A multifunctional quadruped wheel-leg hybrid robot capable of adaptive elongation growth

Abstract

The present application relates to the technical field of robots, and discloses a multifunctional four-legged wheel-leg composite robot capable of self-adapting elongation and growth, which comprises a body module, leg joint modules arranged on both sides of the body module, clamping joint modules semi-enclosing the body module, the number of the clamping joint modules being two, the number of the leg joint modules being two, the two clamping joint modules being mirror-symmetrically arranged on the inner side of the body module, and the two leg joint modules being arranged on the outer side of the body module, telescopic joint modules arranged in the interiors of the leg joint modules and the clamping joint modules, respectively, driving wheel modules arranged at the bottom of the leg joint modules and located at the bottom of the telescopic joint modules, and driven omnidirectional wheel modules arranged at the bottom of the clamping joint modules and located at the bottom of the telescopic joint modules. The present application can realize accurate positioning and grabbing of high objects according to the height of the grabbed objects, and improve the working space and grabbing capacity of the robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a multifunctional quadrupedal wheel-leg composite robot capable of adaptive elongation and growth. Background Technology

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can perform tasks such as jobs or movement through programming and automatic control.

[0003] With the rapid development of the digital economy, the express delivery industry and online shopping systems are iterating and upgrading at an unprecedented pace, profoundly changing people's consumption habits and the operation mode of social logistics. Today, online shopping has become a mainstream consumption method for the entire population. From daily fresh produce and household goods to industrial parts, the online transaction volume of various commodities is increasing year by year. Especially during e-commerce promotional periods, order volume explodes, bringing unprecedented pressure to the logistics and transportation sector. At the same time, the scope of urban delivery is constantly expanding, from core urban business districts to remote communities and rural areas. The logistics scenarios are becoming increasingly complex, placing higher demands on the efficiency, flexibility, and economy of logistics and transportation.

[0004] Most existing robots adopt a four-wheel chassis + robotic arm configuration. The four-wheel chassis has high requirements for the working environment and is difficult to meet the application of complex terrain. Existing robots generally use single or double robotic arms, with high redundancy in the drive mechanism. Under the premise of the same weight, the load capacity is relatively weak and cannot complete the grasping and handling of heavy objects. Existing robots have relatively simple working modes and cannot be compatible with movement speed and grasping and handling capabilities.

[0005] To address this, a multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth is proposed. Summary of the Invention

[0006] The purpose of this section is to outline some aspects of embodiments of the present invention and to briefly describe some preferred embodiments. Simplifications or omissions may be made in this section, as well as in the abstract and title of this application, to avoid obscuring the purpose of these documents; however, such simplifications or omissions should not be construed as limiting the scope of the invention.

[0007] In view of the problems in the existing technology where some robots are too large to move flexibly between dense shelves in the warehousing and sorting process, the present invention aims to provide a multifunctional quadrupedal wheel-leg composite robot that can adaptively extend and grow, so as to solve the problems mentioned in the background technology.

[0008] To achieve the above objectives, the present invention provides the following technical solution: A multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth, comprising: fuselage module; Leg joint modules are disposed on both sides of the fuselage module; The clamping joint module is partially surrounded by the body module. There are two clamping joint modules and two leg joint modules. The two clamping joint modules are located inside the body module and are mirror-symmetrical, while the two leg joint modules are located outside the body module. Telescopic joint modules are respectively disposed at the bottom of the leg joint module and the clamping joint module; An active wheel module is disposed at the bottom of the leg joint module and located at the bottom of the telescopic joint module; The driven omnidirectional wheel module is disposed at the bottom of the clamping joint module and located at the bottom of the telescopic joint module.

[0009] As a further embodiment of the present invention: the chassis module includes a frame main body upper plate, on the top of the frame main body upper plate are fixedly mounted with joint motors via a first input gear motor fixing plate and a second input gear motor fixing plate, respectively; a battery box is fixedly mounted on the left side of the top of the frame main body upper plate; a guide rail is provided on the front of the frame main body upper plate; a lead screw fixing seat is provided at the bottom of the front of the frame main body upper plate; fixing seat pads are provided on both sides of the top of the lead screw fixing seat; a driven gear bearing support for the clamping device is provided at the bottom of the frame main body upper plate; internal fixing parts for the driven bearings of the joint are provided on both sides of the frame main body upper plate; a frame main body aluminum tube is provided at the bottom of the frame main body upper plate; and a guide rail is provided on both sides of the frame main body upper plate. The system includes a joint driven bearing inner fixing component mating part, a joint thrust ball bearing pad being provided on the outer side of the joint driven bearing inner fixing component mating part, a bearing being fixedly installed on the joint thrust ball bearing pad by screws, a leg joint reduction gear planetary carrier being provided on the outer side of the bearing, a flange bearing being provided on the outer side of the leg joint reduction gear planetary carrier, a leg joint reduction gear planetary gear being provided inside the leg joint reduction gear planetary carrier, a leg joint reduction gear sun gear and an adapter being meshed on the outer side of the leg joint reduction gear planetary gear, the connecting part being fixedly installed to the joint motor by screws, and a bearing fixing component and a bearing fixing mating part for the supporting device driven gear being provided on the bottom of the upper plate of the frame body respectively.

