A mobile base of a companion robot for complex home environment

Abstract

The application relates to the technical field of artificial intelligence, in particular to a mobile base of a companion robot for a complex home environment, which comprises a first wheel-leg unit, a second wheel-leg unit and a machine body; two groups of the first wheel-leg unit and the second wheel-leg unit are arranged, and the two groups of the first wheel-leg unit and the second wheel-leg unit are arranged around the machine body; the first wheel-leg unit comprises a first rotating rod, a second rotating rod and a third rotating connecting piece which are sequentially connected, and the third rotating connecting piece is connected with a rudder wheel group through a heel joint connecting piece; a lifting mechanism is mounted on the upper surface of the machine body; the second wheel-leg unit comprises two groups of motion units, the motion units drive a motion wheel to move in multiple degrees of freedom; the second wheel-leg unit is connected with the machine body through a suspension system, and a buffer assembly is mounted on the second wheel-leg unit; the first wheel-leg unit and the second wheel-leg unit are cooperatively arranged with the rudder wheel group and the motion wheel, so that the machine body can be efficiently driven and has strong obstacle-crossing capability.

Description

Technical Field

[0001] This invention relates to the field of artificial intelligence technology, and in particular to a mobile base for a companion robot designed for complex home environments. Background Technology

[0002] With the increasing trend of population aging and people's growing demand for a high-quality life, home care robots, as an important application carrier of artificial intelligence and robotics technology, are receiving widespread attention from society. As a specific product of the field of artificial intelligence, care robots aim to provide services such as life assistance and safety monitoring for disabled or semi-disabled elderly people. However, the home environment is very different from the industrial scene. Its spatial layout is complex and varied, and the actual environment has unstructured characteristics. Obstacles such as thresholds, steps, carpets and scattered debris can greatly affect the mobility of care robots.

[0003] Existing mobile bases for companion robots largely follow the technological paradigm of traditional robotic vacuum cleaners, employing differential drive or simple wheel structures. While they can manage on flat surfaces, they often struggle with complex terrain. Furthermore, these mobile bases lack lightweight design, making them prone to collisions with surrounding objects in complex environments. This creates numerous safety hazards during movement, causing delays when adjustments to the movement path are needed, affecting the process and potentially endangering the safety of the person being cared for. Additionally, the unstructured nature of the home environment and the complexity of surrounding obstacles mean that current technologies are significantly inadequate in balancing load-bearing capacity and operational stability, thus limiting the safety and practicality of companion robot bases. Summary of the Invention

[0004] The purpose of this invention is to provide a mobile base for a companion robot designed for complex home environments, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: A mobile base for a companion robot designed for complex home environments includes a first wheel-leg unit, a second wheel-leg unit, a body, a lifting mechanism, and a suspension system. Two sets of both the first and second wheel-leg units are provided. The two sets of first wheel-leg units are respectively located at the front and rear ends of the bottom of the body along the direction of movement. Each first wheel-leg unit includes a first rotating rod, a second rotating rod, and a third rotating connector connected in sequence. The other end of the first rotating rod is rotatably connected to the bottom of the body, and the third rotating connector is connected to a steering wheel assembly via a sliding plate. Two sets of second wheel-leg units are respectively located on both sides of the body. A lifting mechanism for supporting heavy objects is installed on the upper surface of the body. A left and right motion unit are connected in parallel to the second wheel-leg units, with their lower ends rotatably connected to motion wheels. The suspension system includes an adjustment plate installed inside the body. Suspension units are located on both sides of the adjustment plate, and two sets of suspension units are respectively installed on the upper parts of the two sets of second wheel-leg units. Each set of second wheel-leg units is connected to both sides of the body via the suspension units.

[0006] Preferably, the left motion unit includes a hinged first upper arm joint and a first lower arm joint, and the right motion unit includes a hinged second upper arm joint and a second lower arm joint. The upper ends of the first upper arm joint and the second upper arm joint are rotatably connected to the two ends of a corresponding set of suspension units, and the axle of the motion wheel is coaxially rotatably connected to the lower ends of the first lower arm joint and the second lower arm joint, respectively. The first upper arm joint and the second upper arm joint extend in the opposite direction to both sides from the axle of the motion wheel.

[0007] Preferably, the first wheel leg unit includes a steering motor, a first joint connector, a second joint connector, and a heel joint connector; the sliding plate is slidably disposed on the heel joint connector, the steering motor is fixedly connected to the heel joint connector, the output shaft of the steering motor is fixedly connected to the steering wheel assembly, the first joint connector and the second joint connector are symmetrically arranged, the two ends of the sliding plate are respectively hinged to one end of the first joint connector and the second joint connector, and the other ends of the first joint connector and the second joint connector are respectively coaxially rotatably connected to the end of the third rotating connector away from the heel joint connector.

[0008] Preferably, the mounting plate has a transverse stabilizing bar elastically hinged to the middle of both sides via a connecting sleeve rod. The two ends of the transverse stabilizing bar are respectively rotatably connected to guide rods. The guide rods are rotatably connected to the bottom of the mounting plate extending downwards via a first helical spring and a damper. The adjusting plate has a fixing plate installed at both ends. Two limiting plates are symmetrically slidably arranged in the middle of the fixing plate. The limiting plates pass through the fixing plates and are fixedly connected to the mounting plate. The two ends of the fixing plates are respectively rotatably connected to the upper ends of the first and second upper arm joints. The connection between the fixing plate and the first or second upper arm joint is connected to the limiting plate via a second helical spring.

