Wheel-leg structure of a bionic robot

Abstract

The present invention relates to a wheel-leg structure of a bionic robot, belonging to the technical field of drive devices, comprising a support platform, a rotating disk symmetrically arranged on the support platform, the rotating disk fixedly connected to a support arm, a stepper motor fixedly installed inside the support platform, a limiting shaft passing through the support arm, one end of the limiting shaft connected to a walking wheel, the limiting shaft movably connected to a support leg, a limiting mechanism for limiting the support leg provided on the support platform, a positioning disk fixedly installed on the support leg, a connecting disk fixedly installed on the positioning disk, and a buffer assembly provided on the connecting disk. The wheel-leg structure of the bionic robot can automatically switch between wheel mode and leg mode according to the environment and road conditions, providing a solution for the bionic robot to efficiently drive and walk, so that the bionic robot has the advantages of fast walking, self-adaptation, low energy consumption, etc. when driven and walked, and can actively switch between a stable support triangular structure and an efficient rolling circular ring structure, seamlessly adapting to terrain requirements.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, in particular to a wheel-leg structure of a bionic robot. Background Art

[0002] Bionic robot technology is in a rapid development stage. It can currently simulate basic movements such as walking, grasping, object recognition and human-computer language interaction. Thanks to breakthroughs in artificial intelligence, sensing technology and mechanical control systems, modern bionic robots not only show huge potential for industrial applications, but their application scenarios are rapidly expanding to multiple fields such as services, medical rehabilitation, education and entertainment. The drive system is the core key component for driving walking, and its performance directly affects the robot's movement flexibility, adaptability and energy efficiency.

[0003] Traditional bionic robots rely on complex multi-joint leg structures to walk. Although they can be highly anthropomorphic, they have bottlenecks in driving efficiency, movement speed, system stability and structural complexity. Although wheel drive has the outstanding advantages of fast movement speed and high energy efficiency, its adaptability will be greatly limited when facing complex terrain and encountering obstacles or steps. In order to break through these limitations.

[0004] To this end, 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 both obstacle crossing and adaptability to unstructured terrain, 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 problem is: the wheel-leg structure of a bionic robot described in the present invention includes a support platform, a rotating disk is symmetrically arranged on the support platform, the rotating disk is fixedly connected to a support arm, a stepping motor is fixedly installed inside the support platform, and the output end of the stepping motor is fixedly connected to the rotating disk, a limiting shaft is passed through the support arm, one end of the limiting shaft is connected to a walking wheel, and the limiting shaft is movably connected to the support leg, a limiting mechanism for limiting the support leg is provided 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 provided on the connecting disk, and the buffer assembly is connected to a support frame, a crawler is arranged around the support frame, a driving mechanism for driving the crawler movement is provided inside the support frame, a storage slot is provided inside the support frame, a support plate is passed through the storage slot, an adjustment mechanism for adjusting the position of the support plate is provided inside the storage slot, and a card slot is provided 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 the connecting frame is fixedly connected to the support leg.

[0008] Preferably, the buffer assembly includes a square frame, a damper, a buffer spring, a slider and a guide groove, the square frame is fixedly arranged inside the connecting plate, the damper array is arranged inside the square frame, the buffer spring is fixedly arranged on the damper, one end of the damper and the buffer spring are fixedly connected to the slider, the guide groove is arranged inside the square frame, and the slider is engaged with the guide groove, the slider is fixedly connected to the 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 a ring gear. The servo motor is fixedly mounted on a 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 engaged with one of the driving gears, the ring gear is fixed to the inner wall of the track, and the driving gear is engaged with the ring gear.

[0010] Preferably, the adjustment mechanism includes a drive motor, a threaded rod and a threaded barrel. The drive motor is fixedly arranged inside the storage slot, one end of the threaded rod is fixedly connected to the output end of the drive motor, the threaded barrel is fixedly arranged inside the support plate, and the threaded rod is threadedly connected to the threaded barrel.

