A dual-mode walking robot

Abstract

This invention discloses a dual-mode walking robot, belonging to the field of mechanical equipment technology. It includes a device support frame, with second drive motors fixedly connected to both sides of the frame. Each of the output shafts of the two second drive motors is connected to a motion mechanism via a universal joint. The motion mechanism has both wheeled and tracked movement modes. Each motion mechanism includes a support cylinder, with a universal joint connecting the output shaft of the second drive motor to the support cylinder. Three third telescopic mechanisms are axially and evenly fixedly connected to the support cylinder. Each telescopic mechanism has a drive wheel rotatably connected to its telescopic end. A first power mechanism that drives the drive wheel is fixedly connected to the telescopic end of each third telescopic mechanism. A drive belt connects the three drive wheels. This invention allows for switching between wheeled and tracked movement according to different usage requirements, satisfying various travel needs.

Description

Technical Field

[0001] This invention belongs to the field of mechanical equipment technology, specifically relating to a dual-mode walking robot. Background Technology

[0002] Currently, walking robots are increasingly widely used in industries such as manufacturing, exploration, and service. Most existing walking robots employ fixed motion mechanisms, such as wheeled, tracked, or legged structures. Wheeled robots offer high speed and flexibility on flat surfaces, but their performance is poor in complex terrains such as sand, mud, or rough roads. Tracked robots, while adaptable to complex terrains, suffer from high energy consumption and insufficient flexibility on flat surfaces. Therefore, robots with a single motion mode struggle to meet diverse usage environments and needs, limiting their application scope and adaptability. Summary of the Invention

[0003] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a dual-mode walking robot that can switch between wheeled and tracked movement according to different usage needs, thus meeting various mobility requirements.

[0004] To solve the above-mentioned technical problems, the present invention provides a dual-mode walking robot, including a device support frame, on both sides of which a second drive motor is provided; the output shaft of each second drive motor is connected to a motion structure through a universal joint; the motion mechanism includes a wheeled motion mode mechanism and a tracked motion mode mechanism.

[0005] The motion mechanism includes a support cylinder, which is a cylindrical structure. Three third telescopic mechanisms and three fourth telescopic mechanisms are axially and uniformly fixedly connected to the support cylinder, and the third and fourth telescopic mechanisms are spaced apart. Each of the third telescopic mechanisms has a drive wheel rotatably connected to its telescopic end. The drive wheel is driven to rotate by a first power mechanism. The outer contours of the three drive wheels are connected to a motion belt to form a tracked motion mechanism. Each of the fourth telescopic mechanisms has a support arc plate fixedly connected to its telescopic end. The support arc plate contacts the motion belt to form a wheeled motion mechanism.

[0006] The wheeled motion mode mechanism supports the motion belt with three supporting arc plates and three drive wheels, making the motion belt form a circle and allowing the motion belt to make line contact with the ground.

[0007] The tracked motion mode mechanism supports the motion belt with three drive wheels, so that the motion belt makes surface contact with the ground.

[0008] Several second telescopic mechanisms are also provided on both sides of the device support; a rotating ring is rotatably connected to the support cylinder, and the telescopic end of the second telescopic mechanism is elastically connected to the rotating ring through a compression spring. The telescopic end of the second telescopic mechanism pushes the compression spring to cause the rotating ring to deflect, thereby causing the motion mechanism to deflect.

[0009] The upper part of the device support is provided with a moving arm, the moving arm including a rotating seat, the rotating seat being rotatably connected to the device support, a second power mechanism being fixedly installed on the device support for driving the rotating seat to rotate; a first swing arm being rotatably connected to the rotating seat, a third power mechanism being fixedly connected to the rotating seat for driving the first swing arm to rotate; a second swing arm being rotatably connected to the first swing arm, a fourth power mechanism being fixedly connected to the first swing arm for driving the second swing arm to rotate; a third swing arm being rotatably connected to the second swing arm, a fifth power mechanism being fixedly connected to the second swing arm for driving the third swing arm to rotate; a first drive motor being fixedly connected to the third swing arm, a support wheel being fixedly connected to the output shaft of the first drive motor.

