Modularized wheel-foot robot

Abstract

The invention relates to the technical field of robot folding deformation, and discloses a modularized wheel-foot robot which comprises steering equipment, a storage box, a double-fork type chassis, a three-fork type chassis, a single-wheel type front fork supporting leg, a double-wheel type front fork supporting leg, a single-wheel type rear fork supporting leg, a double-wheel type rear fork supporting leg and a seat. The steering equipment is rotationally connected with one end of the storage box, and the end, away from the steering equipment, of the storage box can be rotationally connected with the double-fork type chassis and can also be rotationally connected with the three-fork type chassis. According to the invention, through cooperation of folding of the mobile phone support, rotation of the rearview mirror, folding and contraction of the handlebar, displacement of the handlebar handle, displacement of the brake caliper handle and contraction of the steering column, the space occupied by the folding and contraction part is reduced, and finally, through rotation of the lower word sleeve lying in the storage box, the folding and contraction part can be folded and contracted. And the folding shrinkage part is sunk into the soft groove in the groove bed and is stably clamped by the hoop, so that the relative folding shrinkage, buffering and shaking eliminating effects are formed.

Description

Technical Field

[0001] The present invention relates to the field of robot folding and deformation technology, specifically a modular wheeled robot. Users can temporarily select which modules to remove and install based on their needs. This adjustable limb module gives the robot multi-form and multifunctional characteristics. The modular wheeled robot utilizes folding and deformation technology to automatically switch between a humanoid form and a vehicle form. Background Art

[0002] At present, the mechanical structure of most robots remains unchanged, which is not conducive to the robots coping with different environments, such as terrain and road conditions. In the future multi-functional robot market, products that can dynamically adjust their own mechanical structure according to the needs of the work task will have certain competitive advantages. Therefore, the technology of making the robot's mechanical structure changeable through modularization has great potential. In addition, the transformation technology between humanoid robots and real manned vehicles is a very valuable potential research direction. This kind of transformable robot can serve as a manned transportation tool and a robot waiter. This feature helps to alleviate the problem that humanoid robots are inconvenient to go out and manned motor vehicles are inconvenient to enter the house.

[0003] On the other hand, to date, almost all vehicles that have automatically transformed from humanoid robots have been unmanned. These unmanned vehicles, of course, lack human-powered steering systems. To enable a manned vehicle to transform into a humanoid robot, the first challenge is to address the deformation of the steering system. As the simplest steering device, the front fork mechanism has an irregular shape and occupies a relatively large space, significantly increasing the difficulty of mechanical deformation. In the field of folding bicycles, folding and telescopic technologies have successfully reduced the size of the front fork. However, these initial deformation capabilities are not sufficient to enable the front fork steering system to transform into a high-performance robotic limb. For example, if the front fork of a folding bicycle were to deform, the pitch axis of the humanoid robot's knee joint would bend at an eccentric, perpendicular angle to the fork's steering axis, which runs through the shin, rather than intersecting at a single point. This significantly increases the robot's control difficulty and is likely to disrupt the stability of the folding section, which remains relatively stationary within the stowed anti-shake section. Furthermore, if the front fork crossbeam were to retract with the steering axis to near the knee joint, the handlebars, brake caliper lever, rearview mirror, and instrument panel would all be exposed near the wheels, making them susceptible to collisions with rocks and buildings. In such situations, these devices would be difficult to protect by simply stowing and folding. Summary of the Invention

[0004] In order to overcome the shortcomings of the existing technology, solve the problem in the background art that the handlebars, brake caliper handles, rearview mirrors, and instrument panels are difficult to properly store after the robot is deformed, ensure that the control algorithm of the wheel-leg outrigger mechanism in the humanoid form is simple and efficient, and give the wheel-leg robot a certain mechanical structure dynamic adjustment function, the present invention proposes the following technical solutions: The technical solution adopted by the present invention to solve its technical problems is as follows: the modular wheeled robot described in the present invention includes nine modules: a steering device, a storage box, a double-pronged chassis, a three-pronged chassis, a single-wheeled front fork leg, a double-wheeled front fork leg, a single-wheeled rear fork leg, a double-wheeled rear fork leg, and a seat. The steering device is connected to one end of the storage box in a rotatable manner, and the end of the storage box away from the steering device can be rotatably connected to either the double-pronged chassis or the three-pronged chassis; the bottom of the steering device can be rotatably connected to either the single-wheeled front fork leg or the double-wheeled front fork leg; the end of the double-pronged chassis away from the steering device is connected to the single-wheeled rear fork leg; the end of the three-pronged chassis away from the steering device is connected to the double-wheeled rear fork leg; the bottom of the seat can be rotatably connected to either the double-pronged chassis or the three-pronged chassis. The different module assembly methods described above will form different forms and different functions of the wheeled robot.

[0005] Drive unit: all motors in the steering device, the motors and the gears directly driven by them, and the electric telescopic rods; Folding and contracting part: all parts of the steering device that are stretched, folded, stretched and contracted due to the power output by the driving part and can be hidden in the storage box; Storage and de-shake unit: the groove bed inside the storage box, the clamp, the outer shell of the storage box, and the electric telescopic rod connected to the base support part; Base support and connection part: a component in the steering device that supports the folding and contracting part and the driving part, and is connected to the storage and vibration elimination part, and cannot be hidden in the storage box; Wheel-foot support leg part: The four types of dynamically detachable and assembleable support legs of the modular wheel-foot robot include the single-wheel front fork support leg, the double-wheel front fork support leg, the single-wheel rear fork support leg, and the double-wheel rear fork support leg.

