Low-energy-consumption six-foot wheel leg robot based on elastic belts

Abstract

The invention discloses a low-energy-consumption six-foot wheel-leg robot based on an elastic belt. The low-energy-consumption six-foot wheel-leg robot comprises wheel-leg modules arranged at the corners of a body module and common leg modules arranged on the two sides of the body module. A first section of the wheel-leg module is movably connected with a second section of the wheel-leg module, the second section of the wheel-leg module is movably connected with a third section of the wheel-leg module through a wheel-leg joint connecting module, and the third section of the wheel-leg module is movably connected with a wheel driving module; a first common leg section module in the common leg module is movably connected with a second common leg section module, the second common leg section module is movably connected with a third common leg section module, and the third common leg section module is connected with a foot pad; the wheel leg modules and the common leg modules are provided with elastic belts to form pre-tightening connection. Flexible switching between wheel type movement and gait movement can be achieved, the adaptability to complex terrains is improved, the joint load is shared by means of the deformation characteristic of the elastic band, and the burden of a steering engine is relieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robot devices, in particular to a low-energy consumption six-legged wheel-legged robot based on an elastic belt. BACKGROUND

[0002] The existing multi-legged robot mainly faces the following problems: 1. High-power motors are mostly used with small-size high-precision reducers, which are high in cost; 2. The mass is large, and the motor is mostly directly driven to the joint, and the wheel foot is less used, and the gait walking is mostly used, and there is a lack of efficient energy-saving mechanical structure; 3. The support points of the legs are mostly near the body projection, the center of gravity is high, and the complex terrain passability is limited.

[0003] For example, a novel bionic six-legged robot for rugged terrain disclosed in CN118790368A is provided with six three-degree-of-freedom mechanical legs, and a multifunctional platform is provided with various sensors and mechanical arms on the frame, which is compact in structure, can adapt to complex terrain, and can replace different modules to realize different functions, but the servo of the bionic six-legged robot is all installed on the mechanical leg joint, the moment of inertia is large, and the mechanical leg has no power assisting structure, the energy consumption is large, and the endurance is limited. SUMMARY

[0004] In order to overcome the defects and deficiencies existing in the prior art, the present application provides a low-energy consumption six-legged wheel-legged robot based on an elastic belt, which can realize the spatial movement and wheel rotation movement of the wheel-legged module, the ordinary leg module can realize the spatial movement of the ordinary leg module through the two-degree-of-freedom mechanism of the yaw mechanism and the joint servo, the wheel-legged module and the ordinary leg module are connected through the pre-tightening of the elastic belt to reduce the burden of the servo and reduce the energy consumption; the present application optimizes the connection relationship of the mechanical components and cooperates with the module to realize the functional targeted combination of the components, which can solve the problems of high cost, large energy consumption, large moment of inertia, limited endurance and limited complex terrain passability of the existing multi-legged robot.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme: The present application provides a low-energy consumption six-legged wheel-legged robot based on an elastic belt, which comprises a wheel-legged module, an ordinary leg module and a body module. The wheel-legged module is arranged at the corner of the body module, and the ordinary leg module is arranged at the two sides of the body module. The wheel-legged module comprises a wheel-legged module first section, a wheel-legged drive module, a wheel-legged module second section, a wheel-legged joint connecting module, a wheel-legged module third section and a wheel drive module. The first section of the wheel leg module is movably connected with the second section of the wheel leg module, the second section of the wheel leg module is movably connected with the third section of the wheel leg module through a wheel leg joint connecting module, and the third section of the wheel leg module is movably connected with the wheel driving module; The common leg module comprises a common leg first section module, a common leg second section module, a common leg third section module and a foot pad. The common leg first section module is movably connected with the common leg second section module, the common leg second section module is movably connected with the common leg third section module, and the common leg third section module is connected with the foot pad. The wheel leg module and the common leg module are each provided with an elastic belt, one end of the wheel leg elastic belt is connected with the second section of the wheel leg module, the other end of the wheel leg elastic belt is connected with the wheel driving module through the third section of the wheel leg module, one end of the common leg elastic belt is connected with the common leg first section module, and the other end of the common leg elastic belt is connected with the common leg third section module.

[0006] As a preferred technical solution, the first section of the wheel leg module comprises a wheel leg first section steering engine, a wheel leg first section steering disc and a wheel leg first section connecting piece. The wheel leg driving module comprises a first wheel leg steering engine side plate, a wheel leg driving steering engine support, a wheel leg second section steering engine, a wheel leg third section steering engine and a first wheel leg synchronous wheel. The second section of the wheel leg module comprises a wheel leg second section driving end connecting rod and a wheel leg second section driven end connecting rod. The wheel leg joint connecting module comprises a wheel leg joint side plate and a second wheel leg synchronous wheel. The third section of the wheel leg module comprises a wheel leg third section connecting rod and a wheel leg synchronous belt. The output shaft of the wheel leg first section steering engine is connected with the wheel leg first section steering disc, and the wheel leg first section steering disc is connected with the wheel leg driving steering engine support through the wheel leg first section connecting piece. The wheel leg second section steering engine and the wheel leg third section steering engine are arranged on the wheel leg driving steering engine support, the output disc of the wheel leg second section steering engine is connected with one end of the wheel leg second section driving end connecting rod, one end of the wheel leg second section driving end connecting rod is hingedly connected with the first wheel leg steering engine side plate, the other end of the wheel leg second section driving end connecting rod is hingedly connected with the wheel leg joint side plate, one end of the wheel leg second section driven end connecting rod is connected with the first wheel leg steering engine side plate, and the other end of the wheel leg second section driven end connecting rod is hingedly connected with the wheel leg joint side plate. The output disc of the wheel leg third section steering engine is connected with the first wheel leg synchronous wheel, the first wheel leg synchronous wheel drives the second wheel leg synchronous wheel through the wheel leg synchronous belt, one end of the second wheel leg synchronous wheel is connected with the wheel leg third section connecting rod, one end of the wheel leg third section connecting rod is movably connected with the wheel leg joint side plate, and the other end of the wheel leg third section connecting rod is connected with the wheel driving module.

