A deployable solar powered module for a mobile robot and a robot

Abstract

This invention discloses a deployable solar power module and a robot for mobile robots. The power module includes a support plate, a solar panel, a gear-rocker mechanism, and a drive mechanism. The support plate is mounted on the mobile robot. The gear-rocker mechanism includes gears, a rocker arm, and connecting rods. The gears are mounted on the support plate and mesh with each other. One end of the rocker arm is rotatably mounted on a corresponding gear, and the other end is rotatably connected to the connecting rod and slidably mounted in an arc-shaped groove. The other end of each connecting rod is connected to the solar panel. The drive mechanism drives the gears to rotate, causing the rocker arm to slide within the arc-shaped groove, thereby switching the solar panel between an deployed and retracted state. When deployed, the solar panel is in a light-receiving position. When retracted, the solar panel is attached to the body of the mobile robot. This invention can flexibly and stably support and adjust the tilt angle of the solar panel, significantly improving the efficiency of solar energy capture and conversion.

Description

Technical Field

[0001] This invention relates to a power supply module in the field of robotics, and more particularly to a deployable solar power supply module for mobile robots, and also to a robot. Background Technology

[0002] With the rapid development of mobile robot technology, its application scenarios are becoming increasingly widespread, covering multiple fields such as logistics and transportation, warehouse management, and outdoor inspection. Solar power, due to its advantages of being clean, environmentally friendly, and highly sustainable, has become an important supplement or primary method for powering mobile robots. Currently, a common solution is to directly fix solar panels on the top or side of the robot. This fixed structure has significant drawbacks: firstly, the angle and direction of the solar panels cannot be adjusted in real time according to the sun's position, resulting in low light reception efficiency, especially during non-midday hours when solar energy utilization is severely insufficient, making it difficult to meet the continuous power supply needs of robots operating for extended periods with high energy consumption.

[0003] To address these issues, some solutions employ deployable solar panel designs, aiming to increase the sunlight-receiving area when needed and retract to save space when not in use. However, these deployable structures still have several shortcomings: First, the linkage mechanism for deployment and retraction is often complex or poorly designed, resulting in the solar panel not fitting tightly against the robot body after retraction, still protruding significantly and affecting the robot's flexibility in narrow passages or cargo-carrying operations. Second, during the process of adjusting the angle of the solar panel or deploying / retracting, there is generally a lack of effective and precise mechanical or electronic limiting mechanisms, which can easily lead to overload damage to the drive motor (such as a servo motor) due to excessive operation, reducing the reliability and lifespan of the entire power supply module. Therefore, there is an urgent need for a deployable solar power supply module that can efficiently track the sun's position, minimize space occupation when retracted, and has a reliable protection mechanism. Summary of the Invention

[0004] To address the technical problems of large space occupation and low energy utilization efficiency of existing robot solar power modules, this invention provides a deployable solar power module and robot for mobile robots.

[0005] This invention is achieved using the following technical solution: a deployable solar power module for mobile robots, comprising: A support plate is mounted on the mobile robot; At least two solar panels; A gear rocker mechanism includes at least two gears, at least two rockers, and at least two connecting rods, each corresponding to at least two solar panels. At least two gears are mounted on the support plate and mesh with each other. One end of each rocker is rotatably mounted on the corresponding gear, and the other end is rotatably connected to one end of the corresponding connecting rod and slidably mounted in an arc-shaped groove on the support plate. The other end of each connecting rod is connected to the corresponding solar panel. A drive mechanism, mounted on the support plate, drives the gear to rotate, causing the other end of the rocker arm to slide within the arc-shaped groove, thereby switching the solar panel between an unfolded state and a retracted state. When in the unfolded state, the solar panel is in a light-receiving position and supplies power to the mobile robot. When in the retracted state, the solar panel is attached to the body of the mobile robot.

[0006] This invention utilizes a precision mechanical linkage system comprised of a gear rocker mechanism and an arc-shaped groove, coupled with precise control of the drive mechanism. By controlling the sliding trajectory of the rocker within the preset arc-shaped groove, the solar panel can fit tightly and flatly against the robot body in the retracted state, significantly reducing space occupation in the non-working state. In the unfolded state, the linkage mechanism can flexibly and stably support and adjust the tilt angle of the solar panel, allowing it to optimize its light-receiving posture according to the sun's position, thereby greatly improving the efficiency of solar energy capture and conversion. This solves the technical problems of large space occupation and low energy utilization efficiency in existing robot solar power modules.

[0007] As a further improvement to the above solution, the drive mechanism includes at least one servo motor or stepper motor, and the output shaft is connected to a gear in the gear rocker mechanism.

[0008] As a further improvement to the above solution, the drive mechanism includes two servo motors; the two servo motors are respectively connected to two gear transmissions and are used to drive the two solar panels to expand synchronously, retract, or adjust their angles differentially.

[0009] As a further improvement to the above solution, the deployable solar power module also includes a limiting mechanism; the limiting mechanism is used to trigger a signal to control the drive mechanism to stop operating when the solar panel moves to a preset deployment limit position or retraction limit position.