[0006] Furthermore, the steering device includes: The leek-shaped assembly table is located at the bottom of the steering device and is responsible for the rotational connection between the steering device and the storage box. Its overall shape is visually leek-shaped. The Bian-shaped assembly table is formed by connecting the upper and lower character sets, and its overall shape is visually in the shape of a Bian character; The steering rod is wrapped in the vertical tube of the Bian assembly platform, and the steering rod passes through the vertical tube inside the Bian assembly platform. Its structure is composed of two electric push rods connected according to the bottom surfaces of their respective cylinders; The handlebar crossbeam is fixedly connected to the head tube at the upper end of the driving rod; Furthermore, the base support connecting part includes: The bottom of the box is located at the lowest part of the "jiu" character assembly table. There are grooves for accommodating two gears on its upper surface, and there is a through-hole in the center of the groove directly below the driving rod; The lid of the box covers the bottom of the box and the two gears it accommodates, and the bearings of the two gears both penetrate through the lid of the box; The driving upright column is arranged at the edge of the upper surface of the box lid, and there is a bearing groove on the side close to the support upright column; The support upright column is arranged at the edge of the upper surface of the box lid, and there is a bearing groove on the side close to the driving upright column; There are two hanging discs, which are respectively arranged on the column surfaces of the driving upright column close to the edge of the box lid and the support upright column close to the edge of the box lid for connecting the front of the vehicle; There are two screw rod hanging shafts, which are respectively arranged on the column surfaces of the driving upright column close to the edge of the box lid and the support upright column close to the edge of the box lid; There are two storage box hanging shafts, which are respectively arranged on the column surfaces of the driving upright column close to the edge of the box lid and the support upright column close to the edge of the box lid; Furthermore, the folding and retracting part includes: The "丄" shaped sleeve is located in the upper half of the "bian" character assembly table. Its shape visually presents a "丄" shape. Its disc cover covers the lower "bian" shaped sleeve, and its vertical tube is coaxial with the vertical tube of the lower "bian" shaped sleeve; The lower "bian" shaped sleeve is located in the lower half of the "bian" character assembly table. The horizontal bearings on both sides of it are respectively sleeved in the bearing grooves of the driving upright column and the support upright column, suspended and rotatable around the pitch angle. Its overall shape visually presents a "bian" shape; The lower "bian" shaped sleeve pitch driven gear is composed of a gear and a central rotating rod, and is arranged on one side of the lower "bian" shaped sleeve through the central rotating rod. Its axis line coincides with the axis lines of the horizontal bearings on both sides of the lower "bian" shaped sleeve; The lower "bian" shaped sleeve pitch driven gear is relatively stationary with respect to the lower "bian" shaped sleeve.

[0007] The crossbeam support frame is located above the driving rod. There is a dashboard on the side close to the driver, there are steering grooves on both sides, and there is a vertical tube at the bottom; There are two sets of handlebar crossbeam folding kits, which are located above the driving rod and carry the rearview mirror and the mobile phone folding stand; There are two sets of rearview mirror folding kits, which are arranged on the outer surface of the handlebar connecting rod; The mobile phone bracket folding kit is arranged on the side of the crossbeam support frame away from the driver; Furthermore, the handlebar crossbeam folding kit includes: The handlebar connecting rod connects the handlebar electric telescopic rod and the handlebar rolling motor; There are two handlebar grips, which are set at the end of the horizontal electric telescopic rod; There are two brake caliper handles, which are set on the outer periphery of the horizontal electric telescopic rod; Furthermore, the rearview mirror folding kit includes: There are two driven gears for the mirror bottom ring, which are sleeved on the outer surface of the handlebar connecting rod. The outer surface of the ring is provided with a circle of gear teeth and a protruding branch. There are two rearview mirror plates, fixed to the ends of the telescopic rods of the mirror branches; Furthermore, the mobile phone holder folding kit includes: The mobile phone stand bottom bar is arranged at the bottom of the mobile phone folding stand and is rotatably connected to the inner side of the steering groove of the crossbeam support frame away from the driver; The mobile phone holder tray is arranged on the top of the mobile phone folding stand and is rotatably connected to the top of the bottom rod of the mobile phone holder; Furthermore, the driving unit includes: The leg deflection motor gear is arranged in a groove on the upper surface of the box bottom; The lower cover pitch motor gear is located on the driving column, and its gear is engaged with the lower cover pitch driven gear; The joystick drive kit includes the motor gear used to drive the joystick and two sets of electric telescopic rods in the joystick; The handlebar drive kit includes a motor in the handlebar and an electric telescopic rod; Rearview mirror drive kit, including the motor and electric telescopic rod in the rearview mirror; A mobile phone holder drive kit, including a motor in the mobile phone holder; Furthermore, the steering column drive kit includes: The steering column deflection motor gear is arranged in a groove on the upper surface of the lower sleeve and meshes with the steering column deflection driven gear; The control stick deflection driven gear is a circle of gear teeth on the outer surface of the control stick cylinder; The head tube is the distal end of the electric telescopic rod at the upper end of the steering column, and its top can be connected to the riser at the bottom of the crossbeam support frame; The upper cylinder electric telescopic rod is located above the steering column deflection driven gear; The leg connecting rod is the distal end of the electric telescopic rod at the lower end of the driving rod, which can be connected to the coupling sleeve 1 or the coupling sleeve 2; The lower cylinder electric telescopic rod is located below the steering column deflection driven gear; The pitch angle axis center line of the storage box hanging axis and the deflection angle axis center line of the leg connecting rod intersect at one point.

