Sliding and climbing composite robot

Abstract

The invention discloses a sliding and climbing composite robot. The sliding and climbing composite robot comprises a middle rack. The first driving assembly is mounted in the middle rack; the left shoulder rack assembly is connected with the first driving assembly; the right shoulder rack assembly is connected with the first driving assembly; the left side sliding and climbing leg and foot assembly is connected with the left shoulder rack assembly; the right side sliding and climbing leg and foot assembly is connected with the right shoulder rack assembly; the tail foot mechanism is arranged at one end of the middle rack, the tail foot mechanism comprises a stick pointing end, and the stick pointing end can be close to or away from the middle rack. According to the sliding and climbing composite robot, the climbing mode is combined and designed on the basis of the sliding mode, the environment adaptability of the robot is improved, double-plate skiing can be simulated with a small degree of freedom, and sliding and turning are achieved through mass center movement; plough type braking is achieved through simulation of the middle braking mechanism, and the movement stability of the robot is improved.

Description

Technical Field

[0001] This application relates to the field of robotics technology, and in particular to a sliding and climbing composite robot. Background Technology

[0002] For a long time, human activities in icy and snowy environments have been limited due to factors such as terrain and climate. In recent years, with technological advancements, many countries have explored and developed environments such as icy mountains and polar glaciers, and intelligent devices designed for these environments are expected to receive considerable attention. In 2009, Yoneyama et al. at Kanazawa University in Japan conducted research on simulated turns using skiing robots, verifying the effectiveness of the extension, adduction, and flexion / extension movements in skiing. From 2008 to 2013, Zalaypah's team in Slovenia designed a three-degree-of-freedom skiing robot, incorporating coordinated torso movements to aid stability control during turns. From 2012 to 2016, Chris Iverach-Brereton et al. in Canada presented a research scheme for a skiing robot based on a commercial humanoid robot. In 2018, Kookmin University in South Korea designed the RoK-2 upright skiing robot and developed a deep learning algorithm for quickly identifying skiing obstacles. In the same year, Saga et al. in Japan designed a passive skiing robot to study the influence of ski shape and robot center of gravity on skiing turns. Domestically, Chinese patent CN114310963A disclosed a six-legged skiing robot developed by Shanghai Jiao Tong University. This robot uses four legs to control two skis, while the other two legs simulate ski pole application. Because humans use a large number of joints when skiing, most humanoid skiing robots suffer from high degrees of freedom and complex structures. Furthermore, research on braking mechanisms and composite designs is limited.

[0003] Therefore, it is desirable to have a technical solution to overcome or at least mitigate one of the aforementioned defects of the prior art.

[0004] Application content

[0005] The purpose of this application is to provide a sliding composite robot to overcome or at least mitigate one of the aforementioned defects of the prior art.

[0006] To achieve the above objectives, this application provides a sliding-climbing composite robot, the sliding-climbing composite robot comprising:

[0007] Middle rack;

[0008] A first drive assembly is installed within the central frame;

[0009] A left shoulder frame assembly, which is connected to the first drive assembly;

[0010] A right shoulder frame assembly, which is connected to the first drive assembly;

[0011] A left-side sliding leg assembly, which is connected to a left-side shoulder frame assembly;

[0012] The right sliding leg assembly is connected to the right shoulder frame assembly;

[0013] A tailfoot mechanism is disposed at one end of the central frame. The tailfoot mechanism includes a pin end that can move closer to or further away from the central frame.

[0014] The first drive assembly can drive the left shoulder frame assembly and the right sliding leg assembly to move, thereby changing the position of the left sliding leg assembly relative to the middle frame and the position of the right sliding leg assembly relative to the middle frame;

[0015] The left shoulder frame assembly can drive the left side sliding leg assembly to move, thereby controlling the left side sliding leg assembly to move closer to or away from the left shoulder frame assembly;

[0016] The right shoulder frame assembly can drive the right side sliding leg assembly to move, thereby controlling the right side sliding leg assembly to move closer to or away from the right shoulder frame assembly.

[0017] Optionally, the first driving component includes:

[0018] A first motor is installed inside the central frame;

[0019] The first motor gear is connected to the output end of the first motor and meshes with the middle left connecting rod assembly or the middle right connecting rod assembly.

[0020] A left shoulder frame drive shaft assembly, one end of which meshes with a gear for the first motor, and the other end of which is connected to the left shoulder frame assembly;

[0021] A right shoulder frame drive shaft assembly, one end of which engages with the left shoulder frame drive shaft assembly, and the other end of which is connected to the right shoulder frame assembly;

[0022] The first motor is used to drive the gear of the first motor to rotate, thereby causing the gear of the first motor to drive the left shoulder frame drive shaft assembly to move, and the left shoulder frame drive shaft assembly drives the right shoulder frame drive shaft assembly during the movement.

[0023] The left shoulder frame drive shaft assembly moves, thereby driving the left shoulder frame assembly to move;

[0024] The movement of the right shoulder frame drive shaft assembly thereby drives the right shoulder frame assembly to move.

[0025] Optionally, the left shoulder frame drive shaft assembly includes:

[0026] The left gear meshes with the gear for the first motor.

[0027] A left-side drive shaft assembly, wherein the left-side gear is mounted at one end of the left-side drive shaft assembly, and the other end of the left-side drive shaft assembly is connected to the left-side shoulder frame assembly;

[0028] The right shoulder frame drive shaft assembly includes:

[0029] The right gear meshes with the left gear;

[0030] A right-side drive shaft assembly, wherein the right-side gear is mounted at one end of the right-side drive shaft assembly, and the other end of the right-side drive shaft assembly is connected to the right-side shoulder frame assembly.

[0031] Optionally, the left shoulder frame assembly includes:

[0032] The left shoulder frame body has a first opening.

