Mobile device and smart mobile terminal
By designing a mobile device that utilizes knee joint motors and calf motors to enable the wheeled robot to switch between four wheels and two wheels, the problem of the single configuration mode of the wheeled robot is solved, and the obstacle crossing ability and flat ground flexibility in complex road conditions are improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- GUANGZHOU AUTOMOBILE GROUP CO LTD
- Filing Date
- 2024-12-11
- Publication Date
- 2026-06-12
AI Technical Summary
Existing wheeled robots lack the flexibility to switch the number of wheels, resulting in a single configuration mode, making it difficult to switch flexibly when crossing obstacles, and limiting their ability to cross obstacles in complex road conditions.
Design a mobile device that achieves switching between four-wheel and two-wheel drive modes through the coordinated action of knee joint motors and calf motors. The knee joint motors adjust the angle between the thigh support and the front calf support, while the calf motors adjust the angle between the front and rear calf supports, thus enabling the wheeled robot to switch between four-wheel and two-wheel drive modes.
It achieves a balance between the flexibility and obstacle-crossing ability of wheeled robots on flat ground and in complex road conditions, enabling them to travel in narrow spaces and adapt to complex working conditions, thus improving obstacle-crossing performance.
Smart Images
Figure CN122186305A_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of mobile device technology, and in particular relates to a mobile device and a smart mobile terminal. Background Technology
[0002] Currently, common mobile robots include wheeled-legged robots (also known as wheel-legged robots) and legged robots. Legged robots, due to their discrete support characteristics, have strong obstacle-crossing capabilities, but they also suffer from drawbacks such as slow movement speed, poor maneuverability, complex motion control, high energy consumption, and high noise levels. Wheeled-legged robots, on the other hand, have significant advantages in structured environments such as urban areas, exhibiting low energy consumption, high maneuverability, and strong load-bearing capacity.
[0003] However, existing wheeled robots lack the flexibility to switch the number of wheels, have a single configuration mode, and are easily limited when crossing obstacles, resulting in limited obstacle-crossing capabilities.
[0004] The requirements for the wheel and leg structure are not entirely the same for four-wheeled and two-wheeled modes of wheeled robots, especially for specific working conditions such as turning in place. Therefore, it is necessary to design a wheeled robot that can switch between four-wheeled and two-wheeled modes. Summary of the Invention
[0005] The technical problem to be solved by the present invention is to provide a mobile device and a smart mobile terminal to realize the switching between four wheels and two wheels of the smart mobile terminal.
[0006] To solve the above-mentioned technical problems, on the one hand, the present invention provides a mobile device, including a thigh unit, a front lower leg unit, a rear lower leg unit, a knee joint motor and a lower leg motor. The thigh unit includes a thigh support, the front lower leg unit includes a front lower leg support and a first travel wheel device connected to the front end of the front lower leg support, and the rear lower leg unit includes a rear lower leg support and a second travel wheel device connected to the rear end of the rear lower leg support. The lower end of the thigh support is rotatably connected to the front lower leg support. The knee joint motor is used to drive the thigh support to rotate relative to the front lower leg support around a first axis, so as to adjust the angle between the thigh support and the front lower leg support. The calf motor is connected between the front calf support and the rear calf support, and is used to drive the front calf support and the rear calf support to rotate relative to each other around the second axis, so as to adjust the included angle between the front calf support and the rear calf support.
[0007] In this embodiment of the mobile device, the front and rear lower leg units are independently configured. A lower leg motor is connected between the front and rear lower leg supports. The lower leg motor can drive the front and rear lower leg supports to rotate relative to each other around a second axis to adjust the angle between them, thus achieving precise and effective angle adjustment between the front and rear lower leg units. Additionally, a knee joint motor drives the thigh support to rotate relative to the front lower leg support around a first axis to adjust the angle between the thigh support and the front lower leg support, achieving precise and effective angle adjustment between the front and thigh units. Thus, using two of the above-mentioned mobile devices, in a four-wheel state (with both the first and second travel wheel devices on the ground), by controlling the lower leg motor, the rear lower leg unit can rotate around the front lower leg unit, reducing the angle between the front and rear lower leg supports. When the angle between the front and rear lower leg supports decreases to a preset angle, the lower leg motor stops working. Subsequently, by controlling the knee joint motor, the thigh unit rotates around the front lower leg unit, increasing the angle between the thigh support and the front lower leg support, and gradually lifting the second travel wheel device off the ground. When the angle between the front lower leg support and the thigh support reaches a preset angle, the knee joint motor stops working, and the second travel wheel device is suspended in the air, switching the intelligent mobile terminal to two-wheel mode. In this way, the mobile device can switch between two-wheel drive mode (the travel wheel of the first travel wheel device is on the ground) and four-wheel drive mode (both the travel wheels of the first and second travel wheel devices are on the ground), realizing both two-wheel drive and four-wheel drive modes for the intelligent mobile terminal. When the intelligent mobile terminal is switched to two-wheel drive mode, it occupies less space, allowing it to pass through narrow spaces such as elevators and shelves, and can also travel flexibly and quickly on flat ground or gentle slopes. When the intelligent mobile terminal is switched to four-wheel drive mode, it ensures obstacle-crossing capability in complex conditions such as single-sided obstacle crossing, continuous steps, and steep slopes. Therefore, it can effectively balance the flexibility of flat roads with the ability to overcome obstacles in complex road conditions, and has a strong obstacle-crossing capability.
[0008] Optionally, along the length of the front lower leg support, the second axis is located between the first axis and the second travel wheel device. This ensures that the rotation axes of the thigh support and the front lower leg support, and the axes of the front lower leg support and the rear lower leg support, do not coincide.
[0009] Optionally, the housing of the calf motor is fixed to the rear calf support, and the output end of the calf motor is connected to the front calf support; or, The housing of the calf motor is fixed to the front calf support, and the output end of the calf motor is connected to the rear calf support.
