Variable-configuration wheel-leg biped robot moving platform

Abstract

The invention relates to the technical field of robots, in particular to a variable-configuration wheel-foot type robot moving platform which comprises a platform base, the platform base is decoupled from a robot trunk above, and the two ends of the platform base are connected with a left supporting leg structure and a right supporting leg structure respectively; each supporting leg structure comprises a hip joint assembly in drivable connection with the platform base, a thigh assembly in drivable connection with the hip joint assembly, a shank assembly in drivable connection with the thigh assembly, a sole assembly in drivable connection with the shank assembly and a wheel assembly arranged at the outer side end of the supporting leg structure. The variable-configuration wheel-foot type robot moving platform has the functions of foot type moving, wheel type moving, wheel-foot switching and the like according to the moving requirements of different terrains. The foot type moving configuration and the wheel type moving configuration can both meet the pivot steering function. Different configurations can realize high matching adaptability of mobility, trafficability, bearing capacity and escape capacity in different scenes.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a variable-configuration wheeled-legged robot mobile platform. Background Technology

[0002] Compared to traditional wheeled mobile robots, legged robots have more degrees of freedom of movement and better structural adaptability in unknown environments and unstructured surfaces. While legged and wheeled robots employ fixed-configuration mobility schemes, wheel-legged robots replace the legs of legged robots with wheels to achieve dual-mode mobility, combining legged and wheeled movement.

[0003] In response to the ever-emerging application scenarios and increasingly demanding requirements for robot technology, humanoid robots possess greater application potential. Different configuration requirements are proposed for bipedal robots to address the stability needs under low-speed movement and the reliability needs under high-speed movement. For example, bipedal robots capable of high-speed movement typically employ spherical or wheeled foot ends, resulting in poor stability in low-speed and static scenarios; robots capable of statically stable walking typically use humanoid foot soles, which perform poorly in high-speed movement scenarios.

[0004] Therefore, in order to meet the requirements of combining functionality and performance, and to have both stable low-speed and high-speed movement capabilities, it is necessary to develop a bipedal robot mobile platform with a variable configuration. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a variable-configuration wheeled-legged robot mobile platform, comprising: The platform base is decoupled from the upper robot torso, and the two ends of the platform base are respectively connected to the left and right support leg structures; A single outrigger structure includes a hip joint assembly drivably connected to the platform base, a thigh assembly drivably connected to the hip joint assembly, a lower leg assembly drivably connected to the thigh assembly, a foot assembly drivably connected to the lower leg assembly, and a wheel assembly disposed at the outer end of the outrigger structure.

[0006] Furthermore, the hip joint assembly includes a hip yaw motor, a motor connection structure A, a hip roll motor, a motor connection structure B, and a hip pitch motor. The stator end of the hip yaw motor is connected to the platform base, the rotor end of the hip yaw motor is connected to the motor connection structure A, the stator end of the hip roll motor is connected to the motor connection structure A, the rotor end of the hip roll motor is connected to the motor connection structure B, the stator end of the hip pitch motor is connected to the motor connection structure B, and the rotor end of the hip pitch motor is connected to the thigh assembly.

[0007] Furthermore, the thigh assembly includes a thigh component, a knee joint motor, an electromagnetic clutch, and a planetary gear mechanism; wherein one end of the thigh component is connected to the rotor end of the hip pitch motor, and the other end is connected to the stator of the knee joint motor; the rotor output end of the knee joint motor is simultaneously connected to the electromagnetic clutch, the wheel mechanism, the lower leg assembly, and the wheel assembly, and the rotation of the lower leg assembly or the wheel assembly is achieved by switching via the electromagnetic clutch.

[0008] Furthermore, the lower leg assembly includes a lower leg component, an ankle joint drive motor, and an ankle joint connection mechanism; wherein the lower leg component is connected to the knee joint motor, the ankle joint drive motor, the ankle joint connection mechanism, the wheel assembly, and the foot assembly, and the ankle joint drive motor is connected to the ankle joint connection mechanism.

[0009] Furthermore, the foot assembly is driven by two sets of electric actuators mounted on the calf assembly and connected by a cross shaft to achieve ankle pitch and roll rotation.

[0010] Furthermore, each leg structure has two sets of wheel assemblies, which are respectively arranged on the outside of the robot's knee joint and the outside of the robot's ankle joint; The outer wheel of the robot's knee joint is connected to a planetary gear mechanism, and the outer wheel of the robot's ankle joint is connected to the lower leg assembly. The outer wheel of the robot's knee joint has an active drive function, and the outer wheel of the robot's ankle joint has a follow-up function. The leg structure can switch between foot-type and wheel-type configurations by rotating the knee joint.