[0008] Furthermore, the handlebar drive kit includes: There are two handlebar roll motors, which are connected to the inner side of the steering groove on both sides of the crossbeam support frame, and can drive the handlebar connecting rod to rotate around the roll angle; There are two handlebar electric telescopic rods, which are arranged at the end of the handlebar connecting rod away from the crossbeam support frame. The ends of the rods are fixed to the handlebar grips, and the distance between the handlebar grips and the handlebar connecting rod can be adjusted; Furthermore, the rearview mirror drive kit includes: There are two gears for the mirror base ring pitch motor, which are set at the end of the raised branch of the horizontal connecting rod and can drive the mirror base ring pitch driven gear to rotate around the pitch angle; There are two mirror branch rolling motors, which are installed at the tip of the raised branch of the pitch driven gear on the mirror bottom ring. They can drive the mirror branch electric telescopic rod to rotate around the rolling angle. There are two electric telescopic rods for the mirror branches, connecting the rearview mirror plate and the mirror branch rolling motor, which can adjust the distance between the rearview mirror plate and the mirror branch rolling motor; Furthermore, the mobile phone holder driving kit includes: The mobile phone holder bottom bar pitch motor is arranged at the root of the mobile phone holder bottom bar and is rotatably connected to the groove of the crossbeam support frame away from the driver's side; The mobile phone holder tray pitch motor is arranged on the bottom surface of the mobile phone holder tray and is rotatably connected to the top of the mobile phone holder bottom rod; Furthermore, the storage and de-jittering unit includes: The box shell is the outer shell of the storage box; There are two hip shaft sleeves, which are symmetrically arranged at the ends of the two opposite side walls of the box shell, and the central shaft hole thereof is sleeved on the storage box hanging shaft; The knee joint motor is installed on the outside of the hip shaft sleeve and can drive the leek-shaped assembly table to rotate around the storage box hanging axis; There are two electric telescopic rod hanging shafts on the base, which are symmetrically arranged inside the box shell and located near the hip shaft sleeve; There are two electric telescopic rods on the base, the bottom cylinder of which is sleeved on the electric telescopic rod hanging shaft of the base, and the end of the screw rod is sleeved on the screw rod hanging shaft; The grooved bed is laid inside the box shell and is made of soft material. The grooves inside can wrap the folded and contracted parts and cushion the shaking. There are two control stick clamps, symmetrically located above the center groove of the slot bed, which can clamp the control stick to reduce its vibration; Furthermore, the double-forked chassis includes: The double-branch cabinet chassis is located below the seat and contains two electric cylinders. The upper part of the chassis has a top cover and a groove below the top cover. A double-drawer chassis with a top cover on the upper part; There are two screw rods, one each installed in the two electric cylinders inside the double-branch cabinet chassis; There are two groups of humanoid leg motors, each consisting of a roll motor, a yaw motor, and a pitch motor, which are respectively arranged at the bottom of the double-branch cabinet chassis and the bottom of the double-branch drawer chassis; The seat deflection motor is installed on the top cover of the double-branch cabinet chassis; Furthermore, the double-pronged chassis and the three-pronged chassis are interchangeable modules; Furthermore, the three-pronged chassis includes: The three-pronged cabinet chassis is located below the seat and contains two electric cylinders. The upper part of the chassis has a top cover and a groove below the top cover. A three-branch drawer chassis with a top cover on the upper part; There are two screw rods, which are installed in the two electric cylinders inside the chassis of the three-pronged cabinet; There are two horse-shaped leg motor groups, consisting of a yaw motor, a roll motor, and a pitch motor, which are installed at the bottom of the three-pronged cabinet chassis; The storage box motor group, consisting of a yaw motor, a roll motor, and a pitch motor, is located at the bottom of the three-branch drawer chassis; The seat deflection motor is installed on the top cover of the three-way cabinet chassis; Furthermore, the wheel-foot support leg portion: the four dynamically detachable and assembled support legs of the modular wheel-foot robot include the unicycle front fork support leg, the double-wheel front fork support leg, the unicycle rear fork support leg, and the double-wheel rear fork support leg.

[0009] Furthermore, the one-wheeled front fork leg is located below the steering device and includes: A coupling sleeve 1 is provided at the top end of the unicycle front fork leg; The support leg shaft gear 1 is arranged around the outer periphery of the coupling sleeve 1.

[0010] Furthermore, the dual-wheel front fork legs are located below the steering device and include: A second coupling sleeve is provided at the top end of the dual-wheel front fork leg; The support leg shaft gear 2 is arranged around the outer periphery of the coupling sleeve 2; A rack plate is provided on one side of the support leg shaft gear 2 and meshes with the support leg shaft gear 2; There are two auxiliary parts, which are rotatably connected to both ends of the rack plate; There are two outrigger deflection shafts, located on both sides of the vehicle head, and are rotatably connected to the auxiliary parts on the same side; There are two outrigger deflection sleeve hanging plates, which are set on both sides of the vehicle head; The outrigger roll motor and outrigger pitch motor are both arranged outside the outrigger deflection axis; The front of the car, located above the auxiliary parts; The upper swing rod is connected to the outrigger pitch motor; A knee joint motor is provided at the bottom end of the upper swing rod; The lower swing rod is arranged below the knee joint motor.

[0011] Furthermore, the one-wheeled front fork legs and the two-wheeled front fork legs are interchangeable modules, allowing users to temporarily disassemble and install them as needed; Furthermore, the one-wheeled rear fork leg is located at the end of the double-forked chassis away from the steering device, and includes: A storage box is provided at the end of the anthropomorphic leg motor unit; A box cover, rotatably connected to an end of the storage box away from the seat; There are two auxiliary diagonal beams, which are rotatably connected to both sides of the wheel bearings and have electric telescopic rods inside; There are two screw rod slots, each located on the outer side wall of the storage box, which can accommodate the ends of the screw rods extending from the auxiliary inclined beams; A wheel foot, rotatably connected to the end of the storage box away from the double-fork chassis; The knee joint motor is arranged at one end of the storage box close to the wheel foot.

[0012] Furthermore, the dual-wheel rear fork leg is located at one end of the three-pronged chassis away from the steering device; Furthermore, the single-wheel rear fork leg and the double-wheel rear fork leg are interchangeable modules, allowing users to temporarily disassemble and install them as needed; Furthermore, the pitch angle axis of the storage box hanging shaft intersects with the axis of the lower cylinder electric telescopic rod at one point, and the axis of the lower sleeve pitch driven gear coincides with the pitch angle axis of the storage box hanging shaft.

