Mechanical leg, wheel-foot robot and wheel-foot mobile terminal

Abstract

The invention belongs to the technical field of robots, and relates to a mechanical leg, a wheel-foot robot and a wheel-foot mobile terminal.The mechanical leg comprises a thigh unit, a shank unit and a knee joint driving device, the thigh unit comprises a thigh support, and the shank unit comprises a shank support and a first advancing wheel device; the knee joint driving device comprises a knee joint motor connected between the thigh bracket and the shank bracket; the knee joint motor is used for driving the thigh unit to rotate around a first axis relative to the shank unit so as to adjust the relative angle between the thigh support and the shank support; the first advancing wheel device comprises a first motor and a first advancing wheel connected to the output shaft end of the first motor. The first motor is used for driving the first advancing wheel to rotate around a second axis relative to the shank support. According to the mechanical leg, angle adjustment between the thigh unit and the shank unit can be accurately and effectively achieved.

Description

Technical Field

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

[0002] Mobile robots are increasingly appearing in people's lives, providing greater convenience. Mobile robots can be roughly divided into three categories: wheeled, legged, and wheel-legged hybrid robots.

[0003] In existing wheeled-legged robots, the thigh and shank units are commonly connected using torsion springs or bearings. These connections prevent accurate and effective angle adjustment between the thigh and shank units, limiting the robot's ability to navigate obstacles and flexibility. Summary of the Invention

[0004] The technical problem to be solved by the present invention is: for existing wheel-foot robots, when the thigh unit and the calf unit are connected by torsion springs or bearings, the angle adjustment between the thigh unit and the calf unit cannot be accurately achieved. Provided are a mechanical leg, a wheel-foot robot and a wheel-foot mobile terminal.

[0005] To solve the above technical problems, on the one hand, an embodiment of the present invention provides a mechanical leg, comprising a thigh unit, a calf unit, and a knee joint drive device, wherein the thigh unit comprises a thigh bracket, and the calf unit comprises a calf bracket and a first traveling wheel device;

[0006] The knee joint driving device includes a knee joint motor connected between the thigh support and the calf support; the knee joint motor is used to drive the thigh unit to rotate relative to the calf unit around a first axis to adjust the relative angle between the thigh support and the calf support;

[0007] The first traveling wheel device includes a first motor and a first traveling wheel connected to the output shaft end of the first motor, and the housing of the first motor is fixed at one end in the front-to-back direction of the calf support; the first motor is used to drive the first traveling wheel to rotate around the second axis relative to the calf support.

[0008] In the mechanical leg of the embodiment of the present invention, the thigh unit and the calf unit are directly connected through the knee joint motor. The knee joint motor is used to drive the thigh unit to rotate relative to the calf unit around the first axis. By controlling the output speed and torque of the knee joint motor, and transmitting this speed, torque, etc. to the calf unit through the output shaft end, the posture and center of gravity of the wheel-foot robot using the mechanical leg are adjusted and maintained. In this way, the angle adjustment between the thigh unit and the calf unit can be achieved accurately and effectively. The first motor transmits the speed, torque, etc. to the first traveling wheel through its output shaft end, realizes the rotation of the first traveling wheel, and thus drives the wheel-foot robot to travel. By accurately controlling the speed, torque, etc. of the first motor, the driving requirements of the wheel-foot robot under different working conditions are achieved.

[0009] Furthermore, during the wheeled-legged robot's travel, the output speed and torque of the knee joint motor can be controlled to adjust the relative angle between the thigh and shank units to adapt to different driving conditions, improving the robot's obstacle avoidance and flexibility. For example, when encountering uneven roads, the relative angle between the thigh and shank units can be adjusted in real time to adapt to the contact between the first traveling wheel and the road surface, reducing vibration transmitted to the wheeled-legged robot and improving its comfort.

[0010] Optionally, the first axis is parallel to the second axis.

[0011] Optionally, the housing of the knee joint motor is fixed to the lower end of the thigh support, and the output shaft end of the knee joint motor is connected to the calf support;

[0012] The rotation axis of the output shaft end of the knee joint motor coincides with the first axis.

[0013] Optionally, a knee joint motor bearing is provided at the output shaft end of the knee joint motor, the inner ring of the knee joint motor bearing is pressed onto the outer end of the output shaft of the knee joint motor, the outer ring of the knee joint motor bearing is pressed into the housing of the knee joint motor, and the inner ring of the knee joint motor bearing is fixed relative to the calf support.

[0014] Optionally, the calf unit further includes a bearing end cover, which is fixed to the calf support, and the inner side of the bearing end cover is fixedly connected to the inner ring of the knee joint motor bearing.

