 23 drives the shoulder box 24 to rotate, allowing the end of the swing leg 38 away from the casing 11 to move upward at the same time. After the end of the swing leg 38 away from the casing 11 swings forward to the right position, the side swing motor 23 drives the shoulder box 24 to rotate in the opposite direction, allowing the end of the swing leg 38 away from the casing 11 to move downward until the two contact floors 64 touch the ground. Then the longitudinal swing motor 39 drives the end of the swing leg 38 away from the casing 11 to swing backward, and the friction between the contact floor 64 and the ground pushes the casing 11 forward. The four groups of shoulder movable mechanisms 2 and the foot-type moving mechanism 3 imitate the stepping sequence of quadrupeds to complete the foot-type moving action.

[0062] Wheeled walking mode: the side swing motor 23 in the shoulder movable mechanism 2 drives the shoulder box 24 to rotate, so that the swing leg 38 in the foot travel mechanism 3 is reset to a vertical downward state, and when the bending electric telescopic rod 47 is extended to the longest state, the bending electric telescopic rod 47 pushes the foot rod 44 to a vertical state through the side rod 45 at the bottom;

[0063] The electric telescopic rod 66 is controlled to extend to drive the double-sided rack 67 to move downward in the vertical groove 61. The meshing action of the double-sided rack 67 and the two gears 62 can drive the two control rods 63 to move away from each other. The two control rods 63 can drive the two contact plates 64 to move away from each other. The two contact plates 64 will leave the ground until the bottom of the traveling wheel 52 rolls and contacts the ground.

[0064] The traveling motor 53 drives the traveling wheel 52 to rotate relative to the wheel frame 51, and the traveling wheel 52 rolls on the ground, thereby realizing the wheeled walking of the wheel-foot composite robot.

[0065] When it is necessary to adjust the height of the wheel-foot composite robot and the wheelbase of the left and right traveling wheels 52, the bent electric telescopic rod 47 is shortened to reduce the angle between the inner side of the foot rod 44 and the inner side of the swing leg 38, and the side swing motor 23 drives the shoulder box 24 to rotate to allow the bottom of the swing leg 38 to open outward. The change in the angle between the inner side of the foot rod 44 and the inner side of the swing leg 38 is the same as the change in the angle of the bottom of the swing leg 38 opening outward, ensuring that the foot rod 44 is always in a vertical state, and also ensuring that the traveling wheels 52 are always perpendicular to the ground. At this time, the width of the wheel-foot composite robot gradually increases, the height gradually decreases, and the wheelbase of the left and right traveling wheels 52 also gradually increases. When the bent electric telescopic rod 47 is shortened to the shortest state, the side swing motor 23 also drives the shoulder box 24 to rotate to allow the swing leg 38 to be in a horizontal state. At this time, the width of the wheel-foot composite robot is the same as the width in the foot-type walking mode three.

[0066] For example 3, please refer to Figures 1 to 8This embodiment provides a technical solution: a wheel-foot composite robot. The structure of this embodiment is roughly the same as that of the second embodiment, except that:

[0067] The housing 13 also includes a direction control mechanism 7 and a mechanical arm 8. The mechanical arm 8 includes an arm seat 1 81, a joint shaft 1 82, a movable arm 1 83, a control motor 1 84, an arm seat 2 85, a joint shaft 2 86, a movable arm 2 87, a control motor 2 88 and a disassembly seat 89. The housing 13 is provided with a direction control mechanism 7 on the front side. The housing 13 is provided with an arm seat 1 81 on the top of the direction control mechanism 7. The arm seat 1 81 is rotatably connected to the joint shaft 1 82. The end of the joint shaft 1 82 is fixedly connected to the output shaft of the control motor 1 84. Motor 1 84 is installed on the side of arm seat 1 81, the middle part of joint shaft 1 82 is fixedly connected to one end of movable arm 1 83, the other end of movable arm 1 83 is fixedly connected to arm seat 2 85, arm seat 2 85 is rotatably connected to joint shaft 2 86, the end of joint shaft 2 86 is fixedly connected to the output shaft of control motor 2 88, control motor 2 88 is installed on the side of arm seat 2 85, the middle part of joint shaft 2 86 is fixedly connected to one end of movable arm 2 87, the other end of movable arm 2 87 is fixedly connected to disassembly seat 89.