[0010] As a further embodiment of the present invention: a gear shaft is provided at the bottom of the upper plate of the frame body, the gear shaft is fixed to the bearing of the driven gear of the clamping device by screws, the gear shaft is provided with a lead screw, the lead screw is fixed by a coupling, the other end of the lead screw is fixed to the lead screw fixing seat, one end of the output shaft of the joint motor is provided with a clamping device drive gear, and a clamping device drive gear pad is provided on the outside of the clamping device drive gear, the clamping device drive gear pad can be fixed to the output shaft of the joint motor by screws.

[0011] As a further embodiment of the present invention: the telescopic joint module includes a telescopic plate, a copper nut is provided on the top of the telescopic plate, a copper nut fixing seat is provided at the bottom of the copper nut, mounting plates are provided on both sides of the telescopic plate, a plurality of first clamping roller pads are provided on the inner side of the mounting plate, a plurality of second clamping roller pads are provided on the inner side of the plurality of first clamping roller pads, and nut blocks are provided on the front and back sides of both sides of the bottom of the mounting plate.

[0012] As a further embodiment of the present invention: the leg joint module includes a joint plate, an active plate pad is provided on the inner side of the joint plate, an active plate follower is provided on the inner side of the active plate pad, a protective member is provided on the inner side of the active plate follower, an active thrust ball pad is provided on the inner side of the protective member, and an internal gear of the leg joint reduction gearbox is provided on the inner side of the active thrust ball pad.

[0013] As a further embodiment of the present invention: a gearbox pad is provided on the outside of the gear inside the leg joint gearbox, and a protective shell is provided on the outside of the gearbox pad. The three joint plates, the active plate pad, and the active plate driven member are fixed by the outer ring of the bearing. A telescopic joint motor is provided on the left side of the gear inside the leg joint gearbox. The telescopic joint motor is fixedly installed with the joint plate, and a shaft is fixedly installed on the outside of the telescopic joint motor by a coupling.

[0014] As a further embodiment of the present invention: the clamping joint module includes a clamping joint plate, the clamping joint plate is fixedly mounted with a clamping copper nut fixing member by bolts, a telescopic joint motor fixing plate is fixedly mounted on the outer side of the clamping joint plate, an upper clamping plate is provided on the outer side of the telescopic joint motor fixing plate, and a side clamping plate is fixedly mounted on the outer side of the upper clamping plate.

[0015] As a further embodiment of the present invention: the drive wheel module includes a hub motor, a drive wheel connecting pad is fixedly installed on the outer side of the hub motor, a drive wheel connecting carbon plate with a wire groove is fixedly installed on the outer side of the drive wheel connecting pad, a drive wheel connecting carbon plate pad is provided on the outer side of the drive wheel connecting carbon plate with the wire groove, a drive wheel connecting carbon plate is provided on the outer side of the drive wheel connecting carbon plate pad, and a copper column is provided on the outer side of the drive wheel connecting carbon plate pad.

[0016] As a further embodiment of the present invention: the driven omnidirectional wheel module includes an omnidirectional wheel component, a small wheel and a small wheel axle are respectively provided on the outer side of the omnidirectional wheel component, an omnidirectional wheel carbon plate support is provided on the outer side of the small wheel axle, an omnidirectional wheel bearing pad is provided on the outer side of the omnidirectional wheel carbon plate support to abut the inner ring of the bearing, an optical axis is provided on the outer side of the omnidirectional wheel bearing pad to abut the inner ring of the bearing, and an omnidirectional wheel optical axis fixing ring is provided on the outer side of the optical axis.

[0017] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes a hollow crotch structure for storing and gripping objects, improving the robot's space utilization. The gripping mechanism employs a gear and lead screw drive module, enabling the robot to handle objects of varying sizes. Inspired by the growth mechanism of human legs with age, the robot's leg structure and gripping mechanism incorporate a lifting structure. Based on the height of the target object, the robot can adaptively adjust the leg length, achieving precise positioning and gripping of objects at height, thus enhancing the robot's working space and gripping capabilities.