[0015] Optionally, the calf support includes a first calf support section and a second calf support section, and the bearing end cover is connected between the first calf support section and the second calf support section.

[0016] Optionally, a first connecting ring is provided at one end of the first section of the calf support away from the second section of the calf support, and the first connecting ring is fixedly sleeved on the outer circumference of the first motor.

[0017] Optionally, a first opening frame is provided at one end of the first section of the calf support close to the second section of the calf support, and a second opening frame is provided at one end of the second section of the calf support close to the first section of the calf support;

[0018] The openings of the first open frame and the second open frame are opposite to each other front and back and are connected through the bearing end cover to form a square frame. The knee joint driving device is located in the square frame.

[0019] Optionally, the thigh support includes an upper mounting frame and a lower mounting frame connected to the lower end of the upper mounting frame, and the lower mounting frame is rotatably connected to the calf support around a first axis.

[0020] Optionally, the lower mounting frame includes a first side plate, a second side plate and a connecting plate connected between the upper side of the first side plate and the upper side of the second side plate, the upper mounting frame is vertically connected to the connecting plate, the first side plate is fixedly connected to the inner end of the housing of the knee joint motor, and the second side plate is fixedly connected to the outer end of the housing of the knee joint motor.

[0021] Optionally, the knee joint drive device further includes a torsion spring, which is sleeved on the outer periphery of the housing of the knee joint motor, one free end of the torsion spring is fixed to the thigh support, and the other free end of the torsion spring is fixed to the calf support.

[0022] When the wheeled robot is stationary or moving, the torsion spring in the knee joint drive mechanism uses its own elastic deformation to provide auxiliary support to maintain the wheeled robot's posture, increasing the robot's load-bearing capacity. This also saves power to the knee joint motor, reducing the wheeled robot's power consumption and improving its endurance.

[0023] Optionally, the thigh support is provided with a first locking structure for fixing one free end of the torsion spring, and the calf support is provided with a second locking structure for fixing the other free end of the torsion spring.

[0024] Optionally, the first locking structure is a first open ring, a first slot is formed inside the first open ring and opens toward the knee joint motor, and one free end of the torsion spring is clamped in the first slot;

[0025] and / or,

[0026] The second locking structure is a second open ring, and a second slot is formed inside the second open ring with an opening facing the knee joint motor. The other free end of the torsion spring is clamped in the second slot.

[0027] Optionally, the calf unit further comprises a second travel wheel device connected to the other end of the calf support in the front-to-back direction, and the knee joint drive device is arranged in the middle of the calf support in the front-to-back direction;

[0028] The second traveling wheel device is used for the walking of the mechanical leg.

[0029] Optionally, the second traveling wheel device is detachably connected to the calf support.

[0030] Optionally, the second traveling wheel device includes a second motor mounted on the other end of the calf support in the front-to-back direction and a second traveling wheel connected to the output shaft end of the second motor;

[0031] The second motor is used to drive the second traveling wheel to rotate around a third axis relative to the calf support; wherein the first axis is parallel to the third axis.

[0032] Optionally, a second connecting ring is provided at one end of the calf support away from the first traveling wheel device, and the second connecting ring is fixedly sleeved on the outer circumference of the second motor.

[0033] Optionally, the second traveling wheel device includes a second traveling wheel, which is rotatable around a third axis and connected to the other end of the calf support in the front-to-back direction; wherein the first axis is parallel to the third axis.

[0034] On the other hand, an embodiment of the present invention provides a wheeled robot, comprising a base and the above-mentioned mechanical legs connected to the left and right sides of the base.

[0035] Optionally, the upper end of the thigh support of the mechanical leg is rotatably connected to the base, and the mechanical leg further includes a hip joint motor;

[0036] The hip joint motor is mounted on the upper end of the thigh support and is used to drive the base to rotate relative to the thigh support around a fourth axis; wherein the fourth axis is parallel to the first axis.

[0037] Optionally, the base includes a bottom plate and a mounting seat provided below the bottom plate, and the upper end of the thigh support is rotatably connected to the mounting seat;

[0038] The housing of the hip joint motor is fixed on the mounting seat, and the output shaft end of the hip joint motor is connected to the upper end of the thigh support;

[0039] The rotation axis of the output shaft end of the hip joint motor coincides with the fourth axis.

[0040] Optionally, a hip joint motor bearing is provided at the output shaft end of the hip joint motor, the inner ring of the hip joint motor bearing is pressed onto the outer end of the output shaft of the hip joint motor, the outer ring of the hip joint motor bearing is pressed into the housing of the hip joint motor, and the inner ring of the hip joint motor bearing is fixed to the upper end of the thigh support.