[0010] Optionally, the rear lower leg unit further includes a first rotating shaft and a first bearing. The front end of the rear lower leg bracket is provided with a first mounting hole. The first bearing is press-fitted into the first mounting hole. The housing of the lower leg motor is fixed to the front end of the rear lower leg bracket and located on one axial side of the first mounting hole. The first rotating shaft is interference-fitted into the inner ring of the first bearing. One end of the first rotating shaft is fixedly connected to the output end of the calf motor, and the other end of the first rotating shaft is fixedly connected to the front calf bracket.
[0011] Optionally, the first traveling wheel device includes a first motor and a first traveling wheel connected to the output end of the first motor; the first motor is used to drive the first traveling wheel to rotate about a third axis relative to the front lower leg bracket; The second traveling wheel device includes a second motor and a second traveling wheel connected to the output end of the second motor; the second motor is used to drive the second traveling wheel to rotate about a fourth axis relative to the rear lower leg bracket; Among them, the first axis, the second axis, the third axis and the fourth axis are parallel.
[0012] Optionally, the second traveling wheel is an omnidirectional wheel; And / or, The front lower leg unit also includes a transition flange and a front wheel bearing. The first traveling wheel includes a first wheel hub and a first tire fixed to the outside of the first wheel hub. The transition flange includes a transition flange body and a flange shaft connected to one side of the transition flange body. The transition flange body is fixed in the first wheel hub. The front lower leg bracket has a front mounting hole at its front end. The front wheel bearing is press-fitted into the front mounting hole. The housing of the first motor is fixed to the front end of the front lower leg bracket and located on one axial side of the front mounting hole. The flange shaft is interference-fitted into the inner ring of the front wheel bearing.
[0013] Optionally, the housing of the knee joint motor is fixed to the thigh support; It also includes a transmission mechanism, wherein the knee joint motor is used to drive the thigh support to rotate relative to the front lower leg support about the first axis via the transmission mechanism.
[0014] Optionally, the transmission mechanism is a four-bar linkage, which includes a knee joint output link, a knee joint link, a front lower leg support link, and a thigh support link. The output end of the knee joint motor is connected to the first end of the knee joint output link to drive the knee joint output link to rotate. The front lower leg support link is integrally formed with the front lower leg support or is separately provided and fixedly connected. The thigh support link is integrally formed with the thigh support or is separately provided and fixedly connected. The first end of the knee joint output link is hinged to the first end of the thigh support link via the knee joint motor around the fifth axis; the second end of the knee joint output link is hinged to the first end of the knee joint link around the sixth axis; the second end of the knee joint link is hinged to the first end of the front lower leg support link around the seventh axis; and the second end of the front lower leg support link is hinged to the second end of the thigh support link around the first axis; wherein the first axis, the fifth axis, the sixth axis, and the seventh axis are parallel.
[0015] Optionally, the knee joint output link, knee joint link, front lower leg support link, and thigh support link constitute a parallel four-bar linkage.
[0016] Optionally, the axis of the knee joint motor coincides with the fifth axis.
[0017] Optionally, the second axis coincides with the seventh axis.
[0018] Optionally, the thigh unit further includes a second rotating shaft and a second bearing, and the first end of the knee joint link is provided with a second mounting hole, and the second bearing is press-fitted into the second mounting hole; The second end of the knee joint output link is provided with a connecting lug, the first end of the knee joint link is accommodated in the connecting lug, the second rotating shaft passes through the connecting lug and is interference-fitted into the inner ring of the second bearing, and the axis of the second rotating shaft coincides with the sixth axis.
[0019] Optionally, the first end of the knee joint output link is provided with a flange for connecting to the output end of the knee joint motor.
[0020] Optionally, the thigh unit further includes a third rotating shaft and a third bearing. The second end of the knee joint link is provided with a third mounting hole. The third bearing is press-fitted into the third mounting hole. The third rotating shaft is fixed to the side of the front lower leg bracket away from the lower leg motor. The third rotating shaft is interference-fitted into the inner ring of the third bearing, and the axis of the third rotating shaft coincides with the seventh axis.
[0021] Optionally, the front lower leg unit further includes a retaining ring and a support cover. The retaining ring passes through the third rotating shaft and abuts against the side end face of the third bearing away from the front lower leg bracket. The support cover is fixed to the front lower leg bracket and presses against the retaining ring. The side end face of the third bearing near the front lower leg bracket abuts against the front lower leg bracket or against a stop boss formed in the third mounting hole to limit the axial position of the third bearing.
[0022] Optionally, the front lower leg unit further includes a fourth rotating shaft and a fourth bearing. The rear end of the front lower leg bracket is provided with a fourth mounting hole. The fourth bearing is press-fitted into the fourth mounting hole. One end of the fourth rotating shaft is fixed to the lower end of the thigh bracket, and the other end is interference-fitted into the inner ring of the fourth bearing. The axis of the fourth rotating shaft coincides with the axis of the first rotating shaft.
[0023] Optionally, the front lower leg unit further includes a cover, the lower end of the thigh support is provided with a first through hole, one end of the fourth rotating shaft is accommodated in the first through hole, the cover is fixed to the side of the thigh support away from the front lower leg support and covers one side opening of the first through hole, and one end of the fourth rotating shaft is fixed to the cover.
[0024] Optionally, the thigh support includes an inner mounting bracket and an outer mounting bracket that are fixedly connected. Along the direction of the first axis, the front lower leg support is located between the inner mounting bracket and the outer mounting bracket, and the rear lower leg support is located on the side of the inner mounting bracket away from the front lower leg support. The housing of the knee joint motor is fixed to the inner mounting bracket on the side away from the outer mounting bracket, and the inner mounting bracket is provided with a second through hole.
[0025] On the other hand, embodiments of the present invention provide a smart mobile terminal, including a mobile base and the aforementioned mobile device; a mobile device is connected to each of the left and right sides of the mobile base.
