Deformable wheel-foot robot
By designing a deformed wheel foot robot, using the torso frame structure and multiple joints to control the motor, the robot can be converted from a humanoid to an electric four-wheeled wheelchair, which solves the problem of difficult to achieve mechanical mode conversion in the prior art and improves the flexibility and service capabilities of the robot when used.
Patent Information
- Application Number
- CN202422017020.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-19
- Publication Date
- 2025-05-13
- Estimated Expiration
- 2034-08-19
AI Technical Summary
In the prior art, it is difficult to convert the two mechanical modes of humanoid robots, and it cannot meet the needs of the elderly when going out for activities.
A deformed wheel-foot robot is designed to realize the conversion of the robot from a humanoid to an electric four-wheeled wheelchair through the combination of the robot's torso frame structure, front chest plate, rear chest plate, shoulder joint, hip joint and other components.
It realizes that the robot is transformed into an electric four-wheeled wheelchair when needed, which is convenient for providing services to people with inconvenient legs and feet, and at the same time improves the flexibility and maintenance convenience of the robot when used.
Smart Images
Figure CN222859605U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robot deformation, in particular to a deformable wheel-foot robot. Background Art
[0002] As we all know, humanoid robots are increasingly widely used, and various types of humanoid robots emerge in an endless stream. However, there are few humanoid robots that can achieve the conversion between two mechanical modes.
[0003] The elderly have become a large social group in society. For example, after retirement, the elderly who have reached a certain age often need to go out for activities, meet friends and go shopping, but their children cannot accompany them at all times due to work and other matters. At this time, the elderly need someone who can accompany them and provide them with help, or help them lift heavy objects or carry things. For this reason, we provide a transformable wheeled robot. Utility Model Content
[0004] The purpose of the utility model is to provide a deformable wheel-foot robot to solve the problems raised in the above background technology.
[0005] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a deformable wheeled robot, comprising a robot torso frame structure, and a front chest plate control motor installed at the bottom of the front of the robot torso frame structure, a front chest plate installed on the output shaft of the front chest plate control motor, two front chest plate front wheel arm control motors installed on the front of the front chest plate, and shoulder joint control motors installed on both sides of the left and right sides of the robot torso frame structure.
[0006] Preferably, a large arm is mounted on the output shaft of the shoulder joint control motor, an elbow joint control motor is mounted on the large arm, a small arm is mounted on the output shaft of the elbow joint control motor, and a wrist control motor is mounted at the bottom of the small arm.
[0007] Preferably, a front wheel arm is installed on the output shaft of the front wheel arm control motor of the front chest plate, and the front wheel arm is connected to the front wheel via a rotating shaft.
[0008] Preferably, hip joint control motors are installed at the bottom of the left and right sides of the robot torso frame structure, a thigh is installed on the output shaft of the hip joint control motor, a knee joint control motor is installed on the thigh, and a calf is installed on the output shaft of the knee joint control motor.
[0009] Preferably, an extension leg is provided at the bottom of the calf, a slot is provided at the top of the extension leg, an insert block is installed at the bottom of the calf, the bottom of the insert block passes through the slot and extends to the inside to contact with the inner wall of the slot, and a fastening bolt threadedly connected to the insert block is provided in the groove of the extension leg.
[0010] Preferably, the extended legs are connected with wheel feet via a rotating shaft, a rear chest plate control motor is installed on the robot trunk frame structure and located on the back of the front chest plate control motor, and the rear chest plate is installed on the output shaft of the rear chest plate control motor.
[0011] Compared with the prior art, the beneficial effects of the utility model are as follows:
[0012] 1. The utility model divides the robot trunk frame structure into two parts, front and rear, and uses the front chest plate, rear chest plate and other components in the robot trunk frame structure as the main components of the electric wheelchair, thereby making it possible for the robot to transform into an electric wheelchair.
