Wheel-leg type structure of bionic robot

Abstract

The invention relates to a wheel leg type structure of a bionic robot, which belongs to the technical field of driving devices and comprises a supporting platform, rotating discs are symmetrically arranged on the supporting platform and fixedly connected with supporting arms, stepping motors are fixedly mounted in the supporting platform, limiting shafts penetrate through the supporting arms, one ends of the limiting shafts are connected with walking wheels, and the other ends of the limiting shafts are connected with the walking wheels. The limiting shafts are movably connected with supporting legs, limiting mechanisms used for limiting the supporting legs are arranged on the supporting platform, positioning discs are fixedly installed on the supporting legs, connecting discs are fixedly installed on the positioning discs, and buffering assemblies are arranged on the connecting discs. The wheel-leg type structure of the bionic robot can be automatically switched between a wheel type structure and a leg type structure according to the environment and road conditions, a solution is provided for efficient driving walking of the bionic robot, and the bionic robot has the advantages of being rapid in walking, self-adaptive, low in energy consumption and the like when driven to walk; and the device can be actively switched between a stably-supported triangular framework and an efficient-rolling circular ring framework, and the terrain requirement is seamlessly met.

Description

Technical Field

[0001] The present invention belongs to the technical field of robots, and specifically relates to a wheel-leg structure of a bionic robot. Background Art

[0002] The technology of bionic robots is in a stage of rapid development. Currently, basic motion simulations such as walking, grasping, object recognition, and human-machine language interaction can be realized. Thanks to the breakthroughs in artificial intelligence, sensing technology, and mechanical control systems, modern bionic robots not only show great potential for industrial applications, but their application scenarios are rapidly expanding to multiple fields such as the service industry, medical rehabilitation, education, and entertainment. As the core key component for driving walking, the performance of the drive system directly affects the movement flexibility, adaptability, and energy efficiency of the robot.

[0003] Traditional bionic robots rely on complex multi-joint leg structures for walking. Although they can highly imitate humans, they have bottlenecks in terms of drive efficiency, movement speed, system stability, and structural complexity. Although wheeled drives have the outstanding advantages of fast moving speed and high energy efficiency, their adaptability is greatly limited when facing complex terrains and encountering obstacles or steps. To break through these limitations.

[0004] Therefore, the present invention provides a wheel-leg structure of a bionic robot. Summary of the Invention

[0005] In order to make up for the deficiencies of the prior art and solve the problem of balancing obstacle crossing and adaptability to unstructured terrains, the present invention proposes a wheel-leg structure of a bionic robot.

[0006] The technical solution adopted by the present invention to solve its technical problems is as follows: A wheel-leg structure of a bionic robot according to the present invention includes a support platform. Rotating disks are symmetrically arranged on the support platform. The rotating disks are fixedly connected with support arms. A stepping motor is fixedly installed inside the support platform, and the output end of the stepping motor is fixedly connected with the rotating disk. A limiting shaft passes through the support arm. One end of the limiting shaft is connected with a walking wheel. The limiting shaft is movably connected with a support leg. A limiting mechanism for limiting the support leg is arranged on the support platform. A positioning disk is fixedly installed on the support leg. A connecting disk is fixedly installed on the positioning disk. A buffer assembly is arranged on the connecting disk. The buffer assembly is connected with a support frame. A crawler is arranged around the support frame. A drive mechanism for driving the movement of the crawler is arranged inside the support frame. A storage groove is arranged inside the support frame. A support plate passes through the storage groove. An adjusting mechanism for adjusting the position of the support plate is arranged inside the storage groove. Claw slots are arranged on both the support frame and the support plate.

[0007] Preferably, the limiting mechanism includes a telescopic rod and a connecting frame. The telescopic rod is rotatably arranged on the support platform. The connecting frame is rotatably connected to the telescopic rod and fixedly connected to the support leg.

[0008] Preferably, the buffer assembly includes a square frame, dampers, buffer springs, sliders and guide grooves. The square frame is fixedly arranged inside the connecting plate. The dampers are arranged in an array inside the square frame. The buffer springs are fixedly arranged on the dampers. One end of each damper and buffer spring is fixedly connected to a slider. The guide grooves are arranged inside the square frame, and the sliders are engaged with the guide grooves. The sliders are fixedly connected to a connecting plate, and the connecting plate is fixedly connected to the support frame.

[0009] Preferably, the driving mechanism includes a servo motor, a driving gear, a transmission belt and an annular gear. The servo motor is fixedly installed on the support frame. The driving gear is rotatably arranged inside the support frame. One end of the driving gear is connected to a pulley. The output end of the servo motor is meshed with one of the driving gears. The annular gear is fixed on the inner wall of the crawler, and the driving gear is meshed with the annular gear.