[0010] An auxiliary motion mechanism is provided in the front-rear direction at the lower part of the device support. The auxiliary motion mechanism includes a first telescopic mechanism and an auxiliary wheel rotatably connected to the telescopic end of the first telescopic mechanism. The first telescopic mechanism is fixedly connected to the device support, and a sixth power mechanism for driving the auxiliary wheel to rotate is fixedly connected to the telescopic end of the first telescopic mechanism.

[0011] The motion belt is made of high wear-resistant rubber material, and its inner surface has a toothed structure that cooperates with the drive wheel.

[0012] The power mechanism uses a servo motor or a geared motor.

[0013] The beneficial effects of this invention are: it can freely switch between wheeled and tracked walking modes according to different terrains; the wheeled mode ensures movement speed on flat roads, while the tracked mode provides strong traction on sandy and muddy terrain, ensuring close-range capability; the two modes can be freely switched by controlling the support arc plate to lift it up through the telescopic mechanism; it is flexible in steering, and small-radius turns or even turning on the spot can be achieved by pushing the motion mechanism slightly through the second telescopic mechanism; with the help of the motion arm and auxiliary wheels, it can also climb higher obstacles; the motion arm can not only assist in overcoming obstacles, but also grab and move things, and can be lowered as a support point to stabilize the structure when needed. Attached Figure Description

[0014] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0015] Figure 1 This is a schematic diagram of the dual-mode walking robot structure of the present invention; Figure 2 This is a schematic diagram of the device support structure of the present invention; Figure 3 This is a schematic diagram of the auxiliary motion mechanism of the present invention; Figure 4 This is a schematic diagram of the motion arm structure of the present invention; Figure 5 This is a schematic diagram of the motion mechanism structure of the present invention; Figure 6 This is a schematic diagram of the motion belt structure of the present invention; Figure 7 This is a schematic diagram of the support cylinder structure of the present invention; Figure 8 This is a schematic diagram of the drive wheel structure of the present invention; Figure 9 This is a schematic diagram of the supporting arc plate structure of the present invention; Figure 10 This is a schematic diagram of the rotating ring structure of the present invention.

[0016] In the diagram: 1-device support; 2-moving arm; 21-rotating seat; 22-first swing arm; 23-second swing arm; 24-third swing arm; 25-support wheel; 26-first drive motor; 3-auxiliary motion mechanism; 31-first telescopic mechanism; 32-auxiliary wheel; 4-second drive motor; 5-second telescopic mechanism; 6-motion mechanism; 61-support cylinder; 62-third telescopic mechanism; 63-drive wheel; 64-fourth telescopic mechanism; 65-support arc plate; 66-motion belt; 67-rotating ring; 7-universal joint. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0018] like Figures 1-10 As shown, in order to solve the above-mentioned technical problems, the present invention includes components such as a device bracket 1, a motion arm 2, an auxiliary motion mechanism 3, a second drive motor 4, a second telescopic mechanism 5, a motion mechanism 6, and a universal joint 7.

[0019] The device bracket 1 is the main support structure of the dual-mode walking robot of this invention. It is made of high-strength, lightweight materials and has an overall frame structure, which facilitates the installation of various functional components. Second drive motors 4 are symmetrically fixed on both sides of the device bracket 1. The output shaft of each second drive motor 4 is connected to the motion mechanism 6 via a universal joint 7. The universal joint 7 can transmit power within a certain angle range, ensuring that the motion mechanism 6 can still operate normally when deflected.

[0020] like Figures 5 to 9 As shown, the motion mechanism 6 includes a support cylinder 61, which is a cylindrical structure. Three third telescopic mechanisms 62 are axially and evenly fixed to the outside of the support cylinder 61. Each third telescopic mechanism 62 has a drive wheel 63 rotatably connected to its telescopic end. The drive wheel 63 is driven to rotate by a first power mechanism fixed to the telescopic end of the third telescopic mechanism 62. The first power mechanism can be a servo motor or a geared motor. The three drive wheels 63 are connected by a motion belt 66. The motion belt 66 is made of highly wear-resistant rubber material and has a toothed structure on its inner surface to cooperate with the drive wheels 63 and prevent slippage.

[0021] Three fourth telescopic mechanisms 64 are also axially and evenly fixed on the support cylinder 61, and each fourth telescopic mechanism 64 has a support arc plate 65 fixedly connected to its telescopic end. The support arc plate 65 has an arc-shaped structure, and its outer surface can contact the inner surface of the moving belt 66 to provide support. The curvature of the support arc plate 65 matches the inner curvature of the moving belt 66 in the wheel mode.