[0018] This invention features a shoulder joint with a speed reduction gearbox, enabling the robot to operate in three different modes: a two-wheeled balancing mode where the omnidirectional wheel structure is off the ground, and the robot's overall movement is balanced and controlled by two active wheels; a two-wheeled grasping and handling mode where the leg mechanism and gripping mechanism form an angle of less than 90 degrees, allowing the robot to move with two active wheels and two driven wheels; and a four-wheeled obstacle-crossing mode where the active wheels, driven wheels, and body are aligned in a straight line in the side view, giving the robot the same mobility as in its working state while allowing it to pass through narrow spaces such as the bottom of shelves. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a preferred embodiment of a multifunctional quadrupedal wheel-leg composite robot with adaptive elongation growth provided by the present invention. Figure 2 for Figure 1 The diagram shows the overall disassembled structure. Figure 3 for Figure 1 The diagram shows the structural structure of the fuselage module. Figure 4 for Figure 1The diagram shows the structure of the clamping joint module. Figure 5 for Figure 1 The diagram shows the structure of the telescopic joint module. Figure 6 for Figure 1 The diagram shows the structure of the leg joint module. Figure 7 for Figure 1 The diagram shown is a structural schematic of the driven omnidirectional wheel module. Figure 8 for Figure 1 The diagram shows the structure of the drive wheel module.

[0020] In the diagram: 1. Body module; 2. Leg joint module; 3. Clamping joint module; 4. Telescopic joint module; 5. Drive wheel module; 6. Driven omnidirectional wheel module; 7. Holding device drive gear pad; 8. Coupling; 12. Lead screw fixing seat; 13. Fixing seat pad; 14. Joint driven bearing inner fixing component; 15. Frame main body upper plate; 16. Guide rail; 17. Joint motor; 18. Second input gear motor; 19. First input gear motor fixing plate; 20. Joint driven... 21. Bearing; 22. Leg joint gearbox planetary carrier; 23. Bearing fixing component of driven gear in the bearing assembly; 24. Connecting component; 25. Joint thrust ball bearing pad; 26. Bearing fixing component of driven gear in the bearing assembly; 27. Aluminum tube of the frame body; 28. Gear shaft; 29. ​​Battery box; 30. Sun gear of leg joint gearbox; 31. Planetary gear of leg joint gearbox; 34. Bearing fixing component of driven gear; 35. Drive gear of the bearing assembly; 36. Copper nut fastener for clamping part; 37. Side plate for clamping part; 38. Joint plate for clamping part; 39. Top plate for clamping part; 46. Motor fixing plate for telescopic joint; 47. Telescopic plate; 48. Copper nut; 49. Mounting plate; 50. Copper nut fixing seat; 51. Second clamping part roller pad; 52. Nut block; 54. First clamping part roller pad; 71. Active plate pad; 72. Joint plate; 73. Active plate driven component; 74. Protective component; 75. Active thrust ball pad; 76. Leg joint gearbox internal gear; 77. Gearbox pad; 78. Protective shell; 79. Bearing outer ring; 80. Telescopic joint motor; 81. Shaft; 82. Small wheel; 83. Small wheel axle; 84. Omnidirectional wheel assembly; 85. Omnidirectional wheel carbon plate support; 86. Omnidirectional wheel bearing pad against the inner ring of the bearing; 87. Optical shaft; 88. Omnidirectional wheel optical shaft retaining ring; 89. Hub motor; 90. Drive wheel connecting carbon plate with wire groove; 91. Copper column; 92. Drive wheel connecting carbon plate; 93. Drive wheel connecting carbon plate spacer; 94. Drive wheel connecting spacer. Detailed Implementation

[0021] To make the above-mentioned objects, features and advantages of the present invention more readily understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0022] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0023] Secondly, the term "an embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The phrase "in one embodiment" appearing in different places throughout this specification does not necessarily refer to the same embodiment, nor is it a single embodiment or an embodiment selectively excluded from other embodiments.

[0024] Example 1: Please see Figures 1-4 This is the first embodiment of the present invention. This embodiment provides a multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth, comprising: Fuselage Module 1; Leg joint module 2, which is located on both sides of the fuselage module 1; The clamping joint module 3 is partially surrounded by the body module 1. There are two clamping joint modules 3 and two leg joint modules 2. The two clamping joint modules 3 are located inside the body module 1 and are mirror-symmetrical. The two leg joint modules 2 are located outside the body module 1. Telescopic joint module 4 is respectively disposed at the bottom of the leg joint module 2 and the clamping joint module 3. The active wheel module 5 is located at the bottom of the leg joint module 2 and at the bottom of the telescopic joint module 4; Driven omnidirectional wheel module 6 is located at the bottom of clamping joint module 3 and at the bottom of telescopic joint module 4.