[0011] Furthermore, the lower support leg structure of the foot configuration is a six-degree-of-freedom mechanical leg, the knee joint motor drives the joint movement, and the robot mobile platform achieves foot movement through the drive motors of each joint; In the legged configuration, the mobile platform has a "humanoid" shape, with the robot's knees bent forward.

[0012] Furthermore, the lower support leg structure of the wheel configuration is folded, the lower leg assembly is parallel to the ground, the robot mobile platform has a four-wheel ground structure, the knee joint motor drives the wheel assembly at the robot's knee joint to rotate, and the other drive motors are in a locked state; With wheel-leg switching and wheel configuration, the mobile platform has an "ostrich-like" configuration, and the robot's knees are bent backward.

[0013] Furthermore, the foot assembly adopts a design that mimics the foot of a spacesuit; the wheel consists of a rigid screen wheel and anti-slip ratchet teeth.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention provides a variable-configuration wheeled-legged robot mobile platform that addresses mobility needs in various terrains, offering legged movement, wheeled movement, and wheel-leg switching capabilities. Both legged and wheeled configurations can achieve on-the-spot turning. Different configurations allow for high compatibility and adaptability in mobility, maneuverability, load-bearing capacity, and obstacle-avoidance capabilities across different scenarios.

[0015] 2. This invention discloses a variable-configuration wheel-legged robot mobile platform, employing a wheel-leg hybrid mobility configuration. Wheel assemblies are integrated on the outer sides of the knee joint and ankle joint, respectively. The wheel assembly at the knee joint provides propulsion capability, while the vehicle-path assembly at the ankle joint provides homing capability. The knee joint wheel assembly shares the same drive module as the knee joint of the mobile platform. Rotational decoupling between the wheels and joints is achieved through an electromagnetic clutch and a planetary gear mechanism, thereby enabling multi-configuration mobility and configuration switching functions.

[0016] 3. The present invention provides a variable configuration wheeled leg robot mobile platform that adopts a multi-joint wheel leg scheme, which can achieve the function of turning in place under different configurations; the foot assembly is driven by dual electric push rods synchronously and asynchronously, and the foot can passively adapt to different slopes.

[0017] 4. The present invention provides a variable configuration wheeled legged robot mobile platform. The mobile platform has autonomous movement capabilities and is decoupled from the robot's upper limb and torso module. By carrying various torso load modules, it can form bipedal mobile robots with different functions to complete various task scenarios. Attached Figure Description

[0018] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings: Figure 1 This is an overall view and legged movement view of a variable-configuration bipedal robot mobile platform according to the present invention; Figure 2 This is a schematic diagram of the wheeled movement mode of a bipedal robot mobile platform with a variable configuration according to the present invention; Figure 3 This is a schematic diagram illustrating the configuration switching of a variable-configuration bipedal robot mobile platform according to the present invention; Figure 4 This is a partial detail view of the hip joint of a bipedal robot mobile platform with a variable configuration according to the present invention; Figure 5 This is a partial detail view of the knee joint of a bipedal robot mobile platform with a variable configuration according to the present invention; Figure 6 This is a detailed drawing of the lower leg component of a variable-configuration bipedal robot mobile platform according to the present invention.

[0019] Figure Labels 1: Platform base; 2: Hip joint components; 21: Hip yaw motor; 22: Motor connection structure A; 23: Hip roll motor; 24: Motor connection structure B; 25: Hip pitch motor; 3: Thigh component; 31: Thigh component; 32: Knee joint motor; 33: Electromagnetic clutch; 34: Planetary gear mechanism; 4: Lower leg component; 41: Lower leg component; 42: Ankle joint drive motor; 43: Ankle joint connection mechanism; 5: Foot assembly; 6: Wheel assembly. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0021] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0022] First Embodiment Please see Figure 1-6 The technical solution of the variable configuration wheeled legged robot mobile platform provided in this embodiment includes the following: The main body consists of a platform base (1), a hip joint assembly (2), a thigh assembly (3), a calf assembly (4), a foot assembly (5), and a wheel assembly (6).

