Wheel-foot robot with balancing device

Abstract

The invention relates to the field of wheel-foot robots, and discloses a wheel-foot robot with a balancing device, the wheel-foot robot comprises a robot body, a balancing assembly is arranged on the right side of the robot body, adjusting rods are rotatably mounted at the four corners of the robot body, and adjusting bins are mounted on the sides, away from each other, of the lower ends of the four adjusting rods; supporting rods are mounted at the lower ends of the four adjusting bins, movable rods are inserted into the lower ends of the supporting rods, and mounting frames are mounted at the lower ends of the four movable rods. A second bevel gear set is arranged, adjusting motors at different positions can be turned on according to needs, the second bevel gear set is driven to rotate, then the second bevel gear set drives a connecting rod to rotate in a mounting frame, and therefore the angle of a moving wheel is adjusted; and the robot body can conveniently and automatically adjust the posture according to the ground gradient or obstacles, so that the robot can stably run on complex terrains such as rugged, slopes or steps.

Description

Technical Field

[0001] This invention relates to the field of wheeled robot technology, specifically a wheeled robot containing a balancing device. Background Technology

[0002] A robot is a robotic system that typically consists of two wheels or wheel-leg assemblies. This design allows the robot to move on a horizontal surface and to steer and rotate by controlling the different wheel speeds. Two-wheeled robots often use differential drive systems, enabling various movements such as forward, backward, and turning by independently controlling the speed of each wheel. Furthermore, two-wheeled robots can also achieve rotational movement by controlling the speed difference between their wheels, making them highly flexible and suitable for confined spaces and complex environments.

[0003] However, in the existing technology, the limb length of wheeled robots is difficult to adjust flexibly according to the terrain. Although some robots have a certain ability to adjust the joint angle, when facing steps, potholes or complex obstacles, it still affects their climbing ability and overall terrain adaptability. Moreover, the limited limb structure may also cause the robot to be unstable during movement, increasing the risk of tipping over and limiting its continuous movement ability in changing environments. This reduces the actual application efficiency and reliability of robots in rescue, inspection, field operations and other tasks. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a wheeled robot with a balancing device, which solves the problem that in existing technologies, the limb length of wheeled robots is difficult to adjust flexibly according to the terrain. Although some robots have a certain ability to adjust joint angles, their climbing ability and overall terrain adaptability are still affected when facing steps, uneven ground or complex obstacles.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a wheeled robot with a balancing device, comprising a robot body, a balancing component on the right side of the robot body, adjustable rods rotatably mounted at the four corners of the robot body, adjustable chambers mounted on the opposite sides of the lower ends of the four adjustable rods, support rods mounted on the lower ends of the four adjustable chambers, and movable rods inserted into the lower ends of the support rods, mounting frames mounted on the lower ends of the four movable rods, and movable wheels mounted on the adjacent sides of the four mounting frames, two sets of mounting rods on the lower surface of the robot body, mounting plates mounted on the lower ends of the two sets of mounting rods, two sets of limiting rods inside the mounting plates, two sets of movable plates sleeved on the outer sides of the two sets of limiting rods, and a damping rod between the two sets of movable plates, four sets of rocking rods connected to the lower ends of the two sets of movable plates, and buffer pads connected to the lower ends of the four sets of rocking rods.

[0006] Preferably, a solar panel is provided on the right side of the upper surface of the robot body.

[0007] Preferably, a rotating rod is installed at the upper end of the four sets of adjusting rods and at the middle position inside the adjusting chamber, and a rotating gear is sleeved on the outside of each rotating rod. Electric telescopic rods are provided at the four corners of the robot body and on the side away from the lower end of the four sets of adjusting rods, and adjusting gears are provided for the movement of multiple sets of electric telescopic rods away from each other.

[0008] Preferably, the upper inner end of the four sets of adjusting rods and the front side of the inner side of the adjusting chamber are provided with tooth grooves that match the adjusting gears.

[0009] Preferably, each of the four sets of adjusting rods has a rotating motor installed at its lower end, and the four rotating motors are respectively connected to the ends of the electric telescopic rods located close to each other at the lower ends of the four sets of adjusting rods.

[0010] Preferably, the upper ends of the four sets of movable rods are all fitted with path rods through a threaded structure, and the upper ends of the four sets of path rods are all connected to the drive motor through a first bevel gear set. The four sets of first bevel gear sets are all composed of two sets of bevel gears, and the two sets of bevel gears mesh at right angles. The two sets of bevel gears are respectively connected to the path rod and the drive motor.