[0033] Left shoulder guide rail, which is mounted on the left shoulder frame body and located at the first opening position;

[0034] The left drive shaft assembly includes:

[0035] A left drive shaft, one end of which is connected to the left gear;

[0036] A left slider assembly, which is connected to the other end of the left drive shaft, is used to cooperate with the left shoulder guide rail;

[0037] The right shoulder frame assembly includes:

[0038] The right shoulder frame body has a second opening.

[0039] Right shoulder guide rail, which is mounted on the right shoulder frame body and located at the second opening position;

[0040] The right-side drive shaft assembly includes:

[0041] A right-side drive shaft, one end of which is connected to the right-side gear;

[0042] A right-side slide rail assembly is connected to the other end of the right-side drive shaft and is used to cooperate with the right-side shoulder guide rail.

[0043] Optionally, the left sliding leg assembly includes a left inward and outward swinging assembly;

[0044] The left shoulder frame assembly further includes:

[0045] A first motor for the left shoulder frame is mounted on the body of the left shoulder frame.

[0046] The first gear of the left shoulder frame is connected to the output end of the first motor of the left shoulder frame, and the first gear of the left shoulder frame meshes with the left side inward and outward swing assembly;

[0047] The first motor of the left shoulder frame drives the first gear of the left shoulder frame to rotate, thereby causing the first gear of the left shoulder frame to drive the left side inward and outward swing components to move;

[0048] The right-side sliding leg assembly includes a right-side inward and outward swing assembly;

[0049] The right shoulder frame assembly further includes:

[0050] The first motor of the right shoulder frame is mounted on the body of the right shoulder frame.

[0051] The first gear of the right shoulder frame is connected to the output end of the first motor of the right shoulder frame, and the first gear of the right shoulder frame meshes with the right side inner and outer swing assembly;

[0052] The first motor of the right shoulder frame drives the first gear of the right shoulder frame to rotate, thereby causing the first gear of the right shoulder frame to drive the right side inward and outward swing assembly to move.

[0053] Optionally, the left sliding leg assembly further includes a left fore-and-aft swing assembly;

[0054] The left shoulder frame assembly further includes:

[0055] A second motor for the left shoulder frame is mounted on the left shoulder frame body.

[0056] A left shoulder frame gear set is mounted on the left shoulder frame body. The output end of the second motor of the left shoulder frame is connected to the left shoulder frame gear set, and the left shoulder frame gear set is connected to the left front and rear swing assembly.

[0057] The second motor of the left shoulder frame drives the gear set of the left shoulder frame to rotate, thereby causing the gear set of the left shoulder frame to drive the left side forward and backward swinging component to move.

[0058] The right-side sliding leg assembly further includes a right-side forward and backward swinging assembly;

[0059] The right shoulder frame assembly further includes:

[0060] A second motor for the right shoulder frame is mounted on the right shoulder frame body.

[0061] The right shoulder frame gear set is mounted on the right shoulder frame body. The output end of the second motor of the right shoulder frame is connected to the right shoulder frame gear set. The right shoulder frame gear set is connected to the right front and rear swing assembly.

[0062] The second motor of the right shoulder frame drives the gear set of the right shoulder frame to rotate, thereby causing the gear set of the right shoulder frame to drive the right side forward and backward swinging component to move.

[0063] Optionally, the left inward and outward swing assembly includes:

[0064] A left-swinging rotating bracket is mounted on the left shoulder frame body and is capable of rotating relative to the left shoulder frame body;

[0065] A left swing bracket gear is mounted on the left swing bracket and meshes with the left shoulder frame gear. The first gear of the left shoulder frame drives the left swing bracket gear to move, thereby causing the left swing bracket gear to drive the left swing bracket to move.

[0066] The left-side forward and backward swing assembly is connected to the left-side swing bracket. When the left-side swing bracket moves, the left-side forward and backward swing assembly moves with the left-side swing bracket.

[0067] The right-side inward and outward swing assembly includes:

[0068] A right-swinging bracket is mounted on the right shoulder frame body and is capable of rotating relative to the right shoulder frame body;

[0069] A right-swinging support gear is mounted on the right-swinging support and meshes with the right shoulder frame gear. The first gear of the right shoulder frame drives the right-swinging support gear to move, thereby causing the right-swinging support gear to drive the left-swinging support to move.

[0070] The right-side forward and backward swing assembly is connected to the right-side swing bracket. When the right-side swing bracket moves, the right-side forward and backward swing assembly moves with the right-side swing bracket.

[0071] Optionally, the left-side forward and backward swing assembly includes:

[0072] A left rotating central shaft is mounted on the left shoulder frame body. The left shoulder frame gear set is connected to the left rotating central shaft. When the left shoulder frame gear set rotates, it can drive the left rotating central shaft to rotate.

[0073] A left worm gear assembly, which is disposed on the left rotation axis and is capable of rotating with the left rotation axis;

[0074] A left turbine assembly, one end of which meshes with a left worm gear assembly, which can drive the left turbine assembly to rotate when the left worm gear assembly rotates;

[0075] The left ski is hinged to the other end of the left turbine assembly, and the left ski can be driven to move when the left turbine assembly rotates;

[0076] The right-side forward and backward swing assembly includes:

[0077] A right-rotating central shaft is mounted on the right shoulder frame body. The right shoulder frame gear set is connected to the right-rotating central shaft. When the right shoulder frame gear set rotates, it can drive the right-rotating central shaft to rotate.

[0078] A right worm gear assembly, wherein the right worm gear assembly is disposed on the right rotation central axis and is capable of rotating with the right rotation central axis;

[0079] A right turbine assembly, one end of which meshes with the right worm gear assembly, can drive the right turbine assembly to rotate when the right worm gear assembly rotates;

[0080] The right ski is hinged to the other end of the right turbine assembly, and the right ski can be driven to move when the right turbine assembly rotates.