[0013] The beneficial effects of the present invention are as follows: The modular wheeled robot described in the present invention rotates the bottom bar and tray of the mobile phone holder to overlap the folding mobile phone holder on the surface of the crossbeam support frame. The handlebar handle, brake caliper handle, and rearview mirror tray are adjusted to a drooped position to reduce horizontal space occupation by coordinating the rotation of the mirror base ring pitch motor gear, the rotation of the mirror branch roll motor, the contraction of the mirror branch electric telescopic rod, and the rotation of the handlebar roll motor. The upper cylinder electric telescopic rod, the lower cylinder electric telescopic rod, and the handlebar electric telescopic rod retract to reduce the space occupied by the folding and contracting portion in the vertical direction. Finally, the movement of the lower sleeve into the storage box causes the folding and contracting portion to sink into the soft groove of the groove bed and be secured by a clamp, thereby forming relative folding and contracting and buffering and de-bounce functions to solve the problem of hiding the steering device when the robot is deformed. Different module combinations will assemble different functions and different forms of the wheeled robot.

[0014] The modular wheeled robot described in the present invention reduces the control difficulty of the robot by setting the axis line of the lower pitch driven gear of the lower sleeve to coincide with the pitch angle axis line of the storage box hanging shaft and keeping the pitch angle axis line of the storage box hanging shaft and the axis line of the lower cylinder electric telescopic rod intersecting at one point, thereby ensuring that the folding and shrinking part is in a relatively static and stable state in the storage anti-shake part. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0016] Figure 1 This is a schematic diagram of the overall analysis of all modules of the robot of the present invention; Figure 2 It is a structural schematic diagram of the steering device of the present invention; Figure 3 It is a structural diagram of the leek-shaped assembly platform of the present invention; Figure 4 It is a structural schematic diagram of the Bian-shaped assembly platform of the present invention; Figure 5 This is a schematic diagram of the steering column structure of the present invention; Figure 6 This is a schematic diagram of the structure coordination of the beam support frame and the mobile phone folding frame of the present invention; Figure 7 This is a schematic diagram of the structure of the crossbar connecting rod and its associated components of the present invention; Figure 8 This is a schematic diagram of the structure coordination of the mirror base ring pitch driven gear and its associated components of the present invention; Figure 9 It is a schematic diagram of the handlebar beam structure of the present invention; Figure 10 This is a schematic diagram of the structure coordination of the 'Jiu' assembly platform, the 'Bian' assembly platform, and the steering column of the present invention; Figure 11 This is a schematic diagram of the structure of the storage anti-shake unit of the present invention; Figure 12 It is a schematic diagram of the folding and contraction of the rearview mirror folding kit and the mobile phone holder folding kit of the present invention; Figure 13 Schematic diagram of the steps of folding and shrinking the horizontal folding kit of the present invention; Figure 14 This is a schematic diagram of the overall structure of the foldable and retractable portion of the present invention lying inside the storage and anti-shake portion; Figure 15 is a schematic diagram of the foldable and shrinkable portion of the present invention hidden in the storage anti-shake portion; Figure 16 This is a schematic diagram of the vehicle shape and posture of the double-forked chassis of the present invention; Figure 17 This is a schematic diagram of a humanoid posture of the double-forked chassis of the present invention; Figure 18 This is a schematic diagram of the structural posture of the three-pronged chassis and the two-wheeled rear fork legs of the present invention when in vehicle shape; Figure 19 This is a schematic diagram of the structural posture of the three-pronged chassis and the two-wheeled rear fork legs of the present invention when imitating the centaur shape; Figure 20 It is a structural schematic diagram of the unicycle front fork leg of the present invention; Figure 21 It is a schematic diagram of the structural coordination between the steering device of the present invention and the unicycle front fork legs; Figure 22 It is a structural schematic diagram of the dual-wheel front fork legs of the present invention; Figure 23 It is a schematic diagram of the structural coordination between the steering device and the dual-wheel front fork legs of the present invention; Figure 24 This is a schematic structural diagram of the unicycle rear fork legs of the present invention; Figure 25 It is a schematic diagram of the overall analysis of the two-wheeled vehicle of the present invention; Figure 26 is a schematic diagram of the deformation transition steps of the two-wheeled vehicle of the present invention; Figure 27 1 is a schematic diagram of the overall analysis of the humanoid wheel-foot robot of the present invention; Figure 28 It is a schematic diagram of the overall analysis of the four-wheeled vehicle of the present invention; Figure 29 is a schematic diagram of the deformation transition steps of the four-wheeled vehicle of the present invention; Figure 30 It is a schematic diagram of the overall analysis of the centaur-like wheel-legged robot of the present invention.