[0010] Furthermore, the limiting mechanism includes a photoelectric switch fixed on the support plate and a notched flange fixed on the gear shaft of the gear or the rocker arm; when the notched flange rotates with the gear shaft or the rocker arm to a preset angle, the corresponding notch aligns with or blocks the detection light path of the photoelectric switch, causing the photoelectric switch to generate the trigger signal.

[0011] As a further improvement to the above solution, the deployable solar power module also includes a photosensitive element and a control system; the photosensitive element is used to detect the sun's position; the control system is used to control the operation of the drive mechanism according to the sun's position information, and adjust the tilt angle of the solar panel so that the solar panel maintains the optimal direction of sunlight.

[0012] As a further improvement to the above solution, the other end of the rocker arm is slidably mounted in the arc-shaped groove via a universal slider, and one end of the connecting rod is rotatably connected to the universal slider.

[0013] As a further improvement to the above solution, the other end of the connecting rod is connected to the solar panel via a detachable structural component.

[0014] Furthermore, the servo motor or the stepper motor is installed in a housing located on the other side of the support plate away from the gear rocker mechanism, and the housing is made of a waterproof and dustproof material.

[0015] The present invention also provides a robot comprising a body and at least two deployable solar power modules for mobile robots as described above, the deployable solar power modules being mounted on the body.

[0016] Compared to existing robot solar power modules, the deployable solar power module and robot of the present invention for mobile robots have the following advantages: 1. This deployable solar power module for mobile robots utilizes a precision mechanical linkage system consisting of a gear rocker mechanism and an arc-shaped groove. Combined with precise control of the drive mechanism, the sliding trajectory of the rocker within the pre-set arc-shaped groove allows the solar panel to fit snugly and flatly against the robot body when folded, significantly reducing space occupation in non-working states. In the deployed state, this linkage mechanism can flexibly and stably support and adjust the tilt angle of the solar panel, optimizing its light-receiving posture according to the sun's position. This greatly improves the efficiency of solar energy capture and conversion, solving the technical problems of large space occupation and low energy utilization efficiency in existing robot solar power modules.

[0017] 2. This deployable solar power module for mobile robots boasts high space utilization and excellent operational flexibility. Through a specific linkage mechanism comprised of gears, rockers, and connecting rods, combined with the sliding constraint on the rocker end by a pre-set arc-shaped groove trajectory on the support plate, the module can precisely control the retraction path of the solar panels. This design ensures that the two solar panels fit tightly and flat against the robot's side when retracted, significantly reducing lateral space occupation and preventing interference when the robot is carrying goods, entering narrow spaces, or transferring materials. This significantly improves the robot's overall maneuverability and operational flexibility.

[0018] 3. This deployable solar power module for mobile robots significantly improves energy harvesting efficiency. In its deployed state, the linkage mechanism provides stable yet flexible support for the solar panels, and the module, through a drive mechanism controlling gear rotation, can precisely and smoothly adjust the deployment angle and tilt of the solar panels. This allows the solar panels to adjust to the optimal angle of sunlight reception based on the sun's position (manually or automatically controlled by sensors), maximizing the light intensity received per unit area. This significantly improves photoelectric conversion efficiency and charging power, effectively extending the continuous operating time of the mobile robot.

[0019] 4. This deployable solar power module for mobile robots is reliable in operation and has a long lifespan. The mechanical linkage structure (gear meshing, rocker arm sliding) inherently possesses deterministic motion and self-locking characteristics, ensuring stability after deployment. Furthermore, the optional photoelectric switch and notched flange-based non-contact limiting mechanism can send a precise signal when the solar panel reaches the preset deployment or retraction limit position, immediately stopping the drive motor. This effectively prevents problems such as motor stalling and gear damage caused by over-operation, protecting the core drive components and improving the overall reliability and lifespan of the module.

[0020] 5. This deployable solar power module for mobile robots features a compact structure and a high degree of modularity. The entire power module (support plate, drive mechanism, gear rocker mechanism) can be integrated into an independent functional unit, easily connected to the robot body via mounting points on the support plate. The solar panel is installed via detachable structural components at the ends of the connecting rods, facilitating individual maintenance or upgrades. This modular design not only facilitates production and assembly but also reduces subsequent maintenance costs and improves the module's adaptability to different robot models.

[0021] 6. This deployable solar power module for mobile robots features precise control and diverse functions. When the module uses dual servos to drive meshing gears, the deployment and retraction of the solar panels can be achieved by controlling the two servos to rotate synchronously in the same direction. By controlling their differential, reverse rotation, the tilt angle of the solar panels on both sides can be independently fine-tuned, thus enabling more complex light-tracking modes. This drive and control method is flexible, responsive, and highly precise, further optimizing energy harvesting efficiency.

[0022] 7. The beneficial effects of this robot are the same as those of the aforementioned deployable solar power module, and will not be repeated here. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the deployable solar power supply module for a mobile robot according to Embodiment 1 of the present invention.