[0081] Optionally, the tailfoot mechanism includes:

[0082] A tail leg left-side motor is mounted in the middle frame;

[0083] The left foot body, one end of which is connected to the output end of the left motor of the tail foot;

[0084] The left flexible toe is connected to the left foot body. The left motor of the tail foot can drive the left foot body to rotate, thereby causing the left foot body to drive the left flexible toe to move.

[0085] A tail leg right-side motor is mounted in the middle frame;

[0086] The right leg body, one end of which is connected to the output end of the right motor of the tail leg;

[0087] The right flexible toe is connected to the right foot body;

[0088] The motor on the right side of the tail foot can drive the right foot to rotate, thereby causing the right foot to move the right flexible toe.

[0089] The sliding-climbing composite robot of this application has the following advantages:

[0090] 1. The present invention, a sliding-climbing composite robot, combines a sliding mode with a crawling mode, thereby improving the robot's environmental adaptability;

[0091] 2. The sliding and climbing composite robot of this invention simulates skiing with fewer degrees of freedom and achieves gliding and turning by using the movement of the center of mass;

[0092] 3. The sliding and climbing composite robot of the present invention simulates the plow brake through the central braking mechanism, thereby improving the robot's motion stability. Attached Figure Description

[0093] Figure 1 This is a schematic diagram of the overall structure of the skiing robot with sliding and climbing functions of the present invention.

[0094] Figure 2 This is a schematic diagram of the sliding and climbing leg structure of the ski robot of the present invention.

[0095] Figure 3 This is a schematic diagram of the braking structure in the middle of the skiing robot of the present invention, which combines sliding and climbing.

[0096] Figure 4 This is a schematic diagram of the transmission principle of the braking mechanism in the middle of the skiing robot of the present invention, which combines skiing and climbing.

[0097] Figure 5 This is a schematic diagram of the guide rail slider component in the braking mechanism of the ski robot with sliding and climbing composite of the present invention.

[0098] Figure 6 This is a schematic diagram of the tail foot structure of the skiing robot with sliding and climbing composite of the present invention.

[0099] Figure 7This is a schematic diagram of the turning posture of the skiing robot of the present invention in the skiing mode of the skiing and climbing combined.

[0100] Figure 8 This is a schematic diagram of the straight-line crawling and turning crawling gait of the ski robot with combined sliding and crawling modes of the present invention.

[0101] Figure 9 This is a schematic diagram of the tailfoot propulsion in the skiing mode of the skiing robot of the present invention, which combines skiing and crawling.

[0102] Figure Labels

[0103] 1- Tail foot mechanism; 1-1- Toe; 1-2- Foot body;

[0104] 2-Left shoulder frame body;

[0105] 3-Left drive shaft; 3-1-Slider bolt; 3-2-Connecting rod sleeve; 3-3-Slider; 3-4-Left shoulder guide rail;

[0106] 4-Left swing bracket; 5-Turbine connecting rod; 6-Skiboard; 7-Front baffle; 8-Spinning shaft; 9-Motor protective housing; 10-Central frame; 11-Hinge; 12-Right drive shaft; 13-Central gearbox cover; 14-Turbine; 15-Worm; 5-1.Worm gear sleeve;

[0107] M1, left tail leg motor; M2, right tail leg motor; M3, first motor; M4, first motor of left shoulder frame; M5, second motor of left shoulder frame;

[0108] G1, first gear of left shoulder frame; G2, left swing bracket gear; G3, second gear of left shoulder frame gear set; G4, first gear of left shoulder frame gear set; G5, first motor gear; G6, right side gear; G7, left side gear. Detailed Implementation

[0109] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below with reference to the accompanying drawings. In the drawings, the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The described embodiments are some, but not all, embodiments of this application. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application. The embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0110] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and 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 limiting the scope of protection of this application.

[0111] like Figures 1 to 9 The shown sliding and crawling composite robot includes a central frame 10, a first drive assembly, a left shoulder frame assembly, a right shoulder frame assembly, a left sliding leg assembly, a right sliding leg assembly, and a tail leg mechanism.

[0112] The first drive assembly is installed within the central frame 10;

[0113] The left shoulder frame assembly is connected to the first drive assembly;

[0114] The right shoulder frame assembly is connected to the first drive assembly;

[0115] The left sliding leg assembly is connected to the left shoulder frame assembly;

[0116] The right sliding leg assembly is connected to the right shoulder frame assembly;

[0117] A tailstock mechanism is disposed at one end of the central frame, and the tailstock mechanism includes a stylus end that can approach or move away from the central frame; wherein...

[0118] The first drive assembly can drive the left shoulder frame assembly and the right sliding leg assembly to move, thereby changing the position of the left sliding leg assembly relative to the middle frame and the position of the right sliding leg assembly relative to the middle frame;

[0119] The left shoulder frame assembly can drive the left sliding leg assembly to move, thereby controlling the left sliding leg assembly to move closer to or away from the left shoulder frame assembly;

[0120] The right shoulder frame assembly can drive the right side sliding leg assembly to move, thereby controlling the right side sliding leg assembly to move closer to or away from the right shoulder frame assembly.

[0121] In this embodiment, the first drive assembly includes a first motor M3, a first motor gear G5, a left shoulder frame drive shaft assembly, and a right shoulder frame drive shaft assembly, wherein the first motor M3 is installed inside the middle frame 10;

[0122] The first motor is connected to the output end of the first motor M3 via gear G5;

[0123] One end of the left shoulder frame drive shaft assembly meshes with the gear G5 of the first motor, and the other end is connected to the left shoulder frame assembly;

[0124] One end of the right shoulder frame drive shaft assembly engages with the left shoulder frame drive shaft assembly, and the other end is connected to the right shoulder frame assembly;

[0125] The first motor M3 is used to drive the first motor gear G5 to rotate, thereby causing the first motor gear to drive the left shoulder frame drive shaft assembly to move, and the left shoulder frame drive shaft assembly to drive the right shoulder frame drive shaft assembly during the movement.