[0007] As a preferred technical solution, the wheel leg module is further provided with a wheel leg first section rudder engine seat, a wheel leg first section yaw bearing and a wheel leg first section yaw shaft. The wheel leg first section yaw bearing is arranged at the bottom of the wheel leg first section rudder engine seat, the wheel leg first section yaw shaft passes through the inner ring of the wheel leg first section yaw bearing, and the wheel leg first section yaw shaft is connected with the wheel leg driving rudder engine support through the wheel leg first section connecting plate.

[0008] As a preferred technical solution, the wheel leg second section driving end connecting rod comprises a wheel leg second section driving end upper connecting rod and a wheel leg second section driving end lower connecting rod. The wheel leg second section driven end connecting rod comprises a wheel leg second section driven end upper connecting rod and a wheel leg second section driven end lower connecting rod. One end of the output disc of the wheel leg second section rudder engine is fixed with the wheel leg second section driving end upper connecting rod, one end of the wheel leg second section driving end upper connecting rod is hinged with the first wheel leg rudder engine side plate through a wheel leg connecting rod bearing, the other end of the wheel leg second section driving end upper connecting rod is hinged with the wheel leg joint side plate through a wheel leg connecting rod bearing, one end of the wheel leg second section driving end lower connecting rod is hinged with the first wheel leg rudder engine side plate through a wheel leg connecting rod bearing, and the other end of the wheel leg second section driving end lower connecting rod is hinged with the wheel leg joint side plate through a wheel leg connecting rod bearing. One end of the wheel leg second section driven end upper connecting rod is hinged with the second wheel leg rudder engine side plate through a wheel leg connecting rod bearing, and the other end of the wheel leg second section driven end upper connecting rod is hinged with the wheel leg joint side plate through a wheel leg connecting rod bearing. One end of the wheel leg second section driven end lower connecting rod is hinged with the second wheel leg rudder engine side plate through a wheel leg connecting rod bearing, and the other end of the wheel leg second section driven end lower connecting rod is hinged with the wheel leg joint side plate through a wheel leg connecting rod bearing.

[0009] As a preferred technical solution, one end of the wheel leg elastic belt is fixedly connected with the wheel leg driving rudder engine support, passes through the wheel leg third section lower connecting rod, the other end is fixedly connected with the wheel driving module, and a pre-tightening connection is formed.

[0010] As a preferred technical solution, the wheel driving module comprises a wheel leg motor, a wheel leg wheel shell, a small bevel gear, a large bevel gear, a wheel shaft, a wheel bearing, a tire skin, a wheel shell lower bearing and a wheel shaft sleeve. The wheel leg motor is arranged on the wheel leg wheel shell, the output shaft of the wheel leg motor is fixedly connected with the small bevel gear, the small bevel gear and the large bevel gear are meshed with each other, the large bevel gear is movably connected with the wheel shaft through the wheel bearing and the wheel shaft sleeve, and the large bevel gear is matched with the tire skin.

[0011] As a preferred technical solution, the common leg first section module comprises a common leg first section rudder engine, a common leg first section rudder disc and a common leg first section connecting plate. The common leg second section module comprises a common leg second section, a common leg rudder engine support and a common leg second section rudder engine plate. The common leg third section module comprises a common leg third section steering engine, a common leg third section connecting plate and a common leg third section; The output shaft of the common leg first section steering engine is connected with the common leg first section steering disc, and the common leg first section steering disc is connected with the common leg steering engine support through the common leg first section connecting plate; The common leg second section steering engine is arranged on the common leg steering engine support, the output disc of the common leg second section steering engine is connected with one end of the common leg second section, the common leg third section steering engine is arranged on the other end of the common leg second section, the output disc of the common leg third section steering engine is connected with one end of the common leg third section through the common leg third section connecting plate, and the other end of the common leg third section is connected with the foot pad.

[0012] As a preferred technical scheme, the common leg first section module is further provided with a common leg first section steering engine seat and a common leg first section yaw bearing, and the common leg first section connecting plate comprises a common leg first section upper connecting plate and a common leg first section lower connecting plate; The common leg first section steering engine is arranged on the common leg first section steering engine seat, one end of the common leg first section upper connecting plate is connected with the common leg first section steering disc, the other end of the common leg first section upper connecting plate is connected with the common leg steering engine support, the common leg first section yaw bearing is arranged on the bottom of the common leg first section steering engine seat, the common leg first section yaw shaft passes through the inner ring of the common leg first section yaw bearing, and the common leg first section yaw shaft is connected with the common leg steering engine support through the common leg first section lower connecting plate.

[0013] As a preferred technical scheme, the common leg third section connecting plate comprises a common leg third section driving connecting plate and a common leg third section driven connecting plate; The output disc of the common leg third section steering engine is connected with one end of the common leg third section driving connecting plate, one end of the common leg third section driven connecting plate is movably connected with the other end of the common leg second section through the common leg third section bearing, and the other end of the common leg third section driving connecting plate and the other end of the common leg third section driven connecting plate are connected with one end of the common leg third section.