[0024] Figure 2 for Figure 1 An exploded view of the disassembled model of the deployable solar power module.

[0025] Figure 3 for Figure 1 A schematic diagram of the rocker node path for the deployable solar power module.

[0026] Figure 4 for Figure 1 A schematic diagram of the deployable solar power module in the deployed state of the solar panel.

[0027] Figure 5 for Figure 1 A schematic diagram of the deployable solar power module in the retracted state of the solar panel.

[0028] Figure 6 for Figure 1 A partial cross-sectional view of the limiting mechanism of the deployable solar power module.

[0029] Figure 7 This is a schematic diagram of the wheel-legged cargo robot of Embodiment 3 of the present invention.

[0030] Figure 8 for Figure 7 A schematic diagram of the body module of the wheeled-legged cargo robot.

[0031] Figure 9 for Figure 8 A structural diagram of the front and rear shaped parts of the fuselage module.

[0032] Figure 10 for Figure 7 A schematic diagram of the connection between the body module and the thigh module of the wheeled-legged cargo robot.

[0033] Figure 11 for Figure 7 A schematic diagram of the servo motor housing of the transmission mechanism of the wheeled-legged cargo robot.

[0034] Figure 12 for Figure 7 A schematic diagram of the connection between the thigh module and the lower leg module of the wheeled-legged cargo robot.

[0035] Figure 13 for Figure 7 A schematic diagram of the lower end of the lower leg module of the wheeled-legged cargo robot.

[0036] Figure 14 for Figure 7 A schematic diagram of the transmission mechanism of a wheeled cargo robot.

[0037] Figure 15 for Figure 7 A simplified kinematic diagram of the transmission mechanism of a wheeled cargo robot.

[0038] Symbol Explanation: 2. Fuselage Module; 3. Thigh Module; 4. Lower Leg Module; 5. Transmission Mechanism; 11. Support Plate; 12. Solar Panel; 13. Gear; 14. Joystick; 15. Connecting Rod; 16. Drive Mechanism; 17. Photoelectric Switch; 18. Notched Flange; 21. Web Plate; 22. Side Plate; 23. Binocular Camera; 24. Head and Tail Sculpting Parts; 25. Storage Compartment; 41. Lower Leg Frame; 42. Hub Motor; 43. Wheel; 44. Shock Absorber Suspension; 45. Limiting and Transmission Protrusion; 51. Crank-Rockstick Assembly; 52. Connecting Rod; 53. Servo Housing; 111. Arc Groove; 411. Guide Groove; 441. Elastic Component; 442. Limiting Block; 443. Guide Post; 511. Crank; 512. Linkage Rod; 513. Joystick. Detailed Implementation

[0039] 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.

[0040] Example 1 Please see Figures 1-6 This embodiment provides a deployable solar power module for mobile robots. This module can be used in conjunction with existing robots, either integrally formed with the robot or used as a separate module. The deployable solar power module includes a support plate 11, a solar panel 12, a gear 13, a rocker arm 14 mechanism, and a drive mechanism 16. It may also include a limiting mechanism, a photosensitive element, and a control system.

[0041] The support plate 11 is mounted on the mobile robot. The shape of the support plate 11 can be set according to actual needs; in this embodiment, a square shape is chosen, while in other embodiments, the shape can be changed. The support plate 11 can be made of a lightweight material, thereby ensuring the module's lightness and reducing the load-bearing pressure on the robot. Of course, the material of the support plate 11 must ensure sufficient strength and resistance to deformation.

[0042] The number of solar panels 12 is at least two. The two solar panels 12 are symmetrically distributed on both sides of the robot. Each solar panel 12 is fixed to a detachable structural component at the top of the four connecting rods 15 by bolts. The detachable structural component facilitates the replacement and maintenance of the solar panel 12. The solar panel 12 is made of high-efficiency monocrystalline silicon material to improve photoelectric conversion efficiency.

[0043] The gear 13 rocker arm 14 mechanism is fastened to the support plate 11 via a connecting member to ensure stable motion transmission. The gear 13 rocker arm 14 mechanism includes a gear 13, a rocker arm 14, and a connecting rod 15. There are at least two of each of these components, and each component corresponds to a solar panel 12, gear 13, rocker arm 14, and connecting rod 15. At least two gears 13 are mounted on the support plate 11 and mesh with each other. One end of each rocker arm 14 is rotatably mounted on the corresponding gear 13, and the other end of the rocker arm 14 is rotatably connected to one end of the corresponding connecting rod 15 and slidably mounted within an arc-shaped groove 111 on the support plate 11. The other end of each connecting rod 15 is connected to the corresponding solar panel 12 via a detachable structural component.

[0044] The drive mechanism 16 is mounted on the support plate 11 and is used to drive the gear 13 to rotate, causing the other end of the rocker arm 14 to slide within the arc-shaped groove 111, thereby switching the solar panel 12 between an extended state and a retracted state. When in the extended state, the solar panel 12 is in a light-receiving position and provides power to the mobile robot. When in the retracted state, the solar panel 12 is attached to the body of the mobile robot.

