Wheel-foot robot

Abstract

The utility model relates to the technical field of robots, in particular to a wheel-foot robot which comprises a trunk, a thigh assembly, a shank assembly and an adjusting assembly. The bottom of the trunk is of a center control structure, the top of the trunk is provided with a radar detector, one side of the trunk is provided with an ultrasonic sensor, the tops of the thigh assemblies are fixedly connected with the side wall of the trunk, the tops of the shank assemblies are hinged to the bottoms of the thigh assemblies, and the bottoms of the shank assemblies are connected with wheels. According to the robot, automatic switching between wheel type movement and foot type movement can be automatically achieved according to different road conditions, the requirements of the robot for different road conditions are met, and the energy utilization rate of the robot is further increased.

Description

Technical Field

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

[0002] The mainstream robot mobility modes currently being studied include wheeled, legged and tracked, and they have their own advantages in different working environments. Compared with legged robots, wheeled robots can move at high speed on flat roads; compared with wheeled robots, legged robots can adapt to more complex working environments; compared with hexapod and octapod robots, quadruped robots have simpler mechanical structures and controls; compared with bipedal robots, quadruped robots have better stability and load capacity, so quadruped robots have better comprehensive performance. For this reason, wheel-legged quadruped robots have become a hot topic in the field of robot research. Wheel-legged robots have the advantages of legged robots that can adapt to more complex working environments, and wheeled robots that can move at high speed on flat roads. At the same time, wheeled motion and lower legs are controlled by different motors, realizing the independence of control, making stability higher, and having a stronger fault tolerance rate, improving the ability to adapt to the environment.

[0003] However, there is no robot that can switch between wheeled and footed modes more quickly. When facing complex ground environments, pure wheeled robots cannot have good adaptability, and ordinary quadruped robots will inevitably produce large energy losses when performing footed movements on relatively flat roads. At this time, the wheeled state is a more perfect solution. Therefore, how to integrate the two states into one and make corresponding adjustments and changes according to the environment is the problem we need to solve. Utility Model Content

[0004] In view of this, the present invention aims at the deficiencies of the prior art and proposes a wheeled robot, aiming to solve at least one of the problems raised by the above background technology.

[0005] The utility model provides a wheeled robot, comprising: a trunk, the bottom of the trunk is a central control structure, the top of the trunk is provided with a radar detector, and one side of the trunk is provided with an ultrasonic sensor;

[0006] Four supporting mechanisms are provided, and the supporting mechanisms are correspondingly provided on both sides of the trunk, and the supporting mechanisms are used to support the trunk and drive the trunk to move;

[0007] The supporting mechanism comprises:

[0008] A thigh assembly, the top of which is fixedly connected to the side wall of the trunk;

[0009] A calf component, the top of the calf component is hinged to the bottom of the thigh component, and the bottom of the calf component is connected to a roller;

[0010] An adjusting component, one end of which is fixedly connected to the top side wall of the calf component, and the other end of which is hinged to the bottom side wall of the calf component.

[0011] In some embodiments, the thigh component comprises:

[0012] A thigh motor, wherein the thigh motor is disposed on an inner wall of one side of the trunk and is fixedly connected to the inner wall, and an output end of the thigh motor passes through the side wall of the trunk and extends to the outside of the trunk;

[0013] A motor support, wherein the axial cross-section of the motor support is an L-shaped structure, a mounting hole is provided on the motor support, the output end of the thigh motor passes through the motor support and is fixedly connected to the motor support, and the motor support is fixedly connected to the torso through the mounting hole;

[0014] A thigh motor synchronous shaft, which is arranged corresponding to the output end of the thigh motor, one side of the thigh motor synchronous shaft is fixedly connected to the motor support, and the output end of the thigh motor is connected to the rotating end of the thigh motor synchronous shaft, which can drive the thigh motor synchronous shaft to rotate;

[0015] A thigh plate assembly, the top of which is fixedly connected to the rotating end on the other side of the synchronous rotating shaft of the thigh motor.

[0016] In some embodiments, the thigh plate assembly comprises:

[0017] A connecting shaft, one side of which is fixedly connected to the rotating end of the synchronous rotating shaft of the thigh motor;

[0018] A connecting plate, wherein two connecting plates are symmetrically arranged with the axis of the connecting shaft as the axis, the top of the connecting plate is fixedly connected to the side wall of the connecting shaft, and a strip groove is formed between the two connecting plates;

[0019] The calf motor is provided with two calf motors, and is respectively arranged on the two connecting plates and fixedly connected to the connecting plates. The output ends of the two calf motors respectively pass through the two connecting plates and extend into the strip-shaped groove.

