Wheeled robot based on liquid metal driving

Abstract

The invention relates to the technical field of liquid metal robots, in particular to a wheeled robot based on liquid metal driving. The embodiment of the invention provides a wheeled robot based on liquid metal driving. The wheeled robot comprises a vehicle body, two driving wheels and two first driving mechanisms. The first driving mechanism comprises an electrode assembly, a first liquid metal solution, a first controller and two first electromagnets, the electrode assembly is fixedly connected to the wheel shaft, first liquid metal is arranged in the first driving launder, and at least part of the electrode assembly is soaked in the first liquid metal solution; the two first electromagnets are installed on the electrode assembly and located at the two ends of the first driving launder, and the first controller is connected with the first electromagnets so as to control the magnetic field size and direction of the first electromagnets. The wheeled robot based on liquid metal driving provided by the invention has stable driving force to advance, can bear more goods, and even climbs at a certain angle.

Description

Technical Field

[0001] The present invention relates to the technical field of liquid metal robots, and particularly to a wheeled robot driven by liquid metal. Background Art

[0002] In recent years, liquid metal driving technology has received extensive attention and research. Liquid metal has unique physical and chemical properties. Researchers have explored and realized various driving methods for liquid metal, including electric fields, magnetic fields, chemical reactions, photochemistry, and ion concentration differences. Among them, electric fields and magnetic fields are two of the most commonly used external physical stimulation methods, which can effectively drive liquid metal to undergo various morphological changes such as deformation, movement, separation, and merging, and are widely used in the research of liquid metal driving technology. By controlling the movement of liquid metal to control the center of gravity, the trolley can quickly adjust to achieve rapid start, stop, and steering. However, traditional driving methods for liquid metal wheeled robots often have problems such as low driving force and limited usage scenarios. Summary of the Invention

[0003] This application provides a wheeled robot driven by liquid metal, which to a certain extent improves the technical problems in related technologies that the driving method of liquid metal wheeled robots often has low driving force, inflexible movement mode, and limited usage scenarios.

[0004] An embodiment of this application provides a wheeled robot driven by liquid metal, including:

[0005] A vehicle body;

[0006] Two driving wheels, respectively arranged at both ends of the vehicle body. The driving wheels include a wheel body and a wheel axle, and a first driving flow channel is provided at the bottom inside the driving wheels;

[0007] Two first driving mechanisms, corresponding to the two driving wheels, and the first driving mechanisms are installed inside the corresponding driving wheels;

[0008] Wherein, the first driving mechanism includes an electrode assembly, a first liquid metal solution, a first controller, and two first electromagnets. The electrode assembly is fixedly connected to the wheel axle. The first liquid metal is arranged in the first driving flow channel, and at least part of the electrode assembly is immersed in the first liquid metal solution. The two first electromagnets are installed on the electrode assembly and are located at both ends of the first driving flow channel. The first controller is connected to the first electromagnets to control the magnitude and direction of the magnetic field of the first electromagnets.

[0009] In some embodiments, the electrode assembly includes an electrode, a mounting bracket, a battery, and a receiving box. The two first electromagnets, the electrode, and the receiving box are all mounted on the mounting bracket. The battery is disposed in the receiving box and is in contact with the electrode to supply power to the electrode. At least a part of the electrode is immersed in the first liquid metal solution, and the receiving box is fixedly connected to the wheel axle.

[0010] In some embodiments, the mounting bracket includes two mounting members. The receiving box is connected and disposed between the two mounting members. The positive and negative electrodes of the electrode are respectively mounted on the two mounting members, and the two first electromagnets are respectively mounted on the two mounting members.

[0011] In some embodiments, a first mounting groove and a second mounting groove are formed on the outer side of the mounting member. The electrode is mounted in the first mounting groove, and the first electromagnet is mounted in the second mounting groove.

[0012] In some embodiments, a baffle is provided at the lower part of the mounting bracket. The projection of the baffle on the wheel body covers the first liquid metal solution.

[0013] In some embodiments, the vehicle body includes a vehicle body and a steering device mounted on the vehicle body. The two driving wheels are respectively disposed on both sides of the steering device and are movably connected to the steering device.