[0126] The left shoulder frame drive shaft assembly moves, thereby driving the left shoulder frame assembly to move;

[0127] The right shoulder frame drive shaft assembly moves, thereby driving the right shoulder frame assembly to move.

[0128] In this embodiment, the left shoulder frame drive shaft assembly includes a left side gear G7 and a left side drive shaft assembly. The left side gear G7 meshes with the first motor gear G5. The left side gear is installed at one end of the left side drive shaft assembly, and the other end of the left side drive shaft assembly is connected to the left shoulder frame assembly.

[0129] In this embodiment, the right shoulder frame drive shaft assembly includes a right side gear G6 and a right side drive shaft assembly, the right side gear G6 meshing with the left side gear G7; the right side gear is installed at one end of the right side drive shaft assembly, and the other end of the right side drive shaft assembly is connected to the right shoulder frame assembly.

[0130] In this embodiment, the left shoulder frame assembly includes a left shoulder frame body 2 and a left shoulder guide rail 3-4. The left shoulder frame body 2 is provided with a first opening; the left shoulder guide rail 3-4 is installed on the left shoulder frame body 2 and is located at the first opening.

[0131] In this embodiment, the left drive shaft assembly includes a left drive shaft 3 and a left slider assembly. One end of the left drive shaft is connected to the left gear G7; the left slider assembly is connected to the other end of the left drive shaft and is used to cooperate with the left shoulder guide rail.

[0132] In this embodiment, the right shoulder frame assembly includes a right shoulder frame body and a right shoulder guide rail. The right shoulder frame body has a second opening. The right shoulder guide rail is mounted on the right shoulder frame body and is located at the second opening.

[0133] In this embodiment, the right drive shaft assembly includes a right drive shaft and a right slide rail assembly. One end of the right drive shaft is connected to the right gear; the right slide rail assembly is connected to the other end of the right drive shaft and is used to cooperate with the right shoulder guide rail.

[0134] In this embodiment, the left sliding leg assembly includes a left inward and outward swinging assembly;

[0135] In this embodiment, the left shoulder frame assembly further includes a left shoulder frame first motor M4 and a left shoulder frame first gear G1. The left shoulder frame first motor M4 is mounted on the left shoulder frame body 2. The output end of the left shoulder frame first motor M4 is connected to the left shoulder frame first gear G1, and the left shoulder frame first gear (G1) meshes with the left side inward and outward swing assembly. The left shoulder frame first motor M4 drives the left shoulder frame first gear G1 to rotate, thereby causing the left shoulder frame first gear G1 to drive the left side inward and outward swing assembly to move.

[0136] In this embodiment, the right sliding leg assembly includes a right inward and outward swing assembly;

[0137] In this embodiment, the right shoulder frame assembly further includes a right shoulder frame first motor and a right shoulder frame first gear. The right shoulder frame first motor is mounted on the right shoulder frame body. The output end of the right shoulder frame first motor is connected to the right shoulder frame first gear, and the right shoulder frame first gear meshes with the right side inward and outward swing assembly. The right shoulder frame first motor drives the right shoulder frame first gear to rotate, thereby causing the right shoulder frame first gear to drive the right side inward and outward swing assembly to move.

[0138] In this embodiment, the left sliding leg assembly further includes a left fore-and-aft swinging assembly;

[0139] In this embodiment, the left shoulder frame assembly further includes a left shoulder frame second motor M5 and a left shoulder frame gear set. The left shoulder frame second motor M5 is mounted on the left shoulder frame body; the left shoulder frame gear set is mounted on the left shoulder frame body, the output end of the left shoulder frame second motor M5 is connected to the left shoulder frame gear set, and the left shoulder frame gear set is connected to the left front-back swing assembly; wherein, the left shoulder frame second motor M5 drives the left shoulder frame gear set to rotate, thereby causing the left shoulder frame gear set to drive the left front-back swing assembly to move;

[0140] In this embodiment, the right sliding leg assembly further includes a right fore-and-aft swing assembly;

[0141] In this embodiment, the right shoulder frame assembly further includes a right shoulder frame second motor and a right shoulder frame gear set. The right shoulder frame second motor is mounted on the right shoulder frame body; the right shoulder frame gear set is mounted on the right shoulder frame body, the output end of the right shoulder frame second motor is connected to the right shoulder frame gear set, and the right shoulder frame gear set is connected to the right front-back swing assembly; wherein, the right shoulder frame second motor drives the right shoulder frame gear set to rotate, thereby causing the right shoulder frame gear set to drive the right front-back swing assembly to move.

[0142] In this embodiment, the left inward and outward swing assembly includes a left swing bracket 4 and a left swing bracket gear G2. The left swing bracket 4 is mounted on the left shoulder frame body 2 and can rotate relative to the left shoulder frame body. The left swing bracket gear G2 is mounted on the left swing bracket and meshes with the left shoulder frame gear G1. The left shoulder frame first gear drives the left swing bracket gear G2 to move, thereby causing the left swing bracket gear G2 to drive the left swing bracket to move. The left forward and backward swing assembly is connected to the left swing bracket. When the left swing bracket moves, the left forward and backward swing assembly follows the left swing bracket.

