Wheel-foot robot and wheel-foot mobile terminal

Abstract

The invention belongs to the technical field of robots, and relates to a wheel-foot robot and a wheel-foot mobile terminal.The wheel-foot robot comprises a base and mechanical leg assemblies connected to the left side and the right side of the base, and each mechanical leg assembly comprises a thigh support, a shank support, a hip joint motor, a knee joint motor, a driving wheel motor and a driving wheel; the upper end of the thigh support is rotationally connected with the base, the lower end of the thigh support is rotationally connected with the upper end of the shank support, and the driving wheel is rotationally connected with the lower end of the shank support. According to the wheel-foot robot, the knee joint motor is directly arranged at the joint of the thigh support and the shank support and directly drives the shank support to rotate, a belt transmission device does not need to be arranged, the number of parts is small, the structure is simpler, the weight is light, and the obstacle crossing capacity of the wheel-foot robot is improved.

Description

Technical Field

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

[0002] A wheeled-legged robot is a mobile robot with one or more wheels mounted on leg-like joints. This robot combines the fast mobility of wheels with the strong obstacle-crossing capabilities of legs. Wheeled-legged robots are generally categorized by the number of legs: two-wheeled, four-wheeled, six-wheeled, and eight-wheeled.

[0003] An existing wheeled robot includes a frame, two left and right mechanical leg assemblies, and a belt transmission device. Each mechanical leg assembly includes a thigh support, a calf support, a hip joint motor, a knee joint motor, a main drive wheel motor, and a main drive wheel tire. The upper end of the thigh support is rotatably connected to the frame, the lower end of the thigh support is rotatably connected to the upper end of the calf support, and the main drive wheel tire is rotatably connected to the lower end of the calf support. The knee joint motor is arranged on the outer side of the upper end of the thigh support and opposite to the hip joint motor. The knee joint motor drives the calf support to rotate relative to the thigh support via the belt transmission device. The hip joint motor rotates forward or reverse, thereby driving the thigh support and knee joint motor to rotate relative to the frame, realizing the squatting and uprighting movements of the wheeled robot. The forward or reverse rotation of the knee joint motor drives the calf support to rotate relative to the thigh support, realizing the kicking and retracting movements of the calf support.

[0004] However, in existing wheeled-legged robots, the knee motor and hip joint are located on the upper end of the thigh support, facing each other. The knee motor drives the calf support through a belt drive. This belt drive typically consists of a driving pulley, a driving pulley shaft, a driven pulley, a tensioning pulley, a driven pulley shaft, and a timing belt. This complex and heavy structure of the wheeled-legged robot results from the numerous components. Summary of the Invention

[0005] The technical problem to be solved by the present invention is: to provide a wheeled-legged robot and a wheeled-legged mobile terminal in view of the problem that the existing wheeled-legged robots have complex structures.

[0006] To solve the above technical problems, on the one hand, an embodiment of the present invention provides a wheeled robot, comprising a base and mechanical leg assemblies connected to the left and right sides of the base, each of the mechanical leg assemblies comprising a thigh support, a calf support, a hip joint motor, a knee joint motor, a drive wheel motor and a drive wheel; the upper end of the thigh support is rotatably connected to the base, the lower end of the thigh support is rotatably connected to the upper end of the calf support, and the drive wheel is rotatably connected to the lower end of the calf support;

[0007] The hip joint motor is mounted on the upper end of the thigh support and is used to drive the thigh support to rotate relative to the base;

[0008] The knee joint motor is installed at the lower end of the thigh support and is used to drive the calf support to rotate relative to the thigh support;

[0009] The driving wheel motor is mounted on the lower end of the calf support and is used to drive the driving wheel to rotate relative to the calf support.

[0010] Optionally, the housing of the hip joint motor is mounted on the outer side of the upper end of the thigh support, and the output shaft of the hip joint motor is connected to the upper end of the thigh support;

[0011] The housing of the knee joint motor is installed at the lower end of the thigh support, and the output shaft of the knee joint motor is connected to the upper end of the calf support.