[0014] In some embodiments, the steering device includes a steering mechanism, a transmission mechanism, and a second driving mechanism. The transmission mechanism is mounted on the steering mechanism. The second driving mechanism is in transmission connection with the transmission mechanism. The two driving wheels are connected to the steering mechanism. The second driving mechanism can drive the transmission mechanism to rotate to drive the steering mechanism to deflect.

[0015] In some embodiments, the second driving mechanism includes a driving rotary member, a second liquid metal solution, a second controller, and two second electromagnets. The driving rotary member is in transmission connection with the transmission mechanism. A second driving flow channel is provided in the driving rotary member. The second liquid metal solution is disposed in the second driving flow channel. The two second electromagnets are mounted on the driving member and are located at both ends of the second driving flow channel. The second controller is connected to the second electromagnets to control the magnitude and direction of the magnetic field of the second electromagnets.

[0016] In some embodiments, the second driving mechanism includes two partition plates. A long groove is provided in the driving rotary member. The two partition plates are disposed in the long groove at intervals to divide the long groove into three chambers. The middle chamber is configured as the second driving flow channel, and the two second electromagnets are respectively disposed in the two chambers on both sides.

[0017] In some embodiments, the transmission mechanism includes a gear and a rack that are drivingly connected, the rack is fixedly installed on the steering mechanism, and the second driving mechanism is drivingly connected to the gear.

[0018] The beneficial effects of this application are as follows:

[0019] In a wheeled robot based on liquid metal drive provided by this application, since at least part of the electrode assembly is immersed in the first liquid metal solution, an electric field is applied in the first liquid metal solution to attract the first liquid metal solution to move towards the negative electrode. At the same time, the first controller applies a magnetic field to the first electromagnet to attract the first liquid metal solution to move. The combination of the two driving methods enables the first liquid metal solution to move rapidly inside the wheel body, continuously change the center of gravity of the wheel and provide a greater driving force, enabling the wheeled robot to move forward with a stable driving force, carry more goods, and even climb slopes at a certain angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention.

[0021] Figure 1 Shows a schematic structural diagram of a wheeled robot.

[0022] Figure 2 Shows Figure 1 A cross-sectional view of the driving force in

[0023] Figure 3 Shows Figure 1 An exploded view of the structure of the driving force in

[0024] Figure 4 Shows Figure 1 A top view of the wheeled robot.

[0025] Figure 5 Shows Figure 1 A top view of the wheeled robot in a deflected angle state.

[0026] Figure 6 Shows Figure 1 A partial schematic diagram of

[0027] Figure 7 Shows Figure 6 A schematic structural diagram of the second driving mechanism in

[0028] Figure 8 Shows Figure 6 A schematic structural diagram of the vehicle body in

[0029] Description of the reference numerals:

[0030] 100 - Wheeled robot, 1000 - Vehicle body, 1100 - Body, 1110 - Gear bracket, 1120 - Auxiliary universal wheel, 1200 - Steering device, 1210 - Steering mechanism, 1211 - Steering base, 1212 - Adapter bracket, 1213 - Steering connecting piece, 1220 - Transmission mechanism, 1221 - Gear, 1222 - Rack, 1230 - Second driving mechanism, 1231 - Driving rotating part, 1232 - Second liquid metal solution, 1233 - Second electromagnet, 1234 - Second driving chute, 1235 - Partition board, 1236 - Sealing plug, 2000 - Driving wheel, 2100 - Wheel body, 2110 - First driving chute, 2200 - Wheel axle, 2300 - Bearing, 3000 - First driving mechanism, 3100 - Electrode assembly, 3110 - Electrode, 3120 - Mounting bracket, 3121 - Mounting piece, 3122 - First mounting groove, 3123 - Second mounting groove, 3200 - Battery, 3300 - Accommodating box, 3400 - First liquid metal solution, 3500 - First electromagnet, 3600 - Baffle plate. Detailed implementation manners

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0032] It should be noted that all the directional indications in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture. If this specific posture changes, the directional indications will also change accordingly.

