Reconstruction type wheel-foot robot

Abstract

The utility model relates to the technical field of intelligent machines, in particular to a reconstructed wheel-foot robot which comprises a first robot, a second robot and a connecting mechanism, and the first robot comprises a first machine body and a first wheel-foot mechanism arranged on the first machine body; the second robot comprises a second robot body and a second wheel foot mechanism arranged on the second robot body; the connecting mechanism comprises a first connecting frame, a second connecting frame and a connecting element, the first connecting frame is mounted on the first fuselage, and the second connecting frame is mounted on the second fuselage; the two ends of the connecting element are connected with the first connecting frame and the second connecting frame correspondingly so that the first fuselage can be connected with the second fuselage. According to the reconfigurable wheel-foot robot, the machine bodies of the first robot and the second robot are connected through the connecting mechanism, after connection, the two robots can be combined to form the whole reconfigurable wheel-foot robot, and the structural strength and the load strength can be enhanced when the reconfigurable wheel-foot robot is used.

Description

Technical Field

[0001] The utility model relates to the technical field of intelligent machines, in particular to a reconfigurable wheel-foot robot. Background Art

[0002] A robot refers to a robotic system that usually consists of two wheels or wheel-leg assemblies. This design enables the robot to move on a horizontal surface, and can achieve steering and rotation by controlling different wheel speeds. Two-wheeled robots usually use a differential drive system, which can achieve various movements of the robot such as forward, backward, and turning by independently controlling the speed of each wheel. In addition, two-wheeled robots can also achieve rotational movement by controlling the speed difference of the wheels, which makes them very flexible and suitable for narrow spaces and complex environments. Existing two-wheeled robots are generally designed independently in use, cannot be rotated, have narrow application scenarios, especially in terms of transporting loads, and have low strength. Therefore, it is necessary to improve the existing robot structure. Utility Model Content

[0003] To solve the above problems, the utility model provides a method of connecting the bodies of a first robot and a second robot through a connecting mechanism. After the connection, the two groups of robots can be combined to form an integral reconstructible wheel-legged robot, which can enhance the structural strength and load strength of the reconstructible wheel-legged robot when in use.

[0004] The technical solution adopted by the utility model is: a reconstructed wheel-foot robot, including a first robot, a second robot and a connecting mechanism, the first robot includes a first fuselage and a first wheel-foot mechanism arranged on the first fuselage, the first wheel-foot mechanism is used for the first fuselage to move and travel; the second robot includes a second fuselage and a second wheel-foot mechanism arranged on the second fuselage, the second wheel-foot mechanism is used for the second fuselage to move and travel; the connecting mechanism includes a first connecting frame, a second connecting frame and a connecting element, the first connecting frame is installed on the first fuselage, and the second connecting frame is installed on the second fuselage; the two ends of the connecting element are respectively connected to the first connecting frame and the second connecting frame to connect the first fuselage with the second fuselage.

[0005] A further improvement to the above scheme is that two groups of the first wheel-foot mechanisms are provided, and the two groups of the first wheel-foot mechanisms are respectively provided on the two sides of the first fuselage; two groups of the second wheel-foot mechanisms are provided, and the two groups of the second wheel-foot mechanisms are respectively provided on the two sides of the second fuselage.

[0006] A further improvement to the above scheme is that the first wheel-foot mechanism includes a first drive module, a first joint module and a first traveling wheel hub, the first drive module is arranged on the first fuselage, one end of the first joint module is connected to the first traveling wheel hub, and the other end is connected to the first traveling wheel hub.

[0007] A further improvement to the above scheme is that the first joint module is composed of a plurality of hinged first joint links, and the plurality of first joint links can be used to fold between the first driving module and the first traveling wheel hub to switch the standing and squatting actions of the first robot.

[0008] A further improvement to the above solution is that a first auxiliary wheel group is provided at the bottom of the first fuselage, and multiple groups of the first auxiliary wheel groups are provided; when the first robot is in a squatting or lying position, the first auxiliary wheel group is used to support the first fuselage.