[0011] Preferably, an adjusting motor is installed on the upper side inside the mounting frame, and a second bevel gear set is connected to the lower end of the adjusting motor. Four sets of second bevel gear sets are connected to connecting rods, and a rotating rod is rotatably installed inside the four sets of connecting rods. The two ends of the rotating rod are respectively connected to a moving wheel and a rotating motor.

[0012] Preferably, each of the four sets of the second bevel gears consists of two sets of bevel gears, and the two sets of bevel gears mesh at right angles, and the two sets of bevel gears are respectively connected to the connecting rod and the adjusting motor.

[0013] Preferably, both sets of limiting rods are fitted with return springs on their outer sides, and the two ends of the two sets of return springs are respectively connected to the two sets of moving plates, and the two ends of the four sets of shaking rods are respectively hinged to the two sets of moving plates and the buffer pad.

[0014] Preferably, the lower surface of the mounting plate is provided with two sets of support grooves, and the lower end of each set of support grooves is movably inserted with a movable block, and the lower end of each set of movable blocks is connected to the upper surface of each set of buffer pads. Each set of support grooves is provided with a support spring.

[0015] Working principle: Four sets of rotary motors can be turned on as needed, which can drive the rotating rod to rotate inside the connecting rod, thereby driving the moving wheels to rotate. Different moving effects can be achieved through the four sets of moving wheels. When encountering uneven terrain or steps, the robot body and four sets of rotating motors can drive multiple sets of electric telescopic rods to rotate as needed. When the electric telescopic rods rotate, they can drive the adjusting gears to rotate. When the adjusting gears rotate, the electric telescopic rods can drive the adjusting gears to move to the appropriate position, matching the rotating gears or tooth grooves respectively. This ensures that when the adjusting gears rotate, they can cooperate with the rotating gears and tooth grooves according to the adjustment of the electric telescopic rods, adjusting the angle of the adjusting rods clockwise and counterclockwise. As needed, four sets of drive motors are turned on to drive the first bevel gear set to rotate. Then, the first bevel gear set can drive the four sets of path rods to rotate inside the support rod. When the four sets of path rods rotate, the position of the movable rod can be adjusted according to the thread structure on the outside of the path rod and the cooperation of the movable rod, so as to facilitate the adjustment of the distance between the robot body and the moving wheel during use. Turning on the adjustment motor drives the second bevel gear set to rotate, which in turn drives the four connecting rods to rotate, facilitating the adjustment of the angle of the moving wheels. The adjustable angle of the moving wheels allows the robot to automatically adjust its posture according to the ground slope or obstacles.

[0016] This invention provides a wheeled robot with a balancing device. It has the following advantages: 1. This invention, through the cooperation of the set path rod, the first bevel gear set and the drive motor, can turn on the drive motor as needed, drive the first bevel gear set connected to it to rotate, and then drive the path rod to rotate, thereby driving the movable rod connected to the lower end to move within the support rod, which facilitates adaptation to different terrains. This allows the robot to maintain a suitable support height and gait when climbing steps, crossing ditches or dealing with uneven ground, significantly improving terrain adaptability.

[0017] 2. This invention, by incorporating an electric telescopic rod, allows for the operation of four sets of rotating motors or multiple sets of electric telescopic rods driven by the robot body as needed. When adjustments to the angle of the adjusting rod or support rod are required, the electric telescopic rod can drive the adjusting gear to move, thereby enabling the adjusting gear to engage with the rotating gear or tooth groove as needed. This allows for clockwise and counterclockwise adjustments to the adjusting rod and support rod, ensuring that the motors or rotating motors within the robot body only need to rotate in one direction to guarantee precise adjustment.

[0018] 3. By incorporating a second bevel gear set, the present invention allows for the activation of adjustment motors at different positions as needed, thereby driving the second bevel gear set to rotate. The second bevel gear set then drives the connecting rod to rotate within the mounting frame, thus adjusting the angle of the moving wheels. This enables the robot body to automatically adjust its posture according to the ground slope or obstacles, thereby maintaining stable movement on complex terrains such as uneven surfaces, slopes, or steps. Attached Figure Description

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a partial structural diagram of the mounting plate of the present invention; Figure 3 This is a partial structural diagram of the moving wheel of the present invention; Figure 4 This is a cross-sectional schematic diagram of the internal structure of the adjusting rod of the present invention; Figure 5 This is a cross-sectional view of the internal structure of the support rod of the present invention; Figure 6 This is a cross-sectional view of the internal structure of the mounting frame of the present invention; Figure 7 This is a cross-sectional view of the internal structure of the mounting plate of the present invention.