[0017] In the figure: 1. Steering device; 11.韭 character assembly table; 111. Box bottom; 112. Box cover; 1121. Leg deflection motor gear; 113. Driving column; 1131. Lower character sleeve pitching motor gear; 114. Support column; 115. Hanging plate; 116. Screw rod hanging shaft; 117. Storage box hanging shaft; 12.卞 character assembly table; 121.丄 character sleeve; 122. Lower character sleeve; 1221. Steering rod deflection motor gear; 1222. Lower character sleeve pitching driven gear; 13. Steering rod; 131. Steering rod deflection driven gear; 132. Head tube; 1321. Upper cylinder electric telescopic rod; 133. Connecting leg rod; 1331. Lower cylinder electric telescopic rod; 14. Handlebar crossbeam; 141. Crossbeam support frame; 142. Handlebar cross connecting rod; 1421. Handlebar cross electric telescopic rod; 1422. Handlebar cross rolling motor; 1423. Mirror bottom ring sleeve pitching motor gear; 143. Mirror bottom ring sleeve pitching driven gear; 1431. Mirror branch rolling motor; 1432. Mirror branch electric telescopic rod; 144. Mobile phone folding bracket; 1441. Mobile phone bracket bottom rod pitching motor; 1442. Mobile phone bracket tray pitching motor; 2. Storage box; 21. Box shell; 22. Hip shaft sleeve; 221. Knee joint motor; 23. Base electric telescopic rod hanging shaft; 231. Base electric telescopic rod; 24. Groove bed; 25. Steering rod clamp; 3. Double-forked chassis; 31. Double-forked cabinet chassis; 32. Double-forked drawer chassis; 33. Screw rod one; 34. Humanoid leg motor group; 35. Seat deflection motor; 4. Three-forked chassis; 41. Three-forked cabinet chassis; 42. Three-forked drawer chassis; 43. Screw rod two; 44. Horse-shaped leg motor group; 45. Storage box motor group; 46. Seat deflection motor; 5. Unicycle front fork leg; 51. Coupling sleeve one; 52. Leg shaft gear one; 6. Bicycle front fork leg; 61. Coupling sleeve two; 62. Leg shaft gear two; 63. Rack plate; 64. Auxiliary part; 65. Leg deflection shaft; 66. Leg deflection shaft sleeve hanging plate; 661. Leg rolling motor; 662. Leg pitching motor; ⑥. Front head; 68. Upper swing rod; 681. Knee joint motor; 69. Lower swing rod; 7. Unicycle rear fork leg; 71. Storage box; 72. Box cover; 73. Auxiliary inclined beam; 74. Screw rod slot; 75. Wheel foot; 76. Knee joint motor; 8. Bicycle rear fork leg; 9. Seat. Detailed implementation manners

[0018] For the technical means, creative features, achieved purposes and functions of the present invention to be more easily understood, the present invention will be further described below in conjunction with specific implementation manners.

[0019] As Figures 1 to 30 shown, a modular wheel-foot robot includes 9 modules: a steering device 1, a storage box 2, a double-forked chassis 3, a three-forked chassis 4, a unicycle front fork leg 5, a bicycle front fork leg 6, a unicycle rear fork leg 7, a bicycle rear fork leg 8, and a seat 9; The steering device 1 is connected to one end of the storage box 2 in a rotational manner; The end of the storage box 2 away from the steering device can be rotatably connected to the double-pronged chassis 3 or the three-pronged chassis 4; The bottom of the steering device 1 can be rotatably connected to the single-wheel front fork leg 5 or the double-wheel front fork leg 6; The end of the double-forked chassis 3 away from the steering device 1 is connected to a single-wheel rear fork leg 7; the end of the three-forked chassis 4 away from the steering device 1 is connected to a double-wheel rear fork leg 8; The bottom of the seat 9 can be rotatably connected to the double-pronged chassis 3 or the three-pronged chassis 4; Driving unit: all motors in the steering device 1, the motors and the gears directly driven by them, and the electric telescopic rods; Folding and contracting portion: all components in the steering device 1 are stretched, folded, stretched and contracted due to the power output by the driving portion, and can reduce the space occupied by folding and contracting so as to be hidden in the storage box; Storage and de-shaking part: the groove bed inside the storage box 2, the clamp, the outer shell of the storage box, and the electric telescopic rod connected to the base support part; Base support and connection part: a component that supports the folding and contracting part and the driving part of the steering device 1 and is connected to the storage and vibration elimination part, and cannot be hidden in the storage box 2; like Figures 12 to 15 As shown, when the folding and contracting portion begins to fold and contract from the stretched state and hides in the storage anti-shake portion, the embodiment of the present invention is used. First, start the leg deflection motor gear 1121 to correct the direction of the front fork, ensuring that the horizontal axis of the crossbeam support frame 141 is parallel to the horizontal axis of the storage box hanging axis 117; then start the mobile phone holder bottom rod pitch motor 1441 and the mobile phone holder tray pitch motor 1442 to make the mobile phone folding frame 144 overlap with the surface of the crossbeam support frame 141; then start the mirror bottom ring pitch motor gear 1423, the mirror branch electric telescopic rod 1432, the mirror branch rolling motor 1431, and the handlebar electric telescopic rod 1421 to work together to adjust the rearview mirror plate, handlebar handle and brake caliper handle. position; then, start the horizontal rolling motor 1422 to drive the horizontal connecting rod 142 to rotate to a vertical drooping posture; then, start the contraction function of the upper cylinder electric telescopic rod 1321 and the lower cylinder electric telescopic rod 1331 to lower the beam support frame 141 to a suitable position, and at the same time make the leg connecting rod 133 rise and release the coupling state; finally, start the lower sleeve pitching motor gear 1131 to drive the lower sleeve 122 to rotate, so that the folding and contracting part lies backward in the storage box 2, and then sinks into the groove bed 24 and is clamped by the control rod clamp 25, thereby realizing the storage and hiding function.

[0020] like Figures 16 and 17As shown, when the double-branch chassis 3 is transformed into the hips of a humanoid robot, an embodiment of the present invention is used. First, the two electric cylinders within the double-branch cabinet chassis 31 are activated, causing screw 1 33 to retract until the double-branch cabinet chassis 31 and the double-branch drawer chassis 32 are spliced ​​into a single chassis, thereby forming the hips of the humanoid robot. Then, the two sets of humanoid leg motors 34 are activated to cause the robot to stand up.

[0021] like Figures 18 and 19 As shown, when the three-pronged chassis 4 is transformed into the front legs and hips of a centaur-like robot, an embodiment of the present invention is used. First, the two electric cylinders within the three-pronged cabinet chassis 41 are activated, causing screw 2 43 to retract until the three-pronged cabinet chassis 41 and the three-pronged drawer chassis 42 are spliced ​​into a single chassis, thereby forming the front legs and hips of the centaur-like robot. Finally, the two sets of centaur-like leg motors 44 and the storage box motor 45 are activated to cause the robot to stand up.