[0045] In some embodiments, the drive mechanism 16 includes at least one servo motor or stepper motor, and the output shaft of the servo motor or stepper motor is drivenly connected to one of the gears 13 in the gear 13 rocker 14 mechanism. Specifically, the output shaft of the servo motor meshes with the gear 13 set of the gear 13 rocker 14 mechanism to achieve power transmission. A high-precision digital servo motor is selected to ensure drive accuracy. The servo motor or stepper motor is installed in a housing located on the other side of the support plate 11 away from the gear 13 rocker 14 mechanism. The housing is made of waterproof and dustproof material for protection. In this embodiment, the drive mechanism 16 includes two servos. The two servos are drivenly connected to two gears 13 respectively and are used to drive the two solar panels 12 to synchronously unfold, retract, or differentially adjust their angles.

[0046] The limiting mechanism is used to trigger a signal to control the drive mechanism 16 to stop operating when the solar panel 12 moves to a preset extended or retracted limit position. In this embodiment, the limiting mechanism includes a photoelectric switch 17 and a notched flange 18. The photoelectric switch 17 is fixed on the support plate 11, and the notched flange 18 is fixed on the gear shaft 13 or the rocker arm 14 of the gear 13. When the notched flange 18 rotates with the gear shaft 13 or the rocker arm 14 to a preset angle, the corresponding notch aligns with or blocks the detection light path of the photoelectric switch 17, causing the photoelectric switch 17 to generate a trigger signal.

[0047] The photosensitive element is used to detect the sun's position. A high-precision solar position sensor can be used, fixedly mounted on the top of the main support board to capture solar position information. Its signal output is electrically connected to the robot's control system. The control system controls the operation of the drive mechanism 16 based on the solar position information, adjusting the tilt angle of the solar panel 12 to maintain the optimal direction of sunlight exposure.

[0048] The module's operation process and steps are as follows: 1. Deployment process: When the mobile robot needs solar charging, the robot control system issues a deployment command. After receiving the command, the two servo motors rotate in the same direction, driving the rocker arm 14 of the gear 13 rocker arm 14 mechanism through the gear 13 set. The rocker arm 14 drives the connecting rod 15 to swing upward, thereby pushing the two solar panels 12 to deploy synchronously until the preset deployment angle is reached. The photoelectric switch 17 detects the preset position of the notched flange 18 and sends a signal to the control system. The servo motors stop operating, and the deployment action is completed.

[0049] 2. Angle Adjustment Process: The photosensitive element captures the sun's azimuth information in real time and transmits the signal to the robot control system. The control system calculates and adjusts the angle based on the azimuth change and sends reverse rotation commands to the two servo motors. The servo motors drive the gear 13 and rocker arm 14 mechanism to move in the opposite direction, causing the solar panel 12 to make fine adjustments to its front and back angles, ensuring that the solar panel 12 is always perpendicular to the sunlight and maximizing the efficiency of solar charging. During the adjustment process, the photoelectric switch 17 continuously detects the position of the notched flange 18 to avoid over-adjustment of the angle.

[0050] 3. Retraction process: When the robot finishes charging or needs to carry cargo, the control system issues a retraction command. The two servo motors rotate in opposite directions (opposite to the direction of rotation when unfolded). The drive gear 13 and rocker arm 14 mechanism drive the connecting rod 15 to swing downward. The solar panel 12 moves along the preset path of the rocker arm 14 node and gradually approaches the robot body until it is tightly attached to the robot body module. The photoelectric switch 17 detects the retraction completion signal, and the control system controls the servo motor to stop running, completing the retraction action.

[0051] In summary, compared to existing robot solar power modules, the deployable solar power module for mobile robots in this embodiment has the following advantages: 1. This deployable solar power module for mobile robots utilizes a precision mechanical linkage system consisting of a gear 13, a rocker arm 14, and an arc-shaped groove 111. Combined with the precise control of the drive mechanism 16, the rocker arm 14 slides within the pre-set arc-shaped groove 111, allowing the solar panel 12 to fit snugly and flatly against the robot body when folded. This significantly reduces space occupation in non-working states. In the deployed state, the linkage mechanism can flexibly and stably support and adjust the tilt angle of the solar panel 12, optimizing its light-receiving posture according to the sun's position. This greatly improves the efficiency of solar energy capture and conversion, solving the technical problems of large space occupation and low energy utilization efficiency in existing robot solar power modules.

[0052] 2. This deployable solar power module for mobile robots boasts high space utilization and excellent operational flexibility. Through a specific linkage mechanism comprised of gear 13, rocker arm 14, and connecting rod 15, combined with the sliding constraint on the end of rocker arm 14 by a pre-set arc groove 111 on the support plate 11, the module can precisely control the retraction path of the solar panels 12. This design ensures that the two solar panels 12 can fit tightly and flatly against the side of the robot body in the retracted state, greatly reducing lateral space occupation and preventing interference when the robot is carrying goods, entering narrow spaces, or transferring materials, significantly improving the robot's overall maneuverability and operational flexibility.