[0014] As a preferred technical scheme, the body module comprises a body module expansion plate, a body module upper plate and a body module lower plate; The wheel leg modules are connected with the body module upper plate and the body module lower plate respectively; The common leg modules are connected with the body module upper plate and the body module lower plate respectively; The body module expansion plate is arranged above the body module upper plate.

[0015] Compared with the prior art, the application has the following advantages and beneficial effects: (1) The wheel-leg module of the application adopts integrated layout design of driving components, the driving components are connected by centralized installation and remote transmission of connecting rods, multi-section series transmission connection is formed through connecting rod components, traditional dispersed joint installation and high-power drive combination are replaced, the wheel, bevel gear and other components are integrated and connected through shaft pins, bearings and other connecting pieces at the end of the wheel-leg module, a switchable wheel-leg composite structure is formed, flexible switching of wheeled motion and gait motion is realized, the problems of large rotational inertia of dispersed layout and high cost of high-power drive are solved, and the elastic belt is pre-tightly connected with the driving support and the leg connecting rod at both ends through a specific winding method, and the elastic belt is used to share the joint load by using the deformation characteristics of the elastic belt.

[0016] (2) The common leg module of the application directly arranges the steering engine at the joint position, forms precise transmission connection with the leg connecting rod through connecting pieces, synchronously configures the functional connection structure of the elastic belt and the joint component, realizes the same elastic assisting effect as the wheel-leg module, and reduces the driving energy consumption.

[0017] (3) The body module of the application mainly constructs a low gravity center structure with two plate pieces, forms firm assembly with the wheel-leg module and the common leg module through connecting hole positions, expands the leg support point to the outside of the machine body projection, constitutes a dispersed support layout, and improves the adaptability to complex terrains in cooperation with the leg multi-degree-of-freedom posture adjustment capability. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a whole structure schematic diagram of the low-energy consumption six-legged wheel-leg robot based on the elastic belt of the application; Figure 2 It is a structure schematic diagram of the wheel-leg module of the application; Figure 3 It is a structure schematic diagram of the first section of the wheel-leg module of the application; Figure 4 It is a structure schematic diagram of the wheel-leg driving module of the application; Figure 5 It is a connection structure schematic diagram of the second section and the third section of the wheel-leg module of the application; Figure 6 It is a connection schematic diagram of the first wheel-leg synchronous wheel and the second wheel-leg synchronous wheel of the application; Figure 7 It is a structure schematic diagram of the wheel driving module of the application; Figure 8 It is a structure schematic diagram of the common leg module of the application; Figure 9 It is a connection schematic diagram of the common leg elastic belt of the application; Figure 10 It is a structure schematic diagram of the first section of the common leg module of the application; Figure 11Structure diagram of the second section of the common leg module of the application; Figure 12 Structure diagram of the third section of the common leg module of the application; Figure 13 Structure diagram of the body module of the application.

[0019] Among them, 1-wheel leg module, 2-common leg module, 3-body module, 101-wheel leg module first section, 102-wheel leg driving module, 103-wheel leg module second section, 104-wheel leg joint connecting module, 105-wheel leg module third section, 106-wheel driving module, 201-common leg first section module, 202-common leg second section module, 203-common leg third section module, 301-body module expansion board, 302-body module upper plate, 303-body module lower plate, 304-body module expansion support column; 101a-wheel leg first section steering gear seat, 101b-wheel leg first section steering gear, 101c-wheel leg first section steering disc, 101d-wheel leg first section connecting plate, 101e-wheel leg first section yaw bearing, 101f-wheel leg first section yaw shaft; 102a-first wheel leg steering gear side plate 102a, 102b-second wheel leg steering gear side plate, 102c-wheel leg driving steering gear support, 102d-wheel leg second section steering gear, 102e-wheel leg third section steering gear, 102f-wheel leg connecting rod bearing, 102g-first wheel leg synchronous wheel; 103a-wheel leg second section driven end upper connecting rod, 103b-wheel leg second section driving end lower connecting rod, 103c-wheel leg second section driving end upper connecting rod, 103d-wheel leg second section driven end lower connecting rod; 104a-wheel leg joint side plate, 104b-wheel leg connecting rod bearing, 104c-wheel leg joint lower shaft, 104d-second wheel leg synchronous wheel; 105a-wheel leg third section upper connecting rod, 105b-wheel leg third section lower connecting rod, 105c-wheel leg synchronous belt; 106a-wheel leg elastic belt, 106b-wheel leg motor, 106c-wheel shell, 106d-small bevel gear, 106e-large bevel gear, 106f-wheel shaft, 106g-wheel bearing, 106h-tire skin, 106i-wheel shell lower bearing, 106j-wheel foot lower hinge shaft, 106k-wheel shaft sleeve; 201a-common leg first section steering gear seat, 201b-common leg first section steering gear, 201c-common leg first section steering disc, 201d-common leg first section upper connecting plate, 201e-common leg first section yaw bearing, 201g-common leg first section lower connecting plate; 202a - Second section of ordinary leg, 202b - First ordinary leg servo side plate, 202c - Ordinary leg servo bracket, 202d - Second section of ordinary leg servo, 202e - Second section of ordinary leg bearing, 202f - Second ordinary leg servo side plate; 203a - Standard leg third section servo motor, 203b - Standard leg third section drive connecting plate, 203c - Standard leg third section, 203d - Foot pad, 203e - Standard leg third section bearing, 203f - Standard leg third section driven connecting plate. 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 embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Example