[0009] Preferably, it also includes a buffer assembly, wherein two sets of buffer assemblies are provided, and the two sets of buffer assemblies are respectively installed on two sets of second wheel leg units. The buffer assembly includes a mounting base and a connecting box; a mounting groove is provided through the middle of the first forearm joint or the second forearm joint, the mounting base is fixedly installed at the lower end of the mounting groove, the connecting box is fixedly connected to the upper end of the mounting groove through a movable guide post, the connecting box is slidably installed on a movable plate and a connecting piece, the mounting base is connected to the movable plate through a damping plate and a spring, the lower end of the movable guide post is fixedly connected to the connecting piece, and a shock-absorbing spring is provided between the connecting piece and the movable plate.

[0010] Preferably, the body adopts a box structure that runs through four sides. The body includes an upper platform and a lower platform that are fixedly connected by a fixing rod. A bearing platform is installed in the middle of the upper surface of the upper platform, and the bearing platform is fixedly connected to the bottom of the lifting mechanism. A power supply is installed in the middle of the lower platform.

[0011] Preferably, the lifting mechanism includes a top mounting platform, a bottom fixed base, a connecting seat, and an electric push rod; the bottom fixed base is fixedly connected to the bearing platform, and cross lifting units are installed on both sides of the bottom fixed base to realize the horizontal lifting of the top mounting platform; the two cross lifting units achieve synchronous operation through the connecting seat which is slidably connected to the bottom fixed base, the fixed end of the electric push rod is hinged to the bottom fixed base, and the telescopic end of the electric push rod is fixedly connected to the connecting seat.

[0012] Preferably, it also includes a control element installed inside the body, an inertial measurement unit installed on the body, and an environmental sensing unit installed on the upper surface of the body along its direction of movement; the environmental sensing unit is used to continuously collect visual, distance and attitude information of the surrounding environment; the inertial measurement unit, the environmental sensing unit, the electric actuator, the power supply and the control element are electrically connected.

[0013] Preferably, the control element is equipped with a motion control algorithm to generate the optimal motion strategy based on the results obtained by the environmental perception unit; the control element calculates the motion posture in real time and adjusts the actions of each component; the inertial measurement unit continuously collects the acceleration and angular velocity information of the chassis during operation and feeds it back to the control element to correct the actual posture of the fuselage.

[0014] Compared with the prior art, the present invention has the following beneficial effects: This invention provides a mobile base for a companion robot designed for complex home environments. Through the coordinated configuration of the first and second wheel leg units with the steering wheel assembly and motion wheels, the robot body combines the high efficiency of wheel drive with the obstacle-crossing ability of leg movement. This allows it to cope with common obstacles in home environments such as thresholds, carpet edges, and small steps, significantly expanding the mobile base's traversable range and terrain adaptability. At the same time, the lifting component can actively adjust its posture in three-dimensional space, dynamically adjusting the center of gravity according to ground undulations to maintain overall stability.

[0015] This invention provides a mobile base for a companion robot designed for complex home environments. The environmental perception module and inertial measurement unit installed on the robot body work together with the control unit to achieve real-time detection of the surrounding environment and closed-loop feedback for motion decision-making. This enables the mobile base to effectively avoid collision risks in dynamic and unstructured home scenarios, ensuring the safety of the elderly and children. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the mobile base for a companion robot designed for complex home environments, as described in an embodiment of the present invention. Figure 2 This is a schematic diagram of the connection structure of the first pair of wheel leg motion units according to an embodiment of the present invention; Figure 3 This is a schematic diagram of the bottom steering wheel assembly connection structure of the first wheel leg unit according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the connection structure of the second wheel leg unit according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the overall fuselage connection structure according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the internal structure of the fuselage according to an embodiment of the present invention; Figure 7 This is a schematic diagram of the overall connection structure of the lifting mechanism according to an embodiment of the present invention; Figure 8 This is a schematic diagram of the internal connection structure of the lifting mechanism according to an embodiment of the present invention; Figure 9 This is a cross-sectional view of the buffer component described in an embodiment of the present invention; Figure 10 This is a schematic diagram of the suspension system connection structure according to an embodiment of the present invention; Figure 11 This is a schematic diagram of the suspension unit connection structure according to an embodiment of the present invention.

[0017] Reference numerals: 1. Environmental sensing unit; 2. First wheel leg unit; 2-1. Steering wheel assembly; 2-2. Steering motor; 2-3. First joint connector; 2-4. Second joint connector; 2-5. Sliding plate; 2-6. Heel joint connector; 2-7. Third rotating connector; 2-8. Second rotating rod; 2-9. First rotating rod; 2-10. Support plate; 2-11. Bent rod; 2-12. Connecting spring; 2-13. Buffer plate; 3. Second wheel leg unit; 3- 1. Left adjustment controller; 3-2. First upper arm joint; 3-3. First forearm joint; 3-4. Movement wheel; 3-5. Second forearm joint; 3-6. Second upper arm joint; 3-7. Right adjustment controller; 4. Machine body; 4-1. Load-bearing platform; 4-3. First baffle; 4-4. Power supply; 4-5. Counterweight; 4-6. Upper clamping beam; 4-7. Reinforcing rib; 4-8. Lower platform; 4-9. Second baffle; 4-10. Upper platform; 4-11. Power supply fixing. 4-12. Plate; 4-13. Bolt; 4-14. Lower clamping beam; 4-15. Cable management groove; 4-16. Groove sliding cover plate; 5. Lifting mechanism; 5-1. Top mounting platform; 5-2. Guide column bushing; 5-3. Bottom fixed base; 5-4. Cross lifting unit; 5-5. Sliding stop; 5-6. Connecting seat; 5-7. Electric push rod; 5-8. Vertical guide column; 5-10. Limiting recess plate; 5-11. Fixing component; 6. Buffer assembly; 6-1. Spring component; 6-2. Damping plate; 6-3. Mounting base; 6-4. Connector; 6-5. Limiting component; 6-6. Movable guide post; 6-7. Connecting box; 7. Control element; 8. Suspension system; 8-1. Fixing plate; 8-2. Damper; 8-3. First helical spring; 8-4. Mounting box; 8-5. Lateral stabilizer bar; 8-6. Guide rod; 8-7. Limiting plate; 8-8. Connecting sleeve rod; 8-9. Second helical spring; 8-10. Adjusting plate; 8-11. Mounting plate. Detailed Implementation