[0010] Preferably, the adjusting mechanism includes a driving motor, a threaded rod and a threaded barrel. The driving motor is fixedly arranged inside the storage groove. One end of the threaded rod is fixedly connected to the output end of the driving motor. The threaded barrel is fixedly arranged inside the support plate, and the threaded rod is threadedly connected to the threaded barrel.

[0011] Preferably, a limiting ring is fixedly connected to the inner circle of the crawler, and the limiting ring is located on one side of the annular gear. An annular groove is arranged on the limiting ring, and the clamping groove is engaged with the annular groove.

[0012] Preferably, a connecting piece is fixedly installed on the top of the support platform.

[0013] Compared with the prior art, the beneficial effects of the present invention are as follows: The wheel-leg structure of the bionic robot of the present invention can automatically switch between wheeled and legged modes according to the environment and road conditions, providing a solution for the efficient driving and walking of the bionic robot. When the bionic robot drives and walks, it has the advantages of fast walking, adaptability, low energy consumption, etc. The core foot adopts a foldable mechanical design, which can actively switch between a stable supporting triangular structure and an efficiently rolling circular structure, seamlessly adapting to the terrain requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below with reference to the accompanying drawings.

[0015] Figure 1 is a perspective view of the wheel-leg structure of the bionic robot of the present invention; Figure 2 is a schematic structural diagram of the support arm in the present invention; Figure 3 It is a schematic structural diagram of the connection plate in the present invention; Figure 4 It is a schematic structural diagram of the support platform in the present invention; Figure 5 It is a schematic structural diagram of the crawler in the present invention; Figure 6 It is a schematic structural diagram of the support frame in the present invention; Figure 7 It is a schematic structural diagram of the support plate in the present invention; Figure 8 It is a schematic structural diagram of the driving gear in the present invention.

[0016] In the figure: 1, support platform; 2, connecting piece; 3, stepping motor; 4, rotating disk; 5, support arm; 6, telescopic rod; 7, connecting frame; 8, traveling wheel; 9, limiting shaft; 10, support leg; 11, positioning disk; 12, connection plate; 13, square frame; 14, damper; 15, buffer spring; 16, slider; 17, guiding groove; 18, connecting plate; 19, support frame; 20, servo motor; 21, driving gear; 22, transmission belt; 23, clamping groove; 24, support plate; 25, driving motor; 26, threaded rod; 27, threaded cylinder; 28, crawler; 29, annular gear; 30, limiting ring; 31, annular groove; 32, storage groove. Detailed implementation manners

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention. In the examples, well-known circuits, power supplies, software or methods are not specifically described to avoid confusing the present invention.

[0018] Such as Figures 1 to 8As shown in the figure, a wheel-leg structure of a bionic robot according to an embodiment of the present invention includes a support platform 1. Rotating disks 4 are symmetrically arranged on the support platform 1. A support arm 5 is fixedly connected to the rotating disk 4. A stepping motor 3 is fixedly installed inside the support platform 1, and the output end of the stepping motor 3 is fixedly connected to the rotating disk 4. A limiting shaft 9 penetrates through the support arm 5. One end of the limiting shaft 9 is connected to a walking wheel 8. The limiting shaft 9 is movably connected to a support leg 10. A limiting mechanism for limiting the support leg 10 is arranged on the support platform 1. A positioning disk 11 is fixedly installed on the support leg 10. A connecting disk 12 is fixedly installed on the positioning disk 11. A buffer assembly is arranged on the connecting disk 12. The buffer assembly is connected to a support frame 19. A crawler 28 is arranged around the support frame 19. A driving mechanism for driving the crawler 28 to move is arranged inside the support frame 19. A receiving groove 32 is arranged inside the support frame 19. A support plate 24 penetrates through the receiving groove 32. An adjusting mechanism for adjusting the position of the support plate 24 is arranged inside the receiving groove 32. Clamping grooves 23 are arranged on both the support frame 19 and the support plate 24. When using the wheel-leg structure of the bionic robot and it needs to cross an obstacle, it is in the leg structure. At this time, the wheel at the foot is transformed into a triangular wheel. Through the movement of the adjusting mechanism, the position of the support plate 24 will be adjusted. When the support plate 24 moves, it will drive the bottom of the crawler 28 to rise, so that the crawler 28 can be transformed into a triangular shape. By adjusting the movement track of the support leg 10, the walking ability of the bionic robot on rough roads can be improved. When the road condition is good, it is transformed into a wheeled form. The support plate 24 is reset through the adjusting mechanism. At this time, the triangular wheel at the foot is transformed into a circular wheel through mechanical structure design. At the same time, the position of the support leg 10 is adjusted, and the angle between the support leg 10 and the ground is reduced. The walking wheel 8 located at the knee joint contacts the ground (at this time, it is transformed into a four-wheel drive state). A vision camera and a lidar are arranged at the end of the leg. When an obstacle is found ahead (such as stairs, ramps, etc.), it is switched to the leg structure to cross the obstacle. When it is detected that there is no obstacle ahead, it is switched to the wheeled structure for fast movement, improving flexibility, facilitating walking on different terrains, being able to automatically switch between wheeled and leg structures according to the environment and road conditions, providing a solution for the efficient driving and walking of the bionic robot, and enabling the bionic robot to have the advantages of fast walking, adaptability, and low energy consumption when driving and walking.