[0021] like Figure 1 As shown, this embodiment provides a low-energy six-legged wheeled robot based on elastic bands, including: wheeled leg module 1, ordinary leg module 2, and body module 3. The wheeled leg module 1 is installed at the four corners of the body module 3, and the ordinary leg module 2 is installed on both sides of the body module 3. The first section of the wheel-leg module is driven by a servo motor to yaw. The second and third sections are two unequal-length four-bar linkages connected in series, with two centrally arranged servos controlling two degrees of freedom. The wheel is installed at the end of the third section and is driven by a motor at the end through bevel gear reduction. This invention can solve many technical pain points such as high cost, high energy consumption, large rotational inertia, limited range, and poor terrain adaptability through precise design of the connection relationship of mechanical components and coordinated layout of modules. The structure is simple, reliable, and easy to implement, and is suitable for scenarios such as complex terrain crossing and wilderness rescue. The servo motor of the ordinary leg module is arranged at the joint position and has three degrees of freedom. An elastic band is installed through a specific winding method to reduce the burden on the servo motor. The body module consists of two plates to ensure structural strength and rigidity. An expansion plate is installed on the upper part to install the robot's main board, battery, and other expansion modules. The body module is assembled from conventional metal plates and metal tubes, providing an installation foundation and support carrier for each functional module. like Figure 2 As shown, the wheel-leg module 1 is used to realize lateral movement, leg extension and swing, and wheel-gait movement switching, including: wheel-leg module first section 101, wheel-leg drive module 102, wheel-leg module second section 103, wheel-leg joint connection module 104, wheel-leg module third section 105, and wheel drive module 106. like Figure 3As shown, the first section of the wheel leg module 101 comprises: a first section of the wheel leg rudder seat 101a, a first section of the wheel leg rudder 101b, a first section of the wheel leg rudder disc 101c, a first section of the wheel leg connecting plate 101d, a first section of the wheel leg yaw bearing 101e, and a first section of the wheel leg yaw shaft 101f. The first section of the wheel leg rudder 101b is fixedly installed on the first section of the wheel leg rudder seat 101a, the output shaft of the first section of the wheel leg rudder 101b is fixedly connected with the first section of the wheel leg rudder disc 101c, the first section of the wheel leg rudder disc 101c is fixedly connected with one end of the first section of the wheel leg connecting plate 101d, the other end of the first section of the wheel leg connecting plate 101d is fixedly connected with the wheel leg driving rudder support 102c, the first section of the wheel leg yaw bearing 101e is arranged at the bottom of the first section of the wheel leg rudder seat 101a, the first section of the wheel leg yaw shaft 101f passes through the inner ring of the first section of the wheel leg yaw bearing 101e, one end of the first section of the wheel leg yaw shaft 101f is connected with the first section of the wheel leg connecting plate, and the other end of the first section of the wheel leg connecting plate is fixedly connected with the wheel leg driving rudder support 102c. In this embodiment, when it is necessary to adjust the yaw angle of the wheel leg module 1, the first section of the wheel leg rudder 101b is started after receiving the control signal, the output shaft of the first section of the wheel leg rudder 101b drives the first section of the wheel leg rudder disc 101c to rotate, the first section of the wheel leg rudder disc 101c synchronously drives the first section of the wheel leg connecting plate 101d to swing, thereby pulling the wheel leg driving rudder support 102c to rotate around the first section of the wheel leg yaw shaft 101f, the first section of the wheel leg yaw bearing 101e reduces the friction during rotation, ensures the stability of the yaw movement, and finally realizes the adjustment of the yaw attitude of the whole wheel leg module 1. As shown in the figure, Figure 4 The wheel leg driving module 102 comprises: a first wheel leg rudder side plate 102a, a second wheel leg rudder side plate 102b, a wheel leg driving rudder support 102c, a second section of the wheel leg rudder 102d, a third section of the wheel leg rudder 102e, a wheel leg connecting rod bearing 102f, and a first wheel leg synchronous wheel 102g. As shown in the figure, Figure 5 The second section of the wheel leg module 103 comprises: a second section of the wheel leg module driven end upper connecting rod 103a, a second section of the wheel leg module driving end lower connecting rod 103b, a second section of the wheel leg module driving end upper connecting rod 103c, and a second section of the wheel leg module driven end lower connecting rod 103d. The wheel leg joint connecting module 104 comprises: a wheel leg joint side plate 104a, a wheel leg connecting rod bearing 104b, a wheel leg joint lower shaft 104c, and a second wheel leg synchronous wheel 104d. The third section of the wheel leg module 105 comprises: a third section of the wheel leg module upper connecting rod 105a, a third section of the wheel leg module lower connecting rod 105b, and a wheel leg synchronous belt 105c. The second-section servo motor 102d and the third-section servo motor 102e of the wheel leg are both fixed on the wheel leg drive servo motor bracket 102c. The first-section servo motor side plate 102a and the second-section servo motor side plate 102b are respectively fixed on both sides of the wheel leg drive servo motor bracket 102c. The output disk of the second-section servo motor 102d is fixed to one end of the upper connecting rod 103c of the second-section drive end of the wheel leg. One end of the upper connecting rod 103c of the second-section drive end of the wheel leg is hinged to the first-section servo motor side plate 102a through the wheel leg connecting rod bearing 102f. The other end of the upper connecting rod 103c of the second-section drive end of the wheel leg is hinged to the wheel leg joint side plate 104a through the wheel leg connecting rod bearing 104b. One end of the lower connecting rod 103b of the second-section drive end of the wheel leg is connected to the lower connecting rod 103b through the wheel leg connecting rod bearing 102f. The first wheel leg servo side plate 102a is hinged to the second wheel leg drive end lower connecting rod 103b, and the other end of the connecting rod is hinged to the wheel leg joint side plate 104a via the wheel leg connecting rod bearing 104b. One end of the upper connecting rod 103a on the driven end of the second section of the wheel leg is hinged to the second wheel leg servo side plate 102b via the wheel leg connecting rod bearing 102f, and the other end of the upper connecting rod 103a on the driven end of the second section of the wheel leg is hinged to the wheel leg joint side plate 104a via the wheel leg connecting rod bearing 104b. One end of the driven lower connecting rod 103d of the second section of the wheel leg is hinged to the second wheel leg servo side plate 102b through the wheel leg connecting rod bearing 102f, and the other end of the driven lower connecting rod 103d of the second section of the wheel leg is hinged to the wheel leg joint side plate 104a through the wheel leg connecting rod bearing 104b. like Figure 6 As shown, the output disc of the third section servo motor 102e of the wheel leg is connected to the first wheel leg synchronous pulley 102g, and the first wheel leg synchronous pulley 102g is connected to the second wheel leg synchronous pulley 104d through the wheel leg synchronous belt 105c. The lower axle 104c of the wheel leg joint is installed between the two wheel leg joint side plates. One end of the upper connecting rod 105a of the third section of the wheel leg on one side is movably connected to the wheel leg joint side plate 104a through the wheel leg connecting rod bearing 104b. One end of the upper connecting rod 105a of the third section of the wheel leg on the other side is movably connected to the wheel leg joint side plate 104a through the wheel leg connecting rod bearing 104b. One end of the lower connecting rod 105b of the third section of the wheel leg is connected to the second wheel leg synchronous wheel 104d. The other end of the upper connecting rod 105a of the third section of the wheel leg on both sides and the other end of the lower connecting rod 105b of the third section of the wheel leg are movably connected to the wheel drive module 106. One end of the wheel leg elastic band 106a is fixedly connected to the wheel leg drive servo bracket 102c and passes through the lower connecting rod 105b of the third section of the wheel leg. The other end of the wheel leg elastic band 106a is fixedly connected to the wheel drive module 106 to form a pre-tight connection. In this embodiment, when the leg stretching or swinging needs to be realized, the wheel leg second section steering engine 102d and the wheel leg third section steering engine 102e receive the cooperative control signal to start, the wheel leg second section steering engine 102d drives the wheel leg second section driving end upper connecting rod 103c to swing, the power is transmitted through the wheel leg connecting rod bearing 102f, the wheel leg joint side plate 104a is driven to rotate around the hinge point, and then the wheel leg second section driving end lower connecting rod 103b, the wheel leg second section driving end lower connecting rod 103b, the wheel leg second section driving end lower connecting rod 103d are synchronously moved, the stretching and swinging of the wheel leg second section are realized, at the same time, the wheel leg third section steering engine 102e drives the first wheel leg synchronous wheel 102g to rotate, the first wheel leg synchronous wheel 102g drives the second wheel leg synchronous wheel 104d to rotate through the wheel leg synchronous belt 105c, and then the wheel leg third section lower connecting rod 105b is driven to swing around the wheel leg joint lower shaft 104c, the wheel leg third section upper connecting rod 105a is synchronously linked with the wheel leg joint side plate 104a, the posture adjustment of the wheel leg third section is realized, the cooperative movement of the wheel leg second section and the third section finally completes the stretching and posture control of the whole leg, and in this process, the wheel leg elastic belt 106a is self-adaptively deformed with the movement of the leg connecting rod, the joint load is shared through the elastic potential energy, the consumption of the steering engine driving force is reduced, and the movement impact is buffered at the same time; As shown in Figure 7 The wheel driving module 106 includes a wheel leg elastic belt 106a, a wheel leg motor 106b, a wheel leg wheel shell 106c, a small bevel gear 106d, a large bevel gear 106e, a wheel shaft 106f, a wheel bearing 106g, a tire skin 106h, a wheel shell lower bearing 106i, a wheel foot lower hinge shaft 106j, and a wheel shaft sleeve 106k. The wheel leg motor 106b is arranged on the wheel leg wheel shell 106c, the output shaft of the wheel leg motor 106b is fixedly connected with the small bevel gear 106d, the wheel shaft 106f is fixed on the wheel leg wheel shell 106c, the large bevel gear 106e is movably connected with the wheel shaft 106f through the wheel bearing 106g and the wheel shaft sleeve 106k, the large bevel gear 106e and the small bevel gear 106d are meshed with each other, the tire skin 106h is fixedly connected with the large bevel gear 106e through a spline, and the wheel leg third section lower connecting rod 105b is movably connected with the wheel foot lower hinge shaft 106j. In this embodiment, first, the height of the wheel leg module 1 is adjusted through the leg stretching and swinging mechanism, so that the tire skin 106h is in contact with the ground and supports the machine body, the wheel leg motor 106b receives the control signal to start, the output shaft drives the small bevel gear 106d to rotate, the small bevel gear 106d drives the large bevel gear 106e to rotate around the wheel shaft 106f through meshing transmission, the large bevel gear 106e synchronously drives the tire skin 106h to rotate, the wheeled movement of the robot is realized, the wheel bearing 106g and the wheel shaft sleeve 106k reduce the friction in the transmission process, and the wheeled movement is stable and efficient.