[0018] 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.

[0019] In the following description of the invention, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation. The term "connection" simply indicates a connection between devices and has no special meaning.

[0020] Furthermore, the technical fields and installation methods involved in the embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0021] For specific implementation examples, please refer to: Figure 1-11 A mobile base for a companion robot designed for complex home environments includes a first wheel leg unit 2, a second wheel leg unit 3, a body 4, a lifting mechanism 5, a buffer assembly 6, a control element 7, and a suspension system 8. Two sets of the first wheel leg units 2 and the second wheel leg units 3 are provided. The two sets of first wheel leg units 2 are respectively located at the front and rear ends of the bottom of the body 4 along the direction of movement. Each first wheel leg unit 2 includes a first rotating rod 2-9, a second rotating rod 2-8, and a third rotating connector 2-7 connected in sequence. The other end of the first rotating rod 2-9 is rotatably connected to the bottom of the body 4, and the third rotating connector 2-7 is connected to the steering wheel assembly 2-1 via a heel joint connector 2-6. The two sets of second wheel leg units 3 are respectively located on both sides of the body 4, and the upper surface of the body 4 is fitted with... The system includes a lifting mechanism 5 for carrying heavy objects; the second wheel leg unit 3 includes a left motion unit and a right motion unit connected in parallel, the lower ends of which are rotatably connected to the motion wheel 3-4 respectively, and the left motion unit and the right motion unit cooperate to drive the motion wheel 3-4 to move freely; an environmental sensing unit 1 is installed on the upper surface of the body 4 along its direction of movement; the suspension system 8 includes an adjustment plate 810, which is installed inside the body 4, and suspension units are set on both sides of the adjustment plate 810. Two sets of suspension units are respectively installed on the upper part of two sets of second wheel leg units 3, and each set of second wheel leg units 3 is connected to both sides of the body 4 through the suspension unit; two sets of buffer components 6 are provided, and the two sets of buffer components 6 are respectively installed on the two sets of second wheel leg units 3.

[0022] Each set of buffer components 6 includes two buffer components 6. The left motion unit includes a first forearm joint 3-3, and the right motion unit includes a second forearm joint 3-5. The two buffer components 6 are respectively disposed on the first forearm joint 3-3 and the second forearm joint 3-5.

[0023] The control element 7 is installed inside the body 4. The environmental sensing unit 1 is electrically connected to the control element 7. The control element 7 is responsible for global motion planning and sends the movement positions of each structure of the mobile base to the corresponding independent controllers, which then perform high-precision adjustments.

[0024] The first wheel leg unit 2 also includes a steering motor 2-2, a first joint connector 2-3, a second joint connector 2-4, and a heel joint connector 2-6; the steering wheel assembly 2-1 includes a top-mounted support plate 2-10, with bent rods 2-11 on both sides of the support plate 2-10. The output shaft of the steering motor 2-2 is fixedly connected to the support plate 2-10, enabling the steering wheel assembly 2-1 to reverse direction. A movable wheel is rotatably mounted between the two bent rods 2-11, and the movable wheel is connected to an independent motion motor, enabling... The steering wheel assembly 2-1 moves; the lower end of the bent rod 2-11 extends outward in the horizontal direction and connects to the lower end of the connecting spring 2-12. The upper end of the connecting spring 2-12 is connected to the support plate 2-10. The steering wheel assembly 2-1 is existing technology. The elastic deformation of the connecting spring 2-12 absorbs the energy of sudden impact, ensuring the smooth operation of the steering wheel assembly 2-1. It can also prevent the core rigid components of the steering wheel assembly 2-1 from breaking or jamming due to direct overload, thus achieving the dual effect of reliable transmission and structural protection. One end of the steering motor 2-2 away from the steering wheel assembly 2-1 is fixedly connected to the heel joint connector 2-6, and a buffer plate 2-13 is provided at the connection between the steering motor 2-2 and the heel joint connector 2-6; the sliding plate 2-5 adopts a U-shaped structure, and the sliding plate 2-5 is slidably disposed on the heel joint connector 2-6, and the heel joint connector 2-6 has a limit slot along its length; the third rotating connector 2-7 includes a connecting lug 1 and a connecting lug 2 at both ends, and the end of the heel joint connector 2-6 away from the steering wheel assembly 2-1 is hinged to the connecting lug 1 on the third rotating connector 2-7; the first joint connector 2-3 and the second joint connector 2-4 have the same structure, and the first joint connector 2-3 and the second joint connector 2-4 are symmetrically arranged on both sides of the sliding plate 2-5, and the sliding plate 2- 5 is hinged to one end of the first joint connector 2-3 and the second joint connector 2-4 on both sides respectively. The connecting shaft between the first joint connector 2-3 and the second joint connector 2-4 passes through the limiting slot on the joint connector 2-6 and is slidably connected to it. The other ends of the first joint connector 2-3 and the second joint connector 2-4 are rotatably connected to the connecting ear 2 on the third rotating connector 2-7 respectively. The connecting ear 2 is coaxially connected to the second rotating rod 2-8. The sliding plate 2-5 can be made of a low-friction special material, such as polytetrafluoroethylene or ultra-high molecular weight polyethylene. When the first joint connector 2-3 and the second joint connector 2-4 move relative to each other along the joint connector 2-6, if they directly contact each other and generate a large friction force on the contact surface, the sliding plate 2-5 can greatly reduce the friction resistance.