[0026] Optionally, the upper end of the thigh support of the left-side mobile device is rotatably connected to the left side of the mobile base, and the upper end of the thigh support of the right-side mobile device is rotatably connected to the right side of the mobile base. It also includes a hip joint motor, which is mounted on the movable base and is used to drive the movable base to rotate about an eighth axis relative to the thigh support; wherein the eighth axis is parallel to the first axis.
[0027] Optionally, the upper end of the thigh support of the mobile device is provided with a connecting plate for fixed connection with the output end of the hip joint motor.
[0028] Optionally, the movable base includes a top plate, a bottom plate, a left side plate, and a right side plate. The top plate is located above the bottom plate, the left side plate is fixed to the left side of the top plate and the bottom plate, and the right side plate is fixed to the right side of the top plate and the bottom plate, so that the top plate, the bottom plate, the left side plate, and the right side plate enclose an installation space for accommodating the hip joint motor. Two hip joint motors are provided along the left-right direction; A third through hole is provided on the left side plate, through which the connecting plate of the thigh support of the left-side mobile device passes and is fixedly connected to the output end of the left-side hip joint motor; A fourth through hole is provided on the right side plate, through which the connecting plate of the thigh support of the right-side mobile device passes and is fixedly connected to the output end of the right-side hip joint motor.
[0029] Optionally, an inertial measurement unit is provided on the top of the mobile base, which is used to measure the three-axis attitude angles and acceleration of the smart mobile terminal.
[0030] In this embodiment of the invention, the intelligent mobile terminal, in a four-wheel state (with both the first and second travel wheel devices on the ground), controls the calf motor to rotate the rear calf unit around the front calf unit, thereby reducing the angle between the front and rear calf supports. When the angle between the front and rear calf supports decreases to a preset angle, the calf motor stops working. Then, by controlling the knee joint motor, the thigh unit rotates around the front calf unit, increasing the angle between the thigh support and the front calf support, and the second travel wheel device gradually lifts off the ground. When the angle between the front calf support and the thigh support increases to a preset angle, the knee joint motor stops working, and the second travel wheel device is suspended in the air, thus the intelligent mobile terminal switches to a two-wheel state. In this way, the intelligent mobile terminal can switch between two-wheel drive mode (the first travel wheel is on the ground) and four-wheel drive mode (both the travel wheels of the first and second travel wheels are on the ground), realizing both two-wheel drive and four-wheel drive modes. When switched to two-wheel drive mode, the intelligent mobile terminal occupies less space, allowing it to pass through narrow spaces such as elevators and shelves, and can also travel flexibly and quickly on flat ground or gentle slopes. When switched to four-wheel drive mode, it ensures obstacle-crossing capability in complex conditions such as single-sided obstacle crossing, continuous steps, and steep slopes. Therefore, it effectively balances flexibility on flat surfaces with obstacle-crossing capability in complex road conditions, demonstrating strong obstacle-crossing ability.
[0031] When this intelligent mobile terminal is equipped with a robotic arm, the user can control it in real time via a control unit or provide a pre-defined program to execute a pre-defined task. Upon receiving the user's task instruction, the intelligent mobile terminal moves to the destination to grasp the object. During movement, if the environment is a wide open space, the intelligent mobile terminal switches to four-wheel drive mode for stable movement. If the environment is a narrow space, it switches to two-wheel drive mode for more flexible movement within confined spaces. Similarly, when grasping an object, if the object is too high for the robotic arm to reach in four-wheel mode, the intelligent mobile terminal switches to two-wheel drive mode to increase its reach. Conversely, when the object is low, the intelligent mobile terminal switches to four-wheel drive mode to increase the minimum reach of the robotic arm.
[0032] This intelligent mobile terminal is applicable to humanoid robots. Corresponding to the humanoid robot, the intelligent mobile terminal also includes a torso, a head gimbal, and a robotic arm. The head gimbal is movably connected to the upper end of the torso, and the lower end of the torso is connected to a mobile base. The robotic arm includes a robotic arm and a gripper. One end of the robotic arm is movably connected to the torso, and the other end is movably connected to the gripper. The robotic arm is used to drive the gripper to move in three-dimensional space, and the gripper is used to grasp objects. The torso, head gimbal, and robotic arm are not the focus of this application and will not be described in detail. Attached Figure Description
[0033] Figure 1 This is a perspective view of a smart mobile terminal provided in an embodiment of the present invention; Figure 2 This is a perspective view (removing the rear leg unit) of a mobile device of a smart mobile terminal provided in an embodiment of the present invention. Figure 3 This is an exploded view (removing the rear leg unit) of a mobile device of a smart mobile terminal provided in an embodiment of the present invention. Figure 4 This is an assembly diagram of the front and rear lower leg units of a mobile device for a smart mobile terminal provided in an embodiment of the present invention. Figure 5 This is a partial cross-sectional view of the front and rear lower leg units of the mobile device of the intelligent mobile terminal provided in an embodiment of the present invention after assembly. Figure 6 This is an assembly diagram of the mobile base and hip joint motor of a smart mobile terminal provided in an embodiment of the present invention; Figure 7 This is an exploded view of the mobile base and hip joint motor of a smart mobile terminal provided in an embodiment of the present invention. Figure 8 This is a schematic diagram of a smart mobile terminal in four-wheel drive mode according to an embodiment of the present invention; Figure 9 This is an intermediate state diagram of a smart mobile terminal switching from four-wheel drive mode to two-wheel drive mode according to an embodiment of the present invention; Figure 10 This is a schematic diagram of a smart mobile terminal in two-wheel drive mode according to an embodiment of the present invention.