[0012] Optionally, the output shaft of the hip joint motor, the output shaft of the knee joint motor and the output shaft of the driving wheel motor are parallel and extend in the left-right direction.

[0013] Optionally, the thigh support can slide left and right.

[0014] Optionally, the base includes a bottom plate, two sliding assemblies and two driving devices, the sliding assemblies include slide rails and sliding members, the slide rails are fixed to or integrally formed on the bottom plate, and the sliding members are slidably arranged in the slide rails;

[0015] The upper end of the thigh support is rotatably connected to the sliding member, and the output end of each driving device is connected to the corresponding sliding member to drive the corresponding sliding member to slide left and right, thereby driving the corresponding thigh support to slide left and right relative to the base plate.

[0016] Optionally, the slide rail is fixed or integrally formed on the lower surface of the base plate, and the driving device is installed on the lower surface of the base plate.

[0017] Optionally, the slide rail includes a first guide rail and a second guide rail that are parallel and spaced apart from each other in the front-to-back direction, the first guide rail is provided with a first groove on a side facing the second guide rail, and the second guide rail is provided with a second groove on a side facing the first guide rail;

[0018] The sliding member includes a connecting plate and a sliding plate, the connecting plate is vertically arranged, the sliding plate is horizontally arranged, the sliding plate is connected to the upper end of the connecting plate, and the front and rear sides of the connecting plate are respectively provided with a first sliding foot and a second sliding foot, the first sliding foot is slidably inserted in the first groove, and the second sliding foot is slidably inserted in the second groove.

[0019] Optionally, the output end of the driving device is connected to the first area of ​​the connecting plate, and the inner side of the upper end of the thigh support is connected to the second area of ​​the connecting plate, and the first area and the second area are arranged in the front-to-back direction.

[0020] Optionally, the driving device is an electric push rod, which extends in the left-right direction, an output rod of the electric push rod is connected to the sliding member, and the two electric push rods are staggered in the front-back direction.

[0021] Optionally, it also includes a seat arranged above the base and a seat steering motor arranged between the seat and the base, the housing of the seat steering motor is installed in the middle position of the base, and the output shaft of the seat steering motor is connected to the seat to drive the seat to rotate horizontally.

[0022] Optionally, the thigh support is a hollow truss structure, and the output shaft of the hip joint motor extends into the interior of the upper end of the thigh support and is connected to the inner side of the upper end of the thigh support.

[0023] Optionally, the calf support is a hollow truss structure, the upper end of the calf support is located inside the lower end of the thigh support, and the knee joint motor is arranged inside the upper end of the calf support.

[0024] Optionally, the wheeled robot also includes a controller and a power supply, which are fixed on the base. The controller is respectively connected to the hip joint motor, knee joint motor and driving wheel motor, and the power supply is respectively connected to the controller, hip joint motor, knee joint motor and driving wheel motor to supply power to the controller, hip joint motor, knee joint motor and driving wheel motor.

[0025] In the wheel-foot robot according to the embodiment of the present invention, the hip joint motor is installed at the upper end of the thigh bracket, and the knee joint motor is installed at the lower end of the thigh bracket, and the hip joint motor and the knee joint motor are staggered in arrangement up and down. The rotation of the driving wheel motor drives the driving wheel to rotate relative to the calf bracket, thereby realizing the forward and backward movement of the wheel-foot robot. The rotation of the hip joint motor drives the thigh bracket to rotate relative to the base, thereby realizing the squatting and uprighting movements of the wheel-foot robot. The rotation of the knee joint motor drives the calf bracket to rotate relative to the thigh bracket, thereby realizing the kicking and leg-retracting movements of the calf bracket. Compared with the prior art, in the wheel-foot robot according to the embodiment of the present invention, the knee joint motor is directly provided at the connection between the thigh bracket and the calf bracket, directly driving the rotation of the calf bracket, and no belt transmission device is required. The vehicle has fewer parts, a simpler structure, and a lighter weight, thereby improving the obstacle-crossing capability of the wheel-foot robot.

[0026] On the other hand, an embodiment of the present invention provides a wheel-legged mobile terminal, which includes the above-mentioned wheel-legged robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a schematic diagram of a wheel-legged robot provided by a first embodiment of the present invention;

[0028] Figure 2 Schematic diagram of the thigh support and hip joint motor of the wheeled-leg robot provided by the first embodiment of the present invention;

[0029] Figure 3 Schematic diagram of the calf support, drive wheel motor, and drive wheel of the wheeled robot provided by the first embodiment of the present invention;

[0030] Figure 4 is a schematic diagram of the base of the wheeled robot provided by the first embodiment of the present invention;

[0031] Figure 5 1 is an assembly diagram of the base plate and sliding assembly of the wheeled robot provided by the first embodiment of the present invention;

[0032] Figure 6 yes Figure 5 Exploded view of

[0033] Figure 7 1 is a schematic diagram of a sliding member of a sliding assembly of a wheeled robot provided by a first embodiment of the present invention;

[0034] Figure 8 is a schematic diagram of a wheeled robot provided by the first embodiment of the present invention moving on flat ground;

[0035] Figure 9 1 is a schematic diagram of the wheeled-legged robot provided by the first embodiment of the present invention before climbing stairs (with the occupant facing the stairs);

[0036] Figure 10 This is a schematic diagram of the wheeled robot provided by the first embodiment of the present invention before going up the stairs (in Figure 9 Based on the seat, the part below the seat rotates 90 degrees);

[0037] Figure 11 This is a schematic diagram of the wheeled robot provided by the first embodiment of the present invention before going up the stairs (in Figure 10 The seat rotates 90 degrees so that the occupant faces the stairs again);

[0038] Figure 12 1 is a schematic diagram of the first step of the process of the wheeled-legged robot climbing stairs provided by the first embodiment of the present invention;

[0039] Figure 13 This is a schematic diagram of the second step of the process of the wheeled-legged robot climbing stairs provided by the first embodiment of the present invention;

[0040] Figure 142 is a schematic diagram of the third step of the process of the wheeled-legged robot climbing stairs provided by the first embodiment of the present invention;

[0041] Figure 15 2 is a schematic diagram of the fourth step of the process of the wheeled-legged robot climbing stairs provided by the first embodiment of the present invention;

[0042] Figure 16 2 is a schematic diagram of the fourth step of the process of the wheeled-legged robot climbing stairs provided by the first embodiment of the present invention;

[0043] Figure 17 Schematic diagram of a wheeled robot according to a second embodiment of the present invention.

[0044] The reference numerals in the specification are as follows:

[0045] 1. Base; 11. Bottom plate; 111. Third mounting hole; 12. Slide rail; 121. First guide rail; 1211. First groove; 122. Second guide rail; 1221. Second groove; 13. Slider; 131. Connecting plate; 131a. First sliding foot; 131b. Second sliding foot; 1311. First mounting hole; 1312. Second mounting hole; 132. Sliding plate; 14. Electric push rod; 141. Output rod.

[0046] 2. Mechanical leg assembly; 21. Thigh support; 211. First wheel rim structure; 212. Second wheel rim structure; 22. Calf support; 221. Third wheel rim structure; 23. Hip joint motor; 24. Knee joint motor; 25. Drive wheel motor; 26. Drive wheel;

[0047] 3. Seat;

[0048] 4. Seat steering motor;

[0049] 5. Smooth the road surface;

[0050] 6. Stairs; 61. Steps;

[0051] 7. Crew. DETAILED DESCRIPTION

[0052] In order to make the technical problems, technical solutions and beneficial effects solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0053] In this article, please refer to the front, back, left, right, top, and bottom directions. Figure 1The coordinates shown are as follows. "Front" represents the forward direction of the wheeled robot, and "rear" represents the backward direction of the wheeled robot. "Inside" and "outside" are relative to the center of the base. That is, the direction toward the center of base 1 is considered "inside," and the direction away from the center of base 1 is considered "outside."

[0054] First embodiment

[0055] See also Figures 1 to 7 The wheeled robot provided by the first embodiment of the present invention includes a base 1 and mechanical leg assemblies 2 connected to the left and right sides of the base 1. Each of the mechanical leg assemblies 2 includes a thigh support 21, a calf support 22, a hip joint motor 23, a knee joint motor 24, a drive wheel motor 25 and a drive wheel 26. The upper end of the thigh support 21 is rotatably connected to the base 1, the lower end of the thigh support 21 is rotatably connected to the upper end of the calf support 22, and the drive wheel 26 is rotatably connected to the lower end of the calf support 22. The hip joint motor 23 is installed at the upper end of the thigh support 21 to drive the thigh support 21 to rotate relative to the base 1; the knee joint motor 24 is installed at the lower end of the thigh support 21 to drive the calf support 22 to rotate relative to the thigh support 21; and the drive wheel motor 25 is installed at the lower end of the calf support 22 to drive the drive wheel 26 to rotate relative to the calf support 22.

[0056] In the wheel-foot robot of the first embodiment of the present invention, the hip joint motor 23 and the knee joint motor 24 are staggered in an upper and lower arrangement. The driving wheel motor 25 rotates to drive the driving wheel 26 to rotate relative to the calf support 22, thereby realizing the forward and backward movement of the wheel-foot robot. The rotation of the hip joint motor 23 drives the thigh support 21 to rotate relative to the base 1, thereby realizing the squatting and uprighting movements of the wheel-foot robot. The rotation of the knee joint motor 24 drives the calf support 22 to rotate relative to the thigh support 21, thereby realizing the kicking and leg-retracting movements of the calf support 21. Compared with the prior art, in the wheel-foot robot of the embodiment of the present invention, the knee joint motor 24 is directly arranged at the connection between the thigh support 21 and the calf support 22, directly driving the calf support 22 to rotate, and no belt transmission device is required. It has fewer parts, a simpler structure, and a lighter weight, thereby improving the obstacle-crossing ability of the wheel-foot robot.

[0057] The housing of the hip joint motor 23 is mounted on the outer side of the upper end of the thigh support 21, and the output shaft of the hip joint motor 23 is connected to the upper end of the thigh support 21. The thigh support 21 can support the hip joint motor 23 so that the hip joint motor 23 is firmly installed.

[0058] See also Figure 2The housing of the knee joint motor 24 is mounted on the lower end of the thigh support 21, and the output shaft of the knee joint motor 24 is connected to the upper end of the calf support 22. The thigh support 21 and the calf support 22 jointly support the knee joint motor 24, so that the knee joint motor 24 is firmly installed.

[0059] The output shafts of the hip joint motor 23 , the knee joint motor 24 and the driving wheel motor 25 are parallel and extend in the left-right direction, thereby ensuring the movement stability of the mechanical leg assembly 2 .

[0060] Furthermore, the thigh support 21 can slide left and right, thereby driving the mechanical leg assembly 2 to slide left and right. This allows the wheeled robot of this embodiment of the present invention to better ascend and descend stairs, enabling a two-wheeled robot to ascend and descend stairs. Furthermore, compared to existing two-wheeled robots that use a third auxiliary leg, this embodiment has a simpler structure and is lighter in weight.

[0061] In addition, the left and right sliding of the mechanical leg assembly 2 facilitates the contraction of the wheeled robot in the left and right directions, which can save storage space and also facilitate passing through narrow spaces.

[0062] The wheeled robot going up and down stairs will be explained in detail above.

[0063] See also Figures 4 to 7 The base 1 includes a base plate 11, two sliding assemblies and two driving devices. The sliding assembly includes a slide rail 12 and a sliding member 13. The slide rail 12 is fixed or integrally formed on the base plate 11, and the sliding member 13 is slidably arranged in the slide rail 12; the upper end of the thigh bracket 21 is rotatably connected to the sliding member 13, and the output end of each driving device is connected to the corresponding sliding member 13 to drive the corresponding sliding member 13 to slide left and right, thereby driving the corresponding thigh bracket 21 to slide left and right relative to the base plate 11.

[0064] See also Figure 4 Specifically, the slide rail 12 is fixed to the lower surface of the base plate 11, and the driving device is installed on the lower surface of the base plate 11. The driving device is an electric push rod 14, which extends in the left-right direction. The output rod 141 of the electric push rod 14 is connected to the sliding member 13, and the two electric push rods 14 are staggered in the front-back direction.

[0065] The slide rail 12 includes a first guide rail 121 and a second guide rail 122 that are parallel and spaced apart from each other in the front-to-back direction. A linear first groove 1211 is provided on the side of the first guide rail 121 facing the second guide rail 122, and a linear second groove 1221 is provided on the side of the second guide rail 122 facing the first guide rail 121. The sliding member 13 includes a connecting plate 131 and a sliding plate 132. The connecting plate 131 is vertically arranged, and the sliding plate 132 is horizontally arranged. The sliding plate 132 is connected to the upper end of the connecting plate 131. A first sliding foot 131a and a second sliding foot 131b are provided on the front and rear sides of the connecting plate 131, respectively. The first sliding foot 131a is slidably inserted into the first groove 1211, and the second sliding foot 131b is slidably inserted into the second groove 1221. In this way, the groove wall of the first groove 1211 can limit the first sliding foot 1321 in the up and down directions and the front and back directions, and the groove wall of the second groove 1221 can limit the second sliding foot 131b in the up and down directions and the front and back directions, so that the sliding part 13 can move accurately in a straight line along the left and right directions with good movement stability.

[0066] The output end of the drive device is connected to the first area of ​​the connecting plate 131, and the inner side of the upper end of the thigh support 21 is connected to the second area of ​​the connecting plate. The first area and the second area are arranged in the front-to-back direction, and the space is compact to avoid interference between the components. Figure 7 A first mounting hole 1311 is provided on the first area of ​​the connecting plate 131, and the output rod 141 of the electric push rod 1 is installed in the first mounting hole 1311, so that the sliding member 13 can slide left and right as the output rod 141 extends and contracts. A second mounting hole 1312 is provided on the second area of ​​the connecting plate 131, and a first rotating shaft is provided on the inner side of the upper end of the thigh support 21, and the first rotating shaft is rotatably connected to the second mounting hole 1312. In addition, in order to reduce the rotational friction, a first bearing can also be provided in the second mounting hole 1312, and the outer ring of the first bearing is press-fitted into the second mounting hole 1312, and the first rotating shaft is inserted into the inner ring of the first bearing. Of course, the first bearing can also be replaced by a bearing shell.

[0067] The wheeled robot also includes a seat 3 disposed above the base 1 and a seat steering motor 4 disposed between the seat 3 and the base 1. The housing of the seat steering motor 4 is mounted in the middle of the base 1, and the output shaft of the seat steering motor 4 is connected to the seat 3 to drive the horizontal rotation of the seat 3. By providing the seat 3 above the base 1, the wheeled robot can carry people.

[0068] See also Figure 1 and Figure 5Specifically, a third mounting hole 111 is provided in the middle of the base plate 11, and the housing of the seat steering motor 4 is fixed to the third mounting hole 111. The third mounting hole 111 passes through the base plate 11 to facilitate the passage of the cable of the seat steering motor 4.

[0069] See also Figure 2 The thigh support 21 is a hollow truss structure, and the output shaft of the hip joint motor 24 extends into the upper end of the thigh support 21 and is connected to the inner side of the upper end of the thigh support 21. A first rim structure 211 is provided on the inner side of the upper end of the thigh support 21 to be rotatably connected to the connecting plate 131.

[0070] The calf support 22 is a hollow truss structure. The upper end of the calf support 22 is located inside the lower end of the thigh support 21 , and the knee joint motor 24 is arranged inside the upper end of the calf support 21 .

[0071] The thigh support 21 and the calf support 22 are roughly elliptical.

[0072] See also Figures 2 to 3 A second rim structure 212 is provided on both inner and outer sides of the lower end of the thigh support 21, and a third rim structure 221 is provided on both inner and outer sides of the upper end of the calf support 22, and the two third rim structures 221 are located between the two second rim structures 212. The second rim structure 212 and the third rim structure 221 on the same side are rotatably connected via a second rotating shaft. In addition, in order to reduce the rotational friction, a second bearing and a Zhang San bearing can be respectively provided on the center hole of the second rim structure 212 and the center hole of the third rim structure 221, and the outer ring of the second bearing is pressed into the center hole of the second rim structure 212, and the two ends of the second rotating shaft are respectively inserted into the inner ring of the second bearing and the inner ring of the Zhang San bearing. Of course, the second bearing and the third bearing can also be replaced by bearing shells.

[0073] The wheeled robot may further include a controller and a power supply (not shown in the figure). The controller and the power supply are fixed to the base 1. The controller is respectively connected to the hip joint motor 23, the knee joint motor 24, the drive wheel motor 25, and the seat steering motor. The power supply is respectively connected to the controller, the hip joint motor 23, the knee joint motor 24, the drive wheel motor 25, and the seat steering motor to supply power to the controller, the hip joint motor 23, the knee joint motor 24, the drive wheel motor 25, and the seat steering motor. Preferably, the controller and the power supply are fixed below the base plate 11 and do not occupy the space above the seat.

[0074] A gyroscope can also be installed on base plate 11 or the controller. The center of gravity of the wheel-foot robot can be adjusted by the gyroscope and each motor.

[0075] The working principle of the wheeled robot of the first embodiment of the present invention is as follows:

[0076] See also Figure 8 , which is a two-wheeled upright walking condition on flat ground. On the flat road 5, the wheel-foot robot walks upright and can achieve fast movement.

[0077] See also Figures 9 to 16 , which shows the working condition of a wheeled robot climbing stairs. The steps of climbing stairs are as follows:

[0078] To prepare for stair climbing, see Figure 9 , when encountering stair 6, passenger 7 first faces stair 6. Then, the wheeled robot rotates 90 degrees on the spot and switches to Figure 10 In the state shown, the passenger 7 is facing the stairs 6 sideways. More preferably, Figure 10 In the state shown, the seat 3 can also be rotated 90 degrees by the seat steering motor 4 so that the passenger 7 faces the stairs 6 again, switching to Figure 11 In this way, the passenger 7 can go up the stairs in the front. Of course, if the passenger 7 chooses to go up the stairs 6 sideways, there is no need to switch to Figure 11 The status shown.

[0079] Cross the first step of the stairs (see Figure 12 ): The center of gravity of the wheeled-leg robot is adjusted through its own gyroscope and various motors, the center of gravity moves to the left, and the mechanical leg assembly 2 on the right is lifted. At the same time, the mechanical leg assembly 2 on the right is bent (the calf support 22 rotates relative to the thigh support 21), and the bending height H from the ground is slightly higher than the height of the step 61 of the stairs 6. The wheeled-leg robot realizes the independent lifting of the mechanical leg assembly 2 on the left.