[0025] Servo controller one is installed at the connection between the third rotating link 2-7 and the second rotating rod 2-8; servo controller two is installed at the connection between the second rotating rod 2-8 and the first rotating rod 2-9; servo controller three is installed at the connection between the first rotating rod 2-9 and the body 4; and servo controller four is installed at the connection between the heel joint connector 2-6 and the third rotating link 2-7. Servo controller one, servo controller two, servo controller three, and servo controller four provide independent closed-loop control of the torque, speed, and position of the third rotating link 2-7, the second rotating rod 2-8, the first rotating rod 2-9, and the heel joint connector 2-6, without interference between them. Furthermore, servo controller one, servo controller two, servo controller three, and servo controller four are electrically connected to the control element 7. Servo controller one, servo controller two, servo controller three, and servo controller four are existing technologies. The first rotating rod 2-9 moves in the xy plane. The axis of the connection between the first rotating rod 2-9 and the fuselage 4 is set along the z-axis and is perpendicular to the xy plane. The axes of the connection between the first rotating rod 2-9 and the second rotating rod 2-8, the connection between the second rotating rod 2-8 and the third rotating connector 2-7, and the connection between the third rotating connector 2-7 and the heel joint connector 2-6 are all set parallel to each other and are all parallel to the xy plane. The axes of the third rotating connector 2-7 and the heel joint connector 2-6 along the length direction are set at an angle. The axis of the steering motor 2-2 is set parallel to the axis of the heel joint connector 2-6 along the length direction. The axis of the steering motor 2-2 is perpendicular to the support plate 2-10. The axis of the moving wheel in the steering wheel assembly 2-1 is parallel to the xy plane. The moving wheel can roll freely, thereby driving the fuselage 4 to move freely. In this embodiment, the steering motor 2-2 starts, driving the steering wheel assembly 2-1 to rotate horizontally, adjusting the direction of movement of the steering wheel assembly 2-1. The motion motor on the steering wheel assembly 2-1 starts in coordination, driving the steering wheel assembly 2-1 to roll along the ground, driving the heel joint connector 2-6 to move, causing the angle between the heel joint connector 2-6 and the third rotating connector 2-7 to change, so that the first joint connector 2-3 and the second joint connector 2-4 rotate synchronously. The servo controller one and servo controller two act accordingly, adjusting the third rotating connector 2-7, the second rotating rod 2-8 and the first rotating rod 2-9 to extend in coordination. The sliding plate 2-5 slides along the heel joint connector 2-6. The entire process is assisted by the environmental sensing unit 1 for positioning, ensuring a smooth movement process. When performing a lifting and crossing maneuver, the first wheel leg unit 2 at the front of the fuselage 4 in the direction of movement lifts first. The first wheel leg unit 2 at the rear, in coordination with the second wheel leg units 3 on both sides of the fuselage 4, moves forward to perform the crossing maneuver. The first wheel leg unit 2 then falls and continues to move forward a suitable distance, causing the second wheel leg unit 3 to perform the lifting and crossing maneuver. During this maneuver, servo controllers 1, 2, and 4 receive the lifting command transmitted by control element 7. Servo controller 2 controls the second rotating rod 2-8 to flip upward, causing the steering wheel assembly 2-1 to lift off the ground. Servo controllers 4 and 1 coordinate to control the heel joint connector 2-6 and the third rotating connector 2-7 to flip upward, driving the steering wheel assembly 2-1 to lift. After the crossing maneuver has been performed, control element 7 transmits a falling command. Servo controllers 1, 2, and 4 coordinate to drive the corresponding third rotating connector 2-7, second rotating rod 2-8, and heel joint connector 2-6 to flip and fall.

[0026] The environmental perception unit 1 integrates a multimodal sensor bracket, a depth camera, a vibration isolation base, and an optical protective window. The bracket has adjustment holes to compensate for the vehicle body tilt angle, the vibration isolation base attenuates high-frequency vibrations to ensure the consistency of point cloud timing, and the optical window is covered with anti-reflective and hydrophobic coatings to prevent dust and fog. The depth camera can continuously collect visual, distance, and attitude information of the surrounding environment and transmit the data to the control element 7. The control element 7 fuses the data and constructs a local environmental map in real time, and identifies the distribution of obstacles and terrain undulations based on it.