[0011] Preferably, the inner ring of the crawler track is fixedly connected to a limiting ring, and the limiting ring is located on one side of the ring gear. An annular groove is provided 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 present invention has the following beneficial effects:

[0014] The wheel-leg structure of a bionic robot described in the present invention can automatically switch between wheel mode and leg mode according to the environment and road conditions, providing a solution for the bionic robot to efficiently drive walking, so that the bionic robot has the advantages of fast walking, self-adaptation, and low energy consumption when driven walking. The core foot adopts a foldable mechanical design, which can actively switch between a stable support triangular structure and an efficient rolling circular ring structure, seamlessly adapting to terrain requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 It is a three-dimensional diagram of the wheel-leg structure of the bionic robot of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the support arm in the present invention;

[0018] Figure 3 It is a structural schematic diagram of the connecting disk in the present invention;

[0019] Figure 4 It is a structural diagram of the support platform in the present invention;

[0020] Figure 5 It is a structural schematic diagram of the crawler in the present invention;

[0021] Figure 6 It is a structural schematic diagram of the support frame in the present invention;

[0022] Figure 7 It is a structural schematic diagram of the support plate in the present invention;

[0023] Figure 8 It is a structural schematic diagram of the driving gear in the present invention.

[0024] In the figure: 1. Support platform; 2. Connecting part; 3. Stepper motor; 4. Rotating disk; 5. Support arm; 6. Telescopic rod; 7. Connecting frame; 8. Travel wheel; 9. Limiting shaft; 10. Support leg; 11. Positioning disk; 12. Connecting disk; 13. Square frame; 14. Damper; 15. Buffer spring; 16. Slider; 17. Guide groove; 18. Connecting plate; 19. Support frame; 20. Servo motor; 21. Drive gear; 22. Drive belt; 23. Card slot; 24. Support plate; 25. Drive motor; 26. Threaded rod; 27. Threaded cylinder; 28. Track; 29. ​​Ring gear; 30. Limiting ring; 31. Ring groove; 32. Storage groove. DETAILED DESCRIPTION

[0025] 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 embodiments described 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 making creative work are within the scope of protection of the present invention. In the examples, in order to avoid confusing the present invention, well-known circuits, power supplies, software or methods are not described in detail.

[0026] like Figures 1 to 8As shown, a wheel-leg structure of a bionic robot described in an embodiment of the present invention includes a support platform 1, a rotating disk 4 is symmetrically provided on the support platform 1, the rotating disk 4 is fixedly connected to the support arm 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 to the rotating disk 4, a limiting shaft 9 is passed through the support arm 5, one end of the limiting shaft 9 is connected to the walking wheel 8, and the limiting shaft 9 is movably connected to the support leg 10, and a limiting mechanism for limiting the support leg 10 is provided 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 provided on the connecting disk 12, and the buffer assembly is connected to a support frame 19, a crawler 28 is arranged around the support frame 19, and a driving mechanism for driving the crawler 28 to move is provided inside the support frame 19, a receiving groove 32 is provided inside the support frame 19, a support plate 24 is passed through the storage groove 32, and an adjustment mechanism for adjusting the position of the support plate 24 is provided inside the storage groove 32. Mechanism, support frame 19 and support plate 24 are both provided with a card slot 23. When the wheel-leg structure of the bionic robot is used, the leg structure is used when it is necessary to cross an obstacle. At this time, the wheel of the foot is converted into a triangular wheel. The position of the support plate 24 is adjusted by the movement of the adjustment mechanism. When the support plate 24 moves, it drives the bottom of the track 28 to rise, and then the track 28 can be converted into a triangular shape. By adjusting the movement trajectory of the support leg 10, the walking ability of the bionic robot on rugged roads can be improved. When the road condition is good, it is converted into a wheeled form, and the support plate 24 is reset by the adjustment mechanism. At this time, the triangular wheel of the foot is converted into a circular wheel through mechanical structure design, and the position of the support leg 10 is adjusted at the same time. The angle between the support leg 10 and the ground is reduced, and the walking wheel 8 at the knee joint contacts the ground (at this time it is converted into a four-wheel drive state). A visual camera and a laser radar are provided at the end of the leg. When an obstacle is found in front (such as stairs, ramps, etc.), it switches to a leg structure to cross the obstacle. When it detects that there are no obstacles ahead, it switches to a wheeled structure and moves quickly, which improves flexibility and facilitates walking on different terrains. It can automatically switch between wheeled and legged structures according to the environment and road conditions, providing a solution for the efficient driving of bionic robots, so that bionic robots have the advantages of fast walking, self-adaptation, and low energy consumption when driven to walk.