[0068] The orientation control mechanism 7 includes a fixed plate 71, a rotating shaft 72, a steering seat 73, and an orientation motor 74. The front side of the shell cover 13 is integrally connected with the fixed plate 71. The middle part of the fixed plate 71 is rotatably connected with a vertical rotating shaft 72 through an installed bearing. The bottom end of the rotating shaft 72 is fixedly connected to the output shaft of the orientation motor 74. The orientation motor 74 is installed at the bottom of the front side of the shell cover 13. The top of the rotating shaft 72 is fixedly connected to the bottom of the steering seat 73. The top of the steering seat 73 is fixedly connected to the bottom of the arm seat 81. When the orientation motor 74 is working, it can drive the arm seat 81 to rotate through the rotating shaft 72, thereby changing the orientation of the movable arm 2 87 and the disassembly seat 89.

[0069] The control mechanism 7 can drive the arm seat 81 to rotate, the control motor 84 can drive the movable arm 83 to move relative to the arm seat 81 through the joint shaft 82, and the control motor 88 can drive the movable arm 87 to move relative to the arm seat 85 through the joint shaft 86, thereby changing the position of the disassembly seat 89.

[0070] It also includes a function execution mechanism 9, which includes a disassembly screw 91, a camera 92, a seat plate 93, a bent arm 94 and a manipulator 95. The camera 92 is installed on the disassembly seat 89 through the disassembly screw 91, and the seat plate 93 is detachably installed at the bottom of the movable arm 87 through the seat plate screw. The seat plate 93 is connected to the manipulator 95 through the bent arm 94. The camera 92 can observe the situation in different directions as the disassembly seat 89 moves. The seat plate 93 and the bent arm 94 are used to install the manipulator 95. The movement of the movable arm 87 can change the position of the manipulator 95, and the manipulator 95 can grasp and manipulate objects as needed.

[0071] It is worth noting that the controller 14 in the above embodiment adopts PLC, and the side swing motor 23, the longitudinal swing motor 39, the travel motor 53, the heading motor 74, the control motor 1 84, and the control motor 2 88 all adopt servo motors, and their specific power is selected according to actual conditions. The controller 14 controls the side swing motor 23, the longitudinal swing motor 39, the bending electric telescopic rod 47, the travel motor 53, the control electric telescopic rod 66, the heading motor 74, the control motor 1 84, the control motor 2 88, the camera 92 and the manipulator 95, and its control method adopts the existing technology.

[0072] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0073] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wheel-foot hybrid robot, comprising a body assembly (1), wherein the body assembly (1) comprises a housing (11) and a housing cover (13), wherein the housing cover (13) is installed at an opening at the top of the housing (11), characterized in that: Also includes: The shoulder movable mechanism (2) comprises a shoulder shaft (21), a motor frame (22), a side swing motor (23) and a shoulder box (24); the left and right ends of the front and rear sides of the casing (11) are rotatably connected to the longitudinal shoulder shaft (21) through bearings respectively; one end of the four shoulder shafts (21) located outside the casing (11) is fixedly connected to the four shoulder boxes (24) respectively; and one end of the four shoulder shafts (21) located inside the casing (11) is fixedly connected to the output shafts of the four side swing motors (23); the side swing motor (23) is installed inside the casing (11) through the motor frame (22); The foot-type traveling mechanism (3) is installed on the shoulder box (24), and the bottom of each foot-type traveling mechanism (3) is respectively installed with a foot bending mechanism (4), and the bottom of each foot bending mechanism (4) is respectively installed with a wheel-type traveling mechanism (5).

2. The wheel-foot composite robot according to claim 1, characterized in that: The foot-type traveling mechanism (3) comprises a limit axis (31), a rocker arm (32), a movable axis (33), an upper leg (34), a movable disk (35), a swing leg (38) and a swing leg power assembly. The outer side of each shoulder box (24) is connected to the movable disk (35) via the swing leg power assembly, and the top of each movable disk (35) is fixedly connected to the bottom of the upper leg (34). The top of each upper leg (34) is movably connected to one end of the rocker arm (32) via the movable axis (33), and the other end of each rocker arm (32) is movably connected to the outer top rear end of the corresponding shoulder box (24) via the limit axis (31). The bottom of each movable disk (35) is fixedly connected to the top of the swing leg (38).

3. The wheel-foot composite robot according to claim 2, characterized in that: The leg swinging power assembly includes a movable shaft 2 (36), a rotating rod (37) and a longitudinal swing motor (39). The front end of the bottom inner side of each shoulder box (24) is fixedly connected with a longitudinal swing motor (39). The output shaft of the longitudinal swing motor (39) passes through the front end of the outer bottom side of the shoulder box (24) and is fixedly connected to one end of the rotating rod (37). The other end of the rotating rod (37) is movably connected to the middle part of the movable disk (35) through the movable shaft 2 (36).