[0022] When the robot needs to move at high speed on a flat surface, the control system issues a command to extend the fourth telescopic mechanism 64, pushing the support arc plate 65 outward until it makes close contact with the inner surface of the motion belt 66. At this time, the three support arc plates 65 and the three drive wheels 63 together provide uniform support for the motion belt 66, making the motion belt 66 a complete circular structure, similar to the shape of a wheel. The motion belt 66 has line contact with the ground, resulting in low rolling resistance. The first power mechanism is then activated, driving the drive wheels 63 to rotate, which in turn drives the motion belt 66 through friction, thus realizing the robot's wheel-like movement. In this mode, the robot can achieve fast and smooth movement on a flat surface with low energy consumption.

[0023] When the robot encounters complex terrain such as sand, mud, rugged terrain, or slopes, the control system issues a command to retract the fourth telescopic mechanism 64, causing the supporting arc plate 65 to move inward and disengage from the motion belt 66. At this time, only the three drive wheels 63 support the motion belt 66, which, under its own tension, forms a triangular or approximately planar structure, creating a large surface contact area with the ground. The first power mechanism is then activated, and the drive wheels 63 drive the motion belt 66 to rotate, forming a tracked walking mechanism. In this mode, the robot has a large ground contact area, low pressure, is less prone to sinking, has strong grip, and can stably traverse complex terrain.

[0024] Furthermore, such as Figure 1 As shown, when the robot is walking on tracks, the second drive motor 4 can also be activated. The output shaft of the second drive motor 4 drives the tracked motion mechanism 6 to move through the drive universal joint 7, causing the tracked motion mechanism 6 to flip and increase its ability to overcome obstacles.

[0025] During mode switching, the control system synchronously adjusts the extension and retraction of the third telescopic mechanism 62 to adjust the tension of the motion belt 66, ensuring that the motion belt 66 maintains appropriate tension in both modes and preventing it from becoming too loose or too tight. After switching, the robot can automatically adjust its walking speed and driving force according to the terrain.

[0026] like Figure 1 , Figure 2 and Figure 10 As shown, multiple second telescopic mechanisms 5 are fixedly connected to the side of the device bracket 1, and a rotating ring 67 is rotatably connected to the support cylinder 61. The telescopic ends of the second telescopic mechanisms 5 are connected to the rotating ring 67 via compression springs. When steering or adjusting the motion posture is required, the control system controls the extension of the second telescopic mechanism 5 on one side, which pushes the rotating ring 67 to deflect through the compression spring, thereby driving the motion mechanism 6 on that side to deflect inward or outward, achieving differential steering or posture adjustment. The compression spring design can buffer road impacts and protect transmission components. When it is necessary to return to the forward position, the second telescopic mechanism 5 retracts, the compression spring resets, and the motion mechanism 6 returns to the forward position.

[0027] like Figure 1 and Figure 4 As shown, a moving arm 2 is fixedly connected to the upper side of the device support 1. The moving arm 2 includes a rotating base 21, which is rotatably connected to the device support 1 and driven to rotate by a second power mechanism. The second power mechanism can be a worm gear reducer motor to achieve a self-locking function. A first swing arm 22, a second swing arm 23, and a third swing arm 24 are rotatably connected to the rotating base 21 in sequence, and are driven to rotate by the third, fourth, and fifth power mechanisms, respectively. Each power mechanism can be a servo motor with a reducer to achieve precise angle control. A first drive motor 26 is fixedly connected to the end of the third swing arm 24, and a support wheel 25 is fixedly connected to its output shaft.

[0028] When the robot needs to overcome obstacles, the control system activates the third, fourth, and fifth power mechanisms, driving the first swing arm 22, the second swing arm 23, and the third swing arm 24 to swing, adjusting the position and attitude of the support wheel 25 so that it contacts the top or front of the obstacle, assisting the robot in climbing or crossing. During climbing, the support wheel 25 can be driven to rotate by the first drive motor 26, providing auxiliary driving force. When the robot needs to grasp objects, the coordinated movement of the multi-stage swing arms allows the support wheel 25 to act as an end effector, gripping or pushing the object. When the robot needs additional support, the support wheel 25 can be lowered to contact the ground, increasing the support points and improving stability. When the motion arm 2 is not needed, it can be folded and stored above the device bracket 1, reducing space occupation.