[0020] The components include: 1. Robot body; 2. Balancing assembly; 3. Solar panel; 4. Adjusting rod; 5. Adjusting chamber; 6. Support rod; 7. Movable rod; 8. Mounting frame; 9. Moving wheel; 10. Rotating rod; 11. Rotating gear; 12. Electric telescopic rod; 13. Adjusting gear; 14. Gear groove; 15. Rotating motor; 16. Path rod; 17. First bevel gear set; 18. Drive motor; 19. Adjusting motor; 20. Second bevel gear set; 21. Connecting rod; 22. Rotating rod; 23. Rotating motor; 24. Mounting rod; 25. Mounting plate; 26. Limiting rod; 27. Moving plate; 28. Damping rod; 29. ​​Shaking rod; 30. Return spring; 31. Buffer pad; 32. Support groove; 33. Movable block; 34. Support spring. Detailed Implementation

[0021] The technical solution of the present invention will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] Please see the appendix Figure 1 -Appendix Figure 7This invention provides a wheeled robot with a balancing device, comprising a robot body 1, a balancing component 2 on the right side of the robot body 1, adjustment rods 4 rotatably mounted at the four corners of the robot body 1, adjustment chambers 5 mounted on the lower ends of the four adjustment rods 4 on opposite sides, support rods 6 mounted on the lower ends of the four adjustment chambers 5, and movable rods 7 inserted into the lower ends of the support rods 6, mounting frames 8 mounted on the lower ends of the four movable rods 7, and movable wheels 9 mounted on the adjacent sides of the four mounting frames 8, two sets of mounting rods 24 on the lower surface of the robot body 1, mounting plates 25 mounted on the lower ends of the two sets of mounting rods 24, two sets of limiting rods 26 inside the mounting plates 25, two sets of movable plates 27 sleeved on the outer sides of the two sets of limiting rods 26, and damping rods 28 installed between the two sets of movable plates 27, four sets of swaying rods 29 connected to the lower ends of the two sets of movable plates 27, and buffer pads 31 connected to the lower ends of the four sets of swaying rods 29, and a solar panel 3 on the right side of the upper surface of the robot body 1.

[0023] Specifically, the balancing component 2 ensures that the robot body 1 remains balanced during operation, effectively reducing the possibility of collisions. When working outdoors, the solar panel 3 continuously charges the battery during movement or standby, effectively extending the working time of the robot body 1. When the robot body 1 moves via the wheels 9, the angle of the adjusting rod 4 or the adjusting compartment 5 can be adjusted, and the position of the movable rod 7 at the lower end of the support rod 6 can be adjusted as needed. This allows the robot body 1 to easily adapt to different terrains and climb stairs. The buffer pad 31 and damping rod 28 effectively protect the robot body 1 from damage caused by collisions.

[0024] Please see the appendix Figure 1 - Appendix Figure 4 Rotating rods 10 are installed at the upper end of the four sets of adjusting rods 4 and at the middle position inside the adjusting chamber 5. Rotating gears 11 are sleeved on the outer side of each rotating rod 10. Electric telescopic rods 12 are installed at the four corners of the robot body 1 and on the side away from the lower end of the four sets of adjusting rods 4. Adjusting gears 13 are installed for the movement of multiple sets of electric telescopic rods 12 away from each other. Gear grooves 14 matching the adjusting gears 13 are opened at the upper end of the four sets of adjusting rods 4 and the front side inside the adjusting chamber 5. Rotating motors 15 are installed at the lower end of the four sets of adjusting rods 4. The four sets of rotating motors 15 are respectively connected to the end of the electric telescopic rods 12 located close to each other at the lower end of the four sets of adjusting rods 4.