[0034] The reference numerals in the accompanying drawings are as follows: 5. Mobility device; 51. Thigh unit; 511. Thigh bracket; 5111. First through hole; 5112. Inner mounting bracket; 5113. Outer mounting bracket; 5114. Second through hole; 5115. Connecting plate; 512. Second rotating shaft; 513. Second bearing; 514. Second mounting hole; 515. Connecting lug; 516. Flange; 517. Third rotating shaft; 518. Third bearing; 519. Third mounting hole; 52. Front lower leg unit; 521. Front lower leg bracket; 522. First travel wheel device; 5221. First motor; 5222. First travel wheel; 52221. First hub; 52222. First tire; 523. Transition flange; 5231. Transition flange body; 5232. Flange shaft; 524. Front wheel bearing; 525. Retaining ring; 526. Fourth shaft; 527. Fourth bearing; 528. Fourth mounting hole; 529. Cover; 5210. Support cover; 53. Rear lower leg unit; 531. Rear lower leg bracket; 532. Second travel wheel device; 5321. Second motor; 5322. Second travel wheel; 533. First shaft; 534. First bearing; 54. Knee joint motor; 55. Lower leg motor; LG1. Knee joint output link; LG2. Knee joint link; LG3. Front lower leg bracket link; LG4. Thigh bracket link; 6. Movable base; 61. Top plate; 62. Bottom plate; 63. Left side plate; 631. Third through hole; 64. Right side plate; 641. Fourth through hole.
[0035] 7. Hip joint motor; 8. Inertial Measurement Unit. Detailed Implementation
[0036] To make the technical problems solved, the technical solutions, and the beneficial effects 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 of the invention and are not intended to limit the invention.
[0037] In this article, please refer to the directions: front, back, left, right, top, and bottom. Figure 1The coordinates are shown below. "Front" represents the forward direction of the smart mobile terminal, and "back" represents the backward direction. "Inner" and "outer" are relative to the geometric center of the smart mobile terminal; that is, the direction pointing towards the geometric center is the inner side, and the direction away from the geometric center is the outer side.
[0038] See Figures 1 to 10 An embodiment of the present invention provides a smart mobile terminal, including a mobile base 6 and a mobile device 5, wherein a mobile device 5 is connected to both the left and right sides of the mobile base 6.
[0039] The mobile device 5 includes a thigh unit 51, a front lower leg unit 52, a rear lower leg unit 53, a knee joint motor 54, and a lower leg motor 55. The thigh unit 51 includes a thigh support 511. The front lower leg unit 52 includes a front lower leg support 521 and a first travel wheel device 522 connected to the front end of the front lower leg support 521. The rear lower leg unit 53 includes a rear lower leg support 531 and a second travel wheel device 532 connected to the rear end of the rear lower leg support 531. The lower end of the thigh support 511 rotates. The knee joint motor 54 is connected to the front lower leg support 521 and is used to drive the thigh support 511 to rotate relative to the front lower leg support 521 around a first axis to adjust the angle between the thigh support 511 and the front lower leg support 521. The lower leg motor 55 is connected between the front lower leg support 521 and the rear lower leg support 531 and is used to drive the front lower leg support 521 and the rear lower leg support 531 to rotate relative to each other around a second axis to adjust the angle between the front lower leg support 521 and the rear lower leg support 531.
[0040] In the mobile device 5 of this embodiment, the front lower leg unit 521 and the rear lower leg unit 531 are independently arranged. A lower leg motor 55 is connected between the front lower leg support 521 and the rear lower leg support 531. The lower leg motor 55 can drive the front lower leg support 521 and the rear lower leg support 531 to rotate relative to each other around a second axis, so as to adjust the angle between the front lower leg support 521 and the rear lower leg support 531, thereby accurately and effectively adjusting the angle between the front lower leg unit 521 and the rear lower leg unit 531. In addition, the knee joint motor 54 drives the thigh support 511 to rotate relative to the front lower leg support 521 around a first axis, so as to adjust the angle between the thigh support 511 and the front lower leg support 521, thereby accurately and effectively adjusting the angle between the front lower leg unit 521 and the thigh unit 51.
[0041] Thus, see Figure 8Using two of the aforementioned mobile devices 5, in a four-wheeled configuration (with both the first and second travel wheel devices 532 on the ground), the lower leg motor 55 is controlled to rotate the rear lower leg unit 53 around the front lower leg unit 52. This reduces the angle between the front lower leg support 521 and the rear lower leg support 531. When the angle between the front lower leg support 521 and the rear lower leg support 531 decreases to a preset angle (see [reference]...), the system can achieve this. Figure 9 The calf motor 55 stops working. Then, by controlling the knee joint motor 54, the thigh unit 51 can rotate around the front calf unit 52, increasing the angle between the thigh support 511 and the front calf support 521, and gradually lifting the second travel wheel device 532 off the ground. When the angle between the front calf support 521 and the thigh support 511 reaches a preset angle, the knee joint motor 54 stops working. At this time, the second travel wheel device 532 is suspended in the air, and the smart mobile terminal switches to two-wheel mode (see...). Figure 10 In this way, the mobile device 5 can switch between two-wheel drive mode (the driving wheels of the first driving wheel device 521 are on the ground) and four-wheel drive mode (both the driving wheels of the first driving wheel device 522 and the driving wheels of the second driving wheel device 532 are on the ground), realizing both two-wheel drive and four-wheel drive modes for the intelligent mobile terminal. When the intelligent mobile terminal is switched to two-wheel drive mode, it occupies less space and can move through narrow spaces such as elevators and shelves, and can also travel flexibly and quickly on flat ground or gentle slopes. When the intelligent mobile terminal is switched to four-wheel drive mode, it can ensure obstacle crossing ability in complex conditions such as single-sided obstacle crossing, continuous steps, and steep slopes. Thus, it can well balance the flexibility on flat ground and the obstacle crossing ability in complex road conditions, and has a strong obstacle crossing capability.
[0042] In one embodiment, along the length of the front lower leg support 511, the second axis is located between the first axis and the second travel wheel device 532. This ensures that the rotation axes of the thigh support 511 and the front lower leg support 521, and the axes of the front lower leg support 521 and the rear lower leg support 522, do not coincide.