[0029] like Figure 1 and Figure 3As shown, auxiliary motion mechanisms 3 are fixedly connected to both the front and rear sides of the lower part of the device bracket 1. The auxiliary motion mechanism 3 includes a first telescopic mechanism 31 and an auxiliary wheel 32. The auxiliary wheel 32 is rotatably connected to the telescopic end of the first telescopic mechanism 31 and is driven to rotate by a sixth power mechanism. The sixth power mechanism can be a hub motor or an external motor with belt drive.

[0030] When traveling at high speed on a flat surface, the first telescopic mechanism 31 retracts, lifting the auxiliary wheel 32 off the ground and reducing frictional resistance. When the robot tilts or turns, the control system selectively extends the first telescopic mechanism 31 on one side based on feedback from the attitude sensors, allowing the auxiliary wheel 32 to contact the ground, providing additional support and driving force to prevent tipping or slipping. When climbing slopes or overcoming obstacles, the front and rear auxiliary wheels 32 can be extended simultaneously to increase the contact point and driving force, improving passability. When the robot needs to turn in place, it can achieve flexible turning through the differential rotation of the auxiliary wheels 32 in conjunction with the motion mechanism 6.

[0031] In practical use, the walking robot of this invention can automatically or manually switch movement modes according to terrain changes and task requirements, and work in conjunction with the moving arm 2 and the auxiliary movement mechanism 3 to complete complex movements. On flat surfaces, it travels at high speed in wheel mode, with the auxiliary movement mechanism 3 retracted and the moving arm 2 folded to reduce wind resistance. When entering sandy or muddy areas, it automatically switches to tracked mode, with the auxiliary movement mechanism 3 extending appropriately to increase support, and the moving arm 2 adjusting its posture as needed for balance or detection. When encountering obstacles, the moving arm 2 extends support wheels 25 to assist in climbing, while the movement mechanism 6 maintains tracked mode to provide traction. When it is necessary to stop or fix a position, the auxiliary wheels 32 and support wheels 25 can be extended to form multi-point support and maintain stability.

[0032] In actual operation, the operator can send instructions through the remote control or host computer. After receiving the instructions, the control system coordinates and controls the actions of the second drive motor 4, the second telescopic mechanism 5, the third telescopic mechanism 62, the fourth telescopic mechanism 64, the first power mechanism, the second power mechanism, the third power mechanism, the fourth power mechanism, the fifth power mechanism, the sixth power mechanism, and the first drive motor 26 according to the preset program or real-time algorithm, so as to realize the robot's walking, turning, mode switching, posture adjustment and auxiliary operation.

[0033] For example, when an operator wants the robot to switch from wheeled mode to tracked mode, a switching command can be sent via remote control. The control system first controls the third telescopic mechanism 62 to retract appropriately, slightly loosening the motion belt 66. Then, it controls the fourth telescopic mechanism 64 to retract, causing the support arc plate 65 to disengage from the motion belt 66. Finally, it controls the third telescopic mechanism 62 to extend, re-tensioning the motion belt 66, completing the switch. The entire switching process can be completed within seconds.

[0034] When the operator needs the robot to turn, a turning command can be sent via remote control. The control system, based on the turning direction and angle, controls the extension or retraction of the second telescopic mechanism 5 on the corresponding side, pushing the rotating ring 67 to deflect and causing the motion mechanism 6 to tilt, thus achieving differential steering. Simultaneously, the auxiliary motion mechanism 3 can selectively extend the auxiliary wheels 32 according to the turning radius and speed, providing steering assistance.

[0035] When the operator needs the robot to climb an obstacle, a climbing command can be sent via remote control. The control system first switches the motion mechanism 6 to tracked mode, then controls the extension of the motion arm 2 to place the support wheel 25 on top of the obstacle. Finally, the motion mechanism 6 moves forward while the motion arm 2 retracts, pulling the robot body over the obstacle. During this process, the auxiliary motion mechanism 3 can extend as needed to prevent the robot from tilting to one side.