[0033] In the present invention, unless otherwise clearly defined and limited, the terms "connection", "fixation", etc. should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0034] In addition, in the present invention, descriptions such as "first", "second", etc. are only for descriptive purposes and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions between various embodiments may be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0035] Please refer to Figures 1 - 3 , an embodiment of the present application provides a wheeled robot 100 driven by liquid metal, including a vehicle body 1000, two drive wheels 2000, and two first drive mechanisms 3000. The two drive wheels 2000 are respectively disposed at both ends of the vehicle body 1000. The drive wheel 2000 includes a wheel body 2100 and a wheel axle 2200. A first drive flow groove 2110 is provided at the bottom inside the wheel body 2100. The two first drive mechanisms 3000 are arranged in one-to-one correspondence with the two drive wheels 2000, and the first drive mechanism 3000 is installed inside the corresponding wheel body 2100.

[0036] Among them, the first drive mechanism 3000 includes an electrode assembly 3100, a first liquid metal solution 3400, a first controller, and two first electromagnets 3500. The electrode assembly 3100 is fixedly connected to the wheel axle 2200. The first liquid metal is disposed in the first drive flow groove 2110, and at least part of the electrode assembly 3100 is immersed in the first liquid metal solution 3400. The two first electromagnets 3500 are installed on the electrode assembly 3100 and are located at both ends of the first drive flow groove 2110. The first controller is connected to the first electromagnets 3500 to control the magnitude and direction of the magnetic field of the first electromagnets 3500.

[0037] The drive wheel 2000 includes a wheel body 2100 and a wheel axle 2200. The wheel axle 2200 is disposed at the center of the wheel body 2100 to support the wheel body 2100. The drive wheel 2000 further includes a bearing 2300. The bearing 2300 is assembled on the wheel axle 2200. Specifically, the inner ring of the bearing 2300 is fixed on the wheel axle 2200, and the outer ring of the bearing 2300 rotates together with the wheel body 2100.

[0038] Two first driving mechanisms 3000 are provided in one-to-one correspondence with two driving wheels 2000. The first driving mechanism 3000 is installed inside the corresponding wheel body 2100, that is, a first driving mechanism 3000 is provided inside the wheel body 2100 of each driving wheel 2000. The first driving mechanism 3000 is used to drive the rotation of the wheel body 2000. The first driving mechanism 3000 includes an electrode assembly 3100, a first liquid metal solution 3400, a first controller, and two first electromagnets 3500. The electrode assembly 3100 is fixedly connected to the wheel axle 2200, so that the electrode assembly 3100 can remain stationary during the rolling of the wheel body 2100.

[0039] The first liquid metal solution 3400 is arranged in the first driving chute 2110. The first liquid metal solution 3400 includes liquid metal and sodium hydroxide solution. The sodium hydroxide solution coats the liquid metal. The electric field exerts an influence on the liquid metal through the sodium hydroxide solution. At least part of the electrode assembly 3100 is immersed in the sodium hydroxide solution and does not directly contact the liquid metal. Specifically, the first driving chute 2110 is located at the bottom inside the wheel body 2100. Therefore, the electrode assembly 3100 is also arranged at the lower part inside the wheel body 2100 so that the end of the electrode assembly 3100 can be immersed in the sodium hydroxide solution. Of course, the positive and negative electrodes of the electrode assembly 3100 are respectively located at both ends of the first driving chute 2110, so that an electric field is applied in the first liquid metal solution 3400 to attract the liquid metal to move towards the negative electrode.

[0040] The liquid metal can be a magnetic liquid alloy made by mixing a gallium-based or gallium-indium-tin alloy liquid metal with at least one magnetic material such as iron, cobalt, and nickel. It can stably respond to the magnetic field change of the electromagnet and can also stably respond to the electric field change of the electrode 3110.

[0041] Two first electromagnets 3500 are installed on the electrode assembly 3100 and are located at both ends of the first driving chute 2110. Therefore, the two first electromagnets 3500 can also remain stationary during the rolling of the wheel body 2100. The first controller is connected to the first electromagnet 3500. The first controller can apply a magnetic field to the first electromagnet 3500. The magnitude and direction of the magnetic field of the first electromagnet 3500 are controlled by the first controller. One end provides an attractive force to the liquid metal, and the other end provides a repulsive force to the liquid metal, driving the liquid metal to move to one side.