[0027] Furthermore, the limiting mechanism includes a telescopic rod 6 and a connecting frame 7. The telescopic rod 6 is rotatably set 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 is extended and retracted through the connecting frame 7. By extending and retracting the telescopic rod 6, the support leg 10 can be guided and limited, so that the support leg 10 moves smoothly.

[0028] Furthermore, 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 plate 12, the damper 14 array is arranged inside the square frame 13, and the buffer spring 15 is fixedly arranged on the damper 14. One end of the damper 14 and the buffer spring 15 are fixedly connected to 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 to the connecting plate 18, and the connecting plate 18 is fixedly connected to the support frame 19. Shock absorption and buffering can be performed through the buffer assembly. When the bionic robot walks, the slider 16 and the guide groove 17 cooperate to apply pressure to the damper 14 and the buffer spring 15. Through the cooperation of the damper 14 and the buffer spring 15, shock absorption and buffering can be performed. When switching to the wheeled mode, the same shock absorption and buffering effect is achieved.

[0029] Furthermore, the driving mechanism includes a servo motor 20, a driving gear 21, a transmission belt 22 and a ring gear 29. The servo motor 20 is fixedly mounted on the support frame 19, and the driving gear 21 is rotatably arranged inside the support frame 19. One end of the driving gear 21 is connected to a pulley. The output end of the servo motor 20 is engaged with one of the driving gears 21. The ring gear 29 is fixed to the inner wall of the track 28, and the driving gear 21 is engaged with the ring gear 29. When it is changed to the wheel mode, the servo motor 20 is operated to drive the driving gear 21 to rotate. When the driving gear 21 rotates, the track 28 is rotated through the ring gear 29. When the track 28 rotates, the bionic robot walks.

[0030] Furthermore, the adjustment mechanism includes a drive motor 25, a threaded rod 26 and a threaded barrel 27. The drive motor 25 is fixedly arranged inside the storage slot 32, one end of the threaded rod 26 is fixedly connected to the output end of the drive motor 25, and the threaded barrel 27 is fixedly arranged inside the support plate 24, and the threaded rod 26 is threadedly connected to the threaded barrel 27. When the adjustment mechanism adjusts the position of the support plate 24, the drive motor 25 is operated to drive the threaded rod 26 to rotate. When the threaded rod 26 rotates, the support plate 24 is moved through the cooperation of the threaded barrel 27. The walking mode can be switched when the support plate 24 moves.

[0031] Furthermore, the inner ring of the track 28 is fixedly connected to a limiting ring 30, and the limiting ring 30 is located on one side of the ring gear 29. An annular groove 31 is provided on the limiting ring 30, and the slot 23 is engaged with the annular groove 31. When the support plate 24 moves, it will drive the slot 23 to move. The movement of the slot 23 is coordinated with the limiting ring 30, and the shape of the track 28 can be adjusted.

[0032] Furthermore, a connector 2 is fixedly installed on the top of the support platform 1, which facilitates installation with the upper limb part of the robot.