[0022] like Figures 20 to 21 As shown, a coupling sleeve 51 is provided above the unicycle front fork leg 5, and a leg shaft gear 52 is provided around the outer wall of the coupling sleeve 51. When the folding and shrinking portion is flipped out from the storage and de-shake portion and coupled with the unicycle front fork leg 5 to form a complete front fork steering system, an embodiment of the present invention is used. First, start the leg deflection motor gear 1121 to drive the leg shaft gear 52 to rotate until the wheel bearing of the unicycle front fork leg 5 is parallel to the horizontal axis of the storage box hanging shaft 117, thereby correcting the direction of the unicycle front fork leg 5; then, start the lower sleeve pitch motor gear 1131 to drive the lower sleeve 122 to rotate upward, so that the folding and shrinking part is flipped out of the storage box 2 as a whole, until the bottom surface of the connecting leg rod 133 is parallel to the bottom surface of the groove of the coupling sleeve 51; then, start the steering column deflection motor gear 1221 to correct the direction of the handlebar beam 14, ensuring that the horizontal axis of the beam support frame 141 is parallel to the horizontal axis of the storage box hanging shaft 117; finally, start the lower cylinder electric telescopic rod 1331 to insert the connecting leg rod 133 into the coupling sleeve 51, thereby forming a complete two-wheeled vehicle front fork steering system.

[0023] like Figures 22 to 23As shown, a leg shaft gear 2 62 is arranged around the outer side of the coupling sleeve 2 61. When the folding and shrinking part is turned out from the storage and de-shake part and coupled with the double-wheel front fork leg 6 to form a complete front fork steering system, the embodiment of the present invention is used. First, the leg deflection motor gear 1121 is started to drive the leg shaft gear 2 62 to rotate, and the leg shaft gear 2 62 drives the rack plate 63 to swing left and right, and the rack plate 63 drives the auxiliary part 64 to pull the leg deflection shaft 65 to rotate until the wheel bearing is parallel to the transverse axis of the storage box hanging shaft 117, thereby correcting the direction of the two-wheeled front fork leg 6; then, the lower sleeve pitching motor gear 1131 is started to drive the lower sleeve 122 to tilt up and rotate, so that the folding and shrinking part is turned out of the storage box 2 as a whole until the bottom surface of the connecting leg rod 133 is parallel to the bottom surface of the groove of the coupling sleeve 2 61; then, the steering column deflection motor gear 1221 is started to correct the direction of the handlebar crossbeam 14, ensuring that the transverse axis of the crossbeam support frame 141 is parallel to the transverse axis of the storage box hanging shaft 117; finally, the lower cylinder electric telescopic rod 1331 is started to insert the connecting leg rod 133 into the coupling sleeve 2 61, thereby forming a complete four-wheel vehicle front fork steering system.

[0024] like Figures 24 to 27 As shown, when the robot transforms from a two-wheeled vehicle into a humanoid wheeled robot, an embodiment of the present invention is used. First, the box cover 72 is closed; then, the screw of the auxiliary inclined beam 73 is retracted from the screw slot 74 and the auxiliary inclined beam 73 is rotated to a position parallel to the spring axis; then, as described in the previous embodiment, the folding and contracting portion is folded out from the storage and de-shaking portion and the complete two-wheeled vehicle front fork steering system is formed through the coupling; then, the seat cushion 9 is raised to form the robot's chest, the head is raised, and the arms are extended; then, the seat deflection motor 35 is activated to twist the robot's torso back to its normal position; finally, as described in the previous embodiment, the double-forked chassis 3 is combined to make the humanoid wheeled robot stand up.

[0025] like Figures 28 to 30 As shown, when the robot transforms from a four-wheeled vehicle into a centaur-like wheeled robot, an embodiment of the present invention is used. First, as described in the previous embodiment, the folding and contracting portion is folded out from the storage and de-bounce portion and connected to form a complete four-wheeled vehicle front fork steering system. Then, the seat 9 is raised to form the robot's chest, the head is raised, and the arms are extended. Finally, as described in the previous embodiment, the three-pronged chassis 4 is combined to enable the centaur-like wheeled robot to stand up.

[0026] The basic principles, main features, and advantages of the present invention are shown and described above. Those skilled in the art will naturally understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely illustrative of the principles of the present invention. Various changes and modifications may be made to the present invention without departing from the spirit and scope of the present invention. Such changes and modifications are intended to fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A modular wheeled robot comprising nine modules: a steering device (1), a storage box (2), a double-forked chassis (3), a three-forked chassis (4), a single-wheeled front fork leg (5), a double-wheeled front fork leg (6), a single-wheeled rear fork leg (7), a double-wheeled rear fork leg (8), and a seat (9); The steering device (1) is connected to one end of the storage box (2) in a rotational manner; The end of the storage box (2) away from the steering device (1) can be rotatably connected to the double-branch chassis (3) or the three-branch chassis (4); The lower portion of the steering device (1) can be rotatably connected to the single-wheel front fork leg (5) or the double-wheel front fork leg (6); The lower portion of the seat (9) can be rotatably connected to either a double-pronged chassis (3) or a three-pronged chassis (4); Driving unit: all motors in the steering device (1), the motors and the gears directly driven by the motors, and the electric telescopic rods; Folding and contracting portion: all parts of the steering device (1) that are unfolded, folded, stretched and contracted due to the power output by the driving portion and can be hidden in the storage box (2); Storage and de-shaking part: the groove bed inside the storage box (2), the clamp, the outer shell of the storage box, and the electric telescopic rod connected to the base support part; Base support and connection part: a component in the steering device (1) that supports the folding and contracting part and the driving part, is connected to the storage and de-shaking part, and cannot be hidden in the storage box (2); Wheel-foot support leg section: The four types of support legs of the modular wheel-foot robot that can be dynamically disassembled and assembled include the single-wheel front fork support leg (5), the double-wheel front fork support leg (6), the single-wheel rear fork support leg (7), and the double-wheel rear fork support leg (8).