[0027] The second wheel leg unit 3 is used for overall active drive and posture adjustment to realize leg lifting, stepping and obstacle crossing actions. The second wheel leg unit 3 includes a left adjustment controller 3-1 and a right adjustment controller 3-7. The left motion unit includes a hinged first upper arm joint 3-2 and a first forearm joint 3-3, and the right motion unit includes a hinged second upper arm joint 3-6 and a second forearm joint 3-5. The upper ends of the first upper arm joint 3-2 and the second upper arm joint 3-6 are rotatably connected to the two ends of the corresponding suspension unit. The left adjustment controller 3-1 and the right adjustment controller 3-7 are fixedly installed at the two ends of the corresponding suspension unit. The output shafts of the left adjustment controller 3-1 and the right adjustment controller 3-7 pass through the suspension system 8 and are fixedly connected to the first upper arm joint 3-2 and the second upper arm joint 3-6. The axles of the motion wheels 3-4 are coaxially rotatably connected to the lower ends of the first forearm joint 3-3 and the second forearm joint 3-5, respectively. The upper end of the first forearm joint 3-3 is hinged to the lower end of the first upper arm joint 3-2, and the upper end of the second forearm joint 3-5 is hinged to the lower end of the second upper arm joint 3-6. The first upper arm joint 3-2 and the second upper arm joint 3-6 extend in the opposite direction to the axles of the motion wheels 3-4, which can realize the flexion and extension swing of the first forearm joint 3-3 and the second forearm joint 3-5 relative to the first upper arm joint 3-2 and the second upper arm joint 3-6. An adjustment controller one is set at the connection between the first forearm joint 3-3 and the first upper arm joint 3-2, and an adjustment controller two is set at the connection between the second forearm joint 3-5 and the second upper arm joint 3-6. The left adjustment controller 3-1, the right adjustment controller 3-7, the adjustment controller one, and the adjustment controller two are electrically connected to the control element 7. The adjustment controller one and the adjustment controller two are existing technologies used to control the swing posture of the first forearm joint 3-3 and the motion wheels 3-4.

[0028] The moving wheel 3-4 is a rubber-coated driven wheel. The moving wheel 3-4 is in direct contact with the ground. When moving, it is responsible for converting the vehicle's weight load and driving torque into traction force, so that the second wheel leg unit 3 has excellent terrain adaptability and movement flexibility. During the movement of the mobile base, the second wheel leg unit 3 can transmit the driving torque and reaction force to the suspension system 8, and the suspension system 8 can achieve the buffering and shock absorption effect. The motion plane of the first upper arm joint 3-2, the second upper arm joint 3-6, the first forearm joint 3-3, and the second forearm joint 3-5 is the xz plane; the axes of the connection between the first upper arm joint 3-2 and the second upper arm joint 3-6 and the suspension unit are all set along the y-axis and perpendicular to the xz plane; the axes of the connection between the first upper arm joint 3-2 and the first forearm joint 3-3, and the axes of the connection between the second upper arm joint 3-6 and the second forearm joint 3-5 are all set along the y-axis and perpendicular to the xz plane; The first upper arm joint 3-2 and the first lower arm joint 3-3 are set at an angle along the axis of their length. The second upper arm joint 3-6 and the second lower arm joint 3-5 are set at an angle along the axis of their length. The connection between the first upper arm joint 3-2 and the first lower arm joint 3-3, and the connection between the second upper arm joint 3-6 and the second lower arm joint 3-5 are located on both sides of the motion wheel 3-4.

[0029] The buffer assembly 6 includes a spring 6-1, a damping plate 6-2, a mounting base 6-3, a connector 6-4, a limiting member 6-5, a movable guide post 6-6, and a connecting box 6-7. A mounting groove for mounting the buffer assembly 6 is provided through the middle of the first forearm joint 3-3 or the second forearm joint 3-5. The mounting base 6-3 is fixedly connected to the lower end of the mounting groove in the first forearm joint 3-3 or the second forearm joint 3-5. The damping plate 6-2 is provided on the mounting base 6-3, and the damping plate 6-2 is connected to the movable plate through the spring 6-1. A pull rod is also provided inside the spring 6-1, and both ends of the pull rod are fixed to the damping plate 6-2 and the movable plate, respectively. The movable plate is slidably disposed within the connecting box 6-7, which is a box structure with a through lower end. The structure includes a movable guide post 6-6 movably disposed within the connecting box 6-7. The upper end of the movable guide post 6-6 is fixedly connected to the upper end of the mounting groove in the first forearm joint 3-3 or the second forearm joint 3-5. A limit member 6-5 is provided at the connection between the movable guide post 6-6 and the connecting box 6-7, and the limit member 6-5 is disposed within the connecting box 6-7. A connector 6-4 is fixedly disposed at the lower end of the movable guide post 6-6, and the connector 6-4 is slidably disposed within the connecting box 6-7. A shock-absorbing spring is provided between the connector 6-4 and the movable plate. This structure can absorb shock when the second wheel leg unit 3 moves, effectively isolate hard impacts from damaging precision components such as the controller, and also improve the structural stability of the first forearm joint 3-3 or the second forearm joint 3-5.