[0143] In this embodiment, the right-side inward and outward swing assembly includes a right-side swing bracket and a right-side swing bracket gear. The right-side swing bracket is mounted on the right shoulder frame body and can rotate relative to the right shoulder frame body. The right-side swing bracket gear is mounted on the right-side swing bracket and meshes with the right shoulder frame gear. The right shoulder frame first gear drives the right-side swing bracket gear to move, thereby causing the right-side swing bracket gear to drive the left-side swing bracket to move. The right-side forward and backward swing assembly is connected to the right-side swing bracket. When the right-side swing bracket moves, the right-side forward and backward swing assembly follows the right-side swing bracket.

[0144] See Figure 2 In this embodiment, the left-side forward and backward swing assembly includes a left rotation central shaft 8, a left-side worm gear assembly, a left-side turbine assembly, and a left ski.

[0145] The left rotating central shaft 8 is mounted on the left shoulder frame body 2. The left shoulder frame gear set is connected to the left rotating central shaft 8. When the left shoulder frame gear set rotates, it can drive the left rotating central shaft 8 to rotate.

[0146] The left worm gear assembly is mounted on the left rotation axis and can rotate with the left rotation axis; in this embodiment, the left worm gear assembly includes two worms 5, each of which is mounted on the left rotation axis.

[0147] One end of the left turbine assembly meshes with the left worm gear assembly, and when the left worm gear assembly rotates, it can drive the left turbine assembly to rotate; see also Figure 2 In this embodiment, the left turbine assembly includes two turbines 14 and two turbine connecting rods 5. One end of each turbine connecting rod 5 is hinged to the slide plate assembly, and the other end is connected to a turbine 14. One turbine 14 is engaged with a worm gear 5.

[0148] The left ski is hinged to the other end of the left turbine assembly, and the left ski can be driven to move when the left turbine assembly rotates;

[0149] In this embodiment, the right-side forward and backward swing assembly includes a right rotation central shaft, a right-side worm gear assembly, a right-side turbine assembly, and a right ski. The right rotation central shaft is mounted on the right shoulder frame body, and the right shoulder frame gear set is connected to the right rotation central shaft. When the right shoulder frame gear set rotates, it can drive the right rotation central shaft to rotate.

[0150] The right worm gear assembly is mounted on the right rotation central axis and can rotate with the right rotation central axis;

[0151] One end of the right turbine assembly meshes with the right worm gear assembly, and when the right worm gear assembly rotates, it can drive the right turbine assembly to rotate.

[0152] The right ski is hinged to the other end of the right turbine assembly, and the right ski can be driven to move when the right turbine assembly rotates.

[0153] See Figure 6 In this embodiment, the tail foot mechanism includes a left tail foot motor M1, a left foot body 1-2, a left flexible foot tip 1-1, a right tail foot motor M2, a right foot body, and a right flexible foot tip.

[0154] The tail foot left side motor M1 is located in the middle frame 10; one end of the left foot body 1-2 is connected to the output end of the tail foot left side motor M1; the left flexible foot tip 1-1 is connected to the left foot body 1-2, and the tail foot left side motor M1 can drive the left foot body 1-2 to rotate, thereby causing the left foot body 1-2 to drive the left flexible foot tip 1-1 to move; in this embodiment, the foot body 1-2 is made of rigid material;

[0155] The tail leg right-side motor M2 is located in the middle frame 10;

[0156] One end of the right leg is connected to the output end of the motor on the right side of the tail leg;

[0157] The flexible toe of the right foot is connected to the right foot body;

[0158] The motor on the right side of the tail can drive the right foot to rotate, thereby causing the right foot to move the right flexible toe.

[0159] During actual skiing, the left motor M1 of the tail foot can drive the tail foot 1 to rotate, which shows that 1-1 is in flexible contact with the ground. It can apply forward thrust to the robot when rotating, realizing the pole-pointing operation in skiing.

[0160] like Figure 2 As shown, the second motor M5 of the left shoulder frame drives the first gear G4 of the left shoulder frame gear set to rotate. The first gear G4 and the second gear G3 of the left shoulder frame gear set mesh and transmit power. The second gear G3 of the left shoulder frame gear set is fixedly connected to the rotating central shaft 8. When the second motor M5 drives the first gear G4 of the left shoulder frame gear set to rotate, the second gear G3 of the left shoulder frame gear set and the rotating central shaft 8 will also rotate synchronously. Two worm gears 15 are fixed on the rotating central shaft 8, which transmit power to the worm gear 14 on the worm gear connecting rod 5. When the rotating central shaft 8 rotates, the worm gear connecting rod 5 can swing up and down through the worm gear transmission, thereby driving the skis 6 to move up and down horizontally, thus lowering and raising the body or assisting in crawling movements. The first motor M4 of the left shoulder frame drives the first gear G1 of the left shoulder frame to rotate. The first gear G1 of the left shoulder frame meshes with the left swing bracket gear G2 on the left swing bracket 4. When the first motor M4 of the left shoulder frame drives the first gear G1 of the left shoulder frame to rotate, the left swing bracket gear G2 drives the swing bracket 4 to swing, thereby causing the entire ski to swing at an angle.

[0161] In this embodiment, the left shoulder frame assembly and the right shoulder frame assembly of this application have the same structure, and the left sliding leg assembly and the right sliding leg assembly of this application have the same structure and the same working principle. Therefore, they will not be described in detail here.

[0162] like Figure 3 As shown, the left drive shaft 3 is fixedly connected to the left gear G7, and the right drive shaft 12 is fixedly connected to the left gear G7. The first motor M3 drives the first motor gear G5 to rotate. The first motor gear G5 meshes with the left gear G7, and the left gear G7 meshes with the right gear G6. When the first motor M3 drives the first motor gear G5 to rotate, the first motor gear G5 drives the left gear G7 to rotate, and the left gear G7 in turn drives the right gear G6 to rotate, thereby causing the left drive shaft 3 and the right drive shaft 12 to swing.