[0043] In one embodiment, see Figure 5 The housing of the calf motor 55 is fixed to the rear calf support 531, and the output end of the calf motor 55 is connected to the front calf support 521. Thus, when the calf motor 55 rotates, the front calf support 521 and the rear calf support 531 rotate relative to each other.
[0044] Of course, in other embodiments not shown, the housing of the calf motor 55 may be fixed to the front calf support 521, and the output end of the calf motor 55 may be connected to the rear calf support 532. In this case, when the calf motor 55 rotates, the front calf support 521 and the rear calf support 531 may also rotate relative to each other.
[0045] In one embodiment, see Figure 5 The rear lower leg unit 52 further includes a first rotating shaft 533 and a first bearing 534. A first mounting hole is provided at the front end of the rear lower leg bracket 531. The first bearing 534 is press-fitted into the first mounting hole. The housing of the lower leg motor 55 is fixed to the front end of the rear lower leg bracket 531 and located axially away from the front lower leg bracket 521 from the first mounting hole. The first rotating shaft 533 is interference-fitted into the inner ring of the first bearing 534. One end of the first rotating shaft 533 is fixedly connected to the output end of the lower leg motor 55, and the other end of the first rotating shaft 533 is fixedly connected to the front lower leg bracket 521. By adding a first bearing 534 to the output end of the lower leg motor 55, the shear force on the output end of the lower leg motor 55 is effectively reduced, the service life of the lower leg motor 55 is improved, and the performance requirements of the intelligent mobile terminal in complex terrain conditions are met.
[0046] In one embodiment, see Figure 4 and Figure 5 The first traveling wheel device 522 includes a first motor 5221 and a first traveling wheel 5222 connected to the output end of the first motor 5221; the first motor 5221 is used to drive the first traveling wheel 5222 to rotate relative to the front lower leg support 521 about a third axis. The second traveling wheel device 532 includes a second motor 5321 and a second traveling wheel 5322 connected to the output end of the second motor 5321; the second motor 5321 is used to drive the second traveling wheel 5322 to rotate relative to the rear lower leg support 531 about a fourth axis; wherein the first axis, the second axis, the third axis, and the fourth axis are parallel.
[0047] In one embodiment, the second traveling wheel 5322 is an omnidirectional wheel, which is a wheel capable of moving in multiple directions, possessing high flexibility and adaptability. It typically consists of a central hub and multiple smaller wheels surrounding it, which can rotate independently to achieve omnidirectional movement. The omnidirectional wheel effectively reduces the torque requirements of the second motor 5321 and the rigidity requirements of the smart mobile terminal for four-wheel steering, facilitating the miniaturization of the second motor 5321 and positively contributing to weight reduction and overall power consumption reduction of the second motor 5321.
[0048] In one embodiment, see Figure 5The front lower leg unit 52 further includes a transition flange 523 and a front wheel bearing 524. The first travel wheel 5222 includes a first wheel hub 52221 and a first tire 52222 fixed to the outside of the first wheel hub 52221. The transition flange 523 includes a transition flange body 5231 and a flange shaft 5232 connected to one side of the transition flange body. The transition flange body 5231 is fixed in the first wheel hub 52221. The front lower leg bracket 521 has a front mounting hole at its front end. The front wheel bearing 524 is press-fitted into the front mounting hole. The housing of the first motor 5221 is fixed to the front end of the front lower leg bracket 521 and located on one axial side of the front mounting hole. The flange shaft 5232 is interference-fitted into the inner ring of the front wheel bearing 524. In this way, by adding a transition flange 523 and a front wheel bearing 524 between the output end of the first motor 5221 and the first wheel hub 52221, the shear force on the output end of the first motor 5221 is effectively reduced, the service life of the first motor 5221 is improved, and the performance requirements of the intelligent mobile terminal in complex terrain conditions are met.
[0049] In one embodiment, see Figure 2 and Figure 3The housing of the knee joint motor 54 is fixed to the thigh support 511. The knee joint motor 54 is integrally arranged at the upper end of the thigh support 511. A transmission mechanism is also included, through which the knee joint motor 54 drives the thigh support 511 to rotate relative to the front lower leg support 521 around the first axis. The transmission mechanism is a four-bar linkage, comprising a knee joint output link LG1, a knee joint link LG2, a front lower leg support link LG3, and a thigh support link LG4. The output end of the knee joint motor 54 is connected to the first end of the knee joint output link LG1 to drive the knee joint output link LG1 to rotate. The front lower leg support link LG3 is integrally formed with the front lower leg support 521 (i.e., the front lower leg support link LG3 is part of the front lower leg support 521), and the thigh support link LG4 is integrally formed with the thigh support 511 (i.e., the thigh support link LG4 is part of the thigh support 511). The first end of the knee joint output link LG1 is hinged to the first end of the thigh support link LG4 around the fifth axis via the knee joint motor 54. The second end of the knee joint output link LG1 is hinged to the first end of the knee joint link LG2 around the sixth axis. The second end of the knee joint link LG2 is hinged to the first end of the anterior lower leg support link LG3 around the seventh axis. The second end of the anterior lower leg support link LG3 is hinged to the second end of the thigh support link LG4 around the first axis. That is, the anterior lower leg support link LG3 is the section of the anterior lower leg support 521 located between the first axis and the seventh axis, and the thigh support link LG4 is the section of the thigh support 511 located between the fifth axis and the first axis. The first axis, the fifth axis, the sixth axis, and the seventh axis are parallel.
[0050] In one embodiment, the knee joint output link LG1, knee joint link LG2, front lower leg support link LG3, and thigh support link LG4 constitute a parallel four-bar linkage. Thus, the knee joint motor 54 drives the thigh support 511 to rotate relative to the front lower leg support 521 via the parallel four-bar linkage, resulting in smooth movement.