[0025] For example, the chassis module 1 includes a frame main body upper plate 15. A joint motor is fixedly mounted on the top of the frame main body upper plate 15 via a first input gear motor fixing plate 19 and a second input gear motor fixing plate 18. A battery box 29 is fixedly mounted on the left side of the top of the frame main body upper plate 15. A guide rail 16 is provided on the front of the frame main body upper plate 15. A lead screw fixing seat 12 is provided at the bottom of the front of the frame main body upper plate 15. Fixing seat pads 13 are provided on both sides of the top of the lead screw fixing seat 12. A driven gear bearing support 9 for the clamping device is provided at the bottom of the frame main body upper plate 15. Joint driven bearing inner fixing parts 14 are provided on both sides of the frame main body upper plate 15. A frame main body aluminum tube 27 is provided at the bottom of the frame main body upper plate 15. Joints are provided on both sides of the frame main body upper plate 15. The inner fixed component 20 of the driven bearing is provided. The outer side of the inner fixed component 20 of the driven bearing is provided with a thrust ball bearing pad 25. The thrust ball bearing pad 25 is fixedly installed with a bearing 21 by screws. The outer side of the bearing 21 is provided with a planetary carrier 22 of the leg joint gearbox. The outer side of the planetary carrier 22 of the leg joint gearbox is provided with a flange bearing 21. The inner side of the planetary carrier 22 of the leg joint gearbox is provided with a planetary gear 31 of the leg joint gearbox. The outer side of the planetary gear 31 of the leg joint gearbox is engaged with a sun gear 30 of the leg joint gearbox and a connecting component 24. The connecting component 24 is fixedly installed with the joint motor by screws. The bottom of the upper plate 15 of the frame body is provided with a driven gear bearing fixing component 23 of the support device and a driven gear bearing fixing fitting component 26 of the support device.

[0026] Furthermore, three joint motors 17 are used in this mechanism. Two of them are located at both ends of the body to drive the leg joint modules 2, and the other is located on the top of the body to drive the internal lead screw to drive the clamping joint module 3. The joint motor 17 located on the top of the body is fixed to the first input gear motor fixing plate 19 and the second input gear motor fixing plate 18 by screws. The first input gear motor fixing plate 19 and the second input gear motor fixing plate 18 are fixed to the upper plate 15 of the frame body by nuts 52 and screws, respectively. The battery box is fixed to the upper plate 15 of the frame body by screws. The guide rail 16 is fixed to the upper plate 15 of the frame body and the side plate of the frame body by screws and anti-loosening nuts. Above; the lead screw fixing seat 12 and the fixing seat pad 13 are fixed to the upper plate 15 of the frame body by screws; the driven gear bearing support of the clamping device, the driven bearing inner fixing part of the joint, and the side plate of the frame body are connected and fixed to the upper plate and the lower plate of the frame body by nut blocks respectively; the aluminum tube 27 of the frame body is fixed to the lower plate of the frame body by rivets to strengthen its structural strength; the driven bearing inner fixing part of the joint, the mating part 20 of the driven bearing inner fixing part of the joint, and the thrust ball bearing pad 25 of the joint are fixed to the bearing 21 by screws; the planetary carrier 22 of the leg joint reduction gearbox is fixed to the joint motor 17 by screws, thereby ensuring the fixation of the planetary carrier of the reduction gearbox.

[0027] For example, a gear shaft 28 is provided at the bottom of the upper plate 15 of the frame body. The gear shaft 28 is fixed to the driven gear bearing fixing part 34 of the clamping device by screws. The gear shaft 28 is provided with a lead screw, which is fixed by a coupling 8. The other end of the lead screw is fixed to the lead screw fixing seat. One end of the joint motor output shaft is provided with a clamping device drive gear 35. A clamping device drive gear pad 7 is provided on the outside of the clamping device drive gear 35. The clamping device drive gear pad 7 can be fixed to the joint motor output shaft by screws.

[0028] Furthermore, the bearing 21 can be precisely embedded in the planetary gear 31 of the leg joint gearbox and can also be connected to the column of the planetary carrier; the sun gear 30 of the leg joint gearbox and the sun gear adapter of the leg joint gearbox are fixed with screws, and the sun gear adapter of the leg joint gearbox and the joint motor 17 are similarly fixed with screws, thereby realizing the transmission of the motor output torque to the sun gear-planet gear; the bearing fixing part 23 of the bearing device driven gear and the bearing fixing mating part 26 of the bearing device driven gear are fixed with screws to complete the fixing of the bearing 21; the gear shaft 28 and the bearing fixing mating part 26 of the bearing device driven gear are fixed with screws, and the gear shaft 28 and the lead screw are fixed with the coupling 8, and the other end of the lead screw is fixed on the lead screw fixing seat 12; the bearing device drive gear 35 and the bearing device drive gear pad 7 can be fixed to the output shaft of the joint motor 17 with screws.