[0053] 3. This deployable solar power module for mobile robots significantly improves energy harvesting efficiency. In its deployed state, the linkage mechanism provides stable yet flexible support for the solar panel 12, and the module, through the drive mechanism 16, controls the rotation of the gear 13, allowing for precise and smooth adjustment of the solar panel 12's deployment angle and tilt posture. This enables the solar panel 12 to adjust to the optimal light-receiving angle based on the sun's position (manually or automatically controlled by sensors), maximizing the light reception intensity per unit area. This significantly improves photoelectric conversion efficiency and charging power, effectively extending the mobile robot's continuous operating time.

[0054] 4. This deployable solar power module for mobile robots is reliable in operation and has a long lifespan. The mechanical linkage structure (gear 13 meshing, rocker arm 14 sliding) inherently possesses deterministic motion and self-locking characteristics, ensuring stability after deployment. Furthermore, the non-contact limiting mechanism, which can be added as a photoelectric switch 17 and notched flange 18, can send a precise signal when the solar panel 12 reaches the preset deployment or retraction limit position, immediately stopping the drive motor. This effectively prevents problems such as motor stalling and gear 13 damage caused by over-operation, protecting the core drive components and improving the overall reliability and lifespan of the module.

[0055] 5. This deployable solar power module for mobile robots features a compact structure and a high degree of modularity. The entire power module (support plate 11, drive mechanism 16, gear 13, and rocker arm 14 mechanism) can be integrated into an independent functional unit, easily connected to the robot body via mounting points on the support plate 11. The solar panel 12 is installed via a detachable structural component at the end of the connecting rod 15, facilitating individual maintenance or upgrades. This modular design not only facilitates production and assembly but also reduces subsequent maintenance costs and improves the module's adaptability to different robot models.

[0056] 6. This deployable solar power module for mobile robots features precise control and diverse functions. When dual servos drive meshing gears 13, the module can deploy and retract the solar panels 12 by controlling the two servos to rotate synchronously in the same direction. By controlling their differential, reverse rotation, the tilt angle of the solar panels 12 can be independently fine-tuned, enabling more complex light-tracking modes. This drive and control method is flexible, responsive, and highly precise, further optimizing energy harvesting efficiency.

[0057] Example 2 This embodiment provides a robot, which includes a main body and a deployable solar power module for mobile robots as described in Embodiment 1. The number of power modules is at least two. The deployable solar power module is mounted on the main body. It should be noted that this robot can function as a cargo robot for transporting goods, or as other types of mobile robots. In practical applications, when the robot is needed, the control system controls the drive mechanism 16 to cause the servo motor to retract the solar panel 12, which then fits against the robot's body. When the robot is not needed or its battery is low, the control system controls the drive mechanism 16 to cause the servo motor to deploy the solar panel 12, placing it in a sun-receiving position to charge the robot's internal battery. This improves the robot's space utilization and allows for adjustment of the solar panel 12's angle, significantly enhancing energy harvesting efficiency.

[0058] Example 3 Please see Figures 7-15This embodiment provides a wheel-legged cargo robot. The robot integrates over 100 precision parts and is equipped with four symmetrically distributed independent wheel-leg structures. It achieves three motion modes—wheeled, legged, and a combination of wheel and leg—through mechanical configuration switching. The robot includes the deployable solar power module from Embodiment 1, as well as a body module 2, leg modules 3, lower leg modules 4, and a transmission mechanism 5. In some embodiments, the transmission mechanism 5 can be integrated into the leg module 3. The modules are connected in a standardized, detachable manner, working in close coordination to achieve the design goals of modularity, intelligence, and high reliability, effectively ensuring the robot's stable and reliable operation under complex working conditions.

[0059] In this embodiment, the body module 2 has a frame structure and includes a belly plate 21 and left and right hollowed-out side plates 22 connected to the belly plate 21. It may also include a binocular camera 23, head and tail styling parts 24, and a storage compartment 25. The interior of the body module 2 is used to house the robot control system and battery pack. The hollowed-out design of the side plates 22 increases the heat dissipation area by 40%, which is beneficial for heat dissipation during long-term operation of the system. Four protruding grooves are symmetrically arranged longitudinally below the belly plate 21. Each groove has a fixing hole on its outer and inner sides at a corresponding position. The size of the groove is precisely matched with the dual-axis servo housing 53 of the thigh module 3. The dual-axis servo is positioned and fixed with screws.

[0060] Specifically, the binocular camera 23 is mounted at the head of the frame structure. The camera 23 can be embedded through pre-drilled circular slots inside the head-shaped components, secured with self-tapping screws to prevent loosening during movement and ensure accurate terrain data collection. Positioning holes are pre-drilled on the belly plate 21 and the storage compartment 25. Multiple screw holes are provided at the top and bottom of the left and right hollowed-out side plates 22 and the head and tail shaped components 24, respectively. These are secured to the belly plate 21 and the storage compartment 25 with hexagonal screws, forming a frame-type fuselage structure that ensures structural stability during cargo loading.