[0013] 2. The utility model realizes a transformable wheel-foot robot through the mutual cooperation of the robot torso frame structure, the front chest plate and front wheel arm control motor, the shoulder joint control motor, the elbow joint control motor, the wrist control motor, the hip joint control motor, the knee joint control motor, the upper arm, the lower arm, the front wheel, the front wheel arm, the thigh, the calf, the wheel foot, the front chest plate, the rear chest plate, the front chest plate control motor and the rear chest plate control motor. The robot can be transformed into an electric four-wheeled wheelchair as needed to provide services for people with mobility impairments. It is also suitable for other groups of people, and the humanoid robot body can accompany the user and transform into a robot to provide high-quality and comfortable services to the user only when the user needs it.
[0014] 3. The utility model facilitates the separation of the extension leg and the shank through the cooperation of the extension leg, the slot, the insert block and the fastening bolt, and facilitates the removal of the wheel foot for cleaning and maintenance, thereby improving the flexibility during use. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] Figure 1 It is a structural cross-sectional view of the front view of the utility model;
[0016] Figure 2 It is a structural schematic diagram of the side view of the utility model;
[0017] Figure 3 It is a structural cross-sectional view of the knee joint control motor, thigh and calf front view of the utility model;
[0018] Figure 4 It is a structural cross-sectional view of the upper arm, elbow joint control motor and lower arm front view of the utility model;
[0019] Figure 5 It is a structural cross-sectional view of the hip joint control motor and the thigh front view of the utility model;
[0020] Figure 6 It is a structural schematic diagram of the side view of the front wheel and wheel foot after deformation of the utility model;
[0021] Figure 7 This is a schematic diagram of the deformation process of the robot of the utility model;
[0022] Figure 8 This is a structural cross-sectional view of the lower leg, extended leg and fastening bolt front view of the utility model.
[0023] In the figure: 1 robot torso frame structure, 2 front chest plate front wheel arm control motor, 3 shoulder joint control motor, 4 elbow joint control motor, 5 wrist control motor, 6 hip joint control motor, 7 knee joint control motor, 8 upper arm, 9 lower arm, 10 front wheel, 11 front wheel arm, 12 thigh, 13 calf, 131 extended leg, 132 slot, 133 plug, 134 fastening bolt, 14 wheel foot, 15 front chest plate, 16 rear chest plate, 17 front chest plate control motor, 18 rear chest plate control motor. DETAILED DESCRIPTION
[0024] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0025] See also Figure 1-8 A deformable wheel-legged robot includes a robot trunk frame structure 1, and a front chest plate control motor 17 installed at the bottom of the front of the robot trunk frame structure 1, a front chest plate 15 is installed on the output shaft of the front chest plate control motor 17, two front chest plate front wheel arm control motors 2 are installed on the front of the front chest plate 15, and shoulder joint control motors 3 are installed on the left and right sides of the robot trunk frame structure 1.
[0026] An upper arm 8 is installed on the output shaft of the shoulder joint control motor 3, an elbow joint control motor 4 is installed on the upper arm 8, a forearm 9 is installed on the output shaft of the elbow joint control motor 4, a wrist control motor 5 is installed at the bottom of the forearm 9, a front wheel arm 11 is installed on the output shaft of the front chest plate front wheel arm control motor 2, and a front wheel 10 is connected to the front wheel arm 11 through a rotating shaft, hip joint control motors 6 are installed at the bottom of the left and right sides of the robot torso frame structure 1, a thigh 12 is installed on the output shaft of the hip joint control motor 6, a knee joint control motor 7 is installed on the thigh 12, and a calf 13 is installed on the output shaft of the knee joint control motor 7.
[0027] An extension leg 131 is provided at the bottom of the calf 13, a slot 132 is provided at the top of the extension leg 131, an insert block 133 is installed at the bottom of the calf 13, the bottom of the insert block 133 passes through the slot 132 and extends to its inside to contact with the inner wall of the slot 132, and a fastening bolt 134 threadedly connected to the insert block 133 is provided in the groove of the extension leg 131.
