Wheel-foot robot suitable for various road conditions

Abstract

The utility model discloses a wheel-foot robot applicable to various road conditions, which comprises a wheel-foot robot main body, a supporting mechanism for supporting the wheel-foot robot main body is arranged on the wheel-foot robot main body, and the supporting mechanism comprises two groups of supporting devices respectively arranged on the front side and the rear side of the wheel-foot robot main body; each supporting device comprises an abutting plate and a flexible supporting structure, and the abutting plate can only vertically slide along the wheel-foot robot body. The flexible supporting structure comprises a rotating frame and two rotating plates, the rotating frame is fixed to the bottom of the abutting plate, the connecting ends of the two rotating plates are rotationally installed on the rotating frame, and the top face of each rotating plate elastically abuts downwards through at least one elastic abutting assembly. The lifting driving mechanism drives the abutting plate to ascend and descend, so that the flexible supporting structure installed at the bottom of the abutting plate is higher than or lower than the bottom of the wheel-foot robot body. The wheel-foot robot has the advantage that the wheel-foot robot body can be conveniently and automatically supported in the wheel-foot switching process.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a wheeled robot applicable to various road conditions. Background Art

[0002] A wheeled robot is a robot with wheels and feet that can move and walk freely in different road conditions. Wheeled robots usually have multiple wheels and feet, which enables them to travel on flat ground like traditional wheeled robots, and on irregular or rugged terrain, they can use their feet to overcome obstacles. This multi-mode movement allows wheeled robots to adapt flexibly in various environments and have strong obstacle-crossing capabilities.

[0003] When the wheeled-foot robot switches from the wheel state to the foot state, the foot installation is controlled by the surface mechanical arm. When installing the foot, the operator needs to adjust the wheel to the appropriate angle before continuing to control the mechanical arm to install the foot. This situation causes limitations in foot installation, and the foot cannot be installed quickly, which is not convenient for the wheeled-foot robot to switch between wheels. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a wheel-foot robot that can be applied to a variety of road conditions, so that the wheel-foot robot can automatically support the wheel-foot robot body during the wheel-foot switching process, thereby facilitating the switching of the foot.

[0005] The utility model is realized by the following technical solutions:

[0006] A wheeled robot applicable to various road conditions, comprising a wheeled robot body, wherein the wheeled robot body is provided with a supporting mechanism for supporting the wheeled robot body, wherein the supporting mechanism comprises two sets of supporting devices respectively arranged at the front and rear sides of the wheeled robot body;

[0007] Each group of supporting devices includes a pressure plate and a flexible supporting structure. The pressure plate is slidably arranged on the main body of the wheel-foot robot and can only slide vertically along the main body of the wheel-foot robot. The flexible supporting structure includes a rotating frame and two rotating plates. The rotating frame is fixed to the bottom of the pressure plate. The two rotating plates are symmetrically arranged on the front and rear sides of the rotating frame, and the ends of the two rotating plates that are close to each other are connecting ends and the ends that are far away from each other are free ends. The connecting ends of the two rotating plates are rotatably installed on the rotating frame respectively, and the top surface of each rotating plate is elastically pressed downward by at least one group of elastic pressure components. The pressure plate is driven to rise and fall by the lifting drive mechanism, so that the flexible supporting structure installed at the bottom of the pressure plate is higher or lower than the bottom of the main body of the wheel-foot robot.

[0008] As a preferred embodiment of the above-mentioned wheeled robot, a protective device is provided at the bottom of the wheeled robot body, and the protective device includes a hard protective plate and a soft protective plate. A plurality of downwardly extending connecting columns are provided at the bottom of the wheeled robot body, and the hard protective plate and the soft protective plate are slidably mounted on the plurality of connecting columns in an upper and lower arrangement. An elastic component is mounted on the connecting column at a position above the hard protective plate, and a pointed end is provided at the bottom end of the connecting column, and a plurality of soft barbs are provided on the outer wall of the pointed end, and the soft protective plate is hooked by the barbs.

[0009] As a preferred solution for the above-mentioned wheeled robot, the elastic pressure assembly includes a telescopic rod and a first spring mounted on the telescopic rod. A connecting seat is provided on one side of the pressure plate. The upper and lower ends of the telescopic rod are respectively hinged to the connecting seat and the top surface of the rotating plate. In a natural state, the rotating plate is elastically pressed downward by the first spring.