4. The wheel-leg composite robot according to claim 2, characterized in that: The foot bending mechanism (4) comprises a foot rod (44), a side rod (45), a movable shaft four (46), a bending electric telescopic rod (47), a hinge seat (48) and a hinge shaft (49); the bottom of each swing leg (38) is movably connected to the top of the foot rod (44); the inner side of the bottom of each foot rod (44) is fixedly connected to one end of the side rod (45); the other end of the side rod (45) is movably connected to the bottom end of the bending electric telescopic rod (47) through movable shaft four (46); the inner side of each swing leg (38) is fixedly connected to a hinge seat (48); each hinge seat (48) is movably connected to the top of the corresponding bending electric telescopic rod (47) through a hinge shaft (49).

5. The wheel-leg compound robot according to claim 4, characterized in that: The foot bending mechanism (4) further comprises friction convex strips (410), and the outer side of each foot rod (44) is provided with friction convex strips (410) at equal distances.

6. The wheel-leg composite robot according to claim 4, characterized in that: The wheeled traveling mechanism (5) comprises a wheel frame (51), a traveling wheel (52) and a traveling motor (53); the bottom end of each foot rod (44) is respectively fixedly connected to the wheel frame (51); the bottom of each wheel frame (51) is respectively rotatably connected to the traveling wheel (52); the inner side of each wheel frame (51) is respectively fixedly connected to the traveling motor (53); and the output shaft of the traveling motor (53) is fixedly connected to the corresponding traveling wheel (52).

7. The wheel-leg composite robot according to claim 4, characterized in that: The invention also comprises a traveling ground contact mechanism (6), wherein the traveling ground contact mechanism (6) comprises a vertical groove (61), an opposing swing control assembly, a control rod (63), a contact plate (64) and a friction pattern (65), each foot rod (44) is provided with a vertical groove (61), the front and rear sides of the vertical groove (61) respectively extend to the front and rear side surfaces of the foot rod (44), each vertical groove (61) is connected to the top of two control rods (63) through the opposing swing control assembly, the bottoms of the two control rods (63) are respectively fixedly connected to two contact plates (64), and the bottom of the contact plate (64) is provided with a friction pattern (65).

8. The wheel-leg compound robot according to claim 7, characterized in that: The opposite swing control assembly comprises a gear (62), a control electric telescopic rod (66) and a double-sided rack (67); the front and rear sides of the bottom of each vertical slot (61) are rotatably connected to two gears (62); the sides of the two gears (62) are respectively fixedly connected to the tops of two control rods (63); the top of each vertical slot (61) is respectively fixedly connected to the top of the control electric telescopic rod (66); the bottom end of each control electric telescopic rod (66) is respectively fixedly connected to the top of the double-sided rack (67); the double-sided rack (67) is located between the two gears (62); and the front and rear sides of the double-sided rack (67) are respectively meshed and connected with the two gears (62).

9. The wheel-leg composite robot according to claim 1, characterized in that: The invention also comprises a direction control mechanism (7) and a mechanical arm (8), wherein the mechanical arm (8) comprises an arm seat (81), a joint shaft (82), a movable arm (83), a control motor (84), an arm seat (85), a joint shaft (86), a movable arm (87), a control motor (88) and a disassembly seat (89), the front side of the shell cover (13) is equipped with a direction control mechanism (7), the top of the direction control mechanism (7) is equipped with an arm seat (81), the arm seat (81) is rotatably connected to a joint shaft (82), and the end of the joint shaft (82) is fixedly connected to the control motor (84). The output shaft, the control motor 1 (84) is installed on the side of the arm seat 1 (81), the middle part of the joint shaft 1 (82) is fixedly connected to one end of the movable arm 1 (83), the other end of the movable arm 1 (83) is fixedly connected to the arm seat 2 (85), the arm seat 2 (85) is rotatably connected to the joint shaft 2 (86), the end of the joint shaft 2 (86) is fixedly connected to the output shaft of the control motor 2 (88), the control motor 2 (88) is installed on the side of the arm seat 2 (85), the middle part of the joint shaft 2 (86) is fixedly connected to one end of the movable arm 2 (87), and the other end of the movable arm 2 (87) is fixedly connected to the disassembly seat (89).

10. The wheel-leg composite robot according to claim 9, characterized in that: The invention also comprises a function execution mechanism (9), wherein the function execution mechanism (9) comprises a disassembly screw (91), a camera (92), a seat plate (93), a bent arm (94) and a manipulator (95); the camera (92) is mounted on the disassembly seat (89) via the disassembly screw (91); the seat plate (93) is detachably mounted on the bottom of the movable arm (87); and the seat plate (93) is connected to the manipulator (95) via the bent arm (94).

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