[0020] In some embodiments, the calf assembly comprises:

[0021] A first connecting column, the top of which is fixedly connected to the two calf motor output ends, and the calf motor output ends rotate to drive the first connecting column to move;

[0022] The second connecting column, the top of the second connecting column is hinged to the bottom of the first connecting column, and the second connecting column can rotate around the plane where the axis of the first connecting column is located.

[0023] In some embodiments, a roller is rotatably connected to the bottom of the second connecting column.

[0024] In some embodiments, the adjustment component includes:

[0025] A support plate, one side of which is fixedly connected to the top of the side wall of the first connecting column;

[0026] A telescopic motor, wherein a mounting end of the telescopic motor is fixedly connected to a side wall of the support plate;

[0027] A first connecting rod, one end of which is fixedly connected to an output end of the telescopic motor;

[0028] a second connecting rod, one end of which is movably connected to the other end of the first connecting rod;

[0029] A first rotating frame, wherein the first rotating frame is movably connected to the other end of the second connecting rod through a through hole arranged on the top;

[0030] The second rotating frame is arranged perpendicular to the second connecting column, one end of which is fixedly connected to the second connecting column, and the other end of which is movably connected to two ends of the first rotating frame through through holes arranged on both sides.

[0031] In some embodiments, the roller is electrically connected to the calf motor.

[0032] In some embodiments, the radar detector, ultrasonic sensor, thigh motor, calf motor, and telescopic motor are electrically connected.

[0033] The foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0034] Other features and aspects of the present disclosure will become more apparent from the following detailed description of exemplary embodiments with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1A wheeled axonometric view of a wheeled robot provided by an embodiment of the utility model;

[0037] Figure 2 A foot-type axonometric view of a wheel-foot robot provided in an embodiment of the utility model;

[0038] Figure 3 An axonometric view of the thigh assembly of the wheel-foot robot provided in an embodiment of the utility model;

[0039] Figure 4 This is an axonometric diagram of the wheel-foot robot calf assembly and adjustment assembly assembly provided in an embodiment of the utility model.

[0040] Among them: 1. torso; 2. radar detector; 3. ultrasonic sensor; 4. supporting mechanism; 5. thigh assembly; 6. calf assembly; 7. roller; 8. adjustment assembly; 9. thigh motor; 10. motor support; 11. mounting hole; 12. thigh motor synchronous shaft; 13. thigh plate assembly; 14. connecting shaft; 15. connecting plate; 16. strip groove; 17. calf motor; 18. first connecting column; 19. second connecting column; 20. supporting plate; 21. telescopic motor; 22. first connecting rod; 23. second connecting rod; 24. first rotating frame; 25. second rotating frame. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0042] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0043] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0044] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0045] As mentioned in the background technology, there is currently no robot that can complete a faster switch between wheel-foot modes. When facing a complex ground environment, a pure wheeled robot cannot have good adaptability, and when an ordinary quadruped robot performs foot-based movement on a relatively flat road, it is inevitable that there will be a large energy loss. At this time, the wheeled state is a more perfect solution.

[0046] In order to improve the above-mentioned problems, the present application proposes a wheeled-legged robot. The present invention is particularly suitable for four-legged wheeled-legged robots, and has good adaptability to most working scenarios such as flat sections, rugged sections, and obstacle sections. While realizing the overall rotation of the legs, it can also realize the switching between foot-type movement and wheel-type movement, and proposes a constructive solution to the single movement mode and high energy consumption problems of traditional quadruped robots. The quadruped robot integrating the present invention is equipped with visual sensors such as depth cameras, laser radars, and ultrasonic sensors, and can switch to different forms at any time according to different road conditions detected. It has high energy utilization and stronger endurance. The present invention can automatically realize the automatic switching between wheel-type movement and foot-type movement according to different road conditions, which not only meets the robot's requirements for different road conditions, but also improves the robot's energy utilization rate; that is, it saves manufacturing costs and reduces the weight of the robot; it has a support device under wheeled movement, which can form a triangular stabilizing mechanism with the thighs and the fuselage, which is conducive to force and is more in line with actual road conditions, and provides a better solution to the high energy consumption and limited working scene problems of traditional quadruped robots.

[0047] See also Figure 1-4 As shown, a wheeled robot according to an embodiment of the present application includes:

[0048] A trunk 1, wherein the bottom of the trunk 1 is a central control structure, a radar detector 2 is arranged on the top of the trunk 1, and an ultrasonic sensor 3 is arranged on one side of the trunk;

[0049] Four supporting mechanisms 4 are provided, and the supporting mechanisms 4 are correspondingly provided on both sides of the trunk 1, and the supporting mechanisms 4 are used to support the trunk 1 and drive the trunk 1 to move;

[0050] The supporting mechanism 4 comprises:

[0051] A thigh component 5, the top of the thigh component 5 is fixedly connected to the side wall of the trunk 1;

[0052] A calf component 6, the top of the calf component 6 is hinged to the bottom of the thigh component 5, and the bottom of the calf component 6 is connected to a roller 7;

[0053] An adjusting component 8 , one end of which is fixedly connected to the top side wall of the calf component 6 , and the other end of which is hinged to the bottom side wall of the calf component 6 .