[0061] The thigh module 3 includes at least two hollowed-out, lightweight thigh structures, each with its upper end movably connected to the web plate 21. Each thigh structure mainly includes a dual-axis servo, a single-axis servo, a servo housing 53, a thigh base, and a transmission mechanism 5. The dual-axis servo is fitted into a groove in the lower part of the web plate 21, and is fixed by connecting the mounting holes of the servo body to the fixing holes of the web plate 21 with four screws. A circular servo disk is then added to the output shaft of the dual-axis servo, and the servo disk is fixedly connected to the upper end of the thigh base with three screws. The thigh base is a hollow, irregularly shaped aluminum alloy part with multiple holes. The hole design reduces the weight by 30%. Its upper end is circular and has six evenly distributed small holes for precise docking with the servo disk of the dual-axis servo. The lower end has a protruding hole for connecting to the lower leg module 4.

[0062] One fulcrum of the single-axis servo motor and transmission mechanism 5 is fixed inside the thigh base. After the single-axis servo motor 11 is installed into the dedicated servo motor housing 53, the servo motor lugs are fixed to the servo motor housing 53 with four screws. A mounting hole is made at a corresponding position on the thigh base, and the servo motor housing 53 is directly snapped into the thigh base. The mounting hole of the servo motor housing 53 is then fixed to the opening in the thigh base with screws, achieving reliable fixation of the single-axis servo motor. The single-axis servo motor drives the transmission mechanism 5, which passes through the opening in the thigh base and transmits power to the lower leg module 4, thereby achieving precise control of the lower leg angle.

[0063] The lower leg module 4 includes a lower leg structure corresponding to the thigh structure. Each lower leg structure includes a lower leg frame 41, a hub motor 42, a wheel 43, and a shock-absorbing suspension 44. The lower leg frame 41 has a U-shaped groove at its end and a shaft hole at the upper end of the groove for cross-connection with the protrusion at the lower end of the thigh base, achieving hinge connection through a pivot. The upper end of the lower leg frame 41 can have an "L"-shaped inward bending configuration, effectively reducing motion overlap interference and facilitating a wider range of lower leg rotation. The inner side of the lower leg frame 41 has an integrally formed limiting and transmission protrusion 45, which is movably connected to the lower end of the corresponding thigh structure. The protrusion is used to connect to the transmission mechanism 5 extending from the thigh, and this protrusion can limit the lower leg rotation angle to avoid excessive rotation leading to structural damage.

[0064] The wheel 43 is driven by a hub motor 42 and mounted on the lower end of the leg frame 41 via a shock-absorbing suspension 44, providing effective shock absorption for the robot. In this embodiment, the shock-absorbing suspension 44 includes an elastic element 441 and a limiting block 442. The limiting block 442 slides in a guide groove 411 on the leg frame 41 via a guide post 443, constraining the movement of the suspension system and preventing excessive stretching or compression of the elastic rod. The two ends of the elastic element 441 are connected to the leg frame 41 and the limiting block 442, respectively. The hub motor 42 is fixed to the limiting block 442, and the wheel 43 is rotatably mounted on the limiting block 442. The shaft of the wheel 43 is connected to a motor coupling and passes through the end of the shock-absorbing system, fixed to the output shaft of an N20 geared motor. The N20 geared motor is fixed to the end of the leg via an L-shaped bracket, which is fixed to the leg frame 41 15 with screws, ensuring a strong installation.

[0065] The thigh structure and lower leg frame 41 are made of aluminum alloy or carbon fiber. Of course, in some embodiments, the thigh structure and the body module 2, as well as the various connecting structures of the transmission mechanism 5, are detachable screw connections or snap-fit ​​connections.

[0066] The transmission mechanism 5 connects the thigh module 3 and the lower leg module 4, and includes a first drive member, a second drive member, a crank 511 rocker arm 513 assembly 51, and a connecting rod 52. All kinematic pairs are clearance-fitted to ensure smooth operation. The first drive member drives the thigh structure to rotate, and the second drive member is located within the thigh structure. The crank 511 rocker arm 513 assembly 51 is driven by the second drive member, and the connecting rod 52 transmits the motion of the rocker arm 513 to the limit and transmission protrusion 45. The output shaft of the second drive member, the connecting shaft between the thigh structure and the lower leg frame 41, and the connecting shaft between the connecting rod 52 and the thigh structure are parallel to each other. Specifically, one end of crank 511 is locked to the output shaft of the single-axis servo via a set screw, and the other end is hinged to connecting rod 52 via a rotating shaft with a self-lubricating bushing. The other end of connecting rod 52 is hinged to rocker arm 513 via a spherical bearing. The transmission rods form a crank 511 rocker arm 513 mechanism. When the single-axis servo is started, the rotation of crank 511 will synchronously drive the rotation of connecting rod 52 and rocker arm 513. That is, the rotation of crank 511 is converted into the reciprocating oscillation of rocker arm 513 around a fixed pin.

