An integrated wheel-foot hybrid platform

Abstract

An integrated wheel-foot composite platform, the device comprises: aluminum suspension (A), outer rotating gantry (B), wheel (C), wheel-foot composite unit gantry (D), inner rotating gantry (E), inner deformation auxiliary rod (F), gantry push rod (G) and outer deformation auxiliary rod (H); the integrated wheel-foot composite platform is a mobile platform with dual capabilities of high-speed movement by wheels and obstacle crossing by feet; the leg-foot in the wheel-foot composite unit gantry is driven to walk by a single motor; when the motor crank is located in the rotating interval of 3.5 degrees left and right of the center line of the rack, two electric push rods synchronously stretch and retract to drive the suspension to move up and down, so as to realize the switching of the leg-foot and the wheel-foot; the stretching and retracting of the gantry push rod can realize the pitching of the whole platform to realize the pitching movement. While ensuring the obstacle crossing capability, the ability of relatively fast movement by wheels is added.

Description

Technical Field

[0001] This invention relates to the field of robot structural design, specifically an integrated wheel-foot composite platform with dual capabilities of high-speed wheeled movement and obstacle crossing on legs. Background Technology

[0002] A closed kinematic chain is applied to the leg mechanism of a walking platform, driven by a single motor. Compared to open-chain legs, under the same material, external load, and speed level, the closed-chain linkage theoretically only bears tensile and compressive loads, and is mostly composed of typical two-force members, giving the closed-chain leg mechanism good overall stiffness and stability. The discrete contact between the legged mobility system and the ground gives it better obstacle-crossing ability and terrain adaptability compared to traditional wheeled and tracked mobility systems. Wheeled mobility systems, compared to legged ones, have the characteristics of high-speed and continuous movement. A wheel-legged hybrid robot combines the advantages of both wheeled and legged mobility systems, exhibiting strong terrain adaptability.

[0003] Chinese patent CN223315111U discloses a "wheel-legged composite robot," which relates to a wheel-legged composite robot including a base panel. The surface of the base panel is provided with several mounting seats, and upper leg drive components are installed inside the mounting seats. Upper leg rotary bearings are provided on the surface of the mounting seats, and upper legs are rotatably connected to the surface of the upper leg rotary bearings. By providing multiple mounting seats on the base panel, the upper leg drive components are stably installed, ensuring smooth operation even under high load conditions. The upper and lower legs are connected by precision rotary bearings, giving the robot extremely high flexibility and adaptability. However, the upper and lower legs are controlled by independent upper and lower leg drive components, respectively, which cannot achieve low-power switching, the leg assembly cannot retract or extend, and the movement mode is somewhat limited. Summary of the Invention

[0004] The problem this invention aims to solve is to provide an integrated wheel-foot composite platform. Compared to existing walking platforms, this platform improves its terrain adaptability through wheel-foot deformation. The integrated wheel-foot composite platform employs a closed-chain leg assembly design, driven by a single motor. The overall form is a composite of separated wheels and feet, with two electric push rods synchronously extending and retracting to move the suspension up and down, achieving the switching between legs and wheels. The platform's pitch movement can be achieved via a frame push rod. This integrated wheel-foot composite platform combines the advantages of both wheeled and legged systems, ensuring obstacle-crossing capability while incorporating the faster movement capabilities of wheels.

[0005] The technical solution of this invention: An integrated wheel-foot composite platform comprises an aluminum suspension, an outer rotating platform, wheels, a wheel-foot composite unit platform, an inner rotating platform, an inner deformation auxiliary rod, a platform push rod, and an outer deformation auxiliary rod. The wheel-foot composite unit platform is rotatably connected to the inner and outer deformation auxiliary rods via a hip joint. Simultaneously, the inner deformation auxiliary rod is rotatably connected to the aluminum suspension via a bearing base plate below the profile; the outer deformation auxiliary rod is rotatably connected to the aluminum suspension via a bearing base plate above the profile; the wheels are fixedly connected to the aluminum suspension; the outer rotating platform is fixedly connected to the aluminum suspension; the outer rotating platform and the wheel-foot composite unit platform are fixedly connected via two aluminum alloy components; the inner rotating platform is fixedly connected to the aluminum suspension; the inner rotating platform and the wheel-foot composite unit platform are fixedly connected; the outer rotating platform and the inner rotating platform have identical components and mechanisms; and the platform push rod is fixedly connected to the wheel-foot composite unit platform via an aluminum alloy component. Through these connections, the assembly of the integrated wheel-foot composite platform is completed.