[0042] In the wheeled robot 100 driven by liquid metal provided by the embodiments of the present application, since the electrode assembly 3100 and two first electromagnets 3500 are simultaneously provided, an electromagnetic composite field is formed. Driven by the electromagnetic composite field, the liquid metal can flow rapidly and directionally in the first driving chute 2110, continuously changing the center of gravity of the wheel body 2100 and having a more effective driving force to push the wheel body 2100 to rotate continuously, enabling the wheeled robot 100 to move forward stably, capable of carrying more goods and even climbing slopes at a certain angle.

[0043] It should be noted that by controlling the positive and negative poles and the voltage magnitude of the electrode 3110, the moving speed and direction of the liquid metal can be controlled. The attractive force of the first electromagnet 3500 on the liquid metal and the driving force of the interfacial tension gradient caused by the electric field drive can control the moving speed and direction of the liquid metal. The specific calculation process will not be described in detail here.

[0044] Please refer to Figure 3 , in some embodiments, the electrode assembly 3100 includes an electrode 3110, a mounting bracket 3120, a battery 3200, and a containing box 3300. The two first electromagnets 3500, the electrode 3110, and the containing box 3300 are all mounted on the mounting bracket 3120. The battery 3200 is disposed in the containing box 3300 and is in contact with the electrode 3110 to supply power to the electrode 3110. At least part of the electrode 3110 is immersed in the first liquid metal solution 3400, and the containing box 3300 is fixedly connected to the wheel axle 2200.

[0045] The containing box 3300 is fixedly connected to the wheel axle 2200 and is fixedly mounted on the mounting bracket 3120, so that the mounting bracket 3120 is fixedly arranged inside the wheel body 2100. The two first electromagnets 3500 and the electrode 3110 are both mounted on the mounting bracket 3120. The end of the electrode 3110 is immersed in the sodium hydroxide solution. The battery 3200 is disposed in the containing box 3300 and is in contact with the electrode 3110 to supply power to the electrode 3110 to form an electric field.

[0046] The material of the electrode 3110 is one of graphite, platinum, or tungsten, which can effectively reduce the corrosion of the electrode 3110 in the sodium hydroxide solution, ensure the conductive effect of the electrode 3110, stably drive the movement of the liquid metal, and make the trolley more stable and efficient.

[0047] Specifically, the wheel axle 2200 includes two shafts. Key grooves are provided at both ends of the containing box 3300 along the axial direction of the wheel axle 2200. The two shafts are respectively connected to the two key grooves, so that the containing box 3300 is fixedly mounted on the wheel axle 2200. Of course, bearings 2300 are provided on each shaft.

[0048] In some embodiments, the mounting bracket 3120 includes two mounting members 3121. The accommodating box 3300 is connected and disposed between the two mounting members 3121. The positive and negative electrodes 3110 are respectively mounted on the two mounting members 3121, and the two first electromagnets 3500 are respectively mounted on the two mounting members 3121.

[0049] The two mounting members 3121 are oppositely disposed on both sides of the accommodating box 3300 and are connected to the accommodating box 3300. Specifically, the two mounting members 3121 can be connected to the accommodating box 3300 by screws. The positive and negative electrodes 3110 are respectively mounted on the two mounting members 3121. The two mounting members 3121 can be respectively disposed on both sides of the first driving chute so that the liquid metal droplets are held between the two electrodes 3110. Protrusions can be provided on both sides of the battery 3200, and the two protrusions protrude from both sides of the accommodating box 3300 so that the battery 3200 contacts the two electrodes 3110 to supply power to the electrodes 3110. The first controller can also be mounted in the accommodating box 3300 to facilitate connection with the first electromagnet 3500.