[0067] In this embodiment, the bottom surface of the web plate 21 is provided with a groove that matches the shape of the first drive component. The groove is used to position and install the first drive component. The first drive component can be a dual-axis servo motor and is connected to the upper end of the thigh structure via a servo disc. The second drive component can be a single-axis servo motor and is fixed inside the thigh structure via a corresponding servo motor housing 53.

[0068] The crank 511-rocker 513 assembly 51 includes a crank 511, a connecting rod 512, and a rocker 513. The crank 511 is fixed to the output shaft of the second drive component, and one end of the rocker 513 is rotatably connected to the thigh structure via a fixed rotating shaft. Both ends of the connecting rod 512 are rotatably connected to the other ends of the crank 511 and the rocker 513, respectively. Both ends of the connecting rod 52 are rotatably connected to the other end of the rocker 513 and the limiting and transmission protrusion 45, respectively. The fulcrum of the crank 511-rocker 513 assembly 51 is the position where the lower leg structure connects to the thigh structure. The connecting rod 52 passes through the opening in the thigh base and connects to the protrusion of the lower leg frame 41. The rotation of the rocker 513 drives the lower leg frame 41 to rotate around the fulcrum. The single leg mechanism has one driving component, five components, seven lower pairs, and zero higher pairs, resulting in a calculated degree of freedom of 1, theoretically possessing the conditions for stable operation. Through the transmission of the composite transmission mechanism 5, the single-axis servo motor can achieve precise adjustment of the lower leg angle after rotation.

[0069] The robot has three movement modes: wheeled, legged, and wheel-leg hybrid. It achieves mode switching and obstacle crossing by controlling the coordinated movement of the first drive unit, the second drive unit, and the hub motor 42. (1) In wheeled mode, the first drive unit and the second drive unit are fixed, and the hub motor 42 drives the wheel 43 to travel on flat roads. The shock-absorbing suspension 44 buffers small bumps. (2) In legged mode, the hub motor 42 locks the wheel 43, and the first drive unit and the second drive unit drive the thigh structure and the lower leg skeleton 41 to walk in coordination. Specifically, the binocular camera 23 collects terrain data and controls the system to plan the trajectory: the dual-axis servo drives the thigh to swing, and the single-axis servo drives the lower leg to bend / extend through the composite transmission mechanism 5. The four sets of wheeled legs step in sequence to cross steps and ditches. The "L"-shaped lower leg configuration avoids motion interference. (3) In wheel-leg hybrid mode, at least one set of legs performs the leg mode, and at least another set of legs performs the wheel mode. Specifically, the first two sets of wheels and legs switch to leg mode to cross obstacles, while the latter two sets of wheels and legs maintain wheel mode to provide driving force, working together to achieve efficient passage through mixed terrain, with the fuselage always remaining horizontal.

[0070] It should be noted that in other embodiments: the dual-axis servo and the single-axis servo can be replaced with different models, and the materials of the thigh structure and the lower leg skeleton 41 can also be other materials; the screw connection between each module can be replaced with a snap-fit ​​connection, which is suitable for scenarios where frequent disassembly is not required, while still ensuring the connection is firm; the elastic element 441 can be an elastic rod, disc spring, or other elastic structure, with the shock absorption stroke remaining unchanged and the buffering effect being more stable, suitable for high-frequency bumpy scenarios; the connecting rod 52 and the crank 511 can be made of high-strength nylon material, combined with a metal bushing, which can also meet the transmission strength requirements, and at a lower cost.

[0071] In summary, compared with existing cargo robots, the wheel-legged cargo robot of the present invention has the following advantages: 1. This wheel-legged cargo robot features three switchable motion modes: wheeled, legged, and wheel-legged hybrid. It adopts a modular and lightweight body and wheel-leg structure design, and combines a composite transmission mechanism 5 of "crank 511, rocker 513 + connecting rod 52" with an integrated limit transmission protrusion. This significantly enhances its terrain passability, provides precise and reliable motion control, and features a compact structure that is easy to assemble and maintain. It solves the technical problems of insufficient terrain adaptability and poor stability of existing cargo robots.

[0072] 2. This wheel-legged cargo robot employs a design principle of collinearity of critical axes in its transmission mechanism 5, and integrates the drive components within the hollowed-out lightweight thigh structure, achieving a high degree of integration between the drive, transmission, and support structures. This not only significantly optimizes space utilization, making the overall structure extremely compact, but also significantly improves the rigidity and motion accuracy of the transmission system, ensuring stable and reliable power transmission under cargo-carrying conditions and obstacle-crossing impacts. It solves the technical problems of long transmission chains, deformation, and jamming inherent in traditional wheel-legged robots.