[0036] In summary, this invention, through the switching between wheeled and tracked motion mechanisms 6, combined with the synergistic effect of the motion arm 2 and the auxiliary motion mechanism 3, enables the robot to flexibly adjust its motion mode according to different ground environments and task requirements, exhibiting strong adaptability and practicality. Operators can flexibly control the robot according to actual conditions to achieve various complex actions, meeting the usage needs in different scenarios.

[0037] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered in all respects as exemplary and non-limiting, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0038] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A dual-mode walking robot, comprising a device support (1), characterized in that: A second drive motor (4) is provided on both sides of the device bracket (1); the output shaft of each second drive motor (4) is connected to the motion mechanism (6) through a universal joint (7); the motion mechanism (6) includes a wheeled motion mode mechanism and a tracked motion mode mechanism.

2. The dual-mode walking robot according to claim 1, characterized in that: The motion mechanism (6) includes a support cylinder (61), which is a cylindrical structure. Three third telescopic mechanisms (62) and three fourth telescopic mechanisms (64) are axially and uniformly fixedly connected on the support cylinder (61), and the third telescopic mechanisms (62) and the fourth telescopic mechanisms (64) are spaced apart. Each of the third telescopic mechanisms (62) has a drive wheel (63) rotatably connected to its telescopic end. The drive wheel (63) is driven to rotate by a first power mechanism. The outer contours of the three drive wheels (63) are connected to a motion belt (66) to form a tracked motion mode mechanism. Each of the fourth telescopic mechanisms (64) has a support arc plate (65) fixedly connected to its telescopic end. The support arc plate (65) contacts the motion belt (66) to form a wheeled motion mode mechanism.

3. A dual-mode walking robot according to claim 1 or 2, characterized in that: The wheeled motion mode mechanism supports the motion belt (66) through three support arc plates (65) and three drive wheels (63), so that the motion belt (66) forms a circle and the motion belt (66) forms a line contact with the ground.

4. A dual-mode walking robot according to claim 1 or 2, characterized in that: The tracked motion mode mechanism supports the motion belt (66) with three drive wheels (63), so that the motion belt (66) makes surface contact with the ground.

5. A dual-mode walking robot according to claim 1 or 2, characterized in that: Several second telescopic mechanisms (5) are also provided on both sides of the device bracket (1); a rotating ring (67) is rotatably connected to the support cylinder (61). The telescopic end of the second telescopic mechanism (5) is elastically connected to the rotating ring (67) through a compression spring. The telescopic end of the second telescopic mechanism (5) pushes the compression spring to cause the rotating ring (67) to deflect, thereby causing the motion mechanism (6) to deflect.

6. A dual-mode walking robot according to claim 1, characterized in that: The upper part of the device support (1) is provided with a moving arm (2), the moving arm (2) includes a rotating seat (21), the rotating seat (21) is rotatably connected to the device support (1), the device support (1) is fixedly provided with a second power mechanism for driving the rotating seat (21) to rotate; a first swing arm (22) is rotatably connected to the rotating seat (21), and a third power mechanism for driving the first swing arm (22) to rotate is fixedly connected to the rotating seat (21); a second swing arm (23) is rotatably connected to the first swing arm (22), and a fourth power mechanism for driving the second swing arm (23) to rotate is fixedly connected to the first swing arm (22); a third swing arm (24) is rotatably connected to the second swing arm (23), and a fifth power mechanism for driving the third swing arm (24) to rotate is fixedly connected to the second swing arm (23); a first drive motor (26) is fixedly connected to the third swing arm (24), and a support wheel (25) is fixedly connected to the output shaft of the first drive motor (26).

7. A dual-mode walking robot according to claim 1, characterized in that: An auxiliary motion mechanism (3) is provided in the front-back direction at the lower part of the device support (1). The auxiliary motion mechanism (3) includes a first telescopic mechanism (31) and an auxiliary wheel (32) rotatably connected to the telescopic end of the first telescopic mechanism (31). The first telescopic mechanism (31) is fixedly connected to the device support (1). A sixth power mechanism for driving the auxiliary wheel (32) to rotate is fixedly connected to the telescopic end of the first telescopic mechanism (31).

8. A dual-mode walking robot according to claim 2, characterized in that: The motion belt (66) is made of high wear-resistant rubber material and has a toothed structure on its inner surface, which cooperates with the drive wheel (63).

9. A dual-mode walking robot according to claim 2 or 6, characterized in that: The power mechanism uses a servo motor or a geared motor.

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