[0019] Further, the limiting mechanism includes a telescopic rod 6 and a connecting frame 7. The telescopic rod 6 is rotatably arranged on the support platform 1. The connecting frame 7 is rotatably connected to the telescopic rod 6, and the connecting frame 7 is fixedly connected to the support leg 10. When the support leg 10 moves, the telescopic rod 6 will be telescoped through the connecting frame 7. By telescoping the telescopic rod 6, the support leg 10 can be guided and limited to move smoothly.

[0020] Further, the buffer assembly includes a square frame 13, dampers 14, buffer springs 15, sliders 16 and guide grooves 17. The square frame 13 is fixedly arranged inside the connecting plate 12. The dampers 14 are arranged in an array inside the square frame 13. The buffer springs 15 are fixedly arranged on the dampers 14. One end of each of the dampers 14 and the buffer springs 15 is fixedly connected to the slider 16. The guide grooves 17 are arranged inside the square frame 13, and the sliders 16 are engaged with the guide grooves 17. The slider 16 is fixedly connected to a connecting plate 18, and the connecting plate 18 is fixedly connected to the support frame 19. Shock absorption and buffering can be carried out through the buffer assembly. When the bionic robot walks, the cooperation between the slider 16 and the guide groove 17 will exert pressure on the dampers 14 and the buffer springs 15. Through the cooperation of the dampers 14 and the buffer springs 15, shock absorption and buffering can be carried out. When switching to the wheeled mode, there is also an effect of shock absorption and buffering.

[0021] Further, the driving mechanism includes a servo motor 20, a driving gear 21, a transmission belt 22 and an annular gear 29. The servo motor 20 is fixedly installed on the support frame 19. The driving gear 21 is rotatably arranged inside the support frame 19. One end of the driving gear 21 is connected with a pulley. The output end of the servo motor 20 is engaged with one of the driving gears 21. The annular gear 29 is fixed on the inner wall of the crawler belt 28, and the driving gear 21 is engaged with the annular gear 29. When changing to the wheeled mode, operating the servo motor 20 will drive the driving gear 21 to rotate. When the driving gear 21 rotates, the crawler belt 28 will rotate through the annular gear 29. When the crawler belt 28 rotates, the bionic robot will walk.

[0022] Further, the adjusting mechanism includes a driving motor 25, a threaded rod 26 and a threaded barrel 27. The driving motor 25 is fixedly arranged inside the storage groove 32. One end of the threaded rod 26 is fixedly connected to the output end of the driving motor 25. The threaded barrel 27 is fixedly arranged inside the support plate 24, and the threaded rod 26 is in threaded connection with the threaded barrel 27. When the adjusting mechanism adjusts the position of the support plate 24, operating the driving motor 25 will drive the threaded rod 26 to rotate. When the threaded rod 26 rotates, the support plate 24 will move through the cooperation of the threaded barrel 27. When the support plate 24 moves, the walking mode can be switched.

[0023] Further, a limiting ring 30 is fixedly connected to the inner ring of the crawler belt 28, and the limiting ring 30 is located on one side of the annular gear 29. An annular groove 31 is arranged on the limiting ring 30, and the clamping groove 23 is engaged with the annular groove 31. When the support plate 24 moves, it will drive the clamping groove 23 to move. Through the cooperation of the limiting ring 30, the shape of the crawler belt 28 can be adjusted.

[0024] Further, a connecting piece 2 is fixedly installed on the top of the support platform 1. Through the connecting piece 2, it is convenient to install with the upper limb part of the robot.