[0041] Optionally, the upper end of the thigh support is provided with a first connection plate and a second connection plate spaced opposite to each other in the left-right direction, and the second connection plate is located on the inner side of the first connection plate;

[0042] The mounting base includes a first ear plate and a second ear plate spaced opposite to each other in the left-right direction, the second ear plate is located on the inner side of the first ear plate, the first connecting plate and the second connecting plate are located between the first ear plate and the second ear plate, the first connecting plate is rotatably connected to the first ear plate, and the second connecting plate is rotatably connected to the second ear plate;

[0043] The hip joint motor is installed on the inner side of the second ear plate.

[0044] The wheeled-legged robot according to the embodiment of the present invention has all the advantages of the aforementioned mechanical legs.

[0045] On the other hand, an embodiment of the present invention provides a wheel-legged mobile terminal, which includes the above-mentioned wheel-legged robot.

[0046] The wheeled-legged mobile terminal according to the embodiment of the present invention has all the advantages of the wheeled-legged robot described above. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 is a schematic diagram of a wheel-legged robot provided by a first embodiment of the present invention;

[0048] Figure 2 1 is a schematic diagram of a mechanical leg of a wheeled robot provided by a first embodiment of the present invention;

[0049] Figure 3 is a partial enlarged view of the knee joint driving device of the wheeled-leg robot provided by the first embodiment of the present invention;

[0050] Figure 4 This is a schematic diagram of the wheeled robot provided by the first embodiment of the present invention after the second traveling wheel device is removed;

[0051] Figure 5 1 is a schematic diagram of the second traveling wheel device of the wheel-legged robot provided by the first embodiment of the present invention being off the ground;

[0052] Figure 6 Schematic diagram of a wheeled robot according to a second embodiment of the present invention.

[0053] The reference numerals in the specification are as follows:

[0054] 10. Base; 101. Bottom plate; 102. Mounting seat; 1021. First ear plate; 1022. Second ear plate; 20. Mechanical leg;

[0055] 1. Thigh unit; 11. Thigh support; 111. Upper mounting frame; 1111. First connecting plate; 1112. Second connecting plate; 112. Lower mounting frame; 1121. First side panel; 1122. Second side panel; 1123. Connecting plate;

[0056] 2. Calf unit; 21. Calf support; 211. Calf support first section; 2111. First connecting ring; 2112. First opening frame; 212. Calf support second section; 2121. Second opening frame; 2122. Second connecting ring; 22. First traveling wheel assembly; 221. First motor; 222. First traveling wheel; 23. Bearing end cap; 24. Second locking structure; 241. First opening ring; 25. Second traveling wheel assembly; 251. Second motor; 252. Second traveling wheel;

[0057] 3. Knee joint drive device; 31. Knee joint motor; 311. Output shaft end of knee joint motor; 3111. Knee joint motor bearing; 32. Torsion spring; 321. Free end;

[0058] 4. Hip joint motor. DETAILED DESCRIPTION

[0059] 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.

[0060] In this article, please refer to the front, back, left, right, top, and bottom directions. Figure 1 The coordinates shown are shown. Here, "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 10; that is, the direction toward the center of the base 10 is considered "inside," and the direction away from the center of the base 10 is considered "outside."

[0061] First embodiment

[0062] See also Figures 1 to 3 The wheeled robot provided in the first embodiment of the present invention is a four-wheeled robot, including a base 10 and mechanical legs 20 connected to the left and right sides of the base 10, each of the mechanical legs 20 includes a thigh unit 1, a calf unit 2 and a knee joint drive device 3, the thigh unit 1 includes a thigh support 11, and the calf unit 2 includes a calf support 21 and a first traveling wheel device 22.

[0063] The knee joint drive device 3 includes a knee joint motor 31 connected between the thigh support 11 and the calf support 21; the knee joint motor 23 is used to drive the thigh unit 1 to rotate relative to the calf unit 2 around a first axis to adjust the relative angle between the thigh support 11 and the calf support 21 to achieve precise leg movements of the mechanical leg 20, such as bending, stretching, lifting, lowering and other movements.

[0064] The first traveling wheel device 22 includes a first motor 221 and a first traveling wheel 222 connected to the output shaft end of the first motor 221. The housing of the first motor 221 is fixed at one end in the front-to-back direction of the calf support 21. The first motor 221 is used to drive the first traveling wheel 222 to rotate around the second axis relative to the calf support 21.