[0009] A further improvement to the above scheme is that the second wheel-foot mechanism includes a second drive module, a second joint module and a second traveling wheel hub, the second drive module is arranged on the second fuselage, one end of the second joint module is connected to the second traveling wheel hub, and the other end is connected to the second traveling wheel hub.

[0010] A further improvement to the above scheme is that the second joint module is composed of a plurality of hinged second joint links, and the plurality of second joint links can be used to fold between the second drive module and the second traveling wheel hub to switch the standing and squatting actions of the second robot.

[0011] A further improvement to the above solution is that a second auxiliary wheel group is provided at the bottom of the second fuselage, and a plurality of second auxiliary wheel groups are provided; when the second robot is in a squatting or lying position, the second auxiliary wheel group is used to support the second fuselage.

[0012] A further improvement to the above scheme is that the first connecting frame is provided with two groups, and the two groups of the first connecting frames are respectively installed at both ends of the first fuselage in the direction of travel, the first connecting frame includes a first base, a first connecting seat and a first connecting cover plate, the first connecting seat is installed on the first fuselage through the first base, the first connecting seat is provided with a first connecting groove, the first connecting cover plate is provided at the top of the first connecting seat and covers the first connecting groove, the first connecting cover plate is provided with a first connecting block, the connecting element is provided with a connecting slide groove, the connecting slide groove passes through along the length direction of the connecting element, the first connecting block can be slidably set in the connecting slide groove, the first connecting cover plate is connected to the first connecting block by screws, and the first connecting block is locked and fixed on the connecting slide groove.

[0013] A further improvement to the above scheme is that the second connecting frame is provided with two groups, and the two groups of the second connecting frames are respectively installed at the two ends of the second fuselage in the direction of travel, the second connecting frame includes a second base, a second connecting seat and a second connecting cover plate, the second connecting seat is installed on the second fuselage through the second base, the second connecting seat is provided with a second connecting groove, the second connecting cover plate is arranged at the top of the second connecting seat and covers the second connecting groove, the second connecting cover plate is provided with a second connecting block, the second connecting block can be slidably arranged in the connecting slide groove, the second connecting cover plate is connected to the second connecting block by screws, and the second connecting block is locked and fixed on the connecting slide groove.

[0014] The beneficial effects of the utility model are:

[0015] Compared with the existing robots, the utility model connects the first robot with the second robot through a connecting mechanism, and after the connection, the two groups of robots can be combined into an integral reconstructed wheel-foot robot, which can enhance the structural strength and load strength when in use. It is suitable for heavy-load transportation and has a stable and reliable structure.

[0016] The utility model has the first robot and the second robot equipped with the first wheel-foot mechanism and the second wheel-foot mechanism respectively, so that the whole robot has two independent moving parts. This allows the robot to use different wheel-foot mechanisms to adapt to different terrains and working environments during driving, providing higher flexibility and maneuverability. Since the first robot and the second robot have independent wheel-foot mechanisms respectively, they can move and adjust relatively independently as needed. In this way, on uneven or inclined ground, the robot can achieve balanced and stable driving by adjusting the moving speed and direction of the two robots, thereby improving the overall stability and safety.

[0017] The utility model can connect the first body and the second body tightly together through the first connecting frame, the second connecting frame and the connecting element of the connecting mechanism. This design can realize the cooperation and coordination between the two robots and enhance the overall function of the robot. Since the connecting mechanism adopts the design of the first connecting frame, the second connecting frame and the connecting element, the structure of the entire robot can be relatively easily expanded and customized. More robot modules or connecting elements can be added according to specific needs to meet different application scenarios and functional requirements. This scalability and customizability make the robot have greater application potential and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the reconfigurable wheel-foot robot of the utility model;

[0019] Figure 2 for Figure 1A three-dimensional schematic diagram of the reconfigurable wheeled-legged robot from another perspective;

[0020] Figure 3 for Figure 1 Schematic diagram of the main view of the medium-sized reconfigurable wheel-legged robot;

[0021] Figure 4 for Figure 1 A three-dimensional schematic diagram of the connection mechanism of the medium-sized reconfigurable wheel-legged robot.

[0022] Description of reference numerals: first robot 1, first auxiliary wheel set 111, first body 11, first wheel-foot mechanism 12, first driving module 121, first joint module 122, first joint connecting rod 1221, first travel wheel hub 123;

[0023] The second robot 2, the second body 21, the second auxiliary wheel set 211, the second wheel-foot mechanism 22, the second driving module 221, the second joint module 222, the second joint connecting rod 2221, and the second driving wheel hub 223;

[0024] Connecting mechanism 3, first connecting frame 31, first base 311, first connecting seat 312, first connecting cover 313, first connecting groove 314, first connecting block 315, second connecting frame 32, second base 321, second connecting seat 322, second connecting cover 323, second connecting groove 324, second connecting block 325, connecting element 33, connecting slide groove 331. DETAILED DESCRIPTION

[0025] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0026] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0028] like Figure 1 to Figure 4As shown, in one embodiment of the utility model, a reconfigurable wheel-foot robot is involved, including a first robot 1, a second robot 2 and a connecting mechanism 3, wherein the first robot 1 includes a first body 11 and a first wheel-foot mechanism 12 arranged on the first body 11, wherein the first wheel-foot mechanism 12 is used for the first body 11 to move and travel; the second robot 2 includes a second body 21 and a second wheel-foot mechanism 22 arranged on the second body 21, wherein the second wheel-foot mechanism 22 is used for the second body 21 to move and travel; the connecting mechanism 3 includes a first connecting frame 31, a second connecting frame 32 and a connecting element 33, wherein the first connecting frame 31 is installed on the first body 11, and the second connecting frame 32 is installed on the second body 21; the two ends of the connecting element 33 are respectively connected to the first connecting frame 31 and the second connecting frame 32 to connect the first body 11 with the second body 21. In this embodiment, the first robot 1 is connected to the body of the second robot 2 by the connecting mechanism 3, and after the connection, the two groups of robots can be combined to form an integral reconfigurable wheel-foot robot, which can enhance the structural strength and load strength when in use. It is suitable for heavy-load transportation, and the structure is stable and reliable.

[0029] In the above embodiment, the first robot 1 and the second robot 2 are respectively equipped with the first wheel-foot mechanism 12 and the second wheel-foot mechanism 22, so that the entire robot has two independent moving parts. This allows the robot to use different wheel-foot mechanisms to adapt to different terrains and working environments during driving, providing higher flexibility and maneuverability. Since the first robot 1 and the second robot 2 have independent wheel-foot mechanisms, they can move and adjust relatively independently as needed. In this way, on uneven or inclined ground, the robot can achieve balanced and stable driving by adjusting the moving speed and direction of the two robots, thereby improving the overall stability and safety.

[0030] In the above embodiment, the first body 11 and the second body 21 can be tightly connected together through the first connecting frame 31, the second connecting frame 32 and the connecting element 33 of the connecting mechanism 3. This design can realize the cooperation and coordination between the two robots and enhance the overall function of the robot. For example, the first body 11 can be responsible for carrying sensors and performing specific tasks, while the second body 21 can be responsible for carrying tools or loads. The robot can perform task allocation and collaborative operation as needed to improve work efficiency. In this embodiment, since the connecting mechanism 3 adopts the design of the first connecting frame 31, the second connecting frame 32 and the connecting element 33, the structure of the entire robot can be relatively easily expanded and customized. More robot modules or connecting elements 33 can be added according to specific needs to meet different application scenarios and functional requirements. This scalability and customizability give the robot greater application potential and adaptability.

[0031] The first wheel-foot mechanism 12 is provided with two groups, and the two groups of the first wheel-foot mechanism 12 are respectively arranged on the two sides of the first fuselage 11; the second wheel-foot mechanism 22 is provided with two groups, and the two groups of the second wheel-foot mechanism 22 are respectively arranged on the two sides of the second fuselage 21. In this embodiment, by arranging the two groups of wheel-foot mechanisms on the two sides of the robot, the balance and stability of the robot can be enhanced. When the robot is driving or turning, the wheel-foot mechanisms can cooperate with each other to provide a larger support area and stability, and reduce the tilt and bump caused by uneven ground or sharp turns. Since there are two groups of wheel-foot mechanisms on each fuselage, the robot can achieve more flexible control and movement. By controlling the speed and steering of different groups of wheel-foot mechanisms, the robot can achieve more flexible turning, rotation and movement to adapt to different working environments and path requirements. By increasing the number of wheel-foot mechanisms, the load-bearing capacity of the robot is also improved. The two groups of wheel-foot mechanisms on each fuselage can share the load evenly, so that the robot can carry more equipment, tools or items, expanding the scope of use and application scenarios of the robot. If a wheel-foot mechanism of the robot fails or is damaged, the other wheel-foot mechanisms can still continue to work, ensuring the basic mobility of the robot. This design enhances the fault tolerance of the robot and reduces the risk of the entire robot not being able to operate normally due to a single wheel-foot mechanism failure.

[0032] The first wheel-foot mechanism 12 includes a first driving module 121, a first joint module 122 and a first running wheel hub 123. The first driving module 121 is arranged on the first fuselage 11. One end of the first joint module 122 is connected to the first running wheel hub 123, and the other end is connected to the first running wheel hub 123. Specifically, the first joint module 122 is composed of a plurality of first joint connecting rods 1221, and the plurality of first joint connecting rods 1221 can be used to fold between the first driving module 121 and the first running wheel hub 123 to switch the standing and squatting actions of the first robot 1. A first auxiliary wheel group 111 is arranged at the bottom of the first fuselage 11, and the first auxiliary wheel group 111 is provided with multiple groups; when the first robot 1 is in a squatting action, the first auxiliary wheel group 111 is used to support the first fuselage 11. In this embodiment, the first joint module 122 is composed of a plurality of connecting rods, one end of which is connected to the first running wheel hub 123, and the other end is connected to the first driving module 121. This design allows the first traveling wheel hub 123 to be folded with the support of the first joint module 122, and can switch between standing and squatting actions of the first robot 1. By adjusting the angle of the first joint link 1221, the posture and height of the robot can be changed. The first traveling wheel hub 123 is the main moving part of the first wheel-foot mechanism 12. It is connected to the first joint module 122 and rotates through the power provided by the first drive module 121. The movement of the first traveling wheel hub 123 enables the robot to move forward, backward and turn. A plurality of first auxiliary wheel groups 111 are provided at the bottom of the first body 11. When the first robot 1 is in a squatting action, the first auxiliary wheel group 111 is used to support the first body 11, provide additional stability and support force, and prevent the robot from tipping over or losing balance.

[0033] The second wheel-foot mechanism 22 includes a second drive module 221, a second joint module 222 and a second travel wheel hub 223. The second drive module 221 is arranged on the second fuselage 21, and one end of the second joint module 222 is connected to the second travel wheel hub 223, and the other end is connected to the second travel wheel hub 223. Specifically, the second joint module 222 is composed of a plurality of second joint connecting rods 2221, and the plurality of second joint connecting rods 2221 can be used to fold between the second drive module 221 and the second travel wheel hub 223 to switch the standing and squatting actions of the second robot 2. A second auxiliary wheel group 211 is arranged at the bottom of the second fuselage 21, and the second auxiliary wheel group 211 is provided with multiple groups; when the second robot 2 is in a squatting action, the second auxiliary wheel group 211 is used to support the second fuselage 21. In this embodiment, the second joint module 222 is composed of a plurality of connecting rods, one end of which is connected to the second travel wheel hub 223, and the other end is connected to the second drive module 221. This design allows the second running wheel hub 223 to be folded with the support of the second joint module 222, and the standing and squatting actions of the second robot 2 can be switched. By adjusting the angle of the second joint connecting rod 2221, the posture and height of the robot can be changed. The second running wheel hub 223 is the main moving part of the second wheel-foot mechanism 22. It is connected to the second joint module 222 and rotated by the power provided by the second driving module 221. The movement of the second running wheel hub 223 enables the robot to move forward, backward and turn. A plurality of second auxiliary wheel groups 211 are arranged at the bottom of the second body 21. When the second robot 2 is in a squatting action, the second auxiliary wheel group 211 is used to support the second body 21, provide additional stability and support force, and prevent the robot from tipping over or losing balance.

[0034] See also Figure 4As shown, the first connecting frame 31 is provided with two groups, and the two groups of the first connecting frames 31 are respectively installed at the two ends of the first fuselage 11 in the traveling direction. The first connecting frame 31 includes a first base 311, a first connecting seat 312 and a first connecting cover plate 313. The first connecting seat 312 is installed on the first fuselage 11 through the first base 311. The first connecting seat 312 is provided with a first connecting groove 314. The first connecting cover plate 313 is arranged at the top of the first connecting seat 312 and covers the first connecting groove 314. The first connecting cover plate 313 is provided with a first connecting block 315. The connecting element 33 is provided with a connecting slide groove 331. The connecting slide groove 331 passes through the length direction of the connecting element 33. The first connecting block 315 can be slidably arranged in the connecting slide groove 331. The first connecting cover plate 313 is connected to the first connecting block 315 by screws, and the first connecting block 315 is locked and fixed on the connecting slide groove 331. Specifically, the second connecting frame 32 is provided with two groups, and the two groups of the second connecting frames 32 are respectively installed at the two ends of the second fuselage 21 in the travel direction. The second connecting frame 32 includes a second base 321, a second connecting seat 322 and a second connecting cover plate 323. The second connecting seat 322 is installed on the second fuselage 21 through the second base 321. The second connecting seat 322 is provided with a second connecting groove 324. The second connecting cover plate 323 is provided at the top of the second connecting seat 322 and covers the second connecting groove 324. The second connecting cover plate 323 is provided with a second connecting block 325. The second connecting block 325 can be slidably arranged in the connecting slide groove 331. The second connecting cover plate 323 is connected to the second connecting block 325 by screws, and the second connecting block 325 is locked and fixed on the connecting slide groove 331. The connecting frame is composed of a combination of a base, a connecting seat and a connecting cover plate, and provides a stable connection platform. The arrangement of the base and the connecting seat enables the connecting frame to be firmly installed on the fuselage and provide support for the connection of other components. A connecting slot 331 is provided in the connecting seat, and the slot is through along the length direction of the connecting element 33. By slidingly setting the first connecting block 315 and the second connecting block 325 in the connecting slot 331, the adjustability and mobility of the connecting frame can be achieved. This design allows the length of the connecting frame to be adjusted to adapt to different working requirements and fuselage sizes, and can also adapt to adjusting the spacing between the two robot fuselages. The connecting cover is located at the top of the connecting seat and covers the connecting slot. The connecting cover is connected to the connecting block by screws, and the connecting block is locked and fixed on the connecting slot 331. This design ensures that the connecting block remains stable when sliding and prevents it from accidentally detaching or loosening. By sliding and adjusting the position of the first connecting block 315 and the second connecting block 325 in the connecting slot 331, the length and position of the connecting frame can be adjusted. Such adjustability and mobility enable the connecting frame to adapt to different fuselage spacing and connection requirements, increasing the flexibility and adaptability of the robot.

[0035] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A reconfigurable wheel-foot robot, characterized in that: The robot comprises a first robot, a second robot and a connecting mechanism, wherein the first robot comprises a first body and a first wheel-foot mechanism arranged on the first body, wherein the first wheel-foot mechanism is used for the first body to move and travel; the second robot comprises a second body and a second wheel-foot mechanism arranged on the second body, wherein the second wheel-foot mechanism is used for the second body to move and travel; The connecting mechanism includes a first connecting frame, a second connecting frame and a connecting element, wherein the first connecting frame is installed on the first fuselage, and the second connecting frame is installed on the second fuselage; two ends of the connecting element are respectively connected to the first connecting frame and the second connecting frame to connect the first fuselage with the second fuselage.

2. The reconfigurable wheel-legged robot according to claim 1, characterized in that: The first wheel-foot mechanism is provided with two groups, and the two groups of the first wheel-foot mechanism are respectively arranged on the two sides of the first fuselage; the second wheel-foot mechanism is provided with two groups, and the two groups of the second wheel-foot mechanism are respectively arranged on the two sides of the second fuselage.

3. The reconfigurable wheel-legged robot according to claim 1, characterized in that: The first wheel-foot mechanism includes a first driving module, a first joint module and a first traveling wheel hub. The first driving module is arranged on the first fuselage. One end of the first joint module is connected to the first traveling wheel hub, and the other end is connected to the first traveling wheel hub.

4. The reconfigurable wheel-legged robot according to claim 3, characterized in that: The first joint module is composed of a plurality of first joint connecting rods which are hinged together. The plurality of first joint connecting rods can be used to fold between the first driving module and the first traveling wheel hub to switch the standing and squatting actions of the first robot.

5. The reconfigurable wheel-legged robot according to claim 4, characterized in that: A first auxiliary wheel set is arranged at the bottom of the first body, and a plurality of the first auxiliary wheel sets are arranged; when the first robot is in a crouching or lying position, the first auxiliary wheel set is used to support the first body.

6. The reconfigurable wheel-legged robot according to claim 1, characterized in that: The second wheel-foot mechanism includes a second driving module, a second joint module and a second traveling wheel hub. The second driving module is arranged on the second fuselage. One end of the second joint module is connected to the second traveling wheel hub, and the other end is connected to the second traveling wheel hub.

7. The reconfigurable wheel-legged robot according to claim 6, characterized in that: The second joint module is composed of a plurality of hinged second joint links, and the plurality of second joint links can be used to fold between the second driving module and the second traveling wheel hub to switch the standing and squatting actions of the second robot.

8. The reconfigurable wheel-legged robot according to claim 7, characterized in that: A second auxiliary wheel set is arranged at the bottom of the second body, and a plurality of second auxiliary wheel sets are arranged; when the second robot is in a squatting or lying position, the second auxiliary wheel set is used to support the second body.

9. The reconfigurable wheel-legged robot according to claim 1, characterized in that: The first connecting frame is provided with two groups, and the two groups of the first connecting frames are respectively installed at the two ends of the first fuselage in the traveling direction. The first connecting frame includes a first base, a first connecting seat and a first connecting cover plate. The first connecting seat is installed on the first fuselage through the first base. The first connecting seat is provided with a first connecting groove. The first connecting cover plate is provided at the top of the first connecting seat and covers the first connecting groove. The first connecting cover plate is provided with a first connecting block. The connecting element is provided with a connecting slide groove, and the connecting slide groove passes through along the length direction of the connecting element. The first connecting block can be slidably set in the connecting slide groove. The first connecting cover plate is connected to the first connecting block by screws, and the first connecting block is locked and fixed on the connecting slide groove.

10. The reconfigurable wheel-legged robot according to claim 9, characterized in that: The second connecting frame is provided with two groups, and the two groups of the second connecting frames are respectively installed at the two ends of the second fuselage in the traveling direction. The second connecting frame includes a second base, a second connecting seat and a second connecting cover plate. The second connecting seat is installed on the second fuselage through the second base. The second connecting seat is provided with a second connecting groove. The second connecting cover plate is arranged at the top of the second connecting seat and covers the second connecting groove. The second connecting cover plate is provided with a second connecting block. The second connecting block can be slidably arranged in the connecting slide groove. The second connecting cover plate is connected to the second connecting block by screws, and the second connecting block is locked and fixed on the connecting slide groove.

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