[0054] In some specific embodiments, the thigh component 5 includes:

[0055] A thigh motor 9, which is disposed on an inner wall of one side of the trunk 1 and fixedly connected to the inner wall, and an output end of the thigh motor 9 passes through the side wall of the trunk 1 and extends to the outside of the trunk 1;

[0056] The motor support 10 has an L-shaped axial section. The motor support 10 is provided with a mounting hole 11. The output end of the thigh motor 9 passes through the motor support 10 and is fixedly connected to the motor support 10. The motor support 10 is fixedly connected to the trunk 1 through the mounting hole 11.

[0057] The thigh motor synchronous shaft 12 is arranged corresponding to the output end of the thigh motor 9, one side of the thigh motor synchronous shaft 12 is fixedly connected to the motor support 10, and the output end of the thigh motor 9 is connected to the rotating end of the thigh motor synchronous shaft 12, which can drive the thigh motor synchronous shaft 12 to rotate;

[0058] The thigh plate assembly 13, the top of the thigh plate assembly 13 is fixedly connected to the rotating end on the other side of the thigh motor synchronous shaft 12.

[0059] In some specific embodiments, the thigh plate assembly 13 includes:

[0060] A connecting shaft 14, one side of which is fixedly connected to the rotating end of the thigh motor synchronous rotating shaft 12;

[0061] A connecting plate 15, two connecting plates 15 are symmetrically arranged with the axis of the connecting shaft 14 as the axis, the top of the connecting plate 15 is fixedly connected to the side wall of the connecting shaft 14, and a strip groove 16 is formed between the two connecting plates 15;

[0062] There are two calf motors 17 , which are respectively arranged on two connecting plates 15 and fixedly connected to the connecting plates 15 . The output ends of the two calf motors 17 respectively penetrate the two connecting plates 15 and extend into the strip-shaped groove 16 .

[0063] It should be understood that when the thigh motor 9 rotates, the entire thigh plate assembly 13 is driven to rotate.

[0064] In some specific embodiments, the lower leg component 6 includes:

[0065] A first connecting column 18, the top of which is fixedly connected to the output ends of the two calf motors 17, and the rotation of the output ends of the calf motors 17 can drive the first connecting column 18 to move;

[0066] The second connecting column 19 has a top that is hinged to the bottom of the first connecting column 18 , and the second connecting column 19 can rotate around the plane where the axis of the first connecting column 18 is located.

[0067] In some specific embodiments, a roller 7 is rotatably connected to the bottom of the second connecting column 19 .

[0068] It should be understood that when the calf motor 17 rotates, it drives the first connecting column 18, the second connecting column 19 and the roller to rotate.

[0069] In some specific embodiments, the adjustment component 8 includes:

[0070] A support plate 20, one side of the support plate 20 is fixedly connected to the top of the side wall of the first connecting column 18;

[0071] A telescopic motor 21, wherein a mounting end of the telescopic motor 21 is fixedly connected to a side wall of the support plate 20;

[0072] A first connecting rod 22, one end of which is fixedly connected to the output end of the telescopic motor 21;

[0073] A second connecting rod 23, one end of the second connecting rod 23 is movably connected to the other end of the first connecting rod 22;

[0074] A first rotating frame 24, the first rotating frame 24 is movably connected to the other end of the second connecting rod 23 through a through hole provided at the top;

[0075] The second rotating frame 25 is arranged perpendicular to the second connecting column 19 , one end of which is fixedly connected to the second connecting column 19 , and the other end of which is movably connected to both ends of the first rotating frame 24 through through holes arranged on both sides.

[0076] It should be understood that when the wheeled movement of the wheeled-legged robot of the present application is achieved by rotating the roller 7 so that the entire wheeled-legged robot moves on the bottom surface, and the footed movement is achieved by folding the roller 7 90° so that its top surface contacts the bottom surface. The leg bones, tendons and ligaments of quadrupedal reptiles are simulated through the cooperation between the thigh component, the calf component and the adjustment component to imitate the leg movement mechanism of quadrupedal animals, thereby achieving the purpose of walking on land. When the wheeled-legged robot of the present application switches from wheeled movement to footed movement, the output end of the telescopic motor 21 is pushed outward, so that the first connecting rod 22 and the second connecting rod 23 move outward. The telescopic motor 21 is rotated to make the other end of the first connecting rod 22 move downward, thereby applying downward pressure to the second connecting rod 23. The other end of the second connecting rod 23 presses the first rotating frame 24 downward, thereby rotating the second connecting column 19 and the roller 7 downward by 90°, so that the second connecting column 19 is parallel to the first connecting column 18, and the top of the roller 7 touches the ground and contacts the bottom surface.