[0030] The suspension system 8 includes a fixed plate 8-1, a damper 8-2, a first helical spring 8-3, a mounting box 8-4, a lateral stabilizer bar 8-5, a guide rod 8-6, a limiting plate 8-7, a connecting sleeve rod 8-8, a second helical spring 8-9, an adjusting plate 8-10, and a mounting plate 8-11. The mounting plate 8-11 has an inverted U-shaped structure with its opening facing downwards. Adjusting plates 8-10 are located at both ends of the horizontal surface of the mounting plate 8-11, and the adjusting plates 8-10 are slidably connected to the mounting plate 8-11. Two connecting sleeves 8-8 are provided, and the two connecting sleeves 8-8 are fixedly installed at both ends of the lower surface of the horizontal plane of the mounting plate 8-11. Two transverse stabilizers 8-5 are provided, and the two transverse stabilizers 8-5 are located on both sides of the mounting plate 8-11. The ends of the two connecting sleeves 8-8 are connected to the ends of the transverse stabilizers 8-5 by elastic hinges, which can produce controllable elastic deformation under the action of external force, while retaining the rotational degree of freedom of the transverse stabilizers 8-5. Guide rods 8-6 are rotatably connected to both ends of the transverse stabilizers 8-5. Four first helical springs 8-3 are provided, arranged in pairs at both ends of the mounting plate 8-11. One end of the first helical spring 8-3 is rotatably connected to the end of the guide rod 8-6 away from the lateral stabilizer rod 8-5, and the other end of the first helical spring 8-3 is rotatably connected to the bottom of the mounting plate 8-11 extending downwards. The first helical spring 8-3 is inclined. A damper 8-2 is provided at the connection between the first helical spring 8-3 and the mounting plate 8-11 to reduce the dynamic impact load at the connection. The first helical spring 8-3 absorbs vibration and impact, protects the equipment, and improves the stability of operation.

[0031] Two fixing plates 8-1 are provided, located at both ends of the mounting plate 8-11. The side of the fixing plate 8-1 away from the adjusting plate 8-10 is used to connect the second wheel leg unit 3. The fixing plate 8-1 is an elongated oval plate. Cylindrical mounting boxes 8-4 are provided at both ends of the fixing plate 8-1. Through slots are opened on the opposite sides of the two mounting boxes 8-4. The two mounting boxes 8-4 are respectively connected to the first upper arm joint 3-2 and the second upper arm joint 3-6. Limiting plates 8-7 are symmetrically fixed in the middle of the vertical side of the mounting plate 8-11. The limiting plates 8-7 pass through the fixing plate 8-1, and the limiting plates 8-7 are connected to the elongated oval slots opened on both sides of the fixing plate 8-1 by a slot connection. One end of the second helical spring 8-9 is fixedly connected to the limiting plate 8-7, and the other end of the second helical spring 8-9 is fixedly connected to the mounting box 8-4 to attenuate the high-frequency vibration of the vehicle body caused by uneven ground and maintain the normal adhesion of the drive wheel to the ground.

[0032] The fuselage 4 adopts a box structure with four sides through. The fuselage 4 includes an upper platform 4-10 and a lower platform 4-8 arranged horizontally. The four corners of the upper platform 4-10 and the lower platform 4-8 are fixedly connected by fixing rods. The two ends of the fuselage 4 along the moving direction are respectively fixedly provided with a first baffle 4-3 and a second baffle 4-9. The moving wheels in the steering wheel group 2-1 on both sides of the fuselage 4 are located outside the first baffle 4-3 or the second baffle 4-9, which can be used to absorb impact energy in the event of an accidental collision and protect the main body of the fuselage 4 and its internal components from damage. The upper platform 4-10 has a bearing platform 4-1 installed in the middle of its upper surface. The bearing platform 4-1 is fixedly connected to the bottom of the lifting mechanism 5. The lower platform 4-8 has reinforcing ribs 4-7 arranged in a crisscross pattern on its lower surface to suppress the bending deformation of the lower platform 4-8 caused by heavy load. The power supply 4-4 is installed inside the body 4 and is located in the middle of the lower platform 4-8. The power supply 4-4 provides power to the mobile base to meet its movement needs. To further improve the stability of the mobile base, counterweights 4-5 are provided at the four corners of the upper surface of the lower platform 4-8. Power fixing plates 411 are provided at the four corners of the power supply 4-4. Upper clamping beams 4-6 and lower clamping beams 4-13 are provided on both sides of the power supply 4-4. The lower clamping beams 4-13 are fixedly installed on the lower platform 4-8. The power fixing plates 411 are located between the upper clamping beams 4-6 and the lower clamping beams 4-13. The upper clamping beams 4-6 and the lower clamping beams 4-13 are fastened by bolts 4-12 to achieve clamping and locking of the power supply 4-4, ensuring that the power supply 4-4 does not move due to inertia when the mobile base crosses obstacles or brakes in an emergency, thereby maintaining the instantaneous stability of the center of gravity of the mobile base. The power supply 4-4 is electrically connected to the control element 7. A cable management groove 4-14 is fixedly provided on one side of the power supply 4-4. A groove sliding cover plate 4-15 is slidably provided on the cable management groove 4-14 to realize the orderly storage of the power supply cable harness of the power supply 4-4. At the same time, the neat wiring also facilitates subsequent battery maintenance and cable harness inspection.