[0051] However, in other alternative embodiments, the front lower leg support link LG3 may be separately configured and fixedly connected to the front lower leg support 521, and the thigh support link LG4 may be separately configured and fixedly connected to the thigh support 511.
[0052] In one embodiment, the axis of the knee joint motor 54 coincides with the fifth axis, so that the knee joint motor 54 is arranged more compactly.
[0053] In one embodiment, the second axis coincides with the seventh axis to make the arrangement of the calf motor 55 more compact.
[0054] In one embodiment, see Figure 2 and Figure 3 The thigh unit 51 further includes a second rotating shaft 512 and a second bearing 513. The first end of the knee joint link LG2 is provided with a second mounting hole 514, and the second bearing 513 is press-fitted into the second mounting hole 514. The second end of the knee joint output link LG1 is provided with a connecting ear 515. The first end of the knee joint link LG2 is accommodated in the connecting ear 515. The second rotating shaft 512 passes through the connecting ear 515 and is interference-fitted into the inner ring of the second bearing 513. The axis of the second rotating shaft 512 coincides with the sixth axis.
[0055] In one embodiment, see Figure 3 The first end of the knee joint output link LG1 is provided with a flange 516 for connecting to the output end of the knee joint motor 54.
[0056] In one embodiment, see Figure 4 The thigh unit 51 also includes a third rotating shaft 517 and a third bearing 518. The second end of the knee joint link LG2 is provided with a third mounting hole 519. The third bearing 518 is press-fitted into the third mounting hole 519. The third rotating shaft 517 is fixed to the side of the front lower leg bracket 521 away from the lower leg motor 55. The third rotating shaft 517 is interference-fitted into the inner ring of the third bearing 518. The axis of the third rotating shaft 517 coincides with the seventh axis.
[0057] In one embodiment, see Figure 2 and Figure 3 The front lower leg unit 52 further includes a retaining ring 525 and a support cover 5210. The retaining ring 525 passes through the third rotating shaft 517 and abuts against the side end face of the third bearing 518 away from the front lower leg bracket 521. The support cover 5210 is fixed to the front lower leg bracket 521 and presses against the retaining ring 525. The side end face of the third bearing 518 near the front lower leg bracket 521 abuts against the front lower leg bracket 521 or against the stop boss formed in the third mounting hole 519 to limit the axial position of the third bearing 518. The front lower leg unit also includes a retaining ring and a support cover. The retaining ring passes through the third rotating shaft and abuts against the side end face of the third bearing away from the front lower leg bracket. The support cover is fixed to the front lower leg bracket and presses against the retaining ring. The side end face of the third bearing near the front lower leg bracket abuts against the front lower leg bracket or against the connecting wall formed in the third mounting hole to define the axial position of the third bearing 518.
[0058] In one embodiment, see Figures 2 to 3The front lower leg unit 52 further includes a fourth rotating shaft 526 and a fourth bearing 527. The rear end of the front lower leg bracket 521 is provided with a fourth mounting hole 528. The fourth bearing 527 is press-fitted into the fourth mounting hole 528. One end of the fourth rotating shaft 527 is fixed to the lower end of the thigh bracket 511, and the other end is interference-fitted into the inner ring of the fourth bearing 527. The axis of the fourth rotating shaft 527 coincides with the first axis.
[0059] In one embodiment, see Figure 2 and Figure 3 The front lower leg unit 52 also includes a cover 529. The lower end of the thigh support 511 is provided with a first through hole 5111. One end of the fourth rotating shaft 527 is accommodated in the first through hole 5111. The cover 529 is fixed to the side of the thigh support 511 away from the front lower leg support 521 and covers one side opening of the first through hole 5111. One end of the fourth rotating shaft 527 is fixed to the cover 529.
[0060] In one embodiment, see Figure 2 and Figure 3 The thigh support 511 includes an inner mounting bracket 5112 and an outer mounting bracket 5113 fixedly connected. Along the direction of the first axis, the front lower leg support 521 is located between the inner mounting bracket 5112 and the outer mounting bracket 5113, and the rear lower leg support 531 is located on the side of the inner mounting bracket 5112 away from the front lower leg support 521. The housing of the knee joint motor 54 is fixed on the side of the inner mounting bracket 5112 away from the outer mounting bracket 5113. The inner mounting bracket 5112 is provided with a second through hole 5114. The first end of the knee joint output link LG1 passes through the second through hole 5114 and is fixedly connected to the output end of the knee joint motor 54.
[0061] In one embodiment, see Figure 1 The upper end of the thigh support 511 of the left-side mobile device 5 is rotatably connected to the left side of the mobile base 6, and the upper end of the thigh support 511 of the right-side mobile device 5 is rotatably connected to the right side of the mobile base 6.
[0062] In one embodiment, see Figure 1 , Figure 6 and Figure 7 The mobile device 5 further includes a hip joint motor 7, which is mounted on the mobile base 6 and is used to drive the mobile base 6 to rotate about an eighth axis relative to the thigh support 511; wherein the eighth axis is parallel to the first axis.
[0063] In one embodiment, see Figure 1An inertial measurement unit 8 is provided on the top of the mobile base 6. The inertial measurement unit 8 is used to measure the three-axis attitude angles and acceleration of the smart mobile terminal. In this way, with the help of the inertial measurement unit 8, the hip joint motor 7 can adjust the attitude of the mobile base 6, so that the mobile base 6 can always remain horizontal.
[0064] In one embodiment, see Figure 1 , Figure 6 and Figure 7 The upper end of the thigh support 511 of the mobile device 5 is provided with a connecting plate 5115 for fixed connection with the output end of the hip joint motor 7 of the mobile device 5.