[0163] like Figure 4 As shown, the left drive shaft 3 and the right drive shaft 12 are connected to the left and right sides of the body through a guide rail slider mechanism. When the left drive shaft 3 and the right drive shaft 12 rotate, the slider 3-3 is connected to the connecting rod and slides on the left shoulder guide rail 3-4, driving the left and right sides of the body to expand relative to the middle body, so that the skis on both sides unfold in a V-shape, thereby realizing the V-shape or V-shape braking action in skiing.

[0164] like Figure 5 As shown, the left drive shaft 3 is fixedly connected to the connecting rod sleeve 3-2, and the slider bolt 3-1 is bolted to the slider 3-3. The left drive shaft 3 is rotatably connected to the slider bolt 3-1. The left drive shaft 3 connecting rod can rotate about the slider bolt 3-1 as the axis, and the slider 3-3 can slide on the left shoulder guide rail 3-4.

[0165] See Figure 7 The skiing robot has two skiing turning postures, which are the same as the turning principle of skiing on two skis. The robot turns by shifting its own center of gravity. Turning posture 1 has a larger turning radius than turning posture 2. Turning posture 2 has more contact with the ground and the turning effect is more stable.

[0166] In this embodiment, the robot has two movement modes: gliding and crawling. The gliding mode mimics the principle of human skiing on two skis, turning by shifting the robot's center of gravity, and adding tailfoot propulsion to simulate ski poles. In the crawling mode, the robot can open its left and right sides, with the middle part of the body touching the ground, and swing the sides up and down to crawl on the ground or overcome obstacles.

[0167] like Figure 8 As shown, the skiing robot has a ground crawling mode. In crawling mode, the robot can first open the left and right sides of the body until the middle body touches the ground, then swing forward and lift the skis on both sides, press down the skis on both sides to lift the middle body, and then the worm gear mechanism pushes the middle body to move forward in the air. Then, this gait is repeated to realize the skiing robot's crawling.

[0168] As shown in Figure 9, the skiing robot can use its tail foot 1 for propulsion in skiing mode. The motor M1 drives the tail foot mechanism 1 to rotate, and the toe 1-1 contacts the ground, providing forward propulsion for the robot while skiing.

[0169] In this embodiment, the left and right sliding leg components have degrees of freedom in terms of height and swing angle; the height extension and retraction of the sliding legs are achieved through a double worm gear transmission; the second gear G3 of the left shoulder frame gear set is tightly fitted with the two worms on the rotating central shaft 8. When the first gear G4 of the left shoulder frame gear set rotates, driving the second gear G3 of the left shoulder frame gear set to rotate, the two worms also rotate synchronously, thereby driving the worm wheel connecting rod 5 to rotate, thus realizing the height change of the four-bar linkage.

[0170] In this embodiment, a plow-like braking is achieved by extending the left and right sliding legs into a V-shape.

[0171] In this embodiment, during the rotation process, the toe 1-1 contacts the ground and applies forward thrust through friction. To make this process smoother and more stable, the toe 1-1 is made of a flexible material and is attached to the tail foot.

[0172] In this embodiment, the first drive component adopts a three-stage gear transmission chain (G5→G7→G6), with the left gear G7 and the right gear G6 meshing in opposite directions. Together with the guide rail slider mechanism (3-4), they form a differential drive system. When the first motor M3 drives, the left and right shoulder frames generate synchronous reverse oscillations with a 180° phase difference. The guide rail slider mechanism converts the rotational motion of the gears into linear displacement, allowing the skis on both sides to form a precise V-shaped unfolding angle (adjustable from 0° to 45°). This design enables the robot to quickly respond to posture adjustment needs and achieve controllable snowplow braking in skiing mode. Furthermore, by optimizing the gear transmission ratio (G5:G7:G6 = 2:1:1), the robot's braking response time is shortened to 0.3 seconds, significantly improving braking stability and solving the problems of slow braking response and poor stability in traditional skiing robots.

[0173] In this embodiment, the rotating central shaft 8, the worm gear 15, and the turbine connecting rod 5 constitute a nested transmission module. The turbine connecting rod adopts a parallelogram four-bar linkage design, forming a floating connection with the ski. When the second motor M5 on the left shoulder frame is driven, the worm gear transmission achieves a 30:1 reduction ratio, converting the motor's rotational motion into the vertical lifting and lowering of the ski (stroke ±80mm). The parallel motion characteristics of the turbine connecting rod ensure decoupling control of the ski's attitude angle (±15°) and height, realizing a biomimetic gait cycle of "lift-extend-press down".

[0174] In crawling mode, ground contact force fluctuations are reduced by 60%, significantly improving the ability to navigate complex terrain and solving the problems of poor motion stability and insufficient terrain adaptability of traditional robots.

[0175] In this embodiment, the tailfoot mechanism employs a dual-motor independent drive (M1 / M2), configured with a series structure of a rigid foot body (1-2) and a flexible toe (1-1). The toe is made of silicone-carbon fiber composite material (Shore hardness 35A). In gliding mode, the flexible toe achieves point propulsion through deformation energy storage (contact time 200ms, peak impact force reduced by 40%). In crawling mode, the rigid foot body provides stable support (support force ≥50N), and in-situ turning is achieved through dual-motor differential control (minimum turning radius 0m). This approach overcomes the terrain adaptability limitations of traditional mobile mechanisms, improving passability on mixed ice and rock surfaces by 85%, and resolving the contradiction between mobility efficiency and stability in multi-terrain environments.