[0025] Working principle: First, when using the wheel-leg structure of the bionic robot, when it needs to cross an obstacle, it is in the leg structure. At this time, the wheels on the feet are transformed into triangles. When the driving motor 25 works, it will drive the threaded rod 26 to rotate. When the threaded rod 26 rotates, it will cooperate with the threaded cylinder 27 to make the support plate 24 move. When the support plate 24 moves, it will drive the bottom of the crawler 28 to rise. Furthermore, the crawler 28 can be transformed into a triangular shape, and by adjusting the movement trajectory of the support leg 10, the walking ability of the bionic robot on rough roads can be improved. When the road condition is good, it is transformed into a wheeled shape. The support plate 24 is reset through the adjustment mechanism. At this time, the triangular wheels on the feet are transformed into circular wheels through mechanical structure design. At the same time, the position of the support leg 10 is adjusted, and the angle between the support leg 10 and the ground is reduced. The walking wheel 8 at the knee joint contacts the ground (at this time, it is transformed into a four-wheel drive state). A vision camera and a lidar are arranged at the end of the leg. When an obstacle is found ahead (such as stairs, ramps, etc.), it switches to the leg structure to cross the obstacle. When no obstacle is detected ahead, it switches to the wheeled structure for fast movement, improving flexibility, facilitating walking on different terrains, and being able to automatically switch between wheeled and leg structures according to the environment and road conditions, providing a solution for the efficient driving and walking of the bionic robot, making the bionic robot have the advantages of fast walking, adaptability, and low energy consumption when driving and walking.

[0026] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A wheel-leg structure of a bionic robot, characterized in that: It includes a support platform (1), on which rotating discs (4) are symmetrically arranged. The rotating discs (4) are fixedly connected with support arms (5). A stepping motor (3) is fixedly installed inside the support platform (1), and the output end of the stepping motor (3) is fixedly connected with the rotating disc (4). A limiting shaft (9) passes through the support arm (5). One end of the limiting shaft (9) is connected with a walking wheel (8). The limiting shaft (9) is movably connected with a support leg (10). A limiting mechanism for limiting the support leg (10) is arranged on the support platform (1). A positioning disc (11) is fixedly installed on the support leg (10). A connecting disc (12) is fixedly installed on the positioning disc (11). A buffer assembly is arranged on the connecting disc (12). The buffer assembly is connected with a support frame (19). A crawler belt (28) is arranged around the support frame (19). A driving mechanism for driving the crawler belt (28) to move is arranged inside the support frame (19). A storage groove (32) is arranged inside the support frame (19). A support plate (24) passes through the storage groove (32). An adjusting mechanism for adjusting the position of the support plate (24) is arranged inside the storage groove (32). Clamping grooves (23) are arranged on both the support frame (19) and the support plate (24).

2. The wheel-leg structure of a bionic robot according to claim 1, wherein: The limiting mechanism includes a telescopic rod (6) and a connecting frame (7). The telescopic rod (6) is rotatably arranged on the support platform (1). The connecting frame (7) is rotatably connected with the telescopic rod (6), and the connecting frame (7) is fixedly connected with the support leg (10).

3. The wheel-leg structure of a bionic robot according to claim 2, characterized in that: The buffer assembly includes a square frame (13), a damper (14), a buffer spring (15), a slider (16) and a guide groove (17). The square frame (13) is fixedly arranged inside the connecting disc (12). The dampers (14) are arranged in an array inside the square frame (13). The buffer springs (15) are fixedly arranged on the dampers (14). One ends of the dampers (14) and the buffer springs (15) are both fixedly connected with the slider (16). The guide groove (17) is arranged inside the square frame (13), and the slider (16) is engaged with the guide groove (17). The slider (16) is fixedly connected with a connecting plate (18), and the connecting plate (18) is fixedly connected with the support frame (19).

4. The wheel-leg structure of a bionic robot according to claim 3, characterized in that: The driving mechanism includes a servo motor (20), a driving gear (21), a transmission belt (22) and an annular gear (29). The servo motor (20) is fixedly installed on the support frame (19). The driving gear (21) is rotatably arranged inside the support frame (19). One end of the driving gear (21) is connected with a pulley. The output end of the servo motor (20) is meshed with one of the driving gears (21). The annular gear (29) is fixed on the inner wall of the crawler belt (28), and the driving gear (21) is meshed with the annular gear (29).

5. The wheel-leg structure of a bionic robot according to claim 4, characterized in that: The adjusting mechanism includes a driving motor (25), a threaded rod (26) and a threaded cylinder (27). The driving motor (25) is fixedly arranged inside the storage groove (32). One end of the threaded rod (26) is fixedly connected to the output end of the driving motor (25). The threaded cylinder (27) is fixedly arranged inside the support plate (24), and the threaded rod (26) is in threaded connection with the threaded cylinder (27).

6. The wheel-leg structure of a bionic robot according to claim 5, characterized in that: A limiting ring (30) is fixedly connected to the inner ring of the crawler belt (28), and the limiting ring (30) is located on one side of the annular gear (29). An annular groove (31) is arranged on the limiting ring (30), and the clamping groove (23) is engaged with the annular groove (31).

7. The wheel-leg structure of a bionic robot according to claim 1, characterized in that: A connecting piece (2) is fixedly installed on the top of the support platform (1).

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