[0065] In one embodiment, see Figure 1 , Figure 6 and Figure 7 The movable base 6 includes a top plate 61, a bottom plate 62, a left side plate 63, and a right side plate 64. The top plate 61 is located above the bottom plate 62. The left side plate 63 is fixed to the left side of the top plate 61 and the bottom plate 62, and the right side plate 64 is fixed to the right side of the top plate 61 and the bottom plate 62, so that the top plate 61, the bottom plate 62, the left side plate 63, and the right side plate 64 enclose an installation space for accommodating the hip joint motor 7. Two hip joint motors 7 are arranged in the left-right direction. A third through hole 631 is provided on the left side plate 63, through which the connecting plate 5115 of the thigh support 511 of the left movable device 5 passes and is fixedly connected to the output end of the left hip joint motor 7. A fourth through hole 641 is provided on the right side plate 64, through which the connecting plate 5115 of the thigh support 511 of the right movable device 5 passes and is fixedly connected to the output end of the right hip joint motor 7.
[0066] In one embodiment, a seat may be installed above the mobile base 6 to enable passenger transport.
[0067] In some embodiments, when the intelligent mobile terminal is equipped with a robotic arm, the user can control the intelligent mobile terminal in real time through a control unit or provide a predetermined program to the intelligent mobile terminal to execute a given task. After receiving the task instruction from the user, the intelligent mobile terminal will move to the destination to grasp the object. During the movement, if the environment is a wide open space, the intelligent mobile terminal will switch to four-wheel drive mode, allowing it to move smoothly. If the environment is a narrow space, the intelligent mobile terminal will switch to two-wheel drive mode, enabling it to move more flexibly in confined spaces. Similarly, when the intelligent mobile terminal grasps an object, if the object is too high for the robotic arm to grasp in four-wheel drive mode, the intelligent mobile terminal will switch to two-wheel drive mode to increase the reach of the robotic arm. Conversely, when the object to be grasped is low, the intelligent mobile terminal will switch to four-wheel drive mode to increase the minimum reach of the robotic arm.
[0068] In some embodiments, the intelligent mobile terminal is suitable for humanoid robots. Corresponding to the humanoid robot, the intelligent mobile terminal also includes a torso, a head gimbal, and a robotic arm. The head gimbal is movably connected to the upper end of the torso, and the lower end of the torso is connected to the mobile base 6. The torso may integrate a control module, a battery module, a power module, a radar module, and a camera module. The battery module, power module, radar module, and camera module are electrically connected to the control module, which is also electrically connected to various motors.
[0069] In some embodiments, the robotic hand includes a robotic arm and a gripper, with one end of the robotic arm movably connected to the torso and the other end movably connected to the gripper; the robotic arm is used to drive the gripper to move in three-dimensional space, and the gripper is used to grasp objects.
[0070] The torso, head gimbal, and robotic arm are not the focus of this application and will not be described in detail here.
[0071] In some embodiments, the smart mobile terminal may also include a touch display screen to provide a human-computer interaction interface.
[0072] 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 mobile device, characterized in that, It includes a thigh unit, a front lower leg unit, a rear lower leg unit, a knee joint motor, and a lower leg motor. The thigh unit includes a thigh support, the front lower leg unit includes a front lower leg support and a first travel wheel device connected to the front end of the front lower leg support, and the rear lower leg unit includes a rear lower leg support and a second travel wheel device connected to the rear end of the rear lower leg support. The lower end of the thigh support is rotatably connected to the front lower leg support. The knee joint motor is used to drive the thigh support to rotate relative to the front lower leg support around a first axis, so as to adjust the angle between the thigh support and the front lower leg support. The calf motor is connected between the front calf support and the rear calf support, and is used to drive the front calf support and the rear calf support to rotate relative to each other around the second axis, so as to adjust the included angle between the front calf support and the rear calf support.
2. The mobile device according to claim 1, characterized in that, Along the length of the front lower leg support, the second axis is located between the first axis and the second travel wheel device.
3. The mobile device according to claim 1, characterized in that, The housing of the calf motor is fixed to the rear calf support, and the output end of the calf motor is connected to the front calf support. or, The housing of the calf motor is fixed to the front calf support, and the output end of the calf motor is connected to the rear calf support.
4. The mobile device according to claim 1, characterized in that, The rear lower leg unit also includes a first rotating shaft and a first bearing. The front end of the rear lower leg bracket is provided with a first mounting hole. The first bearing is press-fitted into the first mounting hole. The housing of the lower leg motor is fixed to the front end of the rear lower leg bracket and located on one axial side of the first mounting hole. The first rotating shaft is interference-fitted into the inner ring of the first bearing. One end of the first rotating shaft is fixedly connected to the output end of the calf motor, and the other end of the first rotating shaft is fixedly connected to the front calf bracket.
5. The mobile device according to claim 1, characterized in that, The first traveling wheel device includes a first motor and a first traveling wheel connected to the output end of the first motor; the first motor is used to drive the first traveling wheel to rotate about a third axis relative to the front lower leg bracket; The second traveling wheel device includes a second motor and a second traveling wheel connected to the output end of the second motor; the second motor is used to drive the second traveling wheel to rotate about a fourth axis relative to the rear lower leg bracket; Among them, the first axis, the second axis, the third axis and the fourth axis are parallel.
6. The mobile device according to claim 5, characterized in that, The second traveling wheel is an omnidirectional wheel; And / or, The front lower leg unit also includes a transition flange and a front wheel bearing. The first traveling wheel includes a first wheel hub and a first tire fixed to the outside of the first wheel hub. The transition flange includes a transition flange body and a flange shaft connected to one side of the transition flange body. The transition flange body is fixed in the first wheel hub. The front lower leg bracket has a front mounting hole at its front end. The front wheel bearing is press-fitted into the front mounting hole. The housing of the first motor is fixed to the front end of the front lower leg bracket and located on one axial side of the front mounting hole. The flange shaft is interference-fitted into the inner ring of the front wheel bearing.
7. The mobile device according to claim 1, characterized in that, The housing of the knee joint motor is fixed to the thigh support; It also includes a transmission mechanism, wherein the knee joint motor is used to drive the thigh support to rotate relative to the front lower leg support about the first axis via the transmission mechanism.