[0025] Specifically, the robot body 1 and four sets of rotating motors 15 can drive multiple sets of electric telescopic rods 12 to rotate as needed. When the electric telescopic rods 12 rotate, they can drive the adjusting gears 13 to rotate. When the adjusting gears 13 rotate, the electric telescopic rods 12 can drive the adjusting gears 13 to move to a suitable position, matching the rotating gears 11 or the toothed grooves 14 respectively. This ensures that when the adjusting gears 13 rotate, they can cooperate with the rotating gears 11 and the toothed grooves 14 respectively according to the adjustment of the electric telescopic rods 12, adjusting the angle of the adjusting rod 4 clockwise and counterclockwise. This ensures that the robot body 1 and the rotating motors 15 only need to rotate in one direction to adjust the rotation angle of the adjusting rod 4.

[0026] Please see the appendix Figure 1 - Appendix Figure 5 Each of the four sets of movable rods 7 has a path rod 16 inserted into its upper end via a threaded structure, and the upper ends of each of the four sets of path rods 16 are connected to the drive motor 18 via a first bevel gear set 17. Each of the four sets of first bevel gear sets 17 consists of two sets of bevel gears, and the two sets of bevel gears mesh at right angles. The two sets of bevel gears are respectively connected to the path rod 16 and the drive motor 18.

[0027] Specifically, as needed, four sets of drive motors 18 are turned on to drive the first bevel gear set 17 to rotate. Then, the first bevel gear set 17 can drive the four sets of path rods 16 to rotate within the support rod 6. When the four sets of path rods 16 rotate, the position of the movable rod 7 can be adjusted according to the thread structure on the outside of the path rod 16 and the cooperation with the movable rod 7. This makes it convenient to adjust the distance between the robot body 1 and the moving wheel 9 during use, so as to adapt to different terrains.

[0028] Please see the appendix Figure 1 - Appendix Figure 6 An adjusting motor 19 is installed on the upper side inside the mounting frame 8, and the lower end of the adjusting motor 19 is connected to a second bevel gear set 20. The four sets of second bevel gear sets 20 are connected to connecting rods 21. Rotating rods 22 are rotatably installed inside the four sets of connecting rods 21, and the two ends of the rotating rods 22 are respectively connected to moving wheels 9 and rotating motors 23. Each of the four sets of second bevel gear sets 20 consists of two sets of bevel gears, and the two sets of bevel gears mesh at right angles. The two sets of bevel gears are respectively connected to connecting rods 21 and adjusting motors 19.

[0029] Specifically, as needed, four sets of rotary motors 23 can be turned on to drive the rotating rods 22 to rotate within the connecting rods 21, thereby driving the moving wheels 9 to rotate. The four sets of moving wheels 9 can achieve different movement effects. By turning on the adjusting motor 19, the second bevel gear set 20 can be driven to rotate, and then the second bevel gear set 20 drives the four sets of connecting rods 21 to rotate, which facilitates the adjustment of the angle of the moving wheels 9. The adjustable angle of the moving wheels 9 allows the robot body 1 to automatically adjust its posture according to the ground slope or obstacles, thereby maintaining stable movement on complex terrains such as uneven surfaces, slopes, or steps. In addition, the robot body 1 can actively distribute support force, optimize the center of gravity position, and effectively prevent tipping or overturning in conjunction with the balancing device.

[0030] Please see the appendix Figure 1 - Appendix Figure 7 Two sets of limit rods 26 are fitted with return springs 30 on their outer sides, and the two sets of return springs 30 are respectively connected to two sets of moving plates 27 at both ends. The two sets of rocking rods 29 are respectively hinged to the two sets of moving plates 27 and the buffer pads 31. The lower surface of the mounting plate 25 is provided with two sets of support grooves 32, and the lower end of each set of support grooves 32 is movably inserted with a movable block 33. The lower end of each set of movable blocks 33 is connected to the upper surface of each set of buffer pads 31. The two sets of support grooves 32 are each provided with a support spring 34.

[0031] Specifically, when the robot body 1 experiences a collision, it will first impact the lower buffer pad 31. The buffer pad 31 will then transfer the impact force to the four hinged rocking rods 29 and the two movable blocks 33. When the rocking rods 29 are subjected to the force of the buffer pad 31, they will cause the two connecting plates to move closer together. Damping will then buffer the impact. Additionally, the reset springs 30 on the outer sides of the two limit rods 26 will generate a certain force, pushing the two connecting plates to quickly reset, thus improving the damping effect. When the movable blocks 33 are subjected to the force of the buffer pad 31, they will move within the support groove 32. The support springs 34 will then support the movable blocks 33, further improving the damping effect and ensuring the buffering effect on the robot body 1.