2. A modular wheel-legged robot according to claim 1, characterized in that: The steering device (1) comprises: The leek-shaped assembly platform (11) is located at the bottom of the steering device (1) and is responsible for the mutual rotational connection between the steering device (1) and the storage box (2). Its overall shape is visually shaped like a leek; The Bian-shaped assembly platform (12) is formed by connecting the upper and lower character sleeves (121) and the lower character sleeve (122), and its overall shape is visually in the shape of a Bian character; The driving rod (13) is formed by two electric push rods connected to each other according to the bottom surface of the cylinder bottom, and is wrapped in the vertical tube of the Bian-shaped assembly platform (12), and the driving rod (13) passes through the vertical tube inside the Bian-shaped assembly platform (12); The handlebar crossbeam (14) is fixedly connected to the distal end part of the push rod at the upper end of the driving rod (13).

3. The modular wheel-legged robot according to claim 1, characterized in that: The base supporting portion includes: The bottom of the box (111) is located at the bottom of the leek assembly platform (11), and its upper surface is provided with two grooves for accommodating gears, and a through hole is provided in the center of the groove just below the driving rod (13); A box cover (112) covers the box bottom (111) and the two gears contained therein, and the bearings of the two gears pass through the box cover (112); A driving column (113) is provided on the edge of the upper surface of the box cover (112), and a bearing groove is provided on a side thereof close to the supporting column (114); A supporting column (114) is provided on the edge of the upper surface of the box cover (112), and a bearing groove is provided on a side thereof close to the driving column (113); Hanging plates (115), two in total, are respectively arranged on the column surfaces of the driving upright column (113) and the supporting upright column (114) on the side close to the edge of the box cover (112). Screw rod hanging shafts (116), two in total, are respectively arranged on the column surfaces of the driving upright column (113) and the supporting upright column (114) on the side close to the edge of the box cover (112). Storage box hanging shafts (117), two in total, are respectively arranged on the column surfaces of the driving upright column (113) and the supporting upright column (114) on the side close to the edge of the box cover (112).

4. A modular wheel-legged robot according to claim 3, characterized in that: The folding and retracting part includes: 丄-shaped sleeve (121), located in the upper half of the 卞-shaped assembly table (12), visually shaped like a 丄, its disc cover covers the 下-shaped sleeve (122), and its vertical tube is coaxial with the vertical tube of the 下-shaped sleeve (122). 下-shaped sleeve (122), located in the lower half of the 卞-shaped assembly table (12), the horizontal bearings on both sides of it are respectively sleeved in the bearing grooves of the driving upright column (113) and the supporting upright column (114), suspended and rotatable around the pitch angle, and its overall shape is visually like a 下. 下-shaped sleeve pitch driven gear (1222), composed of a gear and a central rotating rod, is arranged on one side of the 下-shaped sleeve (122) through the central rotating rod, and its axis is coincident with the axes of the horizontal bearings on both sides of the 下-shaped sleeve (122). Cross beam support frame (141), arranged above the steering rod (13), a dashboard is arranged on the side close to the driver, steering slots are opened at both ends, and a vertical tube is arranged at the bottom. Handlebar cross connecting rod (142), connecting the handlebar electric telescopic rod (1421) and the handlebar rolling motor (1422). Mirror bottom ring sleeve pitch driven gear (143), sleeved on the outer wall of the handlebar cross connecting rod (142), and a circle of teeth and a protruding small branch are arranged on the outer surface of the ring sleeve. Mobile phone folding bracket (144), arranged on the side of the cross beam support frame (141) far from the driver.

5. The modular wheel-legged robot according to claim 3, characterized in that: The driving part includes: Leg deflection motor gear (1121), its gear is arranged in the groove on the upper surface of the box bottom (111). 下-shaped sleeve pitch motor gear (1131), located above the driving upright column (113), its gear meshes with the 下-shaped sleeve pitch driven gear (1222). Steering rod deflection motor gear (1221), its teeth are arranged in the groove on the upper surface of the 下-shaped sleeve (122) and mesh with the steering rod deflection driven gear (131). Steering rod deflection driven gear (131), located in the middle of the steering rod (13), its teeth surround the outer surface of the cylinder wall of the steering rod (13). Head tube (132), the end part of the upper cylinder electric telescopic rod (1321), its top can be connected to the vertical tube at the bottom of the cross beam support frame (141). Upper cylinder electric telescopic rod (1321), located above the steering rod deflection driven gear (131). Linking leg rod (133), the end part of the lower cylinder electric telescopic rod (1331), can be connected to the coupling sleeve one (51) or the coupling sleeve two (61). A lower cylinder electric telescopic rod (1331) is located below the steering rod deflection driven gear (131); There are two handlebar electric telescopic rods (1421) arranged at one end of the handlebar connecting rod (142) away from the crossbeam support frame (141), and the ends of the screw rods are fixed to the handlebar grip, and can adjust the distance between the handlebar grip and the handlebar connecting rod (142); There are two handlebar rolling motors (1422), which are respectively connected to the inner sides of the steering grooves on both sides of the beam support frame (141) and can drive the handlebar connecting rod (142) to rotate around the rolling angle; Two mirror bottom ring pitch motor gears (1423) are provided at the ends of the raised twigs of the handlebar connecting rod (142) and can drive the mirror bottom ring pitch driven gear (143) to rotate around the pitch angle; Two mirror branch rolling motors (1431) are provided at the protruding branch tips of the mirror bottom ring pitch driven gear (143), and can drive the mirror branch electric telescopic rod (1432) to rotate around the rolling angle; There are two mirror branch electric telescopic rods (1432) connecting the rearview mirror plate and the mirror branch rolling motor (1431) and capable of adjusting the distance between the rearview mirror plate and the mirror branch rolling motor (1431); A mobile phone stand bottom bar pitching motor (1441) is provided at the base of the bottom bar of the mobile phone folding stand (144) and is rotatably connected to a groove of the crossbeam support frame (141) away from the driver's side; The mobile phone stand tray pitching motor (1442) is arranged on the bottom surface of the tray of the mobile phone folding stand (144) and is rotatably connected to the top of the bottom rod of the mobile phone folding stand (144).