[0010] As a preferred solution of the above-mentioned wheeled robot, the connecting end of the rotating plate is hinged to the rotating frame through a hinge shaft.

[0011] As a preferred solution of the above-mentioned wheeled robot, the bottom surface of the rotating plate is provided with a plurality of conical protrusions and a plurality of semi-spherical protrusions.

[0012] As a preferred solution of the above-mentioned wheeled robot, the lifting drive mechanism includes two electric push rods, which are fixedly mounted on the wheeled robot body, and the movable ends of the two electric push rods extend downward and are fixedly connected to the pressure plate.

[0013] As a preferred solution for the above-mentioned wheeled robot, two upwardly extending guide rods are provided on the top of the pressure plate, and guide support blocks are provided on the wheeled robot body at positions corresponding to the guide rods, and vertically extending guide holes are opened on the guide support blocks, and the guide rods and the guide holes of the corresponding guide support blocks are slidably matched.

[0014] As a preferred solution for the above-mentioned wheeled robot, two left and right support frames are provided at the bottom of the pressure plate. The support frames are U-shaped rod structures, one end of the support frames is fixed to the bottom of the pressure plate, and the other end of the pressure plate slides in cooperation with a support groove opened at the bottom of the wheeled robot body, and the support groove extends vertically.

[0015] Compared with the prior art, the utility model has the following advantages:

[0016] The utility model provides a wheeled robot that can be applied to a variety of road conditions. It sets two groups of support devices on the front and rear sides of the wheeled robot body. Each group of support devices drives the pressure plate to rise and fall through the lifting drive mechanism, so that the flexible support structure installed at the bottom of the pressure plate is higher or lower than the bottom of the wheeled robot body, thereby realizing automatic support or release of the wheeled robot body, making the wheel-foot switching work convenient, fast, time-saving and labor-saving, and no manual adjustment operation is required by the staff; at the same time, its support device relies on the elastic pressure component to contact the ground, realizing flexible support for the wheeled robot body, avoiding damage to the robot due to hard support, and ensuring stable and safe support of the robot. In addition, a protective device is provided at the bottom of the wheeled robot body, which can effectively protect the bottom of the wheeled robot body, avoid damage when it is used on special ground, and increase the service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is an overall diagram of the utility model.

[0018] Figure 2 yes Figure 1 Enlarged view of point A.

[0019] Figure 3 It is an overall view of the utility model from another perspective.

[0020] Figure 4 yes Figure 3 Enlarged view of point B.

[0021] Figure 5 It is a structural schematic diagram of the protective device of the utility model.

[0022] Figure 6 yes Figure 5 Enlarged view of point C.

[0023] Numbers in the figure: 1 wheel-foot robot body, 2 support device, 3 pressure plate, 4 rotating frame, 5 rotating plate, 6 telescopic rod, 7 first spring, 8 connecting seat, 9 electric push rod, 10 conical protrusion, 11 semi-spherical protrusion, 12 guide rod, 13 guide support block, 14 support frame, 15 hard protective plate, 16 soft protective plate, 17 connecting column, 18 second spring, 19 pointed end, 20 barb, 21 mechanical arm, 22 foot. DETAILED DESCRIPTION

[0024] The following is a detailed description of an embodiment of the utility model. This embodiment is implemented on the premise of the technical solution of the utility model, and a detailed implementation method and a specific operation process are given, but the protection scope of the utility model is not limited to the following embodiment.

[0025] See also Figures 1 to 6This embodiment discloses a wheeled robot that can be used in a variety of road conditions, including a wheeled robot body 1. The wheeled robot body 1 is provided with a supporting mechanism for supporting the wheeled robot body 1. The supporting mechanism includes two groups of supporting devices 2 respectively arranged on the front and rear sides of the wheeled robot body 1.