[0029] For example, the telescopic joint module 4 includes a telescopic plate 47, a copper nut 48 is provided on the top of the telescopic plate 47, a copper nut fixing seat 50 is provided on the bottom of the copper nut 48, mounting plates 49 are provided on both sides of the telescopic plate, a plurality of first gripping roller pads 54 are provided on the inner side of the mounting plate 49, a plurality of second gripping roller pads 51 are provided on the inner side of the plurality of first gripping roller pads 54, and nut blocks 52 are provided on the front and back sides of both sides of the bottom of the mounting plate 49.

[0030] Furthermore, the copper nut fixing seat 50 is fixed to the copper nut 48 by screws and nuts, and also fixed to the telescopic plate 47 by screws; the slider cooperates with the copper nut fixing seat 50 by screws, and the first clamping part roller pad 54, the second clamping part roller pad 51, and the rubber-coated roller are fixed by long screws; the nut block 52 is fixed on the telescopic plate 47 for connecting the external wheel module.

[0031] For example, the leg joint module 2 includes a joint plate 72, an active plate pad 71 is provided on the inner side of the joint plate 72, an active plate follower 73 is provided on the inner side of the active plate pad 71, a protective member 74 is provided on the inner side of the active plate follower 73, an active thrust ball pad 75 is provided on the inner side of the protective member 74, and an internal gear 76 of the leg joint reduction gearbox is provided on the inner side of the active thrust ball pad 75.

[0032] Furthermore, the joint plate 72, the active plate pad 71, the active plate driven component 73, the protective component 74, the active thrust ball pad 75, the gear 76 inside the leg joint gearbox, the gearbox pad 77, and the protective shell of the leg joint gearbox are fixed together as a whole by long bolts. The joint plate 72, the active plate pad 71, and the active plate driven component 73 fix the outer ring 79 of the bearing, while the active thrust ball pad 75 cooperates with the thrust ball bearing pad to press the thrust ball bearing tightly. The gear 76 inside the leg joint gearbox, together with the planetary gear and the sun gear, constitutes the gearbox of the leg joint.

[0033] When in use, the robot maintains its balance or moves by having two active wheels in contact with the ground and two passive wheels out of contact with the ground. This method of movement is more energy-efficient because the robot is only subject to the friction between the active wheels and the ground.

[0034] The robot moves on flat terrain using a two-wheel balance mode. In this mode, the outer leg structure supports the movement while the inner gripping structure retracts and moves away from the ground.

[0035] Dual-wheel gripping and transport mode The joint motor 17 is controlled to make the leg joint module 2 and the gripping joint module 3 form an angle greater than 60 degrees and less than 120 degrees, so that the robot can move in a mode with two active wheel modules 5 and two driven omnidirectional wheel modules 6. Since the robot adopts a four-wheel contact motion mode, it is relatively stable and easy to grasp objects. The gripping joint module 3 can be driven by the gear screw inside the body to complete the picking or placing of objects. At the same time, the joint motor 17 can drive the screw to complete the growth of the robot, thereby realizing the handling of objects of different sizes.

[0036] When the robot moves from the two-wheel balance mode to the target object, it needs to switch to the two-wheel grasping and transporting mode. Depending on the height of the target object, the robot's outer leg structure can extend, and the inner gripping joint module 3 can be raised to a suitable height to complete the gripping of the object. The two-wheel balance control realizes the transport of the target object. After the target object is transported to the appropriate position, the robot can adjust the length of the outer leg joint module 2 and the inner gripping joint module 3 according to the height of the storage position to complete the safe and accurate placement of the target object.

[0037] In summary, the hollow crotch structure for storing and gripping objects improves the robot's space utilization. The gripping mechanism, using a gear and lead screw drive gripping joint module 3, enables the robot to handle objects of different sizes. Inspired by the growth mechanism of human legs with age, the robot's leg joint module 2 and gripping joint module 3 are equipped with a lifting structure. According to the height of the target object, the robot can adaptively adjust the leg length to achieve precise positioning and gripping of targets at height, thereby improving the robot's working space and gripping ability.

[0038] Example 2: Please see Figures 5-8 This is the second embodiment of the present invention.

[0039] For example, a gearbox pad 77 is provided on the outside of the gear 76 inside the leg joint gearbox, and a protective shell 78 is provided on the outside of the gearbox pad 77. The three joint plates 72, the active plate pad, and the active plate driven member 73 are fixed by the outer ring of the bearing 79. A telescopic joint motor 80 is provided on the left side of the gear 76 inside the leg joint gearbox. The telescopic joint motor 80 is fixedly installed with the joint plate 72. A motor is fixedly installed on the outside of the telescopic joint motor 80, and a shaft 81 is fixedly installed on the motor through a coupling.