[0077] In some specific embodiments, the roller 7 is electrically connected to the calf motor 17 .

[0078] In some specific embodiments, the radar detector 2, the ultrasonic sensor 3, the thigh motor 9, the calf motor 17, and the telescopic motor 21 are electrically connected.

[0079] It should be understood that the radar detector 2 and the ultrasonic sensor 3 detect information about the road surface and transmit the information to the thigh motor 9, the calf motor 17, and the telescopic motor 21. The thigh motor 9, the calf motor 17, and the telescopic motor 21 perform corresponding work to achieve the switching between the wheeled and footed types of the wheel-foot robot of the present application.

[0080] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A wheeled robot, characterized in that: include: A trunk, wherein the bottom of the trunk is a central control structure, the top of the trunk is provided with a radar detector, and one side of the trunk is provided with an ultrasonic sensor; Four supporting mechanisms are provided, and the supporting mechanisms are correspondingly provided on both sides of the trunk, and the supporting mechanisms are used to support the trunk and drive the trunk to move; The supporting mechanism comprises: A thigh assembly, the top of which is fixedly connected to the side wall of the trunk; A calf component, the top of the calf component is hinged to the bottom of the thigh component, and the bottom of the calf component is connected to a roller; An adjusting component, one end of which is fixedly connected to the top side wall of the calf component, and the other end of which is hinged to the bottom side wall of the calf component.

2. A wheeled robot according to claim 1, characterized in that: The thigh assembly comprises: A thigh motor, wherein the thigh motor is disposed on an inner wall of one side of the trunk and is fixedly connected to the inner wall, and an output end of the thigh motor passes through the side wall of the trunk and extends to the outside of the trunk; A motor support, wherein the axial cross-section of the motor support is an L-shaped structure, a mounting hole is provided on the motor support, the output end of the thigh motor passes through the motor support and is fixedly connected to the motor support, and the motor support is fixedly connected to the torso through the mounting hole; A thigh motor synchronous shaft, which is arranged corresponding to the output end of the thigh motor, one side of the thigh motor synchronous shaft is fixedly connected to the motor support, and the output end of the thigh motor is connected to the rotating end of the thigh motor synchronous shaft, which can drive the thigh motor synchronous shaft to rotate; A thigh plate assembly, the top of which is fixedly connected to the rotating end on the other side of the synchronous rotating shaft of the thigh motor.

3. A wheeled robot according to claim 2, characterized in that: The thigh plate assembly comprises: A connecting shaft, one side of which is fixedly connected to the rotating end of the synchronous rotating shaft of the thigh motor; A connecting plate, wherein two connecting plates are symmetrically arranged with the axis of the connecting shaft as the axis, the top of the connecting plate is fixedly connected to the side wall of the connecting shaft, and a strip groove is formed between the two connecting plates; The calf motor is provided with two calf motors, and is respectively arranged on the two connecting plates and fixedly connected to the connecting plates. The output ends of the two calf motors respectively pass through the two connecting plates and extend into the strip-shaped groove.

4. A wheeled robot according to claim 3, characterized in that: The lower leg assembly comprises: A first connecting column, the top of which is fixedly connected to the two calf motor output ends, and the calf motor output ends rotate to drive the first connecting column to move; The second connecting column, the top of the second connecting column is hinged to the bottom of the first connecting column, and the second connecting column can rotate around the plane where the axis of the first connecting column is located.

5. A wheeled robot according to claim 4, characterized in that: The bottom of the second connecting column is rotatably connected with a roller.

6. A wheeled robot according to claim 4, characterized in that: The adjustment component comprises: A support plate, one side of which is fixedly connected to the top of the side wall of the first connecting column; A telescopic motor, wherein a mounting end of the telescopic motor is fixedly connected to a side wall of the support plate; A first connecting rod, one end of which is fixedly connected to an output end of the telescopic motor; a second connecting rod, one end of which is movably connected to the other end of the first connecting rod; A first rotating frame, wherein the first rotating frame is movably connected to the other end of the second connecting rod through a through hole arranged on the top; The second rotating frame is arranged perpendicular to the second connecting column, one end of which is fixedly connected to the second connecting column, and the other end of which is movably connected to two ends of the first rotating frame through through holes arranged on both sides.

7. A wheeled robot according to claim 5, characterized in that: The roller is electrically connected to the calf motor.

8. The wheeled robot according to claim 1, characterized in that: The radar detector, ultrasonic sensor, thigh motor, calf motor and telescopic motor are electrically connected.

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