[0033] Working principle: First, when using the wheel-leg structure of the bionic robot, the leg structure is used when it needs to cross an obstacle. At this time, the wheel of the foot is converted into a triangle, and the drive motor 25 is turned to drive the threaded rod 26 to rotate. When the threaded rod 26 rotates, it cooperates with the threaded cylinder 27 to move the support plate 24. When the support plate 24 moves, it drives the bottom of the track 28 to rise, and then the track 28 can be converted into a triangular state. By adjusting the motion trajectory of the support leg 10, the walking ability of the bionic robot on rugged roads can be improved. When the road condition is good, it is converted into a wheeled form, and the support plate 24 is reset through the adjustment mechanism. At this time, the triangular wheel of the foot is converted into a circular wheel through mechanical structure design, and the position of the support leg 10 is adjusted. The angle between the support leg 10 and the ground is reduced, and the walking wheel 8 at the knee joint contacts the ground (at this time it is converted into a four-wheel drive state). A visual camera and a laser radar are set at the end of the leg. When an obstacle is found in front (such as stairs, ramps, etc.), it switches to a leg structure to cross the obstacle. When it detects that there are no obstacles ahead, it switches to a wheeled structure and moves quickly, which improves flexibility and facilitates walking on different terrains. It can automatically switch between wheeled and legged structures according to the environment and road conditions, providing a solution for the efficient driving of bionic robots, so that bionic robots have the advantages of fast walking, self-adaptation, and low energy consumption when driven to walk.

[0034] 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 above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A wheel-leg structure of a bionic robot, characterized by: The invention comprises a support platform (1), wherein a rotating disk (4) is symmetrically arranged on the support platform (1), the rotating disk (4) is fixedly connected to a support arm (5), a stepper motor (3) is fixedly installed inside the support platform (1), and the output end of the stepper motor (3) is fixedly connected to the rotating disk (4), a limiting shaft (9) is passed 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 provided on the support platform (1), a positioning disk (11) is fixedly installed on the support leg (10), and the positioning disk (11) is fixedly installed on the support leg (10). A connecting plate (12) is fixedly mounted on the position plate (11), a buffer assembly is provided on the connecting plate (12), the buffer assembly is connected to a support frame (19), a crawler belt (28) is arranged around the support frame (19), a driving mechanism for driving the crawler belt (28) is provided inside the support frame (19), a receiving groove (32) is provided inside the support frame (19), a support plate (24) is passed through the receiving groove (32), an adjusting mechanism for adjusting the position of the support plate (24) is provided inside the receiving groove (32), and a card slot (23) is provided on both the support frame (19) and the support plate (24); The limiting mechanism comprises 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); The buffer assembly includes a square frame (13), a damper (14), a buffer spring (15), a slider (16) and a guide groove (17), wherein the square frame (13) is fixedly arranged inside the connecting plate (12), the damper (14) array is arranged inside the square frame (13), the buffer spring (15) is fixedly arranged on the damper (14), one end of the damper (14) and the buffer spring (15) are fixedly connected to 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 to the connecting plate (18), and the connecting plate (18) is fixedly connected to the support frame (19); The driving mechanism includes a servo motor (20), a driving gear (21), a transmission belt (22) and a ring gear (29), wherein the servo motor (20) is fixedly mounted 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 to a pulley, the output end of the servo motor (20) is meshed with one of the driving gears (21), the ring gear (29) is fixed to the inner wall of the crawler (28), and the driving gear (21) is meshed with the ring gear (29); The adjustment mechanism comprises a drive motor (25), a threaded rod (26) and a threaded barrel (27), wherein the drive motor (25) is fixedly arranged inside the receiving groove (32), one end of the threaded rod (26) is fixedly connected to the output end of the drive motor (25), and the threaded barrel (27) is fixedly arranged inside the support plate (24), and the threaded rod (26) and the threaded barrel (27) are threadedly connected.

2. The wheel-leg structure of a bionic robot according to claim 1, characterized in that: The inner ring of the crawler belt (28) is fixedly connected to a limiting ring (30), and the limiting ring (30) is located on one side of the ring gear (29). An annular groove (31) is provided on the limiting ring (30), and the clamping groove (23) is clamped with the annular groove (31).

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

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