[0033] The lifting mechanism 5 includes a top mounting platform 5-1, guide column bushings 5-2, a bottom fixed base 5-3, a cross lifting unit 5-4, a sliding block 5-5, a connecting seat 5-6, an electric push rod 5-7, a vertical guide column 5-8, a limiting concave plate 5-10, and a fixing component 5-11; the bottom fixed base 5-3 is fixedly connected to the bearing platform 4-1, and guide column bushings 5-2 are installed at each of the four corners of the bottom fixed base 5-3. A vertical guide column 5-8 is slidably arranged inside the guide column bushing 5-2, and the vertical guide column 5-8 is fixedly connected to the lower surface of the top mounting platform 5-1; One end of the bottom fixed base 5-3 is fixedly provided with a limiting concave plate 5-10, and the other end is fixedly provided with a sliding block 5-5. A fixing member 5-11 is provided between the limiting concave plate 5-10 and the sliding block 5-5. Two fixing members 5-11 are arranged in parallel and are located on both sides of the sliding block 5-5. The fixed end of the electric push rod 5-7 is hinged to the limiting concave plate 5-10, and the telescopic end of the electric push rod 5-7 is fixedly connected to the connecting seat 5-6. Both ends of the connecting seat 5-6 extend towards the fixing member 5-11 to form hinge ears, and the bottom ends of the connecting seat 5-6 are slidably connected to the two fixing members 5-11 respectively. Two sets of cross lifting units 5-4 are provided, and the two sets of cross lifting units 5-4 are respectively located on both sides of the electric push rod 5-7. Each set of cross lifting units 5-4 includes two cross-shaped connecting rods 1 and 2. The lower end of the connecting rod is hinged to the hinge lug of the corresponding connecting seat 5-6. The upper end of the connecting rod 1 is hinged to one end of the lower surface of the top mounting platform 5-1. The lower end of the connecting rod 2 is hinged to the end of the upper surface of the bottom fixed base 5-3 away from the connecting seat 5-6. The upper end of the connecting rod 2 is hinged to the other end of the lower surface of the top mounting platform 5-1. The cross lifting unit 5-4 is the prior art and is used to realize the horizontal lifting of the top mounting platform 5-1. At the same time, it can effectively prevent swaying when the top mounting platform 5-1 is carrying heavy objects. The electric push rod 5-7 is electrically connected to the control element 7. The telescopic end of the electric push rod 5-7 drives the connecting seat 5-6 to move along the fixing member 5-11, thereby driving the connecting rod connected to the connecting seat 5-6 to rotate, realizing the rise or fall of the top mounting platform 5-1. The vertical guide column 5-8 then slides out or retracts in the guide column bushing 5-2 to ensure the horizontal posture of the top mounting platform 5-1.

[0034] An inertial measurement unit (IMU) is installed on the fuselage 4. The inertial measurement unit is electrically connected to the control element 7 and consists of three orthogonally distributed single-axis accelerometers and three orthogonally distributed single-axis gyroscopes. They independently measure the linear acceleration and angular velocity of the carrier in the three-axis directions. The inertial measurement unit is existing technology and can measure the angular velocity and acceleration of the fuselage 4 during the process.

[0035] The control element 7 is connected to the control system, which is equipped with a motion control algorithm. Based on the results obtained by the environmental perception unit 1, the system comprehensively assesses the passage risk and generates the optimal motion strategy. The control system refers to the movement trajectory and the current posture, calculates the overall required motion speed and angular velocity in real time, and distributes the overall speed to each controller to drive the whole to operate according to the calculation results. During operation, the inertial measurement unit continuously collects the acceleration and angular velocity information of the chassis and feeds it back to the control system. The control system integrates this data with the actual rotation speed fed back in each controller to correct the actual posture of the fuselage 4 and ensure that the fuselage 4 moves accurately along the reference trajectory.

[0036] The environmental perception unit 1 continuously collects visual, distance, and attitude information of the surrounding environment and transmits it to the control element 7 to obtain the distribution of obstacles and the characteristics of terrain undulations. When the second wheel leg unit 3 performs a lifting and crossing motion, the control system transmits motion commands to each controller. The left adjustment controller 3-1 and the right adjustment controller 3-7 are activated, pushing the first upper arm joint 3-2 and the second upper arm joint 3-6 to swing forward around the Y-axis, causing the motion wheel 3-4 to leave the ground and enter the swinging posture. Subsequently, the flexion angles of the first forearm joint 3-3 and the second forearm joint 3-5 relative to the first upper arm joint 3-2 and the second upper arm joint 3-6 are adjusted. The two sets of first wheel leg units 2 cooperate to make the steering wheel assembly 2-1 touch the ground. When the motion wheel 3-4 in the second leg unit 3 lands and enters the support posture, the motion wheel 3-4 touches the ground first and transmits the ground reaction force to the buffer assembly 6 through the first forearm joint 3-3 and the second forearm joint 3-5. At this time, the spring 6-1 is quickly compressed to absorb energy, and the damper 8-2 in the suspension system 8 moves synchronously to adjust the pitch and roll attitude of the fuselage 4. As the left adjustment controller 3-1 and the right adjustment controller 3-7 output driving torque in opposite directions, the first boom joint 3-2 and the second boom joint 3-6 swing backward, pushing the center of gravity of the vehicle forward, and the motion wheel 3-4 rolls forward on the ground; at the same time, the steering motor 2-2 starts to adjust the movement direction of the horizontal rotation adjustment steering wheel assembly 2-1, and the motion motor on the steering wheel assembly 2-1 starts in coordination, driving the steering wheel assembly 2-1 to roll along the ground, and the sliding plate 2-5 slides along the joint connector 2-6, so that the first joint connector 2-3 and the second joint connector 2-4 rotate synchronously, and the third rotating connector 2-7, the second rotating rod 2-8 and the first rotating rod 2-9 extend accordingly, so that the moving base moves steadily; The lifting mechanism 5 adjusts the height of the upper top mounting platform 5-1 in a timely manner according to the attitude information of the machine body 4 and the mission requirements, so as to maintain the center of gravity of the whole machine within a safe range and ensure the stability of the movement process.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, any modifications, equivalent substitutions, improvements, etc., 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 base for a companion robot designed for complex home environments, characterized in that: The system includes a first wheel leg unit, a second wheel leg unit, a fuselage, a lifting mechanism, and a suspension system. Two sets of both the first and second wheel leg units are provided. The two sets of first wheel leg units are respectively located at the front and rear ends of the fuselage's bottom along the direction of movement. Each first wheel leg unit includes a first rotating rod, a second rotating rod, and a third rotating connector connected in sequence. The other end of the first rotating rod is rotatably connected to the bottom of the fuselage, and the third rotating connector is connected to the steering wheel assembly via a sliding plate. Two sets of second wheel leg units are respectively located on both sides of the fuselage. A lifting mechanism for carrying heavy objects is installed on the upper surface of the fuselage. The second wheel leg units include a left motion unit and a right motion unit connected in parallel, with their lower ends rotatably connected to motion wheels. The suspension system includes an adjustment plate installed inside the fuselage. Suspension units are provided on both sides of the adjustment plate, and two sets of suspension units are respectively installed on the upper parts of the two sets of second wheel leg units. Each set of second wheel leg units is connected to both sides of the fuselage via the suspension units.