[0040] Furthermore, the telescopic joint motor fixing plate 46 is fixed to the joint plate 72 by a nut block, and the joint motor 17 is fixed on the telescopic joint motor fixing plate 46. The joint motor 17 is fixed to the lead screw by a coupling. The lead screw clamping bearing slot is fixed to the bearing by screws and the lead screw clamping bearing fixing part. At the same time, the bearing is inserted into the lead screw. The lead screw clamping bearing slot is used with a cross-shaped binding rope. The rope passes through the telescopic joint motor fixing plate 46 and is tightened to ensure the verticality of the lead screw. The first clamping part roller pad 54, the second clamping part roller pad 51, and the rubber-coated roller are fixed by long screws.

[0041] For example, the clamping joint module 3 includes a clamping joint plate 38, a clamping copper nut fixing member 36 is fixedly installed on the clamping joint plate 38 by bolts, a telescopic joint motor fixing plate 46 is fixedly installed on the outside of the clamping joint plate 38, a clamping upper plate 39 is provided on the outside of the telescopic joint motor fixing plate 46, and a clamping side plate 37 is fixedly installed on the outside of the clamping upper plate 39.

[0042] Furthermore, the clamping joint plate 38 is fixed to the clamping copper nut fixing piece 36 by bolts, and the clamping joint plate 38 is fixed to the telescopic joint motor fixing plate 46, the clamping upper plate 39, and the clamping side plate 37 by nut blocks; the clamping copper nut fixing piece 36 is fixed to the copper nut 48 by screws; the telescopic joint motor 80 is fixed to the clamping joint plate 38 by nut blocks, and the joint motor 17 is fixed on the telescopic joint motor 80, and the joint motor 17 is fixed to the lead screw by a coupling; the first clamping roller pad 54, the second clamping roller pad 51, and the rubber-coated roller are fixed by long screws.

[0043] For example, the drive wheel module 5 includes a hub motor 89, a drive wheel connecting pad 94 is fixedly installed on the outside of the hub motor 89, a drive wheel connecting carbon plate with a wire groove 90 is fixedly installed on the outside of the drive wheel connecting pad 94, a drive wheel connecting carbon plate pad 93 is provided on the outside of the drive wheel connecting carbon plate with a wire groove 90, a drive wheel connecting carbon plate 92 is provided on the outside of the drive wheel connecting carbon plate pad 93, and a copper pillar 91 is provided on the outside of the drive wheel connecting carbon plate pad 93.

[0044] Furthermore, the omnidirectional wheel assembly 84 is fixed with bolts to confine the small wheel 82 and the small wheel shaft 83 within the omnidirectional wheel groove. Similarly, the omnidirectional wheel assembly 84 confines the small wheel 82 and the small wheel shaft 83. The flange bearing is embedded in the omnidirectional wheel assembly 84, and the flange bearing on the other side is embedded in the omnidirectional wheel carbon plate support 85. The bearings on both sides are supported by the bearing inner ring 86 through the omnidirectional wheel bearing gasket. The optical shaft 87 passes through both sides of the omnidirectional wheel assembly 84, and the omnidirectional wheel carbon plate support 85 is pressed against the omnidirectional wheel from both sides of the omnidirectional wheel assembly 84 through the omnidirectional wheel optical shaft fixing ring 88. The omnidirectional wheel carbon plate support 85 is fixed to the driven side carbon plate of the omnidirectional wheel with screws.

[0045] For example, the driven omnidirectional wheel module 6 includes an omnidirectional wheel component 84. A small wheel 82 and a small wheel axle 83 are respectively provided on the outer side of the omnidirectional wheel component 84. An omnidirectional wheel carbon plate support 85 is provided on the outer side of the small wheel axle 83. An omnidirectional wheel bearing pad is provided on the outer side of the omnidirectional wheel carbon plate support 85 and a bearing pad is placed against the inner ring 86 of the bearing. An optical axis 87 is provided on the outer side of the bearing pad and the bearing inner ring 86. An omnidirectional wheel optical axis fixing ring 88 is provided on the outer side of the optical axis 87.

[0046] Furthermore, the hub motor 89, the drive wheel connecting pad 94, the drive wheel connecting carbon plate with wire groove 90, and the drive wheel connecting carbon plate pad 93 are all fixed together as a whole by M6 screws; the drive wheel connecting carbon plate 92 is fixed to the drive wheel connecting carbon plate pad 93 by M3 screws; the copper column 91 is fixed to the drive wheel connecting carbon plate with wire groove 90 and the drive wheel connecting carbon plate 92 by M4 screws to enhance the mechanical strength of the drive wheel module 5.

[0047] When in use, four-wheel obstacle crossing mode When the robot needs to traverse low terrain, the driven omnidirectional wheel module 6, the body, and the active wheel module 5 can be viewed from the side, causing them to be collinear. Although this increases the robot's top-view projection length, it greatly reduces the robot's lateral height.