[0065] In the mechanical leg 20 and wheeled-foot robot of the first embodiment of the present invention, the thigh unit 1 and the shank unit 2 are directly connected through the knee joint motor 31. The knee joint motor 31 is used to drive the thigh unit 1 to rotate relative to the shank unit 2 around the first axis. By controlling the output speed and torque of the knee joint motor 23 and transmitting this speed, torque, etc. to the shank unit 2 through the output shaft end, the posture and center of gravity of the wheeled-foot robot using the mechanical leg 20 are adjusted and maintained. In this way, the angle adjustment between the thigh unit 1 and the shank unit 2 can be accurately and effectively achieved to achieve accurate knee flexion movement of the mechanical leg 20. The first motor 221 transmits the speed, torque, etc. to the first traveling wheel 222 through its output shaft end, realizing the rotation of the first traveling wheel 222, thereby driving the wheeled-foot robot to travel. By accurately controlling the speed, torque, etc. of the first motor 221, the driving requirements of the wheeled-foot robot under different working conditions are achieved.

[0066] Furthermore, during the wheeled-leg robot's travel, the output speed and torque of the knee joint motor 31 can be controlled to adjust the relative angle between the thigh unit 1 and the shank unit 2. This allows the robot to adapt to different driving conditions and enhance its obstacle-crossing and flexibility. For example, when encountering uneven road surfaces, the relative angle between the thigh unit 1 and the shank unit 2 can be adjusted in real time to adapt to the contact between the first traveling wheel 222 and the road surface, reducing vibration transmitted to the wheeled-leg robot from the road surface and improving its comfort.

[0067] The first axis is parallel to the second axis to ensure the vertical state of the first traveling wheel 222 and improve driving stability.

[0068] The housing of the knee joint motor 31 is fixed to the lower end of the thigh support 1, and the output shaft end 311 of the knee joint motor 31 is connected to the calf support 21. The rotation axis of the output shaft end 311 of the knee joint motor 31 coincides with the first axis. In this way, there is no eccentricity between the rotation axis (first axis) of the thigh support 11 and the calf support 21 and the rotation axis of the output shaft end 311 of the knee joint motor 31, thereby improving the rotational stability of the thigh support 11 and the calf support 21 and improving the working efficiency of the knee joint motor 31.

[0069] The output shaft end 311 of the knee joint motor 31 is provided with a knee joint motor bearing 3111, the inner ring of the knee joint motor bearing 3111 is pressed onto the outer end of the output shaft of the knee joint motor 31, the outer ring of the knee joint motor bearing 3111 is pressed into the housing of the knee joint motor 31, and the inner ring of the knee joint motor bearing 3111 is fixed relative to the calf support 21.

[0070] The calf unit 2 also includes a bearing end cap 23, which is fixed to the calf support 21. The inner side of the bearing end cap 23 is fixedly connected to the inner ring of the knee motor bearing 3111. Thus, when the output shaft of the knee motor 31 rotates, the rotation is transmitted to the calf support 21 through the knee motor bearing 3111 and the bearing end cap 23.

[0071] The calf support 21 includes a first calf support section 211 and a second calf support section 212 , and the bearing end cover 23 is connected between the first calf support section 211 and the second calf support section 212 .

[0072] A first connecting ring 2111 is provided at one end of the first calf support section 211 away from the second calf support section 212. The first connecting ring 2111 is fixedly sleeved on the outer circumference of the first motor 221. Specifically, a first mounting end surface is provided on the outer circumference of the first motor 221, and the first connecting ring 2111 is fixed to the first mounting end surface via bolts.

[0073] A U-shaped first opening frame 2112 is provided at one end of the calf support first section 211 near the calf support second section 212, and a U-shaped second opening frame 2121 is provided at one end of the calf support second section 212 near the calf support first section. The openings of the first opening frame 2112 and the second opening frame 2121 face each other front to back and are connected by the bearing end cover 23 to form a square frame. The knee joint drive device 3 is located within the square frame. In this way, the square frame can provide protection for the knee joint drive device 3.

[0074] Preferably, the knee joint motor 31 has two output shaft ends 311, each of which is provided with a knee joint motor bearing 3111. Two bearing end caps 23 are provided: the inner side of the first section 211 of the calf support is connected to the inner side of the second section 212 of the calf support via one bearing end cap 23, and the outer side of the first section 211 of the calf support is connected to the outer side of the second section 212 of the calf support via the other bearing end cap 23. The inner output shaft end 311 is connected to the inner bearing end cap 23 via the knee joint motor bearing 3111, while the outer output shaft end 311 is connected to the outer bearing end cap 23 via the knee joint motor bearing 3111.