[0022] AsFigure 8 、 Figure 9 The common leg module 2 is used to realize the yaw movement and the multi-degree-of-freedom swing support, as shown in the figure, and comprises a common leg first section module 201, a common leg second section module 202, a common leg third section module 203 and a common leg elastic belt. As shown in the figure, Figure 10 The common leg first section module 201 comprises a common leg first section steering engine seat 201a, a common leg first section steering engine 201b, a common leg first section steering disc 201c, a common leg first section upper connecting plate 201d, a common leg first section yaw bearing 201e and a common leg first section lower connecting plate 201g. The common leg first section steering engine 201b is arranged on the common leg first section steering engine seat 201a, the output shaft of the common leg first section steering engine 201b is fixedly connected with the common leg first section steering disc 201c, one end of the common leg first section upper connecting plate 201d is fixedly connected with the common leg first section steering disc 201c, the other end of the common leg first section upper connecting plate 201d is fixedly connected with the common leg steering engine support 202c, the common leg first section yaw bearing 201e is installed at the bottom of the common leg first section steering engine seat 201a, the common leg first section yaw shaft 201f passes through the inner ring of the common leg first section yaw bearing 201e, one end of the common leg first section yaw shaft 201f is connected with the common leg first section lower connecting plate 201g, and the other end of the common leg first section lower connecting plate 201g is fixedly connected with the common leg steering engine support 202c.