[0048] When the robot moves on uneven terrain, it adopts a four-wheel obstacle-crossing mode to improve its ability to pass through complex terrain. The robot can reduce its height by adjusting the angle of the leg joint module 2 and the gripping joint module 3 to pass through narrow spaces.

[0049] In summary, by designing shoulder joints with gearboxes on the robot's shoulders, the robot possesses three different motion states: a two-wheeled balancing mode, where the omnidirectional wheel structure is off the ground, and the robot as a whole relies on two active wheels for balance and motion control; a two-wheeled grasping and handling mode, where the leg joint module 2 and the gripping joint module 3 form an angle of less than 90 degrees, allowing the robot to move in a mode with two active wheel modules 5 and two driven omnidirectional wheel modules 6; and a four-wheeled obstacle-crossing mode, where the active wheels, driven wheels, and body are aligned in a straight line in the side view, enabling the robot to have the same motion capabilities as in the working state while also navigating narrow spaces such as the bottom of shelves.

[0050] It is important to note that the constructions and arrangements of this application shown in several different exemplary embodiments are merely illustrative. Although only a few embodiments are described in detail in this disclosure, those who consult this disclosure will readily understand that many modifications are possible (e.g., changes in the size, dimensions, structure, shape, and proportions of various elements, as well as parameter values ​​(e.g., temperature, pressure, etc.), installation arrangements, use of materials, color, orientation, etc.) without substantially departing from the novel teachings and advantages of the subject matter described in this application. For example, an element shown as integrally formed may be composed of multiple parts or elements, the position of elements may be inverted or otherwise altered, and the nature or number or position of discrete elements may be changed or altered. Therefore, all such modifications are intended to be included within the scope of the invention. The order or sequence of any process or method steps may be changed or rearranged according to alternative embodiments. In the claims, any "device plus function" clause is intended to cover the structure described herein that performs the function, and not only structurally equivalent but also equivalent in structure. Other substitutions, modifications, alterations, and omissions may be made in the design, operation, and arrangement of the exemplary embodiments without departing from the scope of the invention. Therefore, the present invention is not limited to the specific embodiments, but extends to various modifications that still fall within the scope of the appended claims.

[0051] Furthermore, in order to provide a concise description of exemplary embodiments, not all features of actual embodiments (i.e., those features that are not relevant to the best mode of carrying out the invention as currently considered, or those features that are not relevant to implementing the invention) may be omitted.

[0052] It should be understood that numerous specific implementation decisions can be made during the development of any actual implementation method, and in any engineering or design project. Such development efforts may be complex and time-consuming, but for those of ordinary skill in the art who benefit from this disclosure, the development effort will be a routine work of design, manufacturing, and production without requiring much experimentation.

[0053] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth, characterized in that: include: Fuselage module (1); Leg joint module (2), the leg joint module (2) is disposed on both sides of the fuselage module (1); The clamping joint module (3) is partially surrounded by the body module (1). There are two clamping joint modules (3) and two leg joint modules (2). The two clamping joint modules (3) are mirror-symmetrical inside the body module (1), and the two leg joint modules (2) are outside the body module (1). Telescopic joint module (4), the telescopic joint module (4) is respectively disposed at the bottom of the leg joint module (2) and the clamping joint module (3); Active wheel module (5), the active wheel module (5) is disposed at the bottom of the leg joint module (2) and located at the bottom of the telescopic joint module (4); Driven omnidirectional wheel module (6), which is located at the bottom of the clamping joint module (3) and at the bottom of the telescopic joint module (4).

2. The multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth according to claim 1, characterized in that: The fuselage module (1) includes a frame main body upper plate (15). A joint motor is fixedly installed on the top of the frame main body upper plate (15) through a first input gear motor fixing plate (19) and a second input gear motor fixing plate (18). A battery box (29) is fixedly installed on the left side of the top of the frame main body upper plate (15). A guide rail (16) is provided on the front of the frame main body upper plate (15). A screw fixing seat (12) is provided at the bottom of the front of the frame main body upper plate (15). Fixing seat pads (13) are provided on both sides of the top of the screw fixing seat (12). A bearing support (9) for the driven gear of the clamping device is provided at the bottom of the frame main body upper plate (15). A joint driven bearing inner fixing part (14) is provided on both sides of the frame main body upper plate (15). A frame main body aluminum tube (27) is provided at the bottom of the frame main body upper plate (15). A joint is provided on both sides of the frame main body upper plate (15). Driven bearing inner fixing component mating part (20), the outer side of the joint driven bearing inner fixing component mating part (20) is provided with joint thrust ball bearing pad (25), the joint thrust ball bearing pad (25) is fixedly installed with bearing (21) by screws, the outer side of the bearing (21) is provided with leg joint gearbox planetary carrier (22), the outer side of the leg joint gearbox planetary carrier (22) is provided with flange bearing (23), the inner side of the leg joint gearbox planetary carrier (22) is provided with leg joint gearbox planetary gear (31), the outer side of the leg joint gearbox planetary gear (31) is meshed with leg joint gearbox sun gear (30) and adapter (24), the connector (24) is fixedly installed with the joint motor (17) by screws, the bottom of the frame body upper plate (15) is respectively provided with a bearing fixing part (23) for the bearing and a bearing fixing mating part (26) for the bearing.