[0075] Of course, the knee joint motor 31 can also be an output shaft end 311 .

[0076] The thigh support 11 includes an upper mounting frame 111 and a lower mounting frame 112 connected to the lower end of the upper mounting frame 111. The lower mounting frame 112 is rotatably connected to the calf support 21 around a first axis.

[0077] The lower mounting frame 112 includes a first side plate 1121, a second side plate 1121, and a connecting plate 1123 connected between the upper sides of the first side plate 1121 and the upper sides of the second side plate 1122. The upper mounting frame 111 is vertically connected to the connecting plate 1123. The first side plate 1121 is fixedly connected to the inner end of the housing of the knee joint motor 31 via bolts, and the second side plate 1122 is fixedly connected to the outer end of the housing of the knee joint motor 31 via bolts. The lower mounting frame 112 is located within a square frame, with a compact structure, reducing the size of the wheeled robot.

[0078] The knee joint drive device 3 further includes a torsion spring, the torsion spring 32 being sleeved on the outer periphery of the housing of the knee joint motor 31, the inner ring of the torsion spring 32 being in close contact with the outer periphery of the housing of the knee joint motor 31, one free end 321 of the torsion spring 32 being fixed to the thigh support 11, and the other free end 321 of the torsion spring 32 being fixed to the calf support 21 (see Figure 3 When the wheeled robot is stationary or moving, the torsion spring 32 of the knee joint drive device 3 utilizes its own elastic deformation to provide auxiliary support for maintaining the wheeled robot's posture, thereby increasing the wheeled robot's load-bearing capacity. Furthermore, this also saves power consumption in the knee joint motor 31, reducing the wheeled robot's power consumption and improving its endurance.

[0079] The thigh support 11 is provided with a first locking structure (not shown in the figure) for fixing one free end 321 of the torsion spring 32, and the calf support 21 is provided with a second locking structure 24 for fixing the other free end 321 of the torsion spring 32. Specifically, the first locking structure and the second locking structure 24 are fixed or integrally formed on the inner wall surface of the square frame.

[0080] See also Figure 3 The first locking structure is a first open ring having a first retaining groove formed therein, the first retaining groove opening toward the knee joint motor 31, and one free end 321 of the torsion spring 32 being retained in the first retaining groove. The second locking structure 24 is a second open ring 241 having a second retaining groove formed therein, the second retaining ring 241 having a second retaining groove opening toward the knee joint motor 31, and the other free end 321 of the torsion spring 32 being retained in the second retaining groove. Figure 3 In the embodiment, two second open rings 241 are arranged side by side in the left-right direction to enhance the connection strength of the other free end 321 of the torsion spring 32. Of course, one or more than three second open rings 241 may also be arranged.

[0081] However, a snap ring may be used to replace at least one of the first open ring and the second open ring 241. The free end 321 of the torsion spring 32 may be inserted into the snap ring to fix the free end 321 of the torsion spring 32.

[0082] In this embodiment, the calf unit 2 also includes a second traveling wheel device 25 connected to the other end of the calf support 21 in the front-to-back direction, and the knee joint drive device 3 is arranged in the middle part of the calf support 21 in the front-to-back direction; the second traveling wheel device 25 is used for the walking of the mechanical leg 20.

[0083] See also Figure 1 In this embodiment, the second traveling wheel device 25 is arranged behind the first traveling wheel device 22, that is, the first traveling wheel device 22 is a front-wheel drive device, and the second traveling wheel device 25 is a rear-wheel drive device. In addition, the second traveling wheel device 25 is located outside the first traveling wheel device 22.

[0084] However, in other embodiments, the positions may be interchanged, that is, the second traveling wheel device 25 is arranged in front of the first traveling wheel device 22 , that is, the first traveling wheel device 22 is a rear-wheel drive device, and the second traveling wheel device 25 is a front-wheel drive device.

[0085] Preferably, the second traveling wheel device 25 is detachably connected to the calf support 21. Of course, the first traveling wheel device 22 and the calf support 21 can also be arranged to be detachably connected.

[0086] See also Figure 1 The robot leg 20 includes a first traveling wheel device 22 and a second traveling wheel device 25. The wheeled robot is a four-wheeled robot. When the four wheels (two first traveling wheels 222 and two second traveling wheels 252) touch the ground at the same time, the wheeled robot is in a wheeled mode.