[0050] Specifically, a first mounting groove 3122 and a second mounting groove 3123 are formed on the outer side of the mounting member 3121. The electrode 3110 is mounted in the first mounting groove 3122, and the first electromagnet 3500 is mounted in the second mounting groove 3123 to make the installation of the electrode 3110 and the first electromagnet 3500 more stable. The second mounting groove 3123 can be disposed at the bottom of the mounting member 3121.

[0051] In some embodiments, a baffle 3600 is provided at the lower part of the mounting bracket 3120, and the projection of the baffle 3600 on the wheel body 2100 covers the first liquid metal solution 3400.

[0052] The baffle 3600 is located above the first liquid metal solution 3400, and the projection of the lower part of the baffle 3600 on the wheel body 2100 covers the first liquid metal solution 3400. The baffle 3600 can form a resistance to the first liquid metal solution 3400 to reduce the amount of splashing when the first liquid metal solution 3400 flows rapidly in the first driving chute.

[0053] Specifically, slots can be formed on the opposite sides of the two mounting members 3121, and the baffle 3600 is clamped in the two slots to realize the fixed installation of the baffle 3600 on the mounting bracket 3120.

[0054] Please refer to Figure 1 , in some embodiments, the vehicle body 1000 includes a vehicle body 1100 and a steering device 1200 mounted on the vehicle body 1100. The two driving wheels 2000 are respectively disposed on both sides of the steering device 1200 and are movably connected to the steering device 1200. The steering device 1200 is used to realize the steering of the wheeled robot 100.

[0055] Specifically, please refer to Figure 4 , the steering device 1200 includes a steering mechanism 1210, a transmission mechanism 1220, and a second driving mechanism 1230. The transmission mechanism 1220 is installed on the steering mechanism 1210, and the second driving mechanism 1230 is in transmission connection with the transmission mechanism 1220. Two driving wheels 2000 are connected to the steering mechanism 1210. The second driving mechanism 1230 can drive the transmission mechanism 1220 to rotate to drive the steering mechanism 1210 to deflect.

[0056] Please refer to Figure 5 and Figure 6 , the steering mechanism 1210 includes a steering base 1211, two adapter brackets 1212, and two steering connectors 1213. The two adapter brackets 1212 are respectively arranged on both sides of the steering base 1211. The two adapter brackets 1212 and the two steering connectors 1213 are arranged in one-to-one correspondence. The adapter bracket 1212 is respectively connected to the steering base 1211 and the corresponding steering connector 1213 through two cylindrical pins. The steering connector 1213 is connected to the axle 2200 of the driving wheel 2000 on the same side, realizing the connection between the driving wheel 2000 and the steering device 1200. The steering base 1211, the two adapter brackets 1212, and the two steering connectors 1213 form a four-bar mechanism. The second driving mechanism 1230 drives the transmission mechanism 1220 to rotate to drive the steering mechanism 1210 to deflect, thereby realizing the deflection of the wheeled robot 100.

[0057] Please refer to Figure 6 and Figure 7 , in some embodiments, the second driving mechanism 1230 includes a driving rotating member 1231, a second liquid metal solution 1232, a second controller, and two second electromagnets 1233. The driving rotating member 1231 is in transmission connection with the transmission mechanism 1220. A second driving flow channel 1234 is provided in the driving rotating member 1231. The second liquid metal solution 1232 is arranged in the second driving flow channel 1234. The two second electromagnets 1233 are installed on the driving member and located at both ends of the second driving flow channel 1234. The second controller is connected to the second electromagnets 1233 to control the magnitude and direction of the magnetic field of the second electromagnets 1233.

[0058] The second liquid metal solution 1232 also includes liquid metal and sodium hydroxide solution, the sodium hydroxide solution covers the liquid metal, and the second electromagnet 1233 is energized by the second controller, so that the liquid metal moves to one side in the second driving flow slot 1234 under the attraction of the second electromagnet 1233, and drives the driving rotating member 1231 to rotate by means of the variable center of gravity effect, thereby driving the rotating member 1231 to drive the transmission structure to rotate, and then drives the steering mechanism 1210 to deflect. By controlling the magnetic field size and direction of the second electromagnet 1233 by the second controller, the moving distance of the liquid metal can be controlled, thereby controlling the deflection angle of the steering mechanism 1210, ensuring that the liquid metal will not leak from the driving rotating member 1231 due to excessive movement, and enabling the wheeled robot 100 to achieve the steering function.