[0023] In this embodiment, when it is necessary to adjust the yaw angle of the common leg module 2, the common leg first section steering engine 201b is started by receiving a control signal, and the output shaft drives the common leg first section steering disc 201c to rotate; the common leg first section steering disc 201c pulls the common leg first section upper connecting plate 201d to swing, thereby driving the common leg steering engine support 202c to rotate around the common leg first section yaw shaft 201f, and the common leg first section yaw bearing 201e is used to reduce the rotating resistance and ensure the stability of the yaw movement, so as to realize the adjustment of the lateral posture of the common leg module 2.

[0024] As shown in the figure, Figure 11 The common leg second section module 202 comprises a common leg second section 202a, a first common leg steering engine side plate 202b, a common leg steering engine support 202c, a common leg second section steering engine 202d, a common leg second section bearing 202e and a second common leg steering engine side plate 202f. As shown in the figure, Figure 12 The common leg third section module 203 comprises a common leg third section steering engine 203a, a common leg third section driving connecting plate 203b, a common leg third section 203c, a foot pad 203d, a common leg third section bearing 203e and a common leg third section driven connecting plate 203f. The second section servo 202d of the ordinary leg is mounted on the ordinary leg servo bracket 202c. The first ordinary leg servo side plate 202b and the second ordinary leg servo side plate 202f are respectively fixed on both sides of the ordinary leg servo bracket 202c. The second section bearing 202e of the ordinary leg is mounted on the first ordinary leg servo side plate 202b and the second ordinary leg servo side plate 202f. The output disk of the second section servo 202d of the ordinary leg is connected to one end of the second section 202a of the ordinary leg. One end of the second section 202a of the ordinary leg is connected to the inner ring of the second section bearing 202e of the ordinary leg. The third section servo 203a of the ordinary leg is mounted on the second section of the ordinary leg. At the other end of section 202a, the output disk of the third section servo 203a of the ordinary leg is connected to one end of the drive connecting piece 203b of the third section of the ordinary leg. One end of the driven connecting piece 203f of the third section of the ordinary leg is movably connected to the other end of the second section 202a of the ordinary leg through the bearing 203e of the third section of the ordinary leg. The other ends of the drive connecting piece 203b and the driven connecting piece 203f of the third section of the ordinary leg are connected to one end of the third section 203c of the ordinary leg. The other end of the third section 203c of the ordinary leg is connected to the foot pad 203d. The foot pad 203d is fixed to the end of the third section 203c of the ordinary leg by adhesive. The two ends of the elastic band of the ordinary leg are respectively fixed to the servo bracket 202c and the third section 203c of the ordinary leg to form a pre-tight connection.

[0025] In this embodiment, when the swing support of the ordinary leg module 2 needs to be realized, the second section servo motor 202d and the third section servo motor 203a of the ordinary leg receive a coordinated control signal and start; the second section servo motor 202d drives the second section 202a of the ordinary leg to rotate around the bearing 202e of the second section of the ordinary leg, realizing the up and down swing of the leg; the third section servo motor 203a drives the third section drive connecting piece 203b of the ordinary leg to swing, thereby pulling the third section 203c of the ordinary leg to rotate around the bearing 203e of the third section of the ordinary leg, realizing the fine adjustment of the posture of the end of the leg; the foot pad 203d increases the friction with the ground and improves the support stability; the elastic band of the ordinary leg deforms with the swing of the leg, sharing the joint load, reducing the consumption of servo motor driving force, and improving the smoothness of the swing process.

[0026] like Figure 13 As shown, body module 3 includes: body module expansion plate 301, body module upper plate 302, body module lower plate 303, and body module expansion support column 304; The body module 3 is mainly composed of a body module upper plate 302 and a body module lower plate 303, and the two are fixedly connected to form a stable frame, the wheel-leg module 1 is fixedly connected with the body module upper plate 302 and the body module lower plate 303 through a wheel-leg first section rudder engine seat 101a, the ordinary leg module 2 is fixedly connected with the body module upper plate 302 and the body module lower plate 303 through an ordinary leg first section rudder engine seat 201a, one end of a body module expansion support column 304 is fixedly connected with the body module upper plate 302, and the other end is fixedly connected with a body module expansion plate 301, and the body module expansion plate is arranged above the body module upper plate 302; In the embodiment, the body module 3 is a rigid bearing structure without active driving components, and provides an installation reference and a support carrier for the wheel-leg module 1 and the ordinary leg module 2 through a stable frame structure, the body module expansion plate 301 is used for installing a robot mainboard, a battery and other expansion modules, control signals output by the mainboard are transmitted to rudders and motors of each module through a line, and the collaborative operation of the whole robot is realized; through reasonable distribution of installation positions of each module on the body module 3, the overall gravity center of the robot is reduced, and the stability in the movement process is improved.

