Wheel-legged robot

Abstract

The utility model relates to the field of robot technology, in particular to a wheeled robot, including a fuselage, a counterweight assembly, a connection assembly, a power assembly and a driving wheel set, wherein the fuselage is provided with an upper end and a lower end, and the counterweight assembly is provided at the lower end so that the lower end of the fuselage keeps the mass center of gravity downward; the connection assembly is provided with two groups, the upper end is provided with an axis line, and the two groups of the connection assemblies are provided at the upper end and are located on opposite sides of the axis line, one end of the power assembly is connected to the connection assembly and the other end is connected to the driving wheel set, and the power assembly is used to drive the driving wheel set to drive the wheel set robot. In the utility model, since the center of mass of the robot fuselage is far away from the axis line of the driving wheel set, the deadweight of the lower end will overcome the tire torque, allowing the tire to climb over obstacles with greater torque.

Description

Technical Field

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

[0002] A robot is a robotic system that is usually composed 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 the different wheel speeds. Two-wheeled robots usually use a differential drive system, which can achieve various movements 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.

[0003] Robot obstacle crossing refers to the process in which a robot overcomes obstacles through its own capabilities and strategies and continues to move forward or perform tasks when it encounters obstacles. During the existing technical obstacle crossing, the robot's own weight cannot overcome the tire torque, resulting in insufficient climbing and obstacle crossing capabilities. Therefore, it is necessary to improve the existing robot structure. Utility Model Content

[0004] In order to solve the above problems, the utility model provides a wheeled robot with a body mass center far away from the axis of the driving wheel set, so that the dead weight of the lower end can overcome the tire torque, allowing the tire to climb over obstacles with greater torque.

[0005] The technical solution adopted by the utility model is: a wheeled robot, including a fuselage, a counterweight assembly, a connection assembly, a power assembly and a traveling wheel group, the fuselage is provided with an upper end and a lower end, the counterweight assembly is arranged at the lower end so that the lower end of the fuselage keeps the center of mass downward; the connection assembly is provided with two groups, the upper end is provided with an axis line, the two groups of the connection assemblies are arranged at the upper end and are located on opposite sides of the axis line, one end of the power assembly is connected to the connection assembly, and the other end is connected to the traveling wheel group, and the power assembly is used to drive the traveling wheel group to drive the wheel group robot to travel.

[0006] A further improvement to the above scheme is that a placement cavity is provided between the upper end and the lower end of the fuselage, a power supply and a control board are provided in the placement cavity, the power supply is electrically connected to the control board and the power component, and the control board is used to control the power component; a connection port and a power button are provided on one side of the fuselage, and the connection port and the power button are both electrically connected to the control board.

[0007] A further improvement to the above solution is that the counterweight assembly is composed of a plurality of steel balls; and the counterweight assembly is arranged on a side of the lower end portion away from the axis.

[0008] A further improvement to the above scheme is that the connecting assembly includes a connecting disk, one end of which is provided with a driving connecting part, one side of the connecting disk is fixedly installed on the upper end, and one end of the driving connecting part extends out of the outside of the upper end; the power assembly includes a fixed base and a hub rotor, one end of the fixed base is fixedly connected to the driving connecting part, and the hub rotor is rotatably arranged on the outside of the fixed base; the outer periphery of the hub rotor is connected to the traveling wheel set.

[0009] A further improvement to the above scheme is that the connecting assembly includes a rotating motor, a rotating connecting frame, a joint motor and a joint assembly, the rotating motor is arranged at the upper end, the driving end of the rotating motor is connected to the rotating connecting frame, the joint motor is arranged on the rotating connecting frame, the driving end of the joint motor is connected to the joint assembly, and one end of the joint assembly is connected to the power assembly.

[0010] A further improvement to the above scheme is that the rotating connecting frame includes a driving frame and a mounting frame, one end of the driving frame is connected to the driving end of the rotating motor, and the other end is connected to the mounting frame, and the joint motor is arranged in the mounting frame.

[0011] A further improvement to the above scheme is that a first rotating connecting element is provided on one side of the mounting frame, and the joint assembly includes a first joint, a second joint and a third joint, one end of the first joint is connected to the driving end of the joint motor, and the other end is provided with a second rotating connecting element and is hingedly connected to the third joint; one end of the second joint is pivotally connected to the first rotating connecting element, and the other end is provided with a third rotating connecting element and is pivotally connected to the third joint; the third joint is connected to the power assembly on one side close to the third rotating connecting element.

[0012] A further improvement to the above scheme is that a first crank is provided on one side of the first joint located at the second rotating connection element, and a second crank is provided on one side of the second joint located at the first rotating connection element, and the first crank cooperates with one side of the second crank to limit the rotation of the first joint.

[0013] A further improvement to the above scheme is that the connecting assembly includes a first drive motor, a second drive motor and a joint assembly, the second drive motor is arranged in parallel with the first drive motor; the first drive motor is provided with a first fixing frame, the first drive motor is installed on the upper end through the first fixing frame, and the second drive motor is provided with a second fixing frame, the second drive motor is installed on the upper end through the second fixing frame.

[0014] A further improvement to the above scheme is that the joint assembly includes a first joint, a second joint and a third joint, one end of the first joint is connected to the driving end of the first driving motor, and the other end is provided with a first rotating connection element pivotally connected to the third joint, one end of the second joint is connected to the driving end of the second driving motor, and the other end is provided with a second rotating connection element pivotally connected to the third joint, one end of the third joint is connected to the power assembly, and the second rotating connection element is close to one side of the power assembly.

[0015] A further improvement to the above scheme is that the power assembly includes a fixed base and a hub rotor, one end of the fixed base is fixedly connected to one end of the joint assembly, and the hub rotor is rotatably arranged on the outside of the fixed base; the outer periphery of the hub rotor is connected to the traveling wheel set.

[0016] A further improvement to the above solution is that the running wheel set includes a hub disc and a tire arranged on the hub disc, and the running wheel set is connected to the power assembly via the hub disc.

[0017] The beneficial effects of the utility model are:

[0018] Compared with the existing robots, the utility model sets the mass center below the axis line, so when the robot body is not in contact with the ground, the robot will not fall over even if the power is off. When the robot crosses an obstacle, because the robot body mass center is far away from the axis line of the driving wheel set, the deadweight of the lower end will overcome the tire torque, allowing the tire to climb over the obstacle with greater torque.

[0019] The utility model provides a counterweight assembly at the lower end of the fuselage, so that the lower end of the fuselage keeps the mass center of gravity facing downward. This design can increase the stability and anti-overturning ability of the robot, and is more stable when crossing obstacles. Two groups of connecting assemblies are provided, and are located on opposite sides of the axis of the upper end of the fuselage. This design enables the connecting assembly to have flexible rotation performance to adapt to obstacles of different heights and shapes.

[0020] The power assembly of the utility model is connected to the connecting assembly and connected to the driving wheel set. The power assembly is used to drive the driving wheel set to provide sufficient power to overcome obstacles. This powerful power drive can enable the robot to have sufficient thrust and torque to ensure smooth crossing of various obstacles. Due to the flexibility of the connecting assembly and the powerful performance of the power drive, the wheel-foot robot has a high obstacle crossing ability. It can adapt to obstacles of different heights, shapes and types, and flexibly cross obstacles by adjusting the body posture and the power output of the driving wheel set.

[0021] The utility model is equipped with a precise control system, which can realize precise control of the speed, direction and torque of the driving wheel set. Such a control system enables the robot to make precise adjustments and responses during the obstacle crossing process, improving the success rate and efficiency of obstacle crossing. The wheel-foot robot can also be equipped with programmable intelligent functions, which can realize autonomous obstacle recognition and path planning through the cooperation of algorithms and sensors. This intelligent function can make the robot more intelligent and autonomous, and make more intelligent and efficient decisions during the obstacle crossing process.

[0022] The utility model has the technical effects of optimized center of gravity distribution, flexible connection components, powerful power drive, wheel drive system, flexible obstacle crossing ability, precise control system and programmable intelligent function in terms of obstacle crossing ability. These features enable the wheeled robot to efficiently and flexibly cross various obstacles and play an important role in the fields of military, rescue, exploration and industry. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a three-dimensional schematic diagram of the wheel-legged robot embodiment 1 of the utility model;

[0024] Figure 2 for Figure 1 A schematic top view of the middle wheeled foot robot embodiment 1;

[0025] Figure 3 for Figure 2 Sectional view of AA in the middle;

[0026] Figure 4 for Figure 3 A is an enlarged schematic diagram;

[0027] Figure 5 It is a three-dimensional schematic diagram of the wheel-legged robot embodiment 2 of the utility model;

[0028] Figure 6 for Figure 5 A three-dimensional schematic diagram of the partial structure of the middle wheeled foot robot embodiment 2;

[0029] Figure 7 for Figure 5 A three-dimensional schematic diagram of the joint assembly of the mid-wheeled foot robot embodiment 2;

[0030] Figure 8 This is a three-dimensional schematic diagram of the wheel-legged robot embodiment 3 of the present utility model;

[0031] Fig. 9 for Figure 8 A three-dimensional schematic diagram of the partial structure of the middle wheeled foot robot embodiment 3;

[0032] Fig.10 for Figure 5A three-dimensional schematic diagram of the joint assembly of the mid-wheeled foot robot embodiment 3.

[0033] Description of reference numerals: body 1, upper end 11, lower end 12, placement cavity 13, power supply 14, control panel 15, connection port 16, power button 17; counterweight assembly 2;

[0034] Connecting assembly 3, connecting disk 31, driving connecting part 32, rotating motor 33, rotating connecting frame 34, driving frame 341, mounting frame 342, first rotating connecting element 3421, joint motor 35, joint assembly 36, first joint 361, second rotating connecting element 3611, first crank 3612, second joint 362, third rotating connecting element 3621, second crank 3622, third joint 363, first driving motor 37, first fixing frame 371, second driving motor 38, second fixing frame 381;

[0035] Power assembly 4, fixed base 41, hub rotor 42;

[0036] Traveling wheel set 5 , wheel hub 51 , and tire 52 . DETAILED DESCRIPTION

[0037] 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.

[0038] 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.

[0039] 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.

[0040] like Figure 1 to Figure 4As shown, in one embodiment of the utility model, a wheeled robot is involved, including a fuselage 1, a counterweight assembly 2, a connection assembly 3, a power assembly 4 and a running wheel set 5, wherein the fuselage 1 is provided with an upper end 11 and a lower end 12, and the counterweight assembly 2 is arranged at the lower end 12 so that the lower end 12 of the fuselage 1 keeps the mass center of gravity downward; the connection assembly 3 is provided with two groups, the upper end 11 is provided with an axis line, and the two groups of the connection assembly 3 are arranged at the upper end 11 and are located on opposite sides of the axis line, one end of the power assembly 4 is connected to the connection assembly 3 and the other end is connected to the running wheel set 5, and the power assembly 4 is used to drive the running wheel set 5 to drive the wheel set robot to travel. In this embodiment, the mass center of gravity is arranged below the axis line, and when the fuselage 1 of the robot is not in contact with the ground, the robot will not fall even if the power is cut off. When the robot crosses an obstacle, since the center of mass of the robot fuselage 1 is far away from the axis line of the running wheel set 5, the deadweight of the lower end 12 will overcome the tire torque, allowing the tire to climb over the obstacle with greater torque. This embodiment has the technical effects of optimized center of gravity distribution, flexible connection components 3, powerful power drive, wheel drive system, flexible obstacle crossing ability, precise control system and programmable intelligent function in terms of obstacle crossing ability. These features enable the wheeled robot to efficiently and flexibly cross various obstacles and play an important role in the fields of military, rescue, exploration and industry.

[0041] The counterweight assembly 2 of the above embodiment is arranged at the lower end 12 of the fuselage 1, so that the lower end 12 of the fuselage 1 keeps the mass center of gravity facing downward. This design can increase the stability and anti-overturning ability of the robot, and is more stable when crossing obstacles. Two groups of connecting assemblies 3 are arranged and are located on opposite sides of the axis of the upper end 11 of the fuselage 1. This design enables the connecting assembly 3 to have flexible rotation performance to adapt to obstacles of different heights and shapes.

[0042] The power assembly 4 of the above embodiment is connected to the connecting assembly 3 and connected to the running wheel set 5. The power assembly 4 is used to drive the running wheel set 5 to provide sufficient power to overcome obstacles. This powerful power drive can enable the robot to have sufficient thrust and torque to ensure smooth crossing of various obstacles. Due to the flexibility of the connecting assembly 3 and the powerful performance of the power drive, the wheel-foot robot has a high obstacle-crossing ability. It can adapt to obstacles of different heights, shapes and types, and flexibly cross obstacles by adjusting the posture of the fuselage 1 and the power output of the running wheel set 5.

[0043] The above embodiment is equipped with a precise control system, which can realize precise control of the speed, direction and torque of the traveling wheel set 5. Such a control system enables the robot to make precise adjustments and responses during the obstacle crossing process, thereby improving the success rate and efficiency of obstacle crossing. The wheel-foot robot can also be equipped with programmable intelligent functions, which can realize autonomous obstacle recognition and path planning through the cooperation of algorithms and sensors. Such intelligent functions can make the robot more intelligent and autonomous, and make more intelligent and efficient decisions during the obstacle crossing process.

[0044] The fuselage 1 is provided with a placement cavity 13 between the upper end 11 and the lower end 12, and a power supply 14 and a control board 15 are provided in the placement cavity 13. The power supply 14 is electrically connected to the control board 15 and the power assembly 4, and the control board 15 is used to control the power assembly 4; a connection port 16 and a power button 17 are provided on one side of the fuselage 1, and the connection port 16 and the power button 17 are both electrically connected to the control board 15. In this embodiment, by arranging the power supply 14 and the control board 15 in the placement cavity 13 of the fuselage 1, the integration of the power supply 14 and the control system is realized. Such a design makes the power supply 14 and the control device of the robot compact and efficient, saves space, and is convenient for maintenance and management. The power supply 14 and the control board 15 are electrically connected to the power assembly 4, ensuring the stable supply of the power supply 14 and the accurate transmission of the control signal. The stable power supply 14 and the control system can ensure the normal operation and precise control of the power assembly 4, and improve the performance and reliability of the robot. A connection port 16 and a power button 17 are provided on one side of the fuselage 1, and are electrically connected to the control board 15. Such a design allows the operator to easily connect external devices or interfaces, and also to start and shut down the robot through the power button 17. In addition, the electrical connection between the connection port 16 and the power button 17 also facilitates the debugging and maintenance of the control panel 15.

[0045] The counterweight component 2 is a power source 14 for supplying power to the power component 4; the counterweight component 2 is arranged on the side of the lower end 12 away from the axis. In this embodiment, the power source is designed as the counterweight component 2, which can not only supply power to the power component 4, but also keep the mass center of gravity of the lower end 12 of the fuselage 1 downward through the counterweight component 2, which can improve the overall stability and balance of the wheel-foot robot and reduce the tilt and unstable behavior caused by external disturbances. It helps to provide a stable power supply for the power component 4, thereby improving the energy efficiency and endurance of the wheel-foot robot.

[0046] In another embodiment, the difference from the above embodiment is that the counterweight assembly 2 is composed of a plurality of steel balls; the counterweight assembly 2 is arranged on the side of the lower end 12 away from the axis. In this embodiment, the counterweight assembly 2 is composed of a plurality of steel balls, and their mass is concentrated on the side of the lower end 12 of the fuselage 1 away from the axis. Through this arrangement, the mass center of gravity of the fuselage 1 is biased toward the lower end 12, thereby increasing the stability and anti-overturning ability of the robot. When crossing an obstacle, the fuselage 1 is easier to maintain balance, reducing the risk of tilting and overturning. The setting position of the counterweight assembly 2 can adjust the motion characteristics of the robot. By placing the counterweight assembly 2 on the side of the lower end 12 away from the axis, the center of gravity distribution of the robot can be changed, thereby affecting its steering and stability. This makes the robot more flexible, stable and easy to control when crossing obstacles. The counterweight assembly 2 is composed of a plurality of steel balls. Compared with other complex counterweight structures, this design simplifies the structural design and manufacturing process. The steel balls have the characteristics of uniform distribution and can be installed and adjusted more conveniently. This not only reduces the manufacturing cost, but also improves the production efficiency.

[0047] Example 1

[0048] See also Figure 3-4As shown, the connection assembly 3 includes a connection disk 31, one end of which is provided with a drive connection part 32, one side of which is fixedly mounted on the upper end 11, and one end of which extends out of the outer side of the upper end 11; the power assembly 4 includes a fixed base 41 and a hub rotor 42, one end of which is fixedly connected to the drive connection part 32, and the hub rotor 42 is rotatably arranged on the outer side of the fixed base 41; the outer periphery of the hub rotor 42 is connected to the driving wheel set 5. In this embodiment, the connection disk 31 is fixedly mounted on the upper end 11 of the fuselage 1 to ensure the stability of the connection. The drive connection part 32 is connected to the connection disk 31 to form a reliable connection between the fuselage 1 and the power assembly 4. Such a design enables the fuselage 1 and the power assembly 4 to work together to achieve effective power transmission and control. The hub rotor 42 is rotatably arranged on the outer side of the fixed base 41, and such a design enables the hub rotor 42 to have flexible rotation performance. It can rotate freely to adapt to different driving needs and road conditions, and provide stable and efficient driving force. The combination of the connecting disk 31, the fixed base 41 and the hub rotor 42 forms a simplified structural design. The connecting disk 31 and the fixed base 41 serve as the connecting component 3, making the connection between the fuselage 1 and the power component 4 more compact and simple. The rotatable setting of the hub rotor 42 also simplifies the overall structure and reduces the number and complexity of parts. The connecting disk 31 is connected to the fixed base 41 through the drive connection 32, realizing reliable power transmission between the power component 4 and the driving wheel group 5. This design can ensure that power is transmitted from the power component 4 to the driving wheel group 5, providing sufficient power output to realize the robot's driving and obstacle-crossing capabilities.

[0049] Example 2

[0050] See also Figure 5 to Figure 7As shown, the connection assembly 3 includes a rotary motor 33, a rotary connection frame 34, a joint motor 35 and a joint assembly 36, wherein the rotary motor 33 is arranged at the upper end portion 11, the driving end of the rotary motor 33 is connected to the rotary connection frame 34, the joint motor 35 is arranged on the rotary connection frame 34, the driving end of the joint motor 35 is connected to the joint assembly 36, and one end of the joint assembly 36 is connected to the power assembly 4. The rotary connection frame 34 includes a driving frame 341 and a mounting frame 342, one end of the driving frame 341 is connected to the driving end of the rotary motor 33, and the other end is connected to the mounting frame 342, and the joint motor 35 is arranged in the mounting frame 342. Specifically, a first rotating connection element 3421 is provided on one side of the mounting frame 342, and the joint assembly 36 includes a first joint 361, a second joint 362 and a third joint 363. One end of the first joint 361 is connected to the driving end of the joint motor 35, and the other end is provided with a second rotating connection element 3611 and is hinged and pivoted with the third joint 363; one end of the second joint 362 is pivoted with the first rotating connection element 3421, and the other end is provided with a third rotating connection element 3621 and is pivoted with the third joint 363; the side of the third joint 363 close to the third rotating connection element 3621 is connected to the power assembly 4. In this embodiment, flexible control of multiple joints is achieved by the combination of the rotating motor 33, the joint motor 35 and the joint assembly 36. The rotating motor 33 provides the rotational driving force of the fuselage 1, and the joint motor 35 controls the movement of the joint assembly 36. By controlling the angle and movement mode of each joint, the robot can achieve more flexible and diverse postures and movements. The rotating motor 33 is connected to the joint assembly 36 through the rotating connecting frame 34 to ensure the stability of the connection. The joint motor 35 is connected to the joint assembly 36 through the mounting frame 342 and the rotating connecting element. This design forms a reliable connection and transmission link between the fuselage 1, the rotating connecting frame 34, the joint assembly 36 and the power assembly 4, ensuring efficient transmission and precise control of power. The rotating connecting frame 34 is composed of a driving frame 341 and a mounting frame 342, and has a flexible mechanical structure. The rotating connecting element arranged on the mounting frame 342 can realize the rotation and articulation of the joint assembly 36, so that the robot can flexibly move and overcome obstacles in a complex environment. Through the control of the rotating motor 33 and the joint motor 35, the angle and range of motion of each joint can be accurately adjusted to achieve highly controllable movements. Such a design enables the robot to adapt to different task requirements and has better operational flexibility and adaptability.

[0051] In the above embodiment, the first joint 361 is driven by the joint motor 35 to achieve movement. The joint motor 35, as a driving device, can provide power so that the first joint 361 can perform precise movement. The other end of the first joint 361 is provided with a second rotating connection element 3611, one end of the second joint 362 is pivoted to the first rotating connection element 3421, and the other end of the second joint 362 is provided with a third rotating connection element 3621. Through these rotating connection elements, the connection and motion transmission between the joints are achieved to form a joint chain. The other end of the first joint 361 is hinged and pivoted to the second rotating connection element 3611, and the other end of the second joint 362 is hinged and pivoted to the third rotating connection element 3621. This hinged and pivoted design enables the joint to have a certain degree of freedom, thereby achieving more flexible movement. The third joint 363 is connected to the power assembly 4 on one side close to the third rotating connection element 3621. Through this connection method, the power assembly 4 can provide power to the third joint 363 to drive the movement of the robot.

[0052] The first joint 361 is located on one side of the second rotating connection element 3611 and is provided with a first crank 3612, and the second joint 362 is located on one side of the first rotating connection element 3421 and is provided with a second crank 3622. The first crank 3612 cooperates with one side of the second crank 3622 to limit the rotation of the first joint 361. In this embodiment, the first joint 361 is located on one side of the second rotating connection element 3611 and is provided with a first crank 3612, while the second joint 362 is located on one side of the first rotating connection element 3421 and is provided with a second crank 3622. Through the cooperation of the first crank 3612 and the second crank 3622, the rotation of the first joint 361 can be limited. Such a design limits the rotation range of the first joint 361 during the movement of the robot, avoids excessive movement amplitude, and improves the movement stability and safety of the robot. Through the cooperation of the first crank 3612 and the second crank 3622, precise control of the rotation of the first joint 361 can be achieved. By adjusting the matching mode between the cranks, the limit position and the limit angle can be changed, thereby accurately controlling the rotation range of the first joint 361. This precise control can make the robot more accurate and controllable when performing tasks.

[0053] Example 3

[0054] See also Figure 8 to Figure 10As shown, the connection assembly 3 includes a first drive motor 37, a second drive motor 38 and a joint assembly 36, wherein the second drive motor 38 is arranged in parallel with the first drive motor 37; the first drive motor 37 is provided with a first fixing frame 371, wherein the first drive motor 37 is mounted on the upper end portion 11 through the first fixing frame 371; the second drive motor 38 is provided with a second fixing frame 381, wherein the second drive motor 38 is mounted on the upper end portion 11 through the second fixing frame 381. Specifically, the joint assembly 36 includes a first joint 361, a second joint 362 and a third joint 363, wherein one end of the first joint 361 is connected to the driving end of the first drive motor 37, and the other end is provided with a first rotating connection element 3421 pivotally connected to the third joint 363, one end of the second joint 362 is connected to the driving end of the second drive motor 38, and the other end is provided with a second rotating connection element 3611 pivotally connected to the third joint 363, one end of the third joint 363 is connected to the power assembly 4, and the second rotating connection element 3611 is close to one side of the power assembly 4. In this embodiment, the first drive motor 37 and the second drive motor 38 are arranged in parallel, which can be independently controlled and powered. This parallel drive design enables the robot to have stronger power output and flexibility, and can cope with diverse task requirements. The first drive motor 37 is installed on the upper end 11 through the first fixed frame 371, and the second drive motor 38 is installed on the upper end 11 through the second fixed frame 381. This mounting method of the fixed frame enables the drive motor to be firmly connected to the upper part of the robot, thereby enhancing the stability and rigidity of the robot structure. The joint assembly 36 includes a first joint 361, a second joint 362 and a third joint 363, which are driven by the first drive motor 37, the second drive motor 38 and the power assembly 4 respectively. By controlling the movement of the drive motor, flexible control of the joint can be achieved. The first rotating connection element 3421 and the second rotating connection element 3611 are respectively pivoted with the first joint 361 and the second joint 362, thereby achieving connection and motion transmission between the joints. The second rotating connection element 3611 is close to one side of the power assembly 4, making the structure of the connection assembly 3 more compact. This design makes the robot smaller overall, more adaptable, and able to operate and move in small spaces.

[0055] The power assembly 4 includes a fixed base 41 and a hub rotor 42. One end of the fixed base 41 is fixedly connected to one end of the joint assembly 36. The hub rotor 42 is rotatably arranged on the outside of the fixed base 41. The outer periphery of the hub rotor 42 is connected to the driving wheel set 5. In this embodiment, one end of the fixed base 41 is fixedly connected to one end of the joint assembly 36, ensuring a stable connection between the power assembly 4 and the joint assembly 36. This fixed connection allows power to be effectively transmitted to the hub rotor 42, and the movement of the robot is achieved through the driving wheel set 5. The hub rotor 42 is rotatably arranged on the outside of the fixed base 41. By rotating the hub rotor 42, the driving wheel set 5 can be driven. This rotation setting enables the robot to move and navigate through the driving wheel set 5. The outer periphery of the hub rotor 42 is connected to the driving wheel set 5. The driving wheel set 5 is the driving component of the robot. Through the connection with the hub rotor 42, the transmission and conversion of power is achieved, thereby driving the robot to travel and move.

[0056] The driving wheel set 5 includes a hub disc 51 and a tire 52 arranged on the hub disc 51, and the driving wheel set 5 is connected to the power assembly 4 through the hub disc 51. In this embodiment, the hub disc 51 is the main component of the driving wheel set 5, and receives power transmission from the power assembly 4 by connecting with the power assembly 4. The hub disc 51 usually has a solid structure and can withstand the load and torque when the robot is traveling. The tire 52 is the part of the driving wheel set 5 that contacts the ground, and generates driving force and gripping force by friction with the ground. The design of the tire 52 can be selected according to the application scenario and needs of the robot, for example, a tread pattern with good grip performance is selected to meet the driving needs under different ground conditions. The driving wheel set 5 is connected to the power assembly 4 through the hub disc 51, and receives power transmission from the power assembly 4. The power assembly 4 can drive the entire driving wheel set 5 by driving the rotation of the hub disc 51 to achieve the movement of the robot.

[0057] 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 wheeled robot, characterized in that: The robot comprises a fuselage, a counterweight assembly, a connection assembly, a power assembly and a traveling wheel assembly, wherein the fuselage is provided with an upper end and a lower end, the counterweight assembly is provided at the lower end so that the lower end of the fuselage keeps the center of mass facing downward; the connection assembly is provided with two groups, the upper end is provided with an axis line, the two groups of the connection assemblies are provided at the upper end and are located on opposite sides of the axis line, one end of the power assembly is connected to the connection assembly and the other end is connected to the traveling wheel assembly, and the power assembly is used to drive the traveling wheel assembly to cause the wheel assembly robot to travel; The connection assembly includes a connection disk, one end of which is provided with a driving connection portion, one side of the connection disk is fixedly mounted on the upper end portion, and one end of the driving connection portion extends out of the outer side of the upper end portion.

2. The wheeled robot according to claim 1, characterized in that: The fuselage is provided with a placement cavity between the upper end and the lower end, and a power supply and a control panel are provided in the placement cavity. The power supply is electrically connected to the control panel and the power component, and the control panel is used to control the power component; a connection port and a power button are provided on one side of the fuselage, and the connection port and the power button are both electrically connected to the control panel.

3. The wheeled robot according to claim 1, characterized in that: The counterweight assembly is a power source for supplying power to the power assembly; the counterweight assembly is arranged on a side of the lower end away from the axis.

4. The wheeled robot according to claim 1, characterized in that: The power assembly includes a fixed base and a hub rotor, one end of the fixed base is fixedly connected to the driving connection part, and the hub rotor is rotatably arranged on the outside of the fixed base; the outer periphery of the hub rotor is connected to the driving wheel set.

5. The wheeled robot according to claim 1, characterized in that: The connecting assembly includes a rotating motor, a rotating connecting frame, a joint motor and a joint assembly. The rotating motor is arranged at the upper end, the driving end of the rotating motor is connected to the rotating connecting frame, the joint motor is arranged on the rotating connecting frame, the driving end of the joint motor is connected to the joint assembly, and one end of the joint assembly is connected to the power assembly.

6. The wheeled robot according to claim 5, characterized in that: The rotating connecting frame comprises a driving frame and a mounting frame. One end of the driving frame is connected to the driving end of the rotating motor, and the other end is connected to the mounting frame. The joint motor is arranged in the mounting frame.

7. The wheeled robot according to claim 6, characterized in that: A first rotating connection element is arranged on one side of the mounting frame, and the joint assembly includes a first joint, a second joint and a third joint, one end of the first joint is connected to the driving end of the joint motor, and the other end is provided with a second rotating connection element and is hinged and pivoted with the third joint; one end of the second joint is pivoted with the first rotating connection element, and the other end is provided with a third rotating connection element and is pivoted with the third joint; the third joint is connected to the power assembly at one side close to the third rotating connection element; The first joint is provided with a first crank on one side of the second rotating connection element, and the second joint is provided with a second crank on one side of the first rotating connection element. The first crank cooperates with one side of the second crank to limit the rotation of the first joint.

8. The wheeled robot according to claim 1, characterized in that: The connecting assembly includes a first drive motor, a second drive motor and a joint assembly, wherein the second drive motor is arranged in parallel with the first drive motor; the first drive motor is provided with a first fixing frame, and the first drive motor is installed at the upper end through the first fixing frame, and the second drive motor is provided with a second fixing frame, and the second drive motor is installed at the upper end through the second fixing frame; The joint assembly includes a first joint, a second joint and a third joint, one end of the first joint is connected to the driving end of the first driving motor, and the other end is provided with a first rotating connection element pivotally connected to the third joint, one end of the second joint is connected to the driving end of the second driving motor, and the other end is provided with a second rotating connection element pivotally connected to the third joint, one end of the third joint is connected to the power assembly, and the second rotating connection element is close to one side of the power assembly.

9. The wheeled robot according to any one of claims 5 to 8, characterized in that: The power assembly includes a fixed base and a hub rotor. One end of the fixed base is fixedly connected to one end of the joint assembly. The hub rotor is rotatably arranged outside the fixed base. The outer periphery of the hub rotor is connected to the traveling wheel set.

10. The wheeled robot according to claim 9, characterized in that: The running wheel set comprises a wheel hub and a tire arranged on the wheel hub, and the running wheel set is connected to a power assembly via the wheel hub.

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