[0026] Each group of supporting devices 2 includes a pressing plate 3 and a flexible supporting structure. The pressing plate 3 is slidably arranged on the wheel-foot robot body 1 and can only slide vertically along the wheel-foot robot body 1. The flexible supporting structure includes a rotating frame 4 and two rotating plates 5. The rotating frame 4 is fixed at the bottom of the pressing plate 3. The two rotating plates 5 are symmetrically arranged on the front and rear sides of the rotating frame 4, and the ends of the two rotating plates 5 that are close to each other are connected ends, and the ends that are far away are free ends. The connecting ends of the two rotating plates 5 are respectively rotatably installed on the rotating frame 4, and the connecting ends of the rotating plates 5 are hinged to the rotating frame 4 through a hinge shaft. The top surface of each rotating plate 5 is elastically pressed downward by at least one group of elastic pressing components; in this embodiment, the top surface of each rotating plate 5 is elastically pressed downward by three groups of elastic pressing components. The elastic pressing component includes a telescopic rod 6 and a first spring 7 sleeved on the telescopic rod 6. A connecting seat 8 is provided on one side of the pressing plate 3. The upper and lower ends of the telescopic rod 6 are respectively hinged to the connecting seat 8 and the top surface of the rotating plate 5. In the natural state, the rotating plate 5 is elastically pressed downward by the first spring 7. The pressing plate 3 is driven to rise and fall by the lifting drive mechanism, so that the flexible support structure installed at the bottom of the pressing plate 3 is higher or lower than the bottom of the wheel-foot robot body 1. The lifting drive mechanism includes two electric push rods 9, which are fixedly installed on the wheel-foot robot body 1, and the movable ends of the two electric push rods 9 extend downward and are fixedly connected to the pressing plate 3.

[0027] A plurality of conical protrusions 10 and a plurality of semi-spherical protrusions 11 are provided on the bottom surface of the rotating plate 5, so as to improve the supporting effect of the supporting device 2 on different road surfaces.

[0028] Two guide rods 12 extending upward are arranged on the top of the pressure plate 3, and a guide support block 13 is arranged on the wheeled robot body 1 at the position corresponding to the guide rods 12. A vertically extending guide hole is opened on the guide support block 13, and the guide rod 12 and the corresponding guide hole of the guide support block 13 are slidably matched. Two left and right support frames 14 are arranged at the bottom of the pressure plate 3, and the support frame 14 is a U-shaped rod structure. One end of the support frame 14 is fixed to the bottom of the pressure plate 3, and the other end of the pressure plate 3 is slidably matched with the support slide groove opened at the bottom of the wheeled robot body 1, and the support slide groove extends vertically. The vertical movement of the guide rod 12 at the top of the pressure plate 3 is guided by the guide hole of the guide support block 13, and the vertical movement of the support frame 14 at the bottom of the pressure plate 3 is guided by the support slide groove opened at the bottom of the robot body, thereby achieving stable support and guidance for the vertical movement of the pressure plate 3; even when the surface of the support device 2 is hit, it can also play a good supporting and guiding effect on the support device 2, so that the support device 2 will not rotate or bend, thereby improving the service life of the support device 2.

[0029] A protective device is provided at the bottom of the wheel-foot robot body 1. The protective device includes a hard protective plate 15 and a soft protective plate 16. A plurality of connecting columns 17 extending downward are provided at the bottom of the wheel-foot robot body 1. The hard protective plate 15 and the soft protective plate 16 are arranged up and down and are slidably mounted on the plurality of connecting columns 17. The connecting columns 17 are mounted with elastic components at the position above the hard protective plate 15. The elastic components are second springs 18. A pointed end 19 is provided at the bottom of the connecting column 17. A plurality of soft barbs 20 are provided on the outer wall of the pointed end 19. The soft protective plate 16 is hooked by the barbs 20 to prevent the soft protective plate 16 from falling downward. By providing the soft protective plate 16 below the hard protective plate 15, the protective effect of the protective device can be improved. When the wheel-foot robot body 1 moves to the gravel area, the protective device can effectively protect the bottom of the wheel-foot robot body 1, so that the lower surface of the wheel-foot robot body 1 is not easily damaged, thereby improving its service life.

[0030] During the robot wheel-foot switching process, when the wheel-foot robot body 1 needs to be supported, the electric push rods 9 of the two sets of support devices 2 act simultaneously, driving the front and rear pressure plates 3 to descend, and the flexible support structure at the bottom of the two pressure plates 3 gradually contacts the ground to support the wheel-foot robot body 1. At this time, the staff can control the mechanical arm 21 to install the foot 22. In the process of the flexible support structure supporting the ground, if the ground is uneven, the rotating plate 5 can be rotated and pressed against the road surface through the adjustment of the telescopic rod 6 and the first spring 7, so as to perform the support work. The setting of this flexible support structure further improves the practicality of the support device 2, and the first spring 7 has a reset effect, which can facilitate the subsequent support use. When encountering a dirt road surface, the conical protrusion 10 on the bottom surface of the rotating plate 5 can be inserted into the dirt. The setting of the conical protrusion 10 makes it difficult for the rotating plate 5 to slide when supporting the dirt road surface; when encountering a relatively flat road surface, the semi-spherical protrusion 11 on the bottom surface of the rotating plate 5 is pressed against the road surface. The semi-spherical protrusion 11 can be made of rubber material. The semi-spherical protrusion 11 made of rubber material can increase the friction between it and the road surface, so that the rotating plate 5 is not easy to slide on a relatively flat road surface, thereby playing an anti-skid role.

[0031] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A wheeled robot applicable to various road conditions, comprising a wheeled robot body (1), characterized in that: The wheeled robot body (1) is provided with a support mechanism for supporting the wheeled robot body (1), the support mechanism comprising two groups of support devices (2) respectively arranged at the front and rear sides of the wheeled robot body (1); Each group of supporting devices (2) comprises a pressure plate (3) and a flexible supporting structure, wherein the pressure plate (3) is slidably arranged on the wheeled robot body (1) and can only slide vertically along the wheeled robot body (1); The flexible support structure comprises a rotating frame (4) and two rotating plates (5). The rotating frame (4) is fixed at the bottom of the pressure plate (3). The two rotating plates (5) are symmetrically arranged at the front and rear sides of the rotating frame (4). The ends of the two rotating plates (5) that are close to each other are connecting ends, and the ends that are far away from each other are free ends. The connecting ends of the two rotating plates (5) are respectively rotatably mounted on the rotating frame (4). The top surface of each rotating plate (5) is elastically pressed downward by at least one group of elastic pressure components. The pressure plate (3) is driven to rise and fall by a lifting drive mechanism, so that the flexible support structure installed at the bottom of the pressure plate (3) is higher or lower than the bottom of the wheeled robot body (1).

2. A wheeled robot applicable to various road conditions as claimed in claim 1, characterized in that: The bottom of the wheeled robot body (1) is provided with a protective device, which includes a hard protective plate (15) and a soft protective plate (16). The bottom of the wheeled robot body (1) is provided with a plurality of connecting columns (17) extending downward. The hard protective plate (15) and the soft protective plate (16) are arranged up and down and are slidably mounted on the plurality of connecting columns (17). The connecting columns (17) are mounted with elastic components at the position above the hard protective plate (15). The bottom end of the connecting column (17) is provided with a pointed end (19), and the outer wall of the pointed end (19) is provided with a plurality of soft barbs (20), and the soft protective plate (16) is hooked by the barbs (20).

3. A wheeled robot applicable to various road conditions as claimed in claim 1, characterized in that: The elastic pressing assembly comprises a telescopic rod (6) and a first spring (7) sleeved on the telescopic rod (6); a connecting seat (8) is provided on one side of the pressing plate (3); the upper and lower ends of the telescopic rod (6) are respectively hinged to the connecting seat (8) and the top surface of the rotating plate (5); in a natural state, the rotating plate (5) is elastically pressed downward by the first spring (7).

4. A wheeled robot applicable to various road conditions as claimed in claim 1, characterized in that: The connecting end of the rotating plate (5) is hinged to the rotating frame (4) via a hinge shaft.

5. A wheeled robot applicable to various road conditions as claimed in claim 1, characterized in that: The bottom surface of the rotating plate (5) is provided with a plurality of conical protrusions (10) and a plurality of semi-spherical protrusions (11).

6. A wheeled robot applicable to various road conditions as claimed in claim 1, characterized in that: The lifting drive mechanism comprises two electric push rods (9), which are fixedly mounted on the wheeled robot body (1), and the movable ends of the two electric push rods (9) extend downward and are fixedly connected to the pressure plate (3).

7. A wheeled robot applicable to various road conditions as claimed in claim 1, characterized in that: The top of the pressure plate (3) is provided with two guide rods (12) extending upwards, and the wheeled robot body (1) is provided with guide support blocks (13) at positions corresponding to the guide rods (12), and the guide support blocks (13) are provided with guide holes extending vertically, and the guide rods (12) and the guide holes of the corresponding guide support blocks (13) are slidably matched.

8. A wheeled robot applicable to various road conditions as claimed in claim 1, characterized in that: Two left and right support frames (14) are provided at the bottom of the pressure plate (3), and the support frames (14) are U-shaped rod structures. One end of the support frame (14) is fixed to the bottom of the pressure plate (3), and the other end of the pressure plate (3) is slidably matched with a support groove opened at the bottom of the wheeled robot body (1), and the support groove extends vertically.

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