[0027] In the embodiment, the ordinary legs are retracted upward and away from the ground when on the flat ground, and the four wheel-legs are all in contact with the ground, the motor drives the bevel gear to drive the tire to rotate, energy can be saved and the marching mode efficiency of the six-legged robot is improved, when the road condition is relatively complex, the six-legged robot adopts a marching mode in a triangular form, and three legs-ground are alternately marched.

[0028] The application realizes low-cost high-precision transmission through driving integration and linkage transmission cooperation, reduces energy consumption through dynamic-assistance cooperation of elastic assistance and driving and transmission, improves movement efficiency and terrain adaptability through cooperation of each module, reduces driving load through cooperation of the assistance effect of the elastic belt and the wheel-leg compound movement mode, reduces power consumption, and improves the endurance capacity; the decentralized support layout cooperates with the low gravity center body structure, combines with the leg multi-degree-of-freedom adjustment, expands the support base, reduces the gravity center height, and enhances the complex terrain passability.

[0029] The above embodiment is a preferred embodiment of the application, but the embodiment of the application is not limited by the above embodiment, and any change, modification, replacement, combination and simplification made without departing from the spirit and principle of the application should be equivalent replacement, and all should be included in the protection scope of the application.

Claims

1. A low-power elastic-band-based hexapod wheel-legged robot, characterized in that, include: Wheeled leg module, regular leg module, and body module; The wheel-leg modules are located at the corners of the body module, while the regular leg modules are located on both sides of the body module. The wheel-leg module includes a first wheel-leg module section, a wheel-leg drive module, a second wheel-leg module section, a wheel-leg joint connection module, a third wheel-leg module section, and a wheel drive module; The first section of the wheel-leg module is movably connected to the second section of the wheel-leg module, the second section of the wheel-leg module is movably connected to the third section of the wheel-leg module through the wheel-leg joint connection module, and the third section of the wheel-leg module is movably connected to the wheel drive module; The standard leg module includes a first standard leg module, a second standard leg module, a third standard leg module, and a foot pad; The first section module of the ordinary leg is movably connected to the second section module of the ordinary leg, the second section module of the ordinary leg is movably connected to the third section module of the ordinary leg, and the third section module of the ordinary leg is connected to the foot pad. Both the wheel leg module and the ordinary leg module are equipped with elastic belts. One end of the wheel leg elastic belt is connected to the second section of the wheel leg module, and the other end of the wheel leg elastic belt is connected to the wheel drive module through the third section of the wheel leg module. One end of the ordinary leg elastic belt is connected to the first section of the ordinary leg module, and the other end of the ordinary leg elastic belt is connected to the third section of the ordinary leg module.

2. The elastic-band-based low-power hexapod wheeled-legged robot according to claim 1, characterized in that, The first section of the wheel-leg module includes a first section servo motor, a first section servo disc, and a first section connecting piece. The wheel-leg drive module includes a first wheel-leg servo side plate, a wheel-leg drive servo bracket, a second wheel-leg servo section, a third wheel-leg servo section, and a first wheel-leg synchronous wheel; The second section of the wheel leg module includes a driving end connecting rod of the second section of the wheel leg and a driven end connecting rod of the second section of the wheel leg; The wheel-leg joint connection module includes a wheel-leg joint side plate and a second wheel-leg synchronous wheel; The third section of the wheel-leg module includes a third section connecting rod for the wheel-leg and a wheel-leg timing belt; The output shaft of the first section of the wheel leg servo motor is connected to the first section of the wheel leg servo disk, and the first section of the wheel leg servo disk is connected to the wheel leg drive servo motor bracket through the first section of the wheel leg connecting piece; The second and third servo motors of the wheel leg are mounted on the wheel leg drive servo motor bracket. The output disc of the second servo motor of the wheel leg is connected to one end of the drive end connecting rod of the second servo motor of the wheel leg. One end of the drive end connecting rod of the second servo motor of the wheel leg is hinged to the side plate of the first wheel leg servo motor. The other end of the drive end connecting rod of the second servo motor of the wheel leg is hinged to the side plate of the wheel leg joint. One end of the driven end connecting rod of the second servo motor of the wheel leg is connected to the side plate of the first wheel leg servo motor. The other end of the driven end connecting rod of the second servo motor of the wheel leg is hinged to the side plate of the wheel leg joint. The output disc of the third section of the wheel leg servo is connected to the first wheel leg synchronous pulley. The first wheel leg synchronous pulley drives the second wheel leg synchronous pulley through the wheel leg synchronous belt. The second wheel leg synchronous pulley is connected to one end of the third section of the wheel leg connecting rod. One end of the third section of the wheel leg connecting rod is movably connected to the wheel leg joint side plate. The other end of the third section of the wheel leg connecting rod is connected to the wheel drive module.

3. The elastic-band-based low-power hexapod wheeled-legged robot according to claim 2, characterized in that, The wheel leg module also includes a first-section servo mount for the wheel leg, a first-section yaw bearing for the wheel leg, and a first-section yaw shaft for the wheel leg. The first section of the wheel leg has a yaw bearing located at the bottom of the first section of the wheel leg servo mount. The first section of the wheel leg has a yaw shaft that passes through the inner ring of the first section of the wheel leg yaw bearing. The first section of the wheel leg has a yaw shaft that is connected to the wheel leg drive servo bracket through the first section of the wheel leg connecting piece.