[0028] Specifically, the fastening bolt 134 is loosened, and then the extension leg 131 is pulled downward, so that the extension leg 131 drives the slot 132 and the insert block 133 to separate, and the wheel foot 14 can be disassembled for maintenance and repair.
[0029] Through the cooperation between the extension leg 131, the slot 132, the insert block 133 and the fastening bolt 134, it is convenient to separate the extension leg 131 and the shank 13, and it is convenient to disassemble the wheel foot 14 for cleaning and maintenance, thereby improving the flexibility during use.
[0030] The extended leg 131 is connected to the wheel foot 14 via a rotating shaft, and a rear chest plate control motor 18 is installed on the robot trunk frame structure 1 and located on the back of the front chest plate control motor 17, and the rear chest plate 16 is installed on the output shaft of the rear chest plate control motor 18.
[0031] Through the mutual cooperation of the robot torso frame structure 1, the front chest plate and front wheel arm control motor 2, the shoulder joint control motor 3, the elbow joint control motor 4, the wrist control motor 5, the hip joint control motor 6, the knee joint control motor 7, the upper arm 8, the lower arm 9, the front wheel 10, the front wheel arm 11, the thigh 12, the calf 13, the wheel foot 14, the front chest plate 15, the rear chest plate 16, the front chest plate control motor 17 and the rear chest plate control motor 18, a transformable wheel-foot robot is realized, which can be transformed into an electric four-wheel wheelchair according to needs, so as to provide services for people with mobility impairments. It is also suitable for other groups of people, and the humanoid robot body can accompany the user, and only when the user needs it, it can transform into a wheelchair to provide people with high-quality and comfortable services.
[0032] Furthermore, the robot of the device of the present application is mainly used for people with mobility impairments and the elderly and frail, so that they can go out without worries. They can take the robot with them to go shopping, take a walk, and play freely. When they are tired, they can set the humanoid robot to wheelchair mode and continue their travel plans while sitting on it without suffering from the inconvenience caused by physical reasons.
[0033] The utility model divides the robot trunk frame structure into two parts, the front part and the rear part, and utilizes the front chest plate and the rear chest plate in the robot trunk frame structure as the main components of the electric wheelchair, thereby making it possible for the robot to transform into an electric wheelchair. When in use, after the robot receives the deformation instruction, it drives the front chest plate control motor 17 according to the program to drive the front chest plate 15 to rotate forward 90 degrees and lay it flat, and make it parallel to the horizontal line to form the seat of the four-wheeled electric wheelchair. At the same time, the front chest plate front wheel arm control motor 2 is started. The two front wheel arms 11 and the front wheels 10 in the body can be released through the rotation of the front chest plate front wheel arm control motor 2 to become the front wheels 10 of the electric four-wheeled wheelchair, and the rear chest plate 16 is driven by the rear chest plate control motor 18 to rotate backward, so that the rear chest plate 16 of the torso forms a relatively small angle with the horizontal line to form a backrest of the four-wheeled electric wheelchair. Then, the robot controls the wheel foot 14 of the robot to bend and squat naturally according to the program setting at a fixed angle, and the hip joint control motor 6 and the knee joint control motor 7 cooperate to complete the rear wheel conversion of the four-wheeled electric wheelchair, and lift the robot's forearm 9 to a horizontal position to serve as the armrest of the electric wheelchair. At this point, the deformation structure change of the deformable wheel-footed humanoid robot is completed.
[0034] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.
Claims
1. A deformable wheel-foot robot, characterized in that: The robot comprises a trunk frame structure (1), and a front chest plate control motor (17) installed at the bottom of the front of the robot trunk frame structure (1); a front chest plate (15) is installed on the output shaft of the front chest plate control motor (17); two front chest plate front wheel arm control motors (2) are installed on the front of the front chest plate (15); and shoulder joint control motors (3) are installed on both the left and right sides of the robot trunk frame structure (1).
2. A transformable wheel-foot robