Walking robot
By adopting a four-wheel independent structure design on the walking robot, the problem of insufficient walking adaptability, efficiency and flexibility of traditional walking robots is solved, and more efficient, flexible and energy-efficient walking performance is achieved.
Patent Information
- Application Number
- CN202421210181.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-30
- Publication Date
- 2025-02-14
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
Traditional walking robots have shortcomings in terms of walking adaptability, efficiency and flexibility. Wheeled robots have low walking adaptability, multi-foot robots have low running speed and efficiency, and crawler robots have poor walking flexibility and efficiency.
The walking robot design adopts a four-wheel independent structure, including the arrangement of adapter wheels at the four corners of the vehicle body. Each adapter wheel has an independent driving, suspension and steering structure. Each adapter wheel is independently adjusted through the controller to achieve walking speed and stroke. Accurate control of height and rotation angle.
It improves the flexibility, efficiency and carrying capacity of the walking robot, and can achieve accurate and efficient walking operations in a variety of environments and scenarios, reduce energy consumption and extend the distance of cruising.
Smart Images
Figure CN222473903U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of intelligent robots, in particular to a walking robot. Background Art
[0002] The use of robots in industry and agriculture has great application prospects. As traditional walking robots, they can carry, transport or walk and realize a variety of expansion functions.
[0003] Traditional walking robots usually adopt wheeled, multi-legged or tracked structures. Traditional wheeled walking robots have low walking adaptability, traditional multi-legged walking robots have low running speed and low efficiency, and traditional tracked walking robots have poor walking flexibility and low efficiency. Summary of the invention
[0004] The utility model aims to provide a walking robot, which improves the flexibility, efficiency and carrying capacity of the walking robot through a four-wheel structure and a unique four-wheel independent structure.
[0005] In order to achieve the above purpose, the technical solution of the utility model is as follows:
[0006] A walking robot comprises a body and adaptive wheels arranged at the four corners of the body, the cross section of the body is a concave structure, the interior of the body is used for transport and load-bearing, sensors, communication components, a controller and a power supply are arranged on the body, and under the control of the controller, the movement of the body is achieved through the sensors and the adaptive wheels;
[0007] The adaptive wheel includes a wheel and a driving motor arranged in the middle of the wheel body, a bogie is arranged on one side of the driving motor, and a straight rod is arranged on the outer side corresponding to the car body. The bogie is connected to the straight rod through a linear bearing, and the bogie and the wheel can rotate horizontally with the straight rod as the center. A shock-absorbing spring is arranged on the straight rod, and a steering motor is arranged on the bogie, and the steering motor is connected to the car body through a pull rod.
[0008] Furthermore, the steering motor and the straight rod are coaxially arranged.
[0009] Furthermore, the upper part of the straight rod is a hollow structure with straight grooves on both sides, a pressure block is arranged in the straight groove, and the outer ends of the straight grooves extend out of the two sides of the pressure block. The top of the pressure block is connected to a servo cylinder, and the push rod of the servo cylinder is accommodated in the hollow structure of the straight rod.
[0010] Furthermore, the damping spring is arranged between the pressure block and the bogie.
[0011] Furthermore, a pressure plate is arranged between the top of the shock absorbing spring and the pressure block.
[0012] Furthermore, a damping block is arranged between the pressure plate and the shock absorbing spring.
[0013] Furthermore, the pull rod is a long pull rod structure, and its two ends are connected by a ball head structure respectively.
[0014] Furthermore, a plane bearing is provided between the bottom of the spring and the bogie.
[0015] Furthermore, the front and rear ends of the vehicle body are provided with spaces for accommodating corresponding wheels.
[0016] Compared with the existing technology, this solution has the following advantages:
[0017] The present invention provides a walking robot, in which adaptive wheels are arranged at the four corners of the vehicle body. The adaptive wheels adopt independent driving structure, suspension structure and steering structure. Therefore, the corresponding adaptive wheels can be controlled to independently adjust the rotation speed, travel height and horizontal deflection angle, so that accurate and efficient walking operations can be achieved in various environments, various working scenes and driving route requirements.
[0018] The present invention provides a walking robot, whose adaptive wheel adopts an independent wheel structure. Compared with the corresponding Mecanum wheel structure, multi-legged motion structure or crawler structure, it has the characteristics of simple structure, high walking efficiency, stable operation and good adaptability, and under the same conditions, it can reduce energy consumption, so it can greatly increase its cruising walking distance;
[0019] The adaptive wheel of this solution is driven by a hub motor structure and realizes active height adaptive adjustment function through a servo cylinder structure. It has a simple structure, reasonable layout, good shock absorption effect, high adjustment and adaptation efficiency, and has excellent promotion significance. BRIEF DESCRIPTION OF THE DRAWINGS
[0020] Figure 1 It is a schematic diagram of the structure of a walking robot in a preferred embodiment.
[0021] Figure 2 Schematic diagram of the straight tube bearing structure of the walking robot.
[0022] Figure 3 This is a schematic diagram of the structure of the walking robot in the front state.
[0023] Figure 4 This is a schematic diagram of the structure of the adaptation wheel.
[0024] Figure 5 Schematic diagram of the exploded structure to adapt to the wheel suspension.
[0025] Figure 6 This is a schematic diagram of the decomposition of the straight rod structure.
[0026] Figure 7 Schematic diagram of the uneven road surface structure of the walking robot.
[0027] Figure 8 It is a schematic diagram of the top view of the straight line state.
[0028] Fig. 9 This is a schematic diagram of a small radius turn from a bird's-eye view.
[0029] Fig.10 This is a schematic diagram of the fan-shaped moving turn from a bird's-eye view.
[0030] Fig.11 This is a schematic diagram of the vertical moving top-down perspective.
[0031] Fig.12 This is a schematic diagram of the parking state from a bird's-eye view. DETAILED DESCRIPTION
[0032] The original intention of this plan is to design a walking robot that is particularly suitable for various transportation and carrying functions. It can adapt to walking and transportation functions indoors or on flat ground, and can also adapt to walking functions on certain traditional roads or unpaved roads. Therefore, it has good adaptability to suit a variety of extended functions.
[0033] refer to Figures 1 to 6 A walking robot comprises a body 1 and adaptive wheels arranged at the four corners of the body. In a top view, the main body is in a front-to-back symmetric state and a left-to-right symmetric state, that is, the robot can walk forward and backward adaptively.
[0034] For the convenience of explanation, in a top view, the vehicle body 1 is described with the front as the vehicle head direction, and the four adaptive wheels are respectively the left front wheel 11, the right front wheel 12, the left rear wheel 13 and the right rear wheel 14. It should be noted that the naming is only for the convenience of description and explanation. The vehicle body 1 is arranged with sensors, gyroscopes, camera components, communication components, controllers and power supplies. Under the control of the controller, the walking robot is realized through sensors and adaptive wheels to walk, move or carry.
[0035] The left and right sides of the vehicle body 1 are provided with side panels 15, and a bottom panel 16 is provided in the middle of the bottom of the two side panels 15. The side panels 15 are long block structures with a flat top. In some embodiments, the side panels 15 can be used for people to sit on (the walking robot of this scheme is not a traditional vehicle type. In this embodiment, it is used for illustration and does not follow the technical requirements of traditional vehicles for people to sit on). In order to improve the adaptability of the vehicle body 1 to walking, the front and rear ends of the side panels 15 are triangular structures. At the triangular structure, a flat plate 17 is hingedly arranged on the front and rear ends of the bottom panel 16. The flat plate 17 can rotate up and down with the hinged horizontal shaft as the center. When the flat plate 16 is in an upward rotation state, it can be relatively fixed with the corresponding position on the inner side of the side panel 15 through structures such as latches. When the flat plate 16 is in a downward rotation state and is in a horizontal state, it can be connected and loaded with the side panel 15 through structures such as cables 18, so that the flat plates 17 on both sides are in a flat state with the bottom panel 15;
[0036] In some embodiments, the width of the bottom plate 16 can be about 80 cm, and the length of the bottom plate 16 plus the two flat plates 17 can be about 200 cm, so that a normal lying adult can be accommodated inside the walking robot, and can be used for intelligent transportation of rescue or wounded people. Since the walking robot has a regular long strip-shaped carrying channel, it can realize a variety of functions such as long strips, rods or boxes. When used for people to ride, people can sit opposite each other in pairs, with their feet placed on the bottom plate 16 and their buttocks sitting on the top of the side plate 15, so as to realize the multi-person balanced riding function.
[0037] The adaptive wheel includes a wheel 21 and a driving motor 22 arranged in the middle of the wheel 21. The driving motor 22 can be arranged in the structure of a hub motor. A bogie 23 is arranged on one side of the driving motor 22. A straight rod 31 is arranged on the outer side of the bogie 23 corresponding to the vehicle body 1. The upper and lower ends of the straight rod 31 are firmly installed on the vehicle body 1 through a mounting seat. The upper and lower ends of the bogie 23 are connected to the straight rod 31 through linear bearings, and the bogie 23 and the wheel 21 can rotate horizontally with the straight rod 31 as the center. At the same time, the bogie 23 and the wheel 21 can also move up and down under the restriction of the straight rod 31.
[0038] A steering motor 24 is arranged at the bogie 23. In some embodiments, the steering motor 24 can be installed in a coaxial structure with the straight rod 31 to save installation space. A connecting column 25 is arranged on the housing of the steering motor 24. The connecting seat 25 is connected to a tie rod 26 through a ball head structure. The other end of the tie rod 26 extends all the way to the middle position of the vehicle body 1 and is also connected to the vehicle body 1 through a ball head joint. In order to reduce the interference of the steering of the wheel 21, the tie rod 26 is an arc-shaped inner swing structure. In this solution, the length of the tie rod 26 is increased as much as possible, which can reduce its influence on the steering operation when the wheel 26 moves up and down, and improve the accuracy and flexibility of the vehicle steering operation.
[0039] The rotor of the steering motor 24 can be a hollow structure for accommodating the straight rod 31. The top of the rotor can be connected to the bogie 23 through a reduction structure such as a planetary gear to increase the torque output by the steering motor 24 and improve the accuracy of its rotation angle control.
[0040] A damping spring 32 is arranged on the straight rod 31. The damping spring 32 is used for shock absorption and buffering. The bottom of the damping spring 32 is fitted with the top of the bogie 23 through a plane bearing 33. The plane bearing 33 can reduce the rotational torque of the damping spring 32 when the bogie 23 rotates, making the movement more flexible. A damping block 34 and a pressure plate 35 are arranged on the top of the damping spring 32. Both the damping block 34 and the pressure plate 35 are hollow structures and are placed on the straight rod 31. The damping block 34 is used to reduce the impact force of the shock-absorbing spring 32 on the vehicle body 1 when the shock-absorbing spring 32 is under extreme compression, reduce the noise of the entire shock-absorbing structure, and improve its flexibility and comfort. A pressure block 36 is arranged on the top of the pressure plate 35. The upper part of the straight rod 31 is a hollow structure with straight grooves 39 on both sides. The pressure block 36 is arranged in the straight groove 39. The outer ends of the straight groove 39 extend from both sides of the pressure block 36. The extended outer end part of the pressure block 36 cooperates with the top of the pressure plate 35 for force and load-bearing.
[0041] A servo cylinder 37 is arranged at the top of the straight rod 31 . A push rod 38 of the servo cylinder 37 is accommodated in the hollow structure of the straight rod 31 . The lower end of the push rod 38 cooperates with the top of the pressing block 36 .
[0042] refer to Figure 7 In actual operation, under the control of the vehicle body 1 controller, the vehicle body state and vehicle posture are sensed by sensors and gyroscopes, and the four wheels 21 are independently controlled according to the driving route requirements, wherein the steering angle of the wheel 21 is controlled by the steering motor 24, the height position of the wheel 21 is controlled by the servo cylinder 37, and the four wheels 21 are independently driven to rotate by the drive motor 22, so as to realize walking in a specific site environment and a designated route.
[0043] When the walking robot is performing walking operation, under the control of the controller, the following control method is executed:
[0044] refer to Figure 8 When the robot keeps moving forward or backward in a straight line, the left front wheel 11, the right front wheel 12, the left rear wheel 13 and the right rear wheel 14 are all in a 0-degree rotation state through the steering motor 24, and the four wheels are in a constant speed rotation state through the driving motor 22;
[0045] refer to Fig. 9 When the robot is turning, the turning radius R at the running point is determined according to the path of the route, and the running point is aligned with the center of the vehicle. The left front wheel 11 and the right front wheel 12 are rotated in a positive direction, and the left rear wheel 13 and the right rear wheel 14 are rotated in a negative direction. The vertical lines of the four wheels are aligned with the center of the turning circle. At the same time, according to the distance of the four wheels from the center of the circle, different rotation rates are implemented to rotate.
[0046] refer to Fig.10 , when the turning radius of the robot is smaller than the above state, because the left front wheel 11 and the left rear wheel 13 are turned and rotated, due to the interference of the vehicle body 1, the above required angle cannot be achieved, and the turning radius R at the running point is based on the path of the route, and the running point is aligned at the midpoint of the left rear wheel 13 and the right rear wheel 14, and the vertical lines of the left front wheel 11 and the right front wheel 12 are aligned with the midpoint, and by controlling the length relationship between the four wheels and the midpoint, a difference in rotation speed is implemented, wherein the left front wheel 11, the right front wheel 12 and the right rear wheel 14 rotate forward, and the left rear wheel 13 rotates reversely, so as to achieve walking at an extremely low turning angle;
[0047] refer to Fig.11 When the robot needs to switch from lateral movement to longitudinal movement, the left front wheel 11 and the right rear wheel 14 are rotated by negative 90 degrees, and the right front wheel 12 and the left rear wheel 13 are rotated by positive 90 degrees, so as to realize a 90-degree turn of the four wheels, and drive the motor 22 to make the four wheels rotate at a constant speed;
[0048] refer to Fig.12 When the robot needs to park, the four wheels are arranged in an outward-facing "O" structure, and the corresponding wheels are locked by the drive motor 22, so that the vehicle can be parked reliably and stably.
[0049] Therefore, through the above control method, the walking robot can be operated in various working conditions and realize its flexible and efficient walking function. It can also perform adaptive adjustment and multiple path selection functions under complex road conditions, greatly improving its scope of application and practicality.
[0050] In summary, the present invention provides a walking robot, in which adaptive wheels are arranged at the four corners of the vehicle body, and the adaptive wheels adopt independent driving structure, suspension structure and steering structure, so that the corresponding adaptive wheels can be controlled to independently adjust the rotation speed, travel height and horizontal deflection angle, thereby realizing accurate and efficient walking operations in various environments, various working scenes and driving routes.
[0051] The present invention provides a walking robot, whose adaptive wheel adopts an independent wheel structure. Compared with the corresponding Mecanum wheel structure, multi-legged motion structure or crawler structure, it has the characteristics of simple structure, high walking efficiency, stable operation and good adaptability, and under the same conditions, it can reduce energy consumption, so it can greatly increase its cruising walking distance;
[0052] The adaptive wheel of this solution is driven by a hub motor structure and realizes active height adaptive adjustment function through a servo cylinder structure. It has a simple structure, reasonable layout, good shock absorption effect, high adjustment and adaptation efficiency, and has excellent promotion significance.
Claims
1. A walking robot, characterized in that: The vehicle comprises a vehicle body and adaptive wheels arranged at the four corners of the vehicle body. The cross section of the vehicle body is a concave structure, and the interior thereof is used for transport and load bearing. The vehicle body is arranged with sensors, communication components, a controller and a power supply. Under the control of the controller, the movement of the vehicle body is realized through the sensors and the adaptive wheels. The adaptive wheel includes a wheel and a driving motor arranged in the middle of the wheel body, a bogie is arranged on one side of the driving motor, and a straight rod is arranged on the outer side corresponding to the car body. The bogie is connected to the straight rod through a linear bearing, and the bogie and the wheel can rotate horizontally with the straight rod as the center. A shock-absorbing spring is arranged on the straight rod, and a steering motor is arranged on the bogie, and the steering motor is connected to the car body through a pull rod.
2. A walking robot according to claim 1, characterized in that: The steering motor and the straight rod are coaxially arranged.
3. A walking robot according to claim 1, characterized in that: The upper part of the straight rod is a hollow structure with straight grooves on both sides. A pressure block is arranged in the straight groove, and the outer ends of the straight grooves extend out of the two sides of the pressure block. The top of the pressure block is connected to a servo cylinder, and the push rod of the servo cylinder is accommodated in the hollow structure of the straight rod.
4. A walking robot according to claim 3, characterized in that: The damping spring is arranged between the pressure block and the bogie.
5. A walking robot according to claim 4, characterized in that: A pressure plate is arranged between the top of the shock absorbing spring and the pressure block.
6. A walking robot according to claim 5, characterized in that: A damping block is arranged between the pressure plate and the shock absorbing spring.
7. A walking robot according to claim 1, characterized in that: The pull rod is a long pull rod structure, and both ends of the pull rod are connected by ball head structures.
8. A walking robot according to claim 4, characterized in that: A plane bearing is arranged between the bottom of the damping spring and the bogie.
9. A walking robot according to claim 4, characterized in that: The front and rear ends of the vehicle body are provided with spaces for accommodating corresponding wheels.