[0087] See also Figure 4 When the second traveling wheel device 25 is no longer needed, the second traveling wheel device 25 can be detached from the calf bracket 21, and the mechanical leg 20 only includes the first traveling wheel device 22. At this time, two wheels (two first traveling wheels 222) are on the ground, and the wheel-foot robot is in foot mode.

[0088] Alternatively, see Figure 5 When the second traveling wheel assembly 25 is no longer needed, the thigh support 11 and the calf support 21 can be rotated a certain angle, so that the first traveling wheel assembly 22 is on the ground and the second traveling wheel assembly 25 is off the ground. The robotic leg 20 is then driven only by the first traveling wheel assembly 22, and the second motor 252 of the second traveling wheel assembly 25 is not powered. In this state, both wheels are on the ground, and the wheeled-leg robot is in the foot-type mode.

[0089] Therefore, the wheeled-legged robot of this embodiment can realize dual-mode switching between wheeled and legged modes.

[0090] The second traveling wheel device 25 includes a second motor 251 installed at the other end of the calf support 21 in the front-to-back direction and a second traveling wheel 252 connected to the output shaft end of the second motor 251; the second motor 251 is used to drive the second traveling wheel 252 to rotate around a third axis relative to the calf support 21; wherein the first axis is parallel to the third axis.

[0091] A second connecting ring 2122 is provided at the end of the calf support 21 away from the first traveling wheel assembly 22. The second connecting ring 2122 is fixedly mounted on the outer circumference of the second motor 251. Specifically, a second mounting end surface is provided on the outer circumference of the second motor 251, and the second connecting ring 2122 is fixed to the second mounting end surface via bolts. The second connecting ring 2122 is connected to the end of the second open frame 2121 away from the first open frame 2112.

[0092] See also Figure 1 、 Figure 4 and Figure 5 The upper end of the thigh support 11 of the robotic leg 20 is rotatably connected to the base 10. The robotic leg 20 also includes a hip joint motor 4. The hip joint motor 4 is mounted on the upper end of the thigh support 11 and is used to drive the base 10 to rotate relative to the thigh support 11 about a fourth axis; wherein the fourth axis is parallel to the first axis.

[0093] The base 110 includes a bottom plate 101 and a mounting base 102 disposed below the bottom plate 101. The upper end of the thigh support 11 is rotatably connected to the mounting base 102. The housing of the hip joint motor 4 is fixed to the mounting base 102, and the output shaft end of the hip joint motor 4 is connected to the upper end of the thigh support 11; the rotation axis of the output shaft end of the hip joint motor 4 coincides with the fourth axis.

[0094] The output shaft end of the hip joint motor 4 is provided with a hip joint motor bearing (not shown in the figure), the inner ring of the hip joint motor bearing is pressed onto the outer end of the output shaft of the hip joint motor 4, the outer ring of the hip joint motor bearing is pressed into the housing of the hip joint motor 4, and the inner ring of the hip joint motor bearing is fixed to the upper end of the thigh support 11.

[0095] See also Figure 1 、 Figure 4 and Figure 5 The upper end of the thigh support 11 is provided with a first connection plate 1111 and a second connection plate 1112 spaced opposite to each other in the left and right directions, and the second connection plate 1112 is located on the inner side of the first connection plate 1111. Specifically, the first connection plate 1111 and the second connection plate 1112 are provided on the left and right sides of the upper end of the upper mounting frame 111.

[0096] The mounting base 102 includes a first ear plate 1021 and a second ear plate 1022 spaced apart from each other in the left-right direction. The second ear plate 1022 is located on the inner side of the first ear plate 1021. The first connecting plate 1111 and the second connecting plate 1112 are located between the first ear plate 1021 and the second ear plate 1022. The first connecting plate 1111 is rotatably connected to the first ear plate 1021 via a rotating shaft or bearing, and the second connecting plate 1112 is rotatably connected to the second ear plate 1022 via a rotating shaft or bearing. The hip joint motor 4 is mounted on the inner side of the second ear plate 1021. For example, the housing of the hip joint motor 4 is fixed to the inner side of the second ear plate 1021 via bolts. The rotation axis of the first connecting plate 1111 and the first ear plate 1021 coincides with the rotation axis of the second connecting plate 1112 and the second ear plate 1022.

[0097] The wheeled robot may further include a controller and a power supply (not shown in the figure), the power supply being fixed to the base 10, the controller being fixed to one of the base 10, the thigh support 11, or the thigh support 21, the controller being connected to the hip joint motor 4, the knee joint motor 31, the first motor 221, and the second motor 251, respectively, and the power supply being connected to the controller, the hip joint motor 4, the knee joint motor 31, the first motor 221, and the second motor 251, respectively, for supplying power to the controller, the hip joint motor 4, the knee joint motor 31, the first motor 221, and the second motor 251. Preferably, the controller and the power supply are fixed below the base plate 101.