[0059] See also Figure 7 In some embodiments, the second driving mechanism 1230 includes two partitions 1235, a long groove is provided in the driving rotating member 1231, and the two partitions 1235 are arranged in the long groove at intervals to divide the long groove into three chambers. The middle chamber is configured as the second driving flow groove 1234, and the two second electromagnets 1233 are respectively arranged in two chambers on both sides.

[0060] Under the restriction of the two partitions 1235, the moving distance of the liquid metal can be limited, thereby limiting the deflection angle of the steering mechanism 1210. Specifically, the driving rotating member 1231 can be a crescent-shaped hollow wheel, and the second driving mechanism 1230 also includes a sealing plug 1236. The driving rotating member 1231 has an opening connected to the second driving flow channel 1234, which is used to inject the second liquid metal solution 1232, and then sealed with the sealing plug 1236 to prevent leakage.

[0061] See also Figure 6 In some embodiments, the transmission mechanism 1220 includes a gear 1221 and a rack 1222 that are transmission-connected, the rack 1222 is fixedly mounted on the steering mechanism 1210 , and the second driving mechanism 1230 is transmission-connected to the gear 1221 .

[0062] The driving rotating member 1231 is fixedly connected to the gear 1221. The rotation of the driving rotating member 1231 can drive the gear 1221 to rotate. Since the gear 1221 and the rack 1222 are connected in transmission, and the rack 1222 is fixedly installed on the steering mechanism 1210, the rotation of the gear 1221 will drive the rack 1222 to move, and the rack 1222 drives the steering mechanism 1210 to move, so that the steering mechanism 1210 is deflected, thereby making the wheeled robot 100 deflect.

[0063] See also Figure 8, in some embodiments, the vehicle body 1100 includes a loading platform, a gear bracket 1110 for mounting the gear 1221, and an auxiliary universal wheel 1120 for balance. The auxiliary universal wheel 1120 can rotate in any direction. When the wheeled robot 100 moves forward and backward and deflects, the auxiliary universal wheel 1120 will automatically deflect due to friction, adapt to the moving direction of the trolley and maintain the balance of the trolley. The steering device 1200 and the auxiliary universal wheel 1120 are manufactured by die processing or 3D printing technology to ensure the structural strength and stability of the wheeled robot 100. The second electromagnet 1233 can be installed on the gear bracket 1110 or the loading platform, and there is no limitation on this.

[0064] In summary, the present invention has the following beneficial effects:

[0065] 1) The wheel bodies 2100 on both sides are driven by liquid metal. Under the drive of the electromagnetic composite field, the liquid metal can flow rapidly in a directional manner inside the wheel bodies 2100, continuously change the center of gravity of the wheel bodies 2100 and have a more effective driving force, enabling the wheeled robot 100 to move forward stably, be able to carry more goods, and even climb slopes at a certain angle.

[0066] 2) The deflection angle of the wheeled robot 100 can be controlled by the second electromagnet 1233. By controlling the magnetic field strength of the second electromagnet 1233, the moving distance of the liquid metal is driven, further driving the rotation of the gear 1221 and the movement of the rack 1222. Through mechanical transmission, the steering device 1200 is offset by a certain angle. At the same time, baffles 3600 are provided on both sides inside the rotary member 1231 to limit the moving distance of the liquid metal to limit the deflection angle of the wheeled robot 100.

[0067] 3) By controlling the positive and negative poles of the electrode 3110 and the magnetic field direction of the electromagnet through the controller, the moving speed and direction of the magnetic liquid metal are further controlled, realizing the regulation of the forward, backward and turning of the wheeled robot 100, and significantly improving the flexibility of the wheeled robot 100.

[0068] 4) Both the driving wheel 2000 and the steering device 1200 adopt the variable center of gravity effect, and have the characteristics of low implementation cost, easy control and good motion performance.