[0080] Cross the second step of the stairs (see Figure 13 ): Lift the right mechanical leg assembly 2. After the height H of the right mechanical leg assembly 2 exceeds the height of the step 61 of the stairs 6, the electric push rod 14 corresponding to the right mechanical leg assembly 2 quickly pushes the right mechanical leg assembly 2 to the right. The pushing distance L depends on the width of the step 61 of the stairs 6. After reaching the predetermined pushing distance (not exceeding the next step 61), the right mechanical leg assembly 2 is lowered, and the driving wheel 26 of the right mechanical leg assembly 2 contacts the step 61.

[0081] Cross the third step up the stairs (see Figure 14 ):The electric push rod 14 of the mechanical leg assembly 2 on the right side retracts a distance L, and the electric push rod 14 of the mechanical leg assembly 2 on the left side extends a distance L, and the center of gravity of the wheeled robot moves to the right, so that the seat 3 and the passenger 7 thereon move to the right.

[0082] Cross the fourth step of the stairs (see Figure 15): The center of gravity of the wheeled-leg robot is adjusted through its own gyroscope and various motors, the center of gravity moves to the left, and the mechanical leg assembly 2 on the left is lifted. At the same time, the mechanical leg assembly 2 on the left is bent (the calf support 22 rotates relative to the thigh support 21), and the bending height H from the ground is slightly higher than the height of the step 61 of the stairs 6. The wheeled-leg robot realizes the independent lifting of the mechanical leg assembly 2 on the right.

[0083] Cross the fifth step of the stairs (see Figure 16 ):The electric push rod 14 of the left mechanical leg assembly 2 retracts a distance L, after which the left mechanical leg assembly 2 is lowered, and the driving wheel 26 of the left mechanical leg assembly 2 contacts the road surface under the step 61.

[0084] The first to fifth steps of the horizontal stair climbing process are the process of climbing a step 61. During this process, the wheeled robot moves horizontally by a distance L and vertically by a distance H. Repeat the first to fifth steps of the horizontal stair climbing process to complete the wheeled robot's horizontal stair climbing process.

[0085] In addition, the movement process of the wheeled robot when it crosses down the stairs is opposite to that of when it crosses up the stairs, which will not be described in detail here.

[0086] Second embodiment

[0087] See also Figure 17 The wheeled robot provided by the second embodiment of the present invention is different from the first embodiment in that the seat 3 and the seat steering motor 4 are eliminated.

[0088] Third embodiment

[0089] The wheeled robot provided by the third embodiment of the present invention is different from the first embodiment in that a hydraulic push rod is used instead of an electric push rod. In this case, a hydraulic source needs to be provided on the base.

[0090] Fourth embodiment

[0091] The wheeled robot provided by the fourth embodiment of the present invention is different from the first embodiment in that a pneumatic push rod is used instead of an electric push rod. In this case, an air pressure source needs to be provided on the base.

[0092] Fifth embodiment

[0093] The wheeled robot provided in the fifth embodiment of the present invention differs from the first embodiment in that the slide rail is in the form of a slide groove, that is, a slide groove is machined on the lower surface of the base plate. The slide groove is preferably a T-shaped groove to limit the vertical direction and the front-back direction of the sliding plate.

[0094] In addition, an embodiment of the present invention provides a wheel-legged mobile terminal, which includes the wheel-legged robot of the above embodiment.

[0095] The wheel-foot mobile terminal may also include a touch screen to provide a human-computer interaction interface. The touch screen is connected to a power supply and a controller respectively.

[0096] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wheel-legged robot, characterized in that: The invention comprises a base and mechanical leg assemblies connected to the left and right sides of the base, each of the mechanical leg assemblies comprising a thigh support, a calf support, a hip joint motor, a knee joint motor, a drive wheel motor and a drive wheel; the upper end of the thigh support is rotatably connected to the base, the lower end of the thigh support is rotatably connected to the upper end of the calf support, and the drive wheel is rotatably connected to the lower end of the calf support; The hip joint motor is mounted on the upper end of the thigh support and is used to drive the thigh support to rotate relative to the base; The knee joint motor is installed at the lower end of the thigh support and is used to drive the calf support to rotate relative to the thigh support; The driving wheel motor is mounted on the lower end of the calf support and is used to drive the driving wheel to rotate relative to the calf support.