[0032] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A wheeled robot with a balancing device, comprising a robot body (1), characterized in that, The robot body (1) is provided with a balancing component (2) on the right side. Adjusting rods (4) are rotatably installed at the four corners of the robot body (1). Adjusting chambers (5) are installed on the sides of the four sets of adjusting rods (4) that are far apart. Support rods (6) are installed at the lower ends of the four sets of adjusting chambers (5). Movable rods (7) are inserted into the lower ends of the support rods (6). Mounting frames (8) are installed at the lower ends of the four sets of movable rods (7). Moving wheels (9) are installed on the sides of the four sets of mounting frames (8) that are close to each other. The robot body (1) has two sets of mounting rods (24) on its lower surface, and mounting plates (25) are installed at the lower ends of the two sets of mounting rods (24). The mounting plates (25) have two sets of limiting rods (26) inside, and two sets of moving plates (27) are sleeved on the outside of the two sets of limiting rods (26). A damping rod (28) is installed between the two sets of moving plates (27). The lower ends of the two sets of moving plates (27) are connected to four sets of shaking rods (29), and the lower ends of the four sets of shaking rods (29) are connected to a buffer pad (31).

2. A wheeled robot with a balancing device according to claim 1, characterized in that, A solar panel (3) is provided on the right side of the upper surface of the robot body (1).

3. A wheeled robot with a balancing device according to claim 1, characterized in that, Rotating rods (10) are installed at the upper inside of the four sets of adjusting rods (4) and at the middle inside of the adjusting chamber (5). Rotating gears (11) are sleeved on the outside of the rotating rods (10). Electric telescopic rods (12) are provided at the four corners of the robot body (1) and on the side away from the lower end of the four sets of adjusting rods (4). Adjusting gears (13) are provided for the movement of multiple sets of electric telescopic rods (12) away from each other.

4. A wheeled robot with a balancing device according to claim 3, characterized in that, The upper part of the inner side of the four sets of adjusting rods (4) and the front side of the inner side of the adjusting chamber (5) are all provided with tooth grooves (14) that match the adjusting gear (13).

5. A wheeled robot with a balancing device according to claim 3, characterized in that, The lower end of each of the four sets of adjusting rods (4) is equipped with a rotating motor (15), and the four sets of rotating motors (15) are respectively connected to the end of the electric telescopic rod (12) set at the lower end of the four sets of adjusting rods (4) that are close to each other.

6. A wheeled robot with a balancing device according to claim 1, characterized in that, The upper ends of the four sets of movable rods (7) are all threaded with path rods (16), and the upper ends of the four sets of path rods (16) are all connected to the drive motor (18) through the first bevel gear set (17). The four sets of first bevel gear sets (17) are all composed of two sets of bevel gears, and the two sets of bevel gears mesh at right angles. The two sets of bevel gears are respectively connected to the path rod (16) and the drive motor (18).

7. A wheeled robot with a balancing device according to claim 1, characterized in that, An adjustment motor (19) is installed on the upper side inside the mounting frame (8), and the lower end of the adjustment motor (19) is connected to a second bevel gear set (20). The four sets of second bevel gear sets (20) are connected to connecting rods (21). Rotating rods (22) are rotatably installed inside the four sets of connecting rods (21), and the two ends of the rotating rods (22) are respectively connected to a moving wheel (9) and a rotating motor (23).

8. A wheeled robot with a balancing device according to claim 7, characterized in that, Each of the four sets of the second bevel gear sets (20) consists of two sets of bevel gears, and the two sets of bevel gears mesh at right angles. The two sets of bevel gears are respectively connected to the connecting rod (21) and the adjusting motor (19).

9. A wheeled robot with a balancing device according to claim 1, characterized in that, Both sets of limiting rods (26) are fitted with return springs (30) on their outer sides, and the two sets of return springs (30) are respectively connected to two sets of moving plates (27) at both ends. The two sets of rocking rods (29) are respectively hinged to the two sets of moving plates (27) and the buffer pads (31).

10. A wheeled robot with a balancing device according to claim 1, characterized in that, The mounting plate (25) has two sets of support grooves (32) on its lower surface, and each set of support grooves (32) has a movable block (33) inserted into its lower end. The lower ends of the two sets of movable blocks (33) are connected to the upper surface of the two sets of buffer pads (31). Each set of support grooves (32) has a support spring (34) inside.

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