[0069] Although the preferred embodiments of the present invention have been described, those skilled in the art can make additional changes and modifications to these embodiments once they know the basic creative concept. Therefore, the appended claims are intended to be construed as including the preferred embodiments and all changes and modifications falling within the scope of the present invention.

[0070] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A wheeled robot driven by liquid metal, characterized in that: include: Vehicle body; Two driving wheels are respectively arranged at two ends of the vehicle body, the driving wheels include a wheel body and a wheel axle, and the bottom of the wheel body has a first driving flow groove; Two first driving mechanisms are arranged corresponding to the two driving wheels, and the first driving mechanisms are installed in the corresponding wheel bodies; Among them, the first driving mechanism includes an electrode assembly, a first liquid metal solution, a first controller and two first electromagnets, the electrode assembly is fixedly connected to the wheel axle, the first liquid metal is arranged in the first driving flow channel, and at least part of the electrode assembly is immersed in the first liquid metal solution, the two first electromagnets are installed on the electrode assembly and are located at both ends of the first driving flow channel, and the first controller is connected to the first electromagnet to control the size and direction of the magnetic field of the first electromagnet.

2. The wheeled robot driven by liquid metal according to claim 1, characterized in that: The electrode assembly includes an electrode, a mounting bracket, a battery and a containing box. The two first electromagnets, the electrode and the containing box are all mounted on the mounting bracket. The battery is arranged in the containing box and contacts the electrode to supply power to the electrode. At least a portion of the electrode is immersed in the first liquid metal solution. The containing box is fixedly connected to the wheel axle.

3. The wheeled robot driven by liquid metal according to claim 2, characterized in that: The mounting bracket includes two mounting parts, the accommodating box is connected and arranged between the two mounting parts, the positive pole and the negative pole of the electrode are respectively mounted on the two mounting parts, and the two first electromagnets are respectively mounted on the two mounting parts.

4. The wheeled robot driven by liquid metal according to claim 3, characterized in that: A first mounting groove and a second mounting groove are formed on the outer side of the mounting member. The electrode is mounted in the first mounting groove, and the first electromagnet is mounted in the second mounting groove.

5. The wheeled robot driven by liquid metal according to claim 2, characterized in that: A baffle is provided at the lower part of the mounting bracket, and the projection of the baffle on the wheel body covers the first liquid metal solution.

6. The wheeled robot driven by liquid metal according to any one of claims 1 to 5, characterized in that: The vehicle body comprises a vehicle body and a steering device installed on the vehicle body, and the two driving wheels are arranged on both sides of the steering device and are movably connected to the steering device.

7. The wheeled robot driven by liquid metal according to claim 6, characterized in that: The steering device includes a steering mechanism, a transmission mechanism and a second driving mechanism. The transmission mechanism is installed on the steering mechanism. The second driving mechanism is connected to the transmission mechanism in a transmission manner. The two driving wheels are connected to the steering mechanism. The second driving mechanism can drive the steering mechanism to deflect by driving the transmission mechanism to rotate.

8. The wheeled robot driven by liquid metal according to claim 7, characterized in that: The second driving mechanism includes a driving rotating member, a second liquid metal solution, a second controller and two second electromagnets. The driving rotating member is in driving connection with the transmission mechanism. A second driving flow groove is provided in the driving rotating member. The second liquid metal solution is arranged in the second driving flow groove. The two second electromagnets are installed on the driving member and are located at both ends of the second driving flow groove. The second controller is connected to the second electromagnet to control the size and direction of the magnetic field of the second electromagnet.

9. The wheeled robot driven by liquid metal according to claim 8, characterized in that: The second driving mechanism includes two partitions, a long groove is provided in the driving rotating member, and the two partitions are arranged in the long groove at intervals to divide the long groove into three chambers. The middle chamber is configured as the second driving flow groove, and the two second electromagnets are respectively arranged in the two chambers on both sides.

10. The wheeled robot driven by liquid metal according to claim 7, characterized in that: The transmission mechanism comprises a gear and a rack which are transmission-connected, the rack is fixedly mounted on the steering mechanism, and the second driving mechanism is transmission-connected with the gear.

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