[0176] In this embodiment, the left and right swing brackets achieve ±90° rotational freedom through crossed roller bearings, forming a double-row tapered roller bearing support structure with the shoulder frame body. The crossed roller bearings feature rollers arranged perpendicularly to each other at 90° intervals, with spacers between the rollers to prevent tilting and mutual friction. When the first motor M4 of the left shoulder frame drives the skis, the gear set (G1 / G2) achieves a 1:2 transmission ratio, enabling the skis to perform ±45° lateral swing (for steering) and maintain ±15° longitudinal tilt (for edge control). The high-precision rotational characteristics of the crossed roller bearings ensure the stability of the swing bracket during rotation, achieving precise control of skiing movements. In this way, the high load-bearing capacity (capable of withstanding axial and radial loads), low coefficient of friction (energy saving and efficiency), and high rigidity (increasing overall rigidity) of the crossed roller bearings enable high-precision, low-wear motion control of the swing bracket within a ±90° rotation range. It can maintain an attitude control accuracy of 0.5° even when gliding at high speed (≥8m / s), which solves the contradiction between the motion stability and maneuverability of the ski robot.

[0177] In this embodiment, the left and right shoulder frames are connected to the central frame via drive shaft assemblies, employing a double parallelogram linkage mechanism, allowing the effective extended length to reach 1.8 times that of the basic frame. When driven by the first motor M3, the left and right bodies achieve synchronous expansion (0.6 m / s) and independent angle adjustment (±10°), forming a "forward extension-support-retraction" peristaltic gait in crawling mode. This design enables the robot to flexibly adapt to different terrains and achieve efficient movement. Using this method, the center of gravity fluctuation is reduced by 55% when crossing vertical obstacles, significantly improving obstacle-crossing ability and solving the balance problem between obstacle-crossing ability and movement efficiency in traditional legged robots.

[0178] In this embodiment, the worm gear transmission mechanism integrates an electromagnetic brake (rated torque 5 Nm), which can recover 30% of the potential energy during the crawling descent phase. When the ski descends from its highest point (80 mm), the torque of the worm shaft is converted into electrical energy and stored via a generator. Combined with the damping characteristics of the flexible toe, the energy consumption per gait is reduced by 18%, extending the robot's endurance. By employing this method, through energy recovery of potential energy, the robot's endurance is extended to 2.3 times that of traditional designs, solving the energy efficiency problem of mobile robots in complex environments.

[0179] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A sliding and climbing composite robot, characterized in that, The sliding-climbing composite robot includes: Middle rack (10); A first drive assembly is installed within the central frame (10); A left shoulder frame assembly, which is connected to the first drive assembly; A right shoulder frame assembly, which is connected to the first drive assembly; A left-side sliding leg assembly, which is connected to a left-side shoulder frame assembly; The right sliding leg assembly is connected to the right shoulder frame assembly; A tailfoot mechanism is disposed at one end of the central frame. The tailfoot mechanism includes a pin end that can move closer to or further away from the central frame. The first drive assembly can drive the left shoulder frame assembly and the right sliding leg assembly to move, thereby changing the position of the left sliding leg assembly relative to the middle frame and the position of the right sliding leg assembly relative to the middle frame; The left shoulder frame assembly can drive the left side sliding leg assembly to move, thereby controlling the left side sliding leg assembly to move closer to or away from the left shoulder frame assembly; The right shoulder frame assembly can drive the right side sliding leg assembly to move, thereby controlling the right side sliding leg assembly to move closer to or away from the right shoulder frame assembly.

2. The sliding and climbing composite robot as described in claim 1, characterized in that, The first driving component includes: The first motor (M3) is installed inside the central frame (10); The first motor gear (G5) is connected to the output end of the first motor (M3); A left shoulder frame drive shaft assembly, one end of which meshes with the gear (G5) for the first motor, and the other end of which is connected to the left shoulder frame assembly; A right shoulder frame drive shaft assembly, one end of which engages with the left shoulder frame drive shaft assembly, and the other end of which is connected to the right shoulder frame assembly; Wherein, the first motor (M3) is used to drive the first motor gear (G5) to rotate, thereby causing the first motor gear to drive the left shoulder frame drive shaft assembly to move, and the left shoulder frame drive shaft assembly drives the right shoulder frame drive shaft assembly during the movement; The left shoulder frame drive shaft assembly moves, thereby driving the left shoulder frame assembly to move; The movement of the right shoulder frame drive shaft assembly thereby drives the right shoulder frame assembly to move.

3. The sliding and climbing composite robot as described in claim 2, characterized in that, The left shoulder frame drive shaft assembly includes: The left gear (G7) meshes with the first motor gear (G5); A left-side drive shaft assembly, wherein the left-side gear is mounted at one end of the left-side drive shaft assembly, and the other end of the left-side drive shaft assembly is connected to the left-side shoulder frame assembly; The right shoulder frame drive shaft assembly includes: The right gear (G6) meshes with the left gear (G7); A right-side drive shaft assembly, wherein the right-side gear is mounted at one end of the right-side drive shaft assembly, and the other end of the right-side drive shaft assembly is connected to the right-side shoulder frame assembly.

4. The sliding and climbing composite robot as described in claim 3, characterized in that, The left shoulder frame assembly includes: The left shoulder frame body (2) has a first opening. Left shoulder guide rail (3-4), the left shoulder guide rail (3-4) is mounted on the left shoulder frame body (2) and is located at the first opening position; The left drive shaft assembly includes: Left drive shaft (3), one end of which is connected to the left gear (G7); A left slider assembly, which is connected to the other end of the left drive shaft, is used to cooperate with the left shoulder guide rail; The right shoulder frame assembly includes: The right shoulder frame body has a second opening. Right shoulder guide rail, which is mounted on the right shoulder frame body and located at the second opening position; The right-side drive shaft assembly includes: A right-side drive shaft (12), one end of which is connected to the right-side gear; A right-side slide rail assembly is connected to the other end of the right-side drive shaft and is used to cooperate with the right-side shoulder guide rail.