8. The mobile device according to claim 7, characterized in that, The transmission mechanism is a four-bar linkage, which includes a knee joint output link, a knee joint link, a front lower leg support link, and a thigh support link. The output end of the knee joint motor is connected to the first end of the knee joint output link to drive the knee joint output link to rotate. The front lower leg support link is integrally formed with the front lower leg support or is separately set and fixedly connected. The thigh support link is integrally formed with the thigh support or is separately set and fixedly connected. The first end of the knee joint output link is hinged to the first end of the thigh support link via the knee joint motor around the fifth axis; the second end of the knee joint output link is hinged to the first end of the knee joint link around the sixth axis; the second end of the knee joint link is hinged to the first end of the front lower leg support link around the seventh axis; and the second end of the front lower leg support link is hinged to the second end of the thigh support link around the first axis; wherein the first axis, the fifth axis, the sixth axis, and the seventh axis are parallel.
9. The mobile device according to claim 8, characterized in that, The knee joint output link, knee joint link, front lower leg support link, and thigh support link constitute a parallel four-bar linkage.
10. The mobile device according to claim 8, characterized in that, The axis of the knee joint motor coincides with the fifth axis.
11. The intelligent mobile terminal according to claim 8, characterized in that, The second axis coincides with the seventh axis.
12. The mobile device according to claim 8, characterized in that, The thigh unit also includes a second rotating shaft and a second bearing. The first end of the knee joint link is provided with a second mounting hole, and the second bearing is press-fitted into the second mounting hole. The second end of the knee joint output link is provided with a connecting lug, the first end of the knee joint link is accommodated in the connecting lug, the second rotating shaft passes through the connecting lug and is interference-fitted into the inner ring of the second bearing, and the axis of the second rotating shaft coincides with the sixth axis.
13. The mobile device according to claim 8, characterized in that, The first end of the knee joint output link is provided with a flange for connecting to the output end of the knee joint motor.
14. The mobile device according to claim 8, characterized in that, The thigh unit also includes a third rotating shaft and a third bearing. The second end of the knee joint link is provided with a third mounting hole. The third bearing is press-fitted into the third mounting hole. The third rotating shaft is fixed to the side of the front lower leg bracket away from the lower leg motor. The third rotating shaft is interference-fitted into the inner ring of the third bearing, and the axis of the third rotating shaft coincides with the seventh axis.
15. The mobile device according to claim 14, characterized in that, The front lower leg unit also includes a retaining ring and a support cover. The retaining ring passes through the third rotating shaft and abuts against the side end face of the third bearing away from the front lower leg bracket. The support cover is fixed to the front lower leg bracket and presses against the retaining ring. The side end face of the third bearing near the front lower leg bracket abuts against the front lower leg bracket or against a stop boss formed in the third mounting hole to limit the axial position of the third bearing.
16. The mobile device according to claim 8, characterized in that, The front lower leg unit also includes a fourth rotating shaft and a fourth bearing. The rear end of the front lower leg bracket is provided with a fourth mounting hole. The fourth bearing is press-fitted into the fourth mounting hole. One end of the fourth rotating shaft is fixed to the lower end of the thigh bracket, and the other end is interference-fitted into the inner ring of the fourth bearing. The axis of the fourth rotating shaft coincides with the axis of the first rotating shaft.
17. The mobile device according to claim 16, characterized in that, The front lower leg unit also includes a cover, the lower end of the thigh support is provided with a first through hole, one end of the fourth rotating shaft is accommodated in the first through hole, the cover is fixed to the side of the thigh support away from the front lower leg support and covers one side opening of the first through hole, and one end of the fourth rotating shaft is fixed to the cover.
18. The mobile device according to claim 1, characterized in that, The thigh support includes an inner mounting bracket and an outer mounting bracket that are fixedly connected. Along the direction of the first axis, the front lower leg support is located between the inner mounting bracket and the outer mounting bracket, and the rear lower leg support is located on the side of the inner mounting bracket away from the front lower leg support. The housing of the knee joint motor is fixed to the inner mounting bracket on the side away from the outer mounting bracket.
19. A smart mobile terminal, characterized in that, It includes a movable base and a movable device as described in any one of claims 1-18; each of the movable bases is connected to a movable device on both its left and right sides.
20. The intelligent mobile terminal according to claim 19, characterized in that, The upper end of the thigh support of the left-side mobile device is rotatably connected to the left side of the mobile base, and the upper end of the thigh support of the right-side mobile device is rotatably connected to the right side of the mobile base. It also includes a hip joint motor, which is mounted on the movable base and is used to drive the movable base to rotate about an eighth axis relative to the thigh support; wherein the eighth axis is parallel to the first axis.
21. The intelligent mobile terminal according to claim 20, characterized in that, The upper end of the thigh support of the mobile device is provided with a connecting plate for fixed connection with the output end of the hip joint motor.
22. The intelligent mobile terminal according to claim 21, characterized in that, The movable base includes a top plate, a bottom plate, a left side plate, and a right side plate. The top plate is located above the bottom plate. The left side plate is fixed to the left side of the top plate and the bottom plate, and the right side plate is fixed to the right side of the top plate and the bottom plate, so that the top plate, the bottom plate, the left side plate, and the right side plate enclose an installation space for accommodating the hip joint motor. Two hip joint motors are provided along the left-right direction; A third through hole is provided on the left side plate, through which the connecting plate of the thigh support of the left-side mobile device passes and is fixedly connected to the output end of the left-side hip joint motor; A fourth through hole is provided on the right side plate, through which the connecting plate of the thigh support of the right-side mobile device passes and is fixedly connected to the output end of the right-side hip joint motor.
23. The intelligent mobile terminal according to claim 19, characterized in that, An inertial measurement unit is installed on the top of the mobile base. The inertial measurement unit is used to measure the three-axis attitude angles and acceleration of the smart mobile terminal.