4. The elastic-band-based low-power consumption hexapod wheeled-legged robot according to claim 2, characterized in that, The wheel leg second section driving end connecting rod comprises a wheel leg second section driving end upper connecting rod and a wheel leg second section driving end lower connecting rod; The wheel leg second section driven end connecting rod comprises a wheel leg second section driven end upper connecting rod and a wheel leg second section driven end lower connecting rod; The output disc of the wheel leg second section steering engine is fixed to one end of the wheel leg second section driving end upper connecting rod, one end of the wheel leg second section driving end upper connecting rod is hinged to the first wheel leg steering engine side plate through a wheel leg connecting rod bearing, the other end of the wheel leg second section driving end upper connecting rod is hinged to the wheel leg joint side plate through a wheel leg connecting rod bearing, one end of the wheel leg second section driving end lower connecting rod is hinged to the first wheel leg steering engine side plate through a wheel leg connecting rod bearing, the other end of the wheel leg second section driving end lower connecting rod is hinged to the wheel leg joint side plate through a wheel leg connecting rod bearing, One end of the wheel leg second section driven end upper connecting rod is hinged to the second wheel leg steering engine side plate through a wheel leg connecting rod bearing, the other end of the wheel leg second section driven end upper connecting rod is hinged to the wheel leg joint side plate through a wheel leg connecting rod bearing; One end of the wheel leg second section driven end lower connecting rod is hinged to the second wheel leg steering engine side plate through a wheel leg connecting rod bearing, the other end of the wheel leg second section driven end lower connecting rod is hinged to the wheel leg joint side plate through a wheel leg connecting rod bearing.

5. The elastic-band-based low-power consumption hexapod wheeled-legged robot according to claim 2, characterized in that, One end of the wheel leg elastic belt is fixedly connected to the wheel leg driving steering engine support, passes through the wheel leg third section lower connecting rod, and the other end is fixedly connected to the wheel driving module to form a pre-tightening connection.

6. The elastic-band-based low-power hexapod wheeled-legged robot according to claim 1, wherein, The wheel driving module comprises a wheel leg motor, a wheel leg wheel shell, a small bevel gear, a large bevel gear, a wheel shaft, a wheel bearing, a tire skin, a wheel shell lower bearing, and a wheel shaft sleeve; The wheel leg motor is arranged on the wheel leg wheel shell, the output shaft of the wheel leg motor is fixedly connected to the small bevel gear, the small bevel gear and the large bevel gear are in meshing connection, the large bevel gear is movably connected to the wheel shaft through the wheel bearing and the wheel shaft sleeve, and the large bevel gear is in matching connection with the tire skin.

7. The elastic-band-based low-power hexapod wheeled-legged robot according to claim 1, wherein, The ordinary leg first section module comprises an ordinary leg first section steering engine, an ordinary leg first section steering disc, and an ordinary leg first section connecting piece. The ordinary leg second section module comprises an ordinary leg second section, an ordinary leg steering engine support, and an ordinary leg second section steering engine plate. The ordinary leg third section module comprises an ordinary leg third section steering engine, an ordinary leg third section connecting piece, and an ordinary leg third section. The output shaft of the ordinary leg first section steering engine is connected to the ordinary leg first section steering disc, and the ordinary leg first section steering disc is connected to the ordinary leg steering engine support through the ordinary leg first section connecting piece. The ordinary leg second section steering engine is arranged on the ordinary leg steering engine support, the output disc of the ordinary leg second section steering engine is connected to one end of the ordinary leg second section, the ordinary leg third section steering engine is arranged at the other end of the ordinary leg second section, the output disc of the ordinary leg third section steering engine is connected to one end of the ordinary leg third section through the ordinary leg third section connecting piece, and the other end of the ordinary leg third section is connected to the foot pad.

8. The elastic-band-based low-power hexapod wheeled-legged robot according to claim 7, characterized in that, The ordinary leg first section module further comprises an ordinary leg first section steering engine seat and an ordinary leg first section yaw bearing, and the ordinary leg first section connecting piece comprises an ordinary leg first section upper connecting piece and an ordinary leg first section lower connecting piece. The common leg first section rudder engine is arranged on the common leg first section rudder engine seat, one end of the common leg first section upper connecting piece is connected with the common leg first section rudder disc, the other end of the common leg first section upper connecting piece is connected with the common leg rudder engine support, the common leg first section yaw bearing is arranged on the bottom of the common leg first section rudder engine seat, the common leg first section yaw shaft passes through the inner ring of the common leg first section yaw bearing, and the common leg first section yaw shaft is connected with the common leg rudder engine support through the common leg first section lower connecting piece.

9. The elastic-band-based low-power hexapod wheeled-legged robot according to claim 7, wherein, The common leg third section connecting piece comprises a common leg third section driving connecting piece and a common leg third section driven connecting piece; The output disc of the common leg third section rudder engine is connected with one end of the common leg third section driving connecting piece, one end of the common leg third section driven connecting piece is movably connected with the other end of the common leg second section through the common leg third section bearing, and the other end of the common leg third section driving connecting piece and the other end of the common leg third section driven connecting piece are connected with one end of the common leg third section.

10. The elastic-band-based low-power hexapod wheeled-legged robot according to claim 1, wherein, The body module comprises a body module expansion plate, a body module upper plate and a body module lower plate; The wheel leg module is connected with the body module upper plate and the body module lower plate respectively. The common leg module is connected with the body module upper plate and the body module lower plate respectively. The body module expansion plate is arranged above the body module upper plate.

Images