6. The modular wheel-legged robot according to claim 1, characterized in that: The storage and de-jittering unit includes: The box shell (21) is the outer shell of the storage box (2); A hip shaft sleeve (22) is symmetrically arranged at the ends of two opposite side walls of the box shell (21), and its central shaft hole is sleeved on the storage box hanging shaft (117); A knee joint motor (221) is arranged outside the hip shaft sleeve (22) and can drive the leek assembly platform (11) to rotate around the pitch angle axis of the storage box hanging shaft (117); There are two base electric telescopic rod hanging shafts (23) symmetrically arranged inside the box shell (21) and located near the hip shaft sleeve (22); There are two base electric telescopic rods (231), the bottom cylinder of which is sleeved on the base electric telescopic rod hanging shaft (23), and the tip of the screw rod is sleeved on the screw rod hanging shaft (116); The groove bed (24) is laid inside the box shell (21) and is made of a soft material. The groove inside the groove can wrap the folded and contracted part and buffer the shaking; There are two steering rod clamps (25) symmetrically arranged above the central groove of the groove bed (24) to clamp the steering rod (13) to weaken its shaking.

7. The modular wheel-legged robot according to claim 1, characterized in that: The double-forked chassis (3) comprises: The double-branch cabinet chassis (31) is located below the seat (9) and contains two electric cylinders, the upper portion of which has a top cover and a groove below the top cover; A double-branch drawer chassis (32) having an upper portion with a top cover; There are two screw rods (33), which are respectively installed in the two electric cylinders inside the double-branch cabinet chassis (31); Two groups of humanoid leg motors (34) are provided, each group consisting of a roll motor, a yaw motor, and a pitch motor, and are respectively arranged at the bottom of the double-branch cabinet chassis (31) and the bottom of the double-branch drawer chassis (32); The seat deflection motor (35) is arranged on the top cover of the double-branch cabinet chassis (31).

8. The modular wheel-legged robot according to claim 1, characterized in that: The three-pronged chassis (4) comprises: The three-way cabinet chassis (41) is located below the seat (9) and contains two electric cylinders, the upper part of which has a top cover and a groove below the top cover; A three-branch drawer chassis (42) having an upper portion thereof with a top cover; Screw rods 2 (43), two in total, are installed in two electric cylinders inside the three-way cabinet chassis (41); The horse-shaped leg motor group (44) consists of two groups, which are composed of a yaw motor, a roll motor, and a pitch motor, and are arranged at the bottom of the three-way cabinet chassis (41); The storage box motor group (45) is composed of a yaw motor, a roll motor, and a pitch motor, and is arranged at the bottom of the three-branch drawer chassis (42); The seat deflection motor (46) is arranged on the top cover of the three-way cabinet chassis (41).

9. The modular wheel-legged robot according to claim 7, characterized in that: The wheel foot support leg portion comprises: The unicycle front fork leg (5) is located below the steering device (1) and includes: A coupling sleeve (51) is provided at the top end of the unicycle front fork leg (5); A support leg shaft gear (52) is arranged around the outer periphery of the coupling sleeve (51); The dual-wheel front fork leg (6) is located below the steering device (1) and includes: A second coupling sleeve (61) is provided at the top end of the double-wheel front fork leg (6); The second leg shaft gear (62) is arranged around the outer periphery of the second coupling sleeve (61); A rack plate (63) is provided on one side of the support leg shaft gear 2 (62) and meshes with the support leg shaft gear 2 (62); Auxiliary parts (64), two in total, are rotatably connected to both ends of the rack plate (63); There are two support leg deflection shafts (65), which are respectively located on both sides of the vehicle head (67) and are rotatably connected to the auxiliary parts (64) on the same side; There are two support leg deflection sleeve hanging plates (66), which are respectively arranged on both sides of the vehicle head (67); The outrigger rolling motor (661) and the outrigger pitching motor (662) are both arranged outside the outrigger deflection shaft (65); A headstock (67) located above the auxiliary member (64); An upper swing rod (68) connected to the leg pitch motor (662); A knee joint motor (681) is provided at the bottom end of the upper swing rod (68); A lower swing rod (69) is provided below the knee joint motor (681); The unicycle rear fork leg (7) is located at one end of the double-forked chassis (3) away from the steering device (1), and comprises: A storage box (71) is provided at the distal end of the anthropomorphic leg motor unit (34); A box cover (72) is rotatably connected to an end of the storage box (71) away from the seat (9); Auxiliary inclined beams (73), two in total, are rotatably connected to both sides of the wheel bearings and have electric telescopic rods inside; Two screw rod slots (74) are provided on the outer side walls of the storage box (71) and can accommodate the screw rod tips extending from the auxiliary inclined beam (73); A wheel foot (75) is provided at one end of the storage box (71) away from the double-forked chassis (3); A knee joint motor (76) is provided at one end of the storage box (71) close to the wheel foot (75); The double-wheel rear fork leg (8) is located at one end of the three-pronged chassis (4) away from the steering device (1).

10. The modular wheel-legged robot according to claim 5, characterized in that: The pitch angle axis of the storage box hanging shaft (117) intersects with the axis of the lower cylinder electric telescopic rod (1331) at one point, and the axis of the lower sleeve pitch driven gear (1222) coincides with the pitch angle axis of the storage box hanging shaft (117).

Images