[0098] A gyroscope can also be installed on the base 10 or the controller. The center of gravity of the wheel-foot robot can be adjusted by the gyroscope and each motor.

[0099] Second embodiment

[0100] Figure 6 As shown in FIG, a wheeled robot provided in the second embodiment of the present invention is different from the first embodiment in that the second traveling wheel device 25 is eliminated (not disassembled).

[0101] In this embodiment, two wheels (two first traveling wheels 222 ) are on the ground, and the wheel-legged robot is in a foot-type mode.

[0102] Third embodiment

[0103] The wheeled robot provided in the third embodiment of the present invention differs from the first embodiment in that the second traveling wheel assembly no longer includes a second motor. Specifically, the second traveling wheel assembly comprises only a second traveling wheel, which is connected to the other end of the calf support in the forward and backward directions, pivoting about a third axis.

[0104] In the third embodiment, the second traveling wheel is equivalent to a driven wheel and cannot provide driving force, but only provides support. If the driving force of the first motor is sufficient, the second motor can be eliminated to reduce the weight of the wheel-foot robot and reduce costs.

[0105] Fourth embodiment

[0106] The wheeled robot provided in the fourth embodiment of the present invention differs from the first embodiment in that the wheeled robot further includes a seat disposed above the base. By disposing the seat above the base, the wheeled robot can realize a passenger-carrying function.

[0107] Fifth embodiment

[0108] The wheeled robot provided by the fifth embodiment of the present invention differs from the fourth embodiment in that the wheeled robot also includes a seat steering motor arranged between the seat and the base, the shell 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.

[0109] By setting up a seat turning motor, the seat can be rotated to adjust the person's sitting position.

[0110] In addition, an embodiment of the present invention further provides a wheeled-legged mobile terminal, which includes the wheeled-legged robot of the above embodiment.

[0111] 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.

[0112] 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 mechanical leg, characterized in that: It includes a thigh unit, a calf unit and a knee joint driving device, wherein the thigh unit includes a thigh bracket, and the calf unit includes a calf bracket and a first traveling wheel device; The knee joint driving device includes a knee joint motor connected between the thigh support and the calf support; the knee joint motor is used to drive the thigh unit to rotate relative to the calf unit around a first axis to adjust the relative angle between the thigh support and the calf support; The first traveling wheel device includes a first motor and a first traveling wheel connected to the output shaft end of the first motor, and the housing of the first motor is fixed at one end in the front-to-back direction of the calf support; the first motor is used to drive the first traveling wheel to rotate around the second axis relative to the calf support.

2. The mechanical leg according to claim 1, characterized in that: The first axis is parallel to the second axis.

3. The mechanical leg according to claim 1, characterized in that: The housing of the knee joint motor is fixed to the lower end of the thigh support, and the output shaft end of the knee joint motor is connected to the calf support; The rotation axis of the output shaft end of the knee joint motor coincides with the first axis.

4. The mechanical leg according to claim 3, characterized in that: A knee joint motor bearing is provided at the output shaft end of the knee joint motor, the inner ring of the knee joint motor bearing is pressed onto the outer end of the output shaft of the knee joint motor, the outer ring of the knee joint motor bearing is pressed into the housing of the knee joint motor, and the inner ring of the knee joint motor bearing is fixed relative to the calf support.

5. The mechanical leg according to claim 4, characterized in that: The calf unit further includes a bearing end cover, which is fixed to the calf support, and the inner side of the bearing end cover is fixedly connected to the inner ring of the knee joint motor bearing.

6. The mechanical leg according to claim 5, characterized in that: The calf support includes a first calf support section and a second calf support section, and the bearing end cover is connected between the first calf support section and the second calf support section.

7. The mechanical leg according to claim 6, characterized in that: A first connecting ring is provided at one end of the first section of the calf support away from the second section of the calf support, and the first connecting ring is fixedly sleeved on the outer circumference of the first motor.

8. The mechanical leg according to claim 6, characterized in that: A first opening frame is provided at one end of the first section of the calf support close to the second section of the calf support, and a second opening frame is provided at one end of the second section of the calf support close to the first section of the calf support; The openings of the first open frame and the second open frame are opposite to each other front and back and are connected through the bearing end cover to form a square frame. The knee joint driving device is located in the square frame.

9. The mechanical leg according to claim 1, characterized in that: The thigh support includes an upper mounting frame and a lower mounting frame connected to the lower end of the upper mounting frame, and the lower mounting frame is rotatably connected to the calf support around a first axis.