3. The multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth according to claim 2, characterized in that: A gear shaft (28) is provided at the bottom of the upper plate (15) of the frame body. The gear shaft (2) is fixed with the bearing fixing part (34) of the driven gear of the clamping device by screws. A lead screw is provided on the gear shaft (2). The lead screw is fixed by a coupling (8). The other end of the lead screw is fixed on the lead screw fixing seat (12). A clamping device drive gear (35) is provided at one end of the output shaft of the joint motor (17). A clamping device drive gear pad (7) is provided on the outside of the clamping device drive gear (5). The clamping device drive gear pad (7) can be fixed to the output shaft of the joint motor (17) by screws.

4. The multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth according to claim 1, characterized in that: The telescopic joint module (4) includes a telescopic plate (47), a copper nut (48) is provided on the top of the telescopic plate (47), a copper nut fixing seat (50) is provided at the bottom of the copper nut (48), and mounting plates (49) are provided on both sides of the telescopic plate (47). A plurality of first clamping roller pads (54) are provided on the inner side of the mounting plate (49), and a plurality of second clamping roller pads (51) are provided on the inner side of the plurality of first clamping roller pads (54). Nut blocks (52) are provided on the front and back sides of both sides of the bottom of the mounting plate (49).

5. The multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth according to claim 1, characterized in that: The leg joint module (2) includes a joint plate (72), an active plate pad (71) is provided on the inner side of the joint plate (72), an active plate follower (73) is provided on the inner side of the active plate pad (71), a protective member (74) is provided on the inner side of the active plate follower (73), an active thrust ball pad (75) is provided on the inner side of the protective member (74), and an internal gear (76) of the leg joint reduction gearbox is provided on the inner side of the active thrust ball pad (75).

6. The multifunctional quadrupedal wheel-leg composite robot with adaptive elongation growth according to claim 5, characterized in that: A gearbox pad (77) is provided on the outside of the gear (76) inside the leg joint gearbox. A protective shell (78) is provided on the outside of the gearbox pad (77). The three joint plates (72), the active plate pad, and the active plate driven part (73) are fixed by the bearing outer ring (79). A telescopic joint motor (80) is provided on the left side of the gear (76) inside the leg joint gearbox. The telescopic joint motor (80) is fixedly installed with the joint plate (72). A shaft (81) is fixedly installed on the outside of the telescopic joint motor (80) through a coupling.

7. The multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth according to claim 1, characterized in that: The clamping joint module (3) includes a clamping joint plate (38), which is fixedly mounted with a clamping copper nut fixing piece (36) by bolts. A telescopic joint motor fixing plate (46) is fixedly mounted on the outside of the clamping joint plate (38), and a clamping upper plate (39) is provided on the outside of the telescopic joint motor fixing plate (46). A clamping side plate (37) is fixedly mounted on the outside of the clamping upper plate (39).

8. The multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth according to claim 1, characterized in that: The drive wheel module (5) includes a hub motor (89). A drive wheel connecting pad (94) is fixedly installed on the outside of the hub motor (89). A drive wheel connecting carbon plate with a wire groove (90) is fixedly installed on the outside of the drive wheel connecting pad (94). A drive wheel connecting carbon plate pad (93) is provided on the outside of the drive wheel connecting carbon plate with a wire groove (90). A drive wheel connecting carbon plate (92) is provided on the outside of the drive wheel connecting carbon plate pad (93). A copper column (91) is provided on the outside of the drive wheel connecting carbon plate pad (93).

9. The multifunctional quadrupedal wheel-legged composite robot with adaptive elongation growth according to claim 1, characterized in that: The driven omnidirectional wheel module (6) includes an omnidirectional wheel component (84). A small wheel (82) and a small wheel axle (83) are respectively provided on the outer side of the omnidirectional wheel component (84). An omnidirectional wheel carbon plate support (85) is provided on the outer side of the small wheel axle (83). An omnidirectional wheel bearing pad is provided on the outer side of the omnidirectional wheel carbon plate support (85) and a bearing pad is provided against the inner ring (86) of the bearing. An optical axis (87) is provided on the outer side of the bearing pad against the inner ring (86). An omnidirectional wheel optical axis fixing ring (88) is provided on the outer side of the optical axis (87).

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