[0023] The platform base (1) is used to connect the left and right support leg structures, decoupled from the robot torso above, and retains the interface to carry different modules to achieve different functions. Taking the support leg as an example, a single support leg includes a hip joint assembly (2), a thigh assembly (3), a lower leg assembly (4), a foot assembly (5), and two wheel assemblies (6). The hip joint assembly (2) includes three drive motors and connecting mechanisms with three orthogonal rotation axes. The drive motors are connected to each other through the connecting mechanism. The order of the leg joint arrangement is hip yaw, hip roll, and hip pitch. That is, the hip joint assembly (2) is responsible for transmitting the force and torque between the leg and the platform base (1). It can realize the functions of internal and external rotation (yaw), lateral swing (roll) and pitch (leg lift) of the leg. It includes a hip yaw motor (21), motor connection structure A (22), hip roll motor (23), motor connection structure B (24), and hip pitch motor (25). The stator end of the hip yaw motor (21) is connected to the platform base (1), and the rotor end is connected to the motor connection structure A (22). The stator end of the hip roll motor (23) is connected to the motor connection structure A (22), and the rotor end is connected to the motor connection structure B (24). The stator end of the hip pitch motor (25) is connected to the motor connection structure B (24), and the rotor end is connected to the thigh assembly (3).

[0024] The thigh assembly (3) is responsible for the transmission of leg force and the switching function of the knee joint. It consists of a thigh component (31), a knee joint motor (32), an electromagnetic clutch (33), and a planetary gear mechanism (34). One end of the thigh component (31) is connected to the rotor end of the hip pitch motor (25), and the other end is connected to the stator of the knee joint motor (32). The output end of the knee joint motor (32) is simultaneously connected to the electromagnetic clutch (33), the wheel mechanism (34), the lower leg assembly (4), and the wheel assembly (6). The lower leg assembly (4) or the wheel assembly (6) can be rotated by switching through the electromagnetic clutch (33).

[0025] The lower leg assembly (4) is responsible for transmitting leg force and controlling ankle joint movement. It includes a lower leg component (41), an ankle joint drive motor (42), and an ankle joint connection mechanism (43). The lower leg component (41) is connected to the knee joint motor (32), the ankle joint drive motor (42), the ankle joint connection mechanism (43), the wheel assembly (6), and the foot assembly (5). The ankle joint drive motor (42) is connected to the ankle joint connection mechanism (43).

[0026] The foot assembly (5) is driven by two sets of electric actuators installed on the lower leg assembly (4) and connected by a cross shaft to realize ankle pitch and roll rotation, which can adapt to different slopes and improve robustness under unstructured road surfaces in multiple scenarios.

[0027] To improve the mobility and obstacle-crossing ability of the robot mobile platform in the wheel configuration, the rotation axis of the ankle joint wheel assembly (6) and the pitch rotation axis of the ankle joint are offset in the direction of the lower leg to increase the wheel diameter of the ankle joint wheel assembly (6) and increase the ground clearance of the lower leg assembly in the wheel configuration.

[0028] The force transmission path during foot movement is: foot assembly (5) – lower leg assembly (4) – thigh assembly (3) – hip joint assembly (2) – platform base (1). See Figure 1 , Figure 2 and Figure 3 Considering the robot's requirements for mobility and robustness under different speeds and ground conditions, a bipedal, wheel-legged, variable configuration was selected. Compared to quadrupedal and hexapedal configurations, the bipedal configuration offers greater mobility and maneuverability, while also possessing the ability to transform into a four-wheeled configuration. It offers the stability and load-bearing capacity of a wheeled mobile system and can perform on-the-spot turning in both configurations. The robot platform configuration switching follows steps ①②③④ for legged-to-wheeled switching and steps ④③②① for wheeled-to-legged switching.

[0029] See Figure 4 Based on the requirements of robot mobility, the outriggers need to have a wide range of adjustment capabilities. The three drive motors of the hip joint assembly are orthogonally arranged to improve the flexibility of the outriggers.

[0030] See Figure 5 To ensure that the robot's mobile platform can switch configurations smoothly, a clutch switching mechanism is used in conjunction with a planetary gear mechanism to control the rotation of the legs and wheels, thereby achieving a smooth switching of the robot's configuration.

[0031] Preferably, the wheel assembly adopts a rigid screen wheel with a combination of distributed pawls to increase the grounding pressure and grounding area of ​​the robot's movement in the wheel configuration, thereby improving the stability of the wheel movement.

[0032] See Figure 6 Through synchronous or asynchronous drive by parallel linear motors, combined with ankle joint connectors, the foot can perform pitching and rolling movements, adapting to different terrain requirements.