10. The mechanical leg according to claim 9, characterized in that: The lower mounting frame includes a first side plate, a second side plate and a connecting plate connected between the upper side of the first side plate and the upper side of the second side plate. The upper mounting frame is vertically connected to the connecting plate. The first side plate is fixedly connected to the inner end of the housing of the knee joint motor, and the second side plate is fixedly connected to the outer end of the housing of the knee joint motor.

11. The mechanical leg according to claim 1, characterized in that: The knee joint driving device also includes a torsion spring, which is sleeved on the outer periphery of the housing of the knee joint motor. One free end of the torsion spring is fixed to the thigh support, and the other free end of the torsion spring is fixed to the calf support.

12. The mechanical leg according to claim 11, characterized in that: The thigh support is provided with a first locking structure for fixing one free end of the torsion spring, and the calf support is provided with a second locking structure for fixing the other free end of the torsion spring.

13. The mechanical leg according to claim 12, characterized in that: The first locking structure is a first open ring, the interior of the first open ring is formed with a first slot opening toward the knee joint motor, and one free end of the torsion spring is clamped in the first slot; and / or, The second locking structure is a second open ring, and a second slot is formed inside the second open ring with an opening facing the knee joint motor. The other free end of the torsion spring is clamped in the second slot.

14. The mechanical leg according to claim 1, wherein: The calf unit further includes a second traveling wheel device connected to the other end of the calf support in the front-to-back direction, and the knee joint driving device is arranged in the middle of the calf support in the front-to-back direction; The second traveling wheel device is used for the walking of the mechanical leg.

15. The mechanical leg according to claim 14, characterized in that: The second traveling wheel device is detachably connected to the calf support.

16. The mechanical leg according to claim 14, wherein: The second traveling wheel device includes a second motor installed at the other end of the calf support in the front-to-back direction and a second traveling wheel connected to the output shaft end of the second motor; The second motor is used to drive the second traveling wheel to rotate around a third axis relative to the calf support; wherein the first axis is parallel to the third axis.

17. The mechanical leg according to claim 16, characterized in that: A second connecting ring is provided at one end of the calf support away from the first traveling wheel device, and the second connecting ring is fixedly sleeved on the outer circumference of the second motor.

18. The mechanical leg according to claim 14, wherein: The second traveling wheel device includes a second traveling wheel, which rotates around a third axis and is connected to the other end of the calf support in the front-to-back direction; wherein the first axis is parallel to the third axis.

19. A wheel-legged robot, characterized in that: It comprises a base and the mechanical leg according to any one of claims 1 to 18 connected to the left and right sides of the base.

20. The wheeled robot according to claim 19, characterized in that: The upper end of the thigh support of the mechanical leg is rotatably connected to the base, and the mechanical leg also includes a hip joint motor; The hip joint motor is mounted on the upper end of the thigh support and is used to drive the base to rotate relative to the thigh support around a fourth axis; wherein the fourth axis is parallel to the first axis.

21. The wheeled robot according to claim 20, characterized in that: The base includes a bottom plate and a mounting seat provided below the bottom plate, and the upper end of the thigh support is rotatably connected to the mounting seat; The housing of the hip joint motor is fixed on the mounting seat, and the output shaft end of the hip joint motor is connected to the upper end of the thigh support; The rotation axis of the output shaft end of the hip joint motor coincides with the fourth axis.

22. The mechanical leg according to claim 21, wherein: The output shaft end of the hip joint motor is provided with a hip joint motor bearing, the inner ring of the hip joint motor bearing is pressed onto the outer end of the output shaft of the hip joint motor, the outer ring of the hip joint motor bearing is pressed into the housing of the hip joint motor, and the inner ring of the hip joint motor bearing is fixed to the upper end of the thigh support.

23. The mechanical leg according to claim 21, wherein: The upper end of the thigh support is provided with a first connection plate and a second connection plate spaced opposite to each other in the left-right direction, and the second connection plate is located inside the first connection plate; The mounting base includes a first ear plate and a second ear plate spaced opposite to each other in the left-right direction, the second ear plate is located on the inner side of the first ear plate, the first connecting plate and the second connecting plate are located between the first ear plate and the second ear plate, the first connecting plate is rotatably connected to the first ear plate, and the second connecting plate is rotatably connected to the second ear plate; The hip joint motor is installed on the inner side of the second ear plate.

24. A wheeled mobile terminal, characterized in that: A wheel-legged robot comprising the method according to any one of claims 19 to 23.

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