[0073] 3. This wheel-legged cargo robot integrates a shock-absorbing suspension 44 with guide grooves 411 and a hub motor 42 drive structure into its lower leg module 4. This design combines passive damping and active drive functions into a single end effector, allowing the wheels 43 to absorb road impacts independently of the transmission system while maintaining efficient drive. This improves the ride smoothness and wheel ground contact in wheeled mode, while avoiding interference between leg movement and damping functions, thus solving the technical problem of balancing motion stability and terrain adaptability.

[0074] 4. This wheeled-legged cargo robot, with its integrated "limiting and transmission protrusion 45" design and standardized modular division of the body, thighs, and calves, possesses extremely high maintainability and scalability. Damaged individual modules can be quickly and independently replaced, significantly reducing maintenance costs and time. At the same time, this architecture facilitates the flexible replacement of different specifications of power modules or the addition of expansion modules such as solar panels according to load, range, or functional requirements, solving the technical problems of traditional robots' strong overall integrity and difficulty in upgrading and modifying them.

[0075] 5. This wheeled-legged cargo robot achieves autonomous or remote-controlled intelligent switching between three motion modes through environmental perception based on sensors such as binocular cameras 23 and a collaborative control algorithm using multiple drive units (first drive unit, second drive unit, and hub motor 42). The robot can dynamically select the optimal movement strategy based on terrain features (such as using wheeled mode on flat surfaces and switching to legged mode when encountering steps), thus achieving a balance between high efficiency and high passability, and solving the technical problem of insufficient robot autonomous adaptation to complex dynamic environments.

[0076] Example 4 This embodiment provides a freight transport system comprising multiple robots, specifically the wheeled-legged cargo robots described in Embodiments 2 or 3. These robots can be networked into a single system, enabling the transport of goods in bulk. The robots can be controlled using methods similar to those for drone swarms, achieving collective action, improving cargo transport efficiency, and reducing transportation costs. This system is particularly suitable for short-distance, high-frequency transport scenarios.

[0077] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A deployable solar power module for mobile robots, characterized in that, It includes: A support plate is mounted on the mobile robot; At least two solar panels; A gear rocker mechanism includes at least two gears, at least two rockers, and at least two connecting rods, each corresponding to at least two solar panels. At least two gears are mounted on the support plate and mesh with each other. One end of each rocker is rotatably mounted on the corresponding gear, and the other end is rotatably connected to one end of the corresponding connecting rod and slidably mounted in an arc-shaped groove on the support plate. The other end of each connecting rod is connected to the corresponding solar panel. A drive mechanism, mounted on the support plate, drives the gear to rotate, causing the other end of the rocker arm to slide within the arc-shaped groove, thereby switching the solar panel between an unfolded state and a retracted state. When in the unfolded state, the solar panel is in a light-receiving position and supplies power to the mobile robot. When in the retracted state, the solar panel is attached to the body of the mobile robot.

2. The deployable solar power module for a mobile robot as described in claim 1, characterized in that, The drive mechanism includes at least one servo motor or stepper motor, and its output shaft is connected to one of the gears in the gear rocker mechanism.

3. The deployable solar power module for a mobile robot as described in claim 1, characterized in that, The drive mechanism includes two servo motors; the two servo motors are respectively connected to two gear transmissions and are used to drive the two solar panels to expand and retract synchronously or adjust their angles differentially.

4. The deployable solar power module for a mobile robot as described in claim 1, characterized in that, The deployable solar power module also includes a limiting mechanism; the limiting mechanism is used to trigger a signal to control the drive mechanism to stop operating when the solar panel moves to a preset deployment limit position or retraction limit position.

5. The deployable solar power module for a mobile robot as described in claim 4, characterized in that, The limiting mechanism includes a photoelectric switch fixed on the support plate and a notched flange fixed on the gear shaft or the rocker arm; when the notched flange rotates with the gear shaft or the rocker arm to a preset angle, the corresponding notch aligns with or blocks the detection light path of the photoelectric switch, causing the photoelectric switch to generate the trigger signal.

6. The deployable solar power module for a mobile robot as described in claim 1, characterized in that, The deployable solar power module also includes a photosensitive element and a control system; the photosensitive element is used to detect the sun's position; the control system is used to control the operation of the drive mechanism according to the sun's position information, and adjust the tilt angle of the solar panel so that the solar panel maintains the optimal direction of sunlight.

7. The deployable solar power module for a mobile robot as described in claim 1, characterized in that, The other end of the rocker arm is slidably mounted in the arc-shaped groove via a universal slider, and one end of the connecting rod is rotatably connected to the universal slider.

8. The deployable solar power module for a mobile robot as described in claim 1, characterized in that, The other end of the connecting rod is connected to the solar panel via a detachable structural component.

9. The deployable solar power module for a mobile robot as described in claim 2, characterized in that, The servo motor or the stepper motor is installed in a housing located on the other side of the support plate away from the gear rocker mechanism. The housing is made of a waterproof and dustproof material.

10. A robot, characterized in that, It includes a body and at least two deployable solar power modules for mobile robots as described in any one of claims 1-9, wherein the deployable solar power modules are mounted on the body.

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