[0033] Ideally, the design of the feet, which mimics those of a spacesuit, increases the ground contact area of ​​the soles of the feet under different ground conditions, ensuring grip performance during foot movement.

[0034] Preferably, in this embodiment, the mobile platform can be decoupled from the upper cabin, retaining the interface to carry various torso modules, which can realize different functions and uses.

[0035] Finally, it should be noted that the above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A variable-configuration wheeled-legged robot mobile platform, characterized in that, include: The platform base is decoupled from the upper robot torso, and the two ends of the platform base are respectively connected to the left and right support leg structures; A single outrigger structure includes a hip joint assembly drivably connected to the platform base, a thigh assembly drivably connected to the hip joint assembly, a lower leg assembly drivably connected to the thigh assembly, a foot assembly drivably connected to the lower leg assembly, and a wheel assembly disposed at the outer end of the outrigger structure.

2. The variable-configuration wheeled-legged robot mobile platform according to claim 1, characterized in that: The hip joint assembly includes a hip yaw motor, a motor connection structure A, a hip roll motor, a motor connection structure B, and a hip pitch motor. The stator end of the hip yaw motor is connected to the platform base, the rotor end of the hip yaw motor is connected to the motor connection structure A, the stator end of the hip roll motor is connected to the motor connection structure A, the rotor end of the hip roll motor is connected to the motor connection structure B, the stator end of the hip pitch motor is connected to the motor connection structure B, and the rotor end of the hip pitch motor is connected to the thigh assembly.

3. The variable-configuration wheeled-legged robot mobile platform according to claim 2, characterized in that: The thigh assembly includes a thigh component, a knee joint motor, an electromagnetic clutch, and a planetary gear mechanism; wherein one end of the thigh component is connected to the rotor end of the hip pitch motor, and the other end is connected to the stator of the knee joint motor; the rotor output end of the knee joint motor is simultaneously connected to the electromagnetic clutch, the wheel mechanism, the lower leg assembly, and the wheel assembly, and the rotation of the lower leg assembly or the wheel assembly is achieved by switching through the electromagnetic clutch.

4. The variable-configuration wheeled-legged robot mobile platform according to claim 3, characterized in that: The lower leg assembly includes a lower leg component, an ankle joint drive motor, and an ankle joint connection mechanism; wherein the lower leg component is connected to the knee joint motor, the ankle joint drive motor, the ankle joint connection mechanism, the wheel assembly, and the foot assembly, and the ankle joint drive motor is connected to the ankle joint connection mechanism.

5. The variable-configuration wheeled-legged robot mobile platform according to claim 3, characterized in that: The foot assembly is driven by two sets of electric actuators mounted on the calf assembly and connected by a cross shaft to achieve ankle pitch and roll rotation.

6. The variable-configuration wheeled-legged robot mobile platform according to claim 5, characterized in that: Each leg structure has two sets of wheel assemblies, which are respectively located on the outside of the robot's knee joint and the outside of the robot's ankle joint; The outer wheel of the robot's knee joint is connected to a planetary gear mechanism, and the outer wheel of the robot's ankle joint is connected to the lower leg assembly. The outer wheel of the robot's knee joint has an active drive function, and the outer wheel of the robot's ankle joint has a follow-up function. The leg structure can switch between foot-type and wheel-type configurations by rotating the knee joint.

7. The variable-configuration wheeled-legged robot mobile platform according to claim 6, characterized in that: The lower support leg structure of the foot configuration is a six-degree-of-freedom mechanical leg. The knee joint motor drives the joint movement. The robot mobile platform realizes foot movement through the drive motors of each joint. In the legged configuration, the mobile platform has a "humanoid" shape, with the robot's knees bent forward.

8. The variable-configuration wheeled-legged robot mobile platform according to claim 6, characterized in that: The lower leg structure of the wheel configuration is folded, the lower leg assembly is parallel to the ground, the robot mobile platform has a four-wheel ground structure, the knee joint motor drives the wheel assembly at the robot's knee joint to rotate, and the other drive motors are in a locked state. With wheel-leg switching and wheel configuration, the mobile platform has an "ostrich-like" configuration, and the robot's knees are bent backward.

9. The variable-configuration wheeled-legged robot mobile platform according to claim 6, characterized in that: The foot assembly adopts a design that mimics the foot of a spacesuit; the wheel consists of a rigid screen wheel and anti-slip ratchet teeth.

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