2. The mobile base for a companion robot designed for complex home environments according to claim 1, characterized in that: The left motion unit includes a hinged first upper arm joint and a first lower arm joint, and the right motion unit includes a hinged second upper arm joint and a second lower arm joint. The upper ends of the first upper arm joint and the second upper arm joint are rotatably connected to the two ends of a corresponding set of suspension units, respectively. The axle of the motion wheel is coaxially rotatably connected to the lower ends of the first lower arm joint and the second lower arm joint, respectively. The first upper arm joint and the second upper arm joint extend in the opposite direction to both sides from the axle of the motion wheel.

3. The mobile base for a companion robot designed for complex home environments according to claim 2, characterized in that: The first wheel leg unit includes a steering motor, a first joint connector, a second joint connector, and a heel joint connector; the sliding plate is slidably disposed on the heel joint connector, the steering motor is fixedly connected to the heel joint connector, the output shaft of the steering motor is fixedly connected to the steering wheel assembly, the first joint connector and the second joint connector are symmetrically arranged, the two ends of the sliding plate are respectively hinged to one end of the first joint connector and the second joint connector, and the other ends of the first joint connector and the second joint connector are respectively coaxially rotatably connected to the end of the third rotating connector away from the heel joint connector.

4. The mobile base for a companion robot designed for complex home environments according to claim 2, characterized in that: The mounting plate has lateral stabilizing rods elastically hinged to the middle of both sides via connecting sleeves. Guide rods are rotatably connected to both ends of the lateral stabilizing rods. The guide rods are rotatably connected to the bottom of the mounting plate extending downwards via a first helical spring and a damper. Fixed plates are installed at both ends of the adjusting plate. Two limiting plates are symmetrically slidably arranged in the middle of the fixed plates. The limiting plates pass through the fixed plates and are fixedly connected to the mounting plate. The two ends of the fixed plates are rotatably connected to the upper ends of the first and second upper arm joints, respectively. The connection between the fixed plates and the first or second upper arm joint is connected to the limiting plates via a second helical spring.

5. The mobile base for a companion robot designed for complex home environments according to claim 2, characterized in that: It also includes a buffer assembly, of which two sets are provided. The two sets of buffer assemblies are respectively installed on the two sets of second wheel leg units. The buffer assembly includes a mounting base and a connecting box. A mounting groove is provided through the middle of the first forearm joint or the second forearm joint. The mounting base is fixedly installed at the lower end of the mounting groove. The connecting box is fixedly connected to the upper end of the mounting groove through a movable guide post. The connecting box is slidably installed on a movable plate and a connecting piece. The mounting base is connected to the movable plate through a damping plate and a spring. The lower end of the movable guide post is fixedly connected to the connecting piece. A shock-absorbing spring is provided between the connecting piece and the movable plate.

6. The mobile base for a companion robot designed for complex home environments according to claim 4, characterized in that: The machine body adopts a box structure that runs through four sides. The machine body includes an upper platform and a lower platform that are fixedly connected by a fixing rod. A bearing platform is installed in the middle of the upper surface of the upper platform, and the bearing platform is fixedly connected to the bottom of the lifting mechanism. A power supply is installed in the middle of the lower platform.

7. The mobile base for a companion robot designed for complex home environments according to claim 6, characterized in that: The lifting mechanism includes a top mounting platform, a bottom fixed base, a connecting seat, and an electric push rod. The bottom fixed base is fixedly connected to the bearing platform. Cross lifting units are installed on both sides of the bottom fixed base to realize the horizontal lifting of the top mounting platform. The two cross lifting units achieve synchronous operation through the connecting seat that is slidably connected to the bottom fixed base. The fixed end of the electric push rod is hinged to the bottom fixed base, and the telescopic end of the electric push rod is fixedly connected to the connecting seat.

8. The mobile base for a companion robot designed for complex home environments according to claim 7, characterized in that: It also includes control elements, which are installed inside the fuselage. An inertial measurement unit is also installed on the fuselage, and an environmental sensing unit is installed on the upper surface of the fuselage along its direction of movement. The environmental sensing unit is used to continuously collect visual, distance, and attitude information of the surrounding environment. The inertial measurement unit, environmental sensing unit, electric actuator, power supply, and control elements are electrically connected.

9. The mobile base for a companion robot designed for complex home environments according to claim 8, characterized in that: The control element is equipped with a motion control algorithm to generate the optimal motion strategy based on the results obtained by the environmental perception unit. The control element calculates the motion posture in real time and adjusts the actions of each component. The inertial measurement unit continuously collects the acceleration and angular velocity information of the chassis during operation and feeds it back to the control element to correct the actual posture of the fuselage.

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