[0006] The aluminum suspension is composed of a short aluminum alloy, a bearing base plate above the profile, a long aluminum alloy, and a bearing base plate below the profile.

[0007] The outer rotating platform consists of an outer wide support platform, a pitch and rotation joint, a wide support boss, and an electric push rod. The wheel consists of a six-inch tire, a wheel motor, a motor bracket, and connecting parts.

[0008] The aforementioned wheel-foot composite unit frame consists of a left deformable leg, a right deformable leg, a motor frame assembly, a main platform, and a hip joint; the left and right deformable legs have identical rod shapes and mechanical mechanisms. The right deformable leg comprises two first thigh rods, a first third auxiliary rod, two first straight rods, a first lower leg rod, a rotating connecting shaft, two second thigh rods, a second third auxiliary rod, two second straight rods, and a second lower leg rod. The motor frame assembly comprises four motor positioning components, two motor frames, two transmission cranks, and a motor. The main platform comprises four guide rails and a platform.

[0009] The beneficial effects of this invention are: This invention provides an integrated wheel-legged hybrid robot, a mobile platform possessing both high-speed wheeled movement and obstacle-crossing capabilities. The legs in the wheel-legged hybrid unit are driven by a single motor. When the motor crank is within a 3.5-degree rotation range to the left and right of the frame's centerline, two electric push rods synchronously extend and retract, causing the suspension to move up and down, thus switching between leg and wheeled movement; this achieves integrated power drive. The extension and retraction of the frame push rods enables the entire platform to pitch, achieving pitch motion. This adds relatively fast wheeled movement capability while maintaining obstacle-crossing ability. Attached Figure Description

[0010] Figure 1 A three-dimensional view of an integrated wheel-foot composite platform; Figure 2 3D diagram of aluminum suspension; Figure 3 3D view of the outer rotating platform; Figure 4 A 3D diagram of a wheel; Figure 5 3D diagram of the wheel-foot composite unit; Figure 6 3D image of the deformed right leg; Figure 7 3D view of the motor frame assembly; Figure 8 3D view of the main platform; Figure 9 3D model of the wheel-shaped deformation mode; Figure 10 3D model of the overall prototype; Figure 11 A 3D view of the overall prototype in pitch mode. Detailed Implementation

[0011] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0012] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, features defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "multiple" means two or more.

[0013] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0014] like Figure 1As shown, an integrated wheel-foot composite platform comprises an aluminum suspension A, an outer rotating platform B, a wheel C, a wheel-foot composite unit platform D, an inner rotating platform E, an inner deformation auxiliary rod F, a platform push rod G, and an outer deformation auxiliary rod H. The wheel-foot composite unit platform D is rotatably connected to the inner deformation auxiliary rod F and the outer deformation auxiliary rod H via a hip joint D-5. Simultaneously, the inner deformation auxiliary rod F is rotatably connected to the aluminum suspension A via a bearing base plate A-4 below the profile; the outer deformation auxiliary rod H is connected via an axle above the profile. The base plate A-2 and the aluminum suspension A are rotatably connected; the wheel C is fixedly connected to the aluminum suspension; the outer rotating platform B is fixedly connected to the aluminum suspension A; the outer rotating platform B and the wheel-foot composite unit platform D are fixedly connected by two aluminum alloys; the inner rotating platform E is fixedly connected to the aluminum suspension A; the inner rotating platform E and the wheel-foot composite unit platform D are fixedly connected; the outer rotating platform B and the inner rotating platform E have identical rods and mechanisms; the platform push rod G is fixedly connected to the wheel-foot composite unit platform D by an aluminum alloy. Through the above connections, the assembly of the integrated wheel-foot composite platform is completed.

[0015] like Figure 2 As shown, the aluminum suspension A is composed of a short aluminum alloy A-1, a bearing base plate A-2 above the profile, a long aluminum alloy A-3, and a bearing base plate A-4 below the profile.

[0016] The components in aluminum suspension A are connected as follows: short aluminum alloy A-1 and long aluminum alloy A-3 are fixedly connected; there are two mounting holes on the lower side of the bearing base plate A-4 below the profile; the lower bearing base plate A-4 and the long aluminum alloy A-3 are fixedly connected above the mounting holes; there are two mounting holes on each side of the upper bearing base plate A-2 above the profile; the upper bearing base plate A-2 and the long aluminum alloy A-3 are fixedly connected on both sides through mounting holes.

[0017] like Figure 3 As shown, the outer rotating platform B consists of an outer wide support platform B-1, a pitch rotation joint B-2, a wide support boss B-3, and an electric push rod B-4.

[0018] The components in the outer rotating platform B are connected as follows: the outer wide support platform B-1 is provided with a rotating shaft hole; the pitch rotating joint B-2 is fixedly connected to the rotating shaft hole of the outer wide support platform B-1; the wide support boss B-3 is fixedly connected to the lower side of the outer wide support platform B-1; and the electric push rod B-4 is fixedly connected to the wide support boss B-3 at the bottom.

[0019] like Figure 4 As shown, the wheel C consists of a six-inch tire C-1, a wheel motor C-2, a motor bracket C-3, and a connector C-4.

[0020] The connection method of the components in wheel C is as follows: the six-inch tire C-1 is rotatably connected to the drive shaft of the wheel motor C-2; the wheel motor rotates the tire through the full rotation of the drive shaft; the motor bracket C-3 has six positioning holes on the outside and four positioning holes on the top; the wheel motor C-2 is fixedly connected to the positioning holes on the outside of the motor bracket C-3 through a positioning shaft; the connector C-4 is fixedly connected to the positioning holes on the top of the motor bracket C-3.

[0021] like Figure 5 As shown, the wheel-foot composite unit frame D is composed of a left deformable leg D-1, a right deformable leg D-2, a motor frame assembly D-3, a main platform D-4, and a hip joint D-5; the rod shapes and mechanical mechanisms of the left deformable leg D-1 and the right deformable leg D-2 are completely identical.

[0022] The connection method of the components in the wheel-foot composite unit frame D is as follows: the left deformable leg D-1 and the right deformable leg D-2 are rotatably connected to the hip joint D-5 respectively; the left deformable leg D-1 and the right deformable leg D-2 are fixedly connected to the motor frame assembly D-3 through the transmission crank D-3-3; the hip joint D-5 and the slider on the guide rail D-4-1 in the main platform D-4 are fixedly connected; the motor frame assembly D-3 and the main platform D-4 are fixedly connected through the motor positioning component D-3-1.

[0023] like Figure 6 As shown, the right deformable leg D-2 is composed of two first thigh rods D-2-1, a first third auxiliary rod D-2-2, two first straight rods D-2-3, a first lower leg rod D-2-4, a rotating connecting shaft D-2-5, two second thigh rods D-2-6, a second third auxiliary rod D-2-7, two second straight rods D-2-8, and a second lower leg rod D-2-9.

[0024] The connection method of the components in the right deformable leg D-2 is as follows: the first thigh rod D-2-1 and the second thigh rod D-2-6 are three-part rods with mounting holes at both ends and the middle; the first third-part rod D-2-2 and the second third-part rod D-2-7 are three-part rods with mounting holes at the three apex positions; the middle mounting holes of the two first thigh rods D-2-1 are rotatably connected to the long end mounting holes of the first third-part rod D-2-2 via an assembly shaft; the end mounting holes of the two first straight rods D-2-3 are rotatably connected to the bottom mounting holes of the short ends of the first third-part rod D-2-2 via an assembly shaft; the bottom mounting holes of the two first thigh rods D-2-1 are rotatably connected to the top mounting holes of the first lower leg rod D-2-4 via an assembly shaft; the other end mounting holes of the two first straight rods D-2-3 are connected to the first lower leg rod D-2-4 via an assembly shaft. The mounting holes in the middle of the -2-4 section are rotatably connected via an assembly shaft; the top mounting holes at the short end of the first third auxiliary rod D-2-2 and the top mounting holes at the short end of the second third auxiliary rod D-2-7 are rotatably connected via a rotating connecting shaft D-2-5; the middle mounting holes in the two second thigh rods D-2-6 and the long end mounting holes in the second third auxiliary rod D-2-7 are rotatably connected via an assembly shaft; the end mounting holes in the two second straight rods D-2-8 and the bottom mounting holes at the short end of the second third auxiliary rod D-2-7 are rotatably connected via an assembly shaft; the bottom mounting holes in the two second thigh rods D-2-6 and the top mounting holes in the second lower leg rod D-2-9 are rotatably connected via an assembly shaft; the mounting holes at the other end of the two second straight rods D-2-8 and the middle mounting holes in the second lower leg rod D-2-9 are rotatably connected via an assembly shaft.

[0025] like Figure 7 As shown, the motor frame assembly D-3 consists of four motor positioning parts D-3-1, two motor frames D-3-2, two transmission cranks D-3-3, and a motor D-3-4.

[0026] The connection method of the components in the motor frame assembly D-3 is as follows: the four motor positioning parts D-3-1 are fixedly connected to the upper end of the motor frame D-3-2 through the assembly shaft; the motor frame D-3-2 is fixedly connected to the motor D-3-4 through the four assembly shafts; the motor D-3-4 and the two transmission cranks D-3-3 pass through the motor frame D-3-2 and are rotatably connected through the assembly shaft; the two motor frames D-3-2 are arranged symmetrically and mirror images of the motor D-3-4; the two transmission cranks D-3-3 are coaxial and 180° apart; the motor drives the transmission cranks to rotate a full circle to achieve the walking movement of the deformed leg.

[0027] like Figure 8 As shown, the main platform D-4 consists of four guide rails D-4-1 and platform D-4-2.

[0028] The connection method of the components in the main platform D-4 is as follows: each guide rail D-4-1 is provided with 9 positioning holes and a slider; the outer and middle three positioning holes of the guide rail are fixedly connected to the platform D-4-2.

[0029] like Figure 9 As shown, when the motor-driven crank D-3-3 is within a 3.5-degree rotation range to the left and right of the frame centerline, the two electric push rods B-4 are controlled to extend and retract synchronously, causing the aluminum suspension A to move downwards, which in turn causes the inner deformation auxiliary rod F and the outer deformation auxiliary rod H to slide downwards under the action of the guide rail D-4-1. This causes the left deformable leg D-1 and the right deformable leg D-2, which are connected to the hip joint D-5, to move upwards. At the same time, the downward movement of the aluminum suspension A pushes the wheel C downwards, completing the wheel-foot switching.

[0030] like Figure 10 As shown, the whole machine platform consists of four integrated wheel and foot composite units. The four units are arranged in a modular array, and the layout is mainly mirror symmetric about the horizontal and vertical symmetry planes.

[0031] like Figure 11 As shown, the extension and retraction of the control frame push rod G can realize the pitch of the entire platform and complete the pitch movement.

Claims

1. An integrated wheel-foot composite platform, characterized in that: An integrated wheel-foot composite platform comprises an aluminum suspension (A), an outer rotating platform (B), a wheel (C), a wheel-foot composite unit platform (D), an inner rotating platform (E), an inner deformation auxiliary rod (F), a platform push rod (G), and an outer deformation auxiliary rod (H). The wheel-foot composite unit platform (D) is rotatably connected to the inner deformation auxiliary rod (F) and the outer deformation auxiliary rod (H) via a hip joint (D-5). Simultaneously, the inner deformation auxiliary rod (F) is rotatably connected to the aluminum suspension (A) via a bearing base plate (A-4) below the profile; the outer deformation auxiliary rod (H) is connected to the upper shaft of the profile. The base plate (A-2) and the aluminum suspension (A) are rotatably connected; the wheel (C) is fixedly connected to the aluminum suspension; the outer rotating platform (B) is fixedly connected to the aluminum suspension (A); the outer rotating platform (B) and the wheel foot composite unit platform (D) are fixedly connected by two aluminum alloys; the inner rotating platform (E) is fixedly connected to the aluminum suspension (A); the inner rotating platform (E) and the wheel foot composite unit platform (D) are fixedly connected; the outer rotating platform (B) and the inner rotating platform (E) have identical rods and mechanisms; the platform push rod (G) is fixedly connected to the wheel foot composite unit platform (D) by an aluminum alloy. The wheel-foot composite unit frame (D) consists of a left deformable leg (D-1), a right deformable leg (D-2), a motor frame assembly (D-3), a main platform (D-4), and a hip joint (D-5); the rod shapes and mechanical mechanisms of the left deformable leg (D-1) and the right deformable leg (D-2) are completely identical. The components in the wheel-foot composite unit frame (D) are connected as follows: the left deformable leg (D-1) and the right deformable leg (D-2) are rotatably connected to the hip joint (D-5); the left deformable leg (D-1) and the right deformable leg (D-2) are fixedly connected to the motor frame assembly (D-3) via a transmission crank (D-3-3); the hip joint (D-5) is fixedly connected to the slider on the guide rail (D-4-1) in the main platform (D-4); and the motor frame assembly (D-3) and the main platform (D-4) are fixedly connected via a motor positioning component (D-3-1). The right deformable leg (D-2) consists of two first thigh rods (D-2-1), a first third auxiliary rod (D-2-2), two first straight rods (D-2-3), a first lower leg rod (D-2-4), a rotating connecting shaft (D-2-5), two second thigh rods (D-2-6), a second third auxiliary rod (D-2-7), two second straight rods (D-2-8), and a second lower leg rod (D-2-9). The connection method of the components in the right deformable leg (D-2) is as follows: the first thigh rod (D-2-1) and the second thigh rod (D-2-6) are three-part rods with mounting holes at both ends and the middle; the first third-part rod (D-2-2) and the second third-part rod (D-2-7) are three-part rods with mounting holes at the three apex positions; the middle mounting holes of the two first thigh rods (D-2-1) are rotatably connected to the long end mounting holes of the first third-part rod (D-2-2) through an assembly shaft; the end mounting holes of the two first straight rods (D-2-3) are rotatably connected to the bottom mounting holes of the short ends of the first third-part rod (D-2-2) through an assembly shaft; the bottom mounting holes of the two first thigh rods (D-2-1) are rotatably connected to the top mounting holes of the first lower leg rod (D-2-4) through an assembly shaft; the other end mounting holes of the two first straight rods (D-2-3) are connected to the first lower leg rod (D-2-4) through an assembly shaft. The mounting holes in the middle of D-2-4 are rotatably connected via an assembly shaft; the top mounting holes at the short end of the first third auxiliary rod (D-2-2) and the top mounting holes at the short end of the second third auxiliary rod (D-2-7) are rotatably connected via a rotating connecting shaft (D-2-5); the mounting holes in the middle of the two second large rods (D-2-6) and the mounting holes at the long end of the second third auxiliary rod (D-2-7) are rotatably connected via an assembly shaft; the mounting holes at the ends of the two second straight rods (D-2-8) and the mounting holes at the bottom of the short end of the second third auxiliary rod (D-2-7) are rotatably connected via an assembly shaft; the mounting holes at the bottom of the two second large rods (D-2-6) and the mounting holes at the top of the second small rod (D-2-9) are rotatably connected via an assembly shaft; the mounting holes at the other ends of the two second straight rods (D-2-8) and the mounting holes in the middle of the second small rod (D-2-9) are rotatably connected via an assembly shaft. The motor frame assembly (D-3) consists of four motor positioning components (D-3-1), two motor frames (D-3-2), two transmission cranks (D-3-3), and a motor (D-3-4); The components in the motor frame assembly (D-3) are connected as follows: four motor positioning parts (D-3-1) are fixedly connected to the upper end of the motor frame (D-3-2) via assembly shafts; the motor frame (D-3-2) is fixedly connected to the motor (D-3-4) via the four assembly shafts; the motor (D-3-4) and two transmission cranks (D-3-3) pass through the motor frame (D-3-2) and are rotatably connected via assembly shafts; the two motor frames (D-3-2) are arranged symmetrically and mirror-imagely about the motor (D-3-4); the two transmission cranks (D-3-3) are coaxial and 180° out of phase; the motor drives the transmission cranks to rotate a full circle to achieve the walking movement of the deformable leg. The main platform (D-4) consists of four guide rails (D-4-1) and a platform (D-4-2); The components in the main platform (D-4) are connected as follows: each guide rail (D-4-1) has 9 positioning holes and one slider; the outer and middle three positioning holes of the guide rail are fixedly connected to the platform (D-4-2); The assembly of the integrated wheel-foot composite platform is completed through the above connections.

2. The integrated wheel-foot composite platform according to claim 1, characterized in that: The aluminum suspension (A) is composed of a short aluminum alloy (A-1), a bearing base plate above the profile (A-2), a long aluminum alloy (A-3), and a bearing base plate below the profile (A-4); The components in the aluminum suspension (A) are connected as follows: the short aluminum alloy (A-1) and the long aluminum alloy (A-3) are fixedly connected; there are two mounting holes on the lower side of the bearing base plate (A-4) below the profile; the lower bearing base plate (A-4) and the long aluminum alloy (A-3) are fixedly connected above the mounting holes; there are two mounting holes on each side of the upper bearing base plate (A-2) above the profile; the upper bearing base plate (A-2) and the long aluminum alloy (A-3) are fixedly connected on both sides through mounting holes.

3. The integrated wheel-foot composite platform according to claim 1, characterized in that: The outer rotating platform (B) consists of an outer wide support platform (B-1), a pitch rotation joint (B-2), a wide support boss (B-3), and an electric push rod (B-4); The components in the outer rotating platform (B) are connected as follows: the outer wide support platform (B-1) is provided with a rotating shaft hole; the pitch rotating joint (B-2) is fixedly connected to the rotating shaft hole of the outer wide support platform (B-1); the wide support boss (B-3) is fixedly connected to the lower side of the outer wide support platform (B-1); the electric push rod (B-4) is fixedly connected to the wide support boss (B-3) below.

4. The integrated wheel-foot composite platform according to claim 1, characterized in that: The wheel (C) consists of a six-inch tire (C-1), a wheel motor (C-2), a motor bracket (C-3), and a connector (C-4); The components in the wheel (C) are connected as follows: the six-inch tire (C-1) is rotatably connected to the drive shaft of the wheel motor (C-2); the wheel motor rotates the tire through the full rotation of the drive shaft; the motor bracket (C-3) has six positioning holes on the outside and four positioning holes on the top; the wheel motor (C-2) and the positioning holes on the outside of the motor bracket (C-3) are fixedly connected through a positioning shaft; the connector (C-4) is fixedly connected to the positioning holes on the top of the motor bracket (C-3).

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