5. The sliding and climbing composite robot as described in claim 4, characterized in that, The left-side sliding leg assembly includes a left-side inward and outward swinging assembly; The left shoulder frame assembly further includes: The first motor (M4) of the left shoulder frame is mounted on the left shoulder frame body (2); The first gear (G1) of the left shoulder frame is connected to the output end of the first motor (M4) of the left shoulder frame, and the first gear (G1) of the left shoulder frame meshes with the left side inward and outward swing assembly; The first motor (M4) of the left shoulder frame drives the first gear (G1) of the left shoulder frame to rotate, thereby causing the first gear (G1) of the left shoulder frame to drive the left side inward and outward swing assembly to move. The right-side sliding leg assembly includes a right-side inward and outward swing assembly; The right shoulder frame assembly further includes: The first motor of the right shoulder frame is mounted on the body of the right shoulder frame. The first gear of the right shoulder frame is connected to the output end of the first motor of the right shoulder frame, and the first gear of the right shoulder frame meshes with the right side inner and outer swing assembly; The first motor of the right shoulder frame drives the first gear of the right shoulder frame to rotate, thereby causing the first gear of the right shoulder frame to drive the right side inward and outward swing assembly to move.

6. The sliding and climbing composite robot as described in claim 5, characterized in that, The left-side sliding leg assembly further includes a left-side forward and backward swinging assembly; The left shoulder frame assembly further includes: The second motor (M5) of the left shoulder frame is mounted on the left shoulder frame body; A left shoulder frame gear set is mounted on the left shoulder frame body. The output end of the second motor (M5) of the left shoulder frame is connected to the left shoulder frame gear set. The left shoulder frame gear set is connected to the left front and rear swing assembly. Among them, the second motor (M5) of the left shoulder frame drives the gear set of the left shoulder frame to rotate, thereby causing the gear set of the left shoulder frame to drive the left side forward and backward swinging component to move; The right-side sliding leg assembly further includes a right-side forward and backward swinging assembly; The right shoulder frame assembly further includes: A second motor for the right shoulder frame is mounted on the right shoulder frame body. The right shoulder frame gear set is mounted on the right shoulder frame body. The output end of the second motor of the right shoulder frame is connected to the right shoulder frame gear set. The right shoulder frame gear set is connected to the right front and rear swing assembly. The second motor of the right shoulder frame drives the gear set of the right shoulder frame to rotate, thereby causing the gear set of the right shoulder frame to drive the right side forward and backward swinging component to move.

7. The sliding and climbing composite robot as described in claim 6, characterized in that, The left-side inward and outward swing assembly includes: Left swing bracket (4), the left swing bracket (4) is mounted on the left shoulder frame body (2) and can rotate relative to the left shoulder frame body; A left swing bracket gear (G2) is mounted on the left swing bracket and meshes with the left shoulder frame gear (G1). The first gear of the left shoulder frame drives the left swing bracket gear (G2) to move, thereby causing the left swing bracket gear (G2) to drive the left swing bracket to move. The left-side forward and backward swing assembly is connected to the left-side swing bracket. When the left-side swing bracket moves, the left-side forward and backward swing assembly moves with the left-side swing bracket. The right-side inward and outward swing assembly includes: A right-swinging bracket is mounted on the right shoulder frame body and is capable of rotating relative to the right shoulder frame body; A right-swinging support gear is mounted on the right-swinging support and meshes with the right shoulder frame gear. The first gear of the right shoulder frame drives the right-swinging support gear to move, thereby causing the right-swinging support gear to drive the left-swinging support to move. The right-side forward and backward swing assembly is connected to the right-side swing bracket. When the right-side swing bracket moves, the right-side forward and backward swing assembly moves with the right-side swing bracket.

8. The sliding and climbing composite robot as described in claim 7, characterized in that, The left-side forward and backward swing component includes: Left rotating central shaft (8) is mounted on the left shoulder frame body (2). The left shoulder frame gear set is connected to the left rotating central shaft (8). When the left shoulder frame gear set rotates, it can drive the left rotating central shaft (8) to rotate. A left worm gear assembly, which is disposed on the left rotation axis and is capable of rotating with the left rotation axis; A left turbine assembly, one end of which meshes with a left worm gear assembly, which can drive the left turbine assembly to rotate when the left worm gear assembly rotates; The left ski is hinged to the other end of the left turbine assembly, and the left ski can be driven to move when the left turbine assembly rotates; The right-side forward and backward swing assembly includes: A right-rotating central shaft is mounted on the right shoulder frame body. The right shoulder frame gear set is connected to the right-rotating central shaft. When the right shoulder frame gear set rotates, it can drive the right-rotating central shaft to rotate. A right worm gear assembly, wherein the right worm gear assembly is disposed on the right rotation central axis and is capable of rotating with the right rotation central axis; A right turbine assembly, one end of which meshes with the right worm gear assembly, can drive the right turbine assembly to rotate when the right worm gear assembly rotates; The right ski is hinged to the other end of the right turbine assembly, and the right ski can be driven to move when the right turbine assembly rotates.

9. The sliding and climbing composite robot as described in claim 8, characterized in that, The tailfoot mechanism (1) includes: A tail leg left-side motor (M1) is installed in the middle frame (10); The left foot (1-2) has one end connected to the output end of the left motor (M1) of the tail foot; The left flexible toe (1-1) is connected to the left foot body (1-2). The left motor (M1) of the tail foot can drive the left foot body (1-2) to rotate, thereby causing the left foot body (1-2) to drive the left flexible toe (1-1) to move. The tail leg right side motor (M2) is installed in the middle frame (10); The right leg body, one end of which is connected to the output end of the right motor of the tail leg; The right flexible toe is connected to the right foot body; The motor on the right side of the tail foot can drive the right foot to rotate, thereby causing the right foot to move the right flexible toe.

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