2. The wheel-legged robot according to claim 1, characterized in that: The housing of the hip joint motor is mounted on the outer side of the upper end of the thigh support, and the output shaft of the hip joint motor is connected to the upper end of the thigh support; The housing of the knee joint motor is installed at the lower end of the thigh support, and the output shaft of the knee joint motor is connected to the upper end of the calf support.

3. The wheel-legged robot according to claim 2, characterized in that: The output shaft of the hip joint motor, the output shaft of the knee joint motor and the output shaft of the driving wheel motor are parallel and extend in the left-right direction.

4. The wheel-legged robot according to claim 1, characterized in that: The thigh support can slide left and right.

5. The wheeled robot according to claim 4, characterized in that: The base includes a bottom plate, two sliding assemblies and two driving devices, the sliding assemblies include slide rails and sliding members, the slide rails are fixed or integrally formed on the bottom plate, and the sliding members are slidably arranged in the slide rails; The upper end of the thigh support is rotatably connected to the sliding member, and the output end of each driving device is connected to the corresponding sliding member to drive the corresponding sliding member to slide left and right, thereby driving the corresponding thigh support to slide left and right relative to the base plate.

6. The wheeled robot according to claim 5, characterized in that: The slide rail is fixed or integrally formed on the lower surface of the base plate, and the driving device is installed on the lower surface of the base plate.

7. The wheeled robot according to claim 5, characterized in that: The slide rail includes a first guide rail and a second guide rail that are parallel and spaced apart from each other in the front-to-back direction, wherein a first groove is provided on a side of the first guide rail facing the second guide rail, and a second groove is provided on a side of the second guide rail facing the first guide rail; The sliding member includes a connecting plate and a sliding plate, the connecting plate is vertically arranged, the sliding plate is horizontally arranged, the sliding plate is connected to the upper end of the connecting plate, and the front and rear sides of the connecting plate are respectively provided with a first sliding foot and a second sliding foot, the first sliding foot is slidably inserted in the first groove, and the second sliding foot is slidably inserted in the second groove.

8. The wheeled robot according to claim 7, characterized in that: The output end of the driving device is connected to the first area of ​​the connecting plate, and the inner side of the upper end of the thigh support is connected to the second area of ​​the connecting plate. The first area and the second area are arranged along the front-to-back direction.

9. The wheeled robot according to claim 5, characterized in that: The driving device is an electric push rod, which extends in the left-right direction. The output rod of the electric push rod is connected to the sliding member, and the two electric push rods are staggered in the front-back direction.

10. The wheel-legged robot according to claim 1, characterized in that: It also includes a seat arranged above the base and a seat steering motor arranged between the seat and the base, the housing of the seat steering motor is installed in the middle position of the base, and the output shaft of the seat steering motor is connected to the seat to drive the seat to rotate horizontally.

11. The wheeled robot according to claim 1, characterized in that: The thigh support is a hollow truss structure, and the output shaft of the hip joint motor extends into the interior of the upper end of the thigh support and is connected to the inner side of the upper end of the thigh support.

12. The wheeled robot according to claim 11, characterized in that: The calf support is a hollow truss structure, the upper end of the calf support is located inside the lower end of the thigh support, and the knee joint motor is arranged inside the upper end of the calf support.

13. The wheeled robot according to claim 1, characterized in that: The wheel-foot robot also includes a controller and a power supply, which are fixed on the base. The controller is respectively connected to the hip joint motor, knee joint motor and driving wheel motor, and the power supply is respectively connected to the controller, hip joint motor, knee joint motor and driving wheel motor to supply power to the controller, hip joint motor, knee joint motor and driving wheel motor.

14. A wheeled mobile terminal, characterized in that: A wheel-legged robot comprising the wheel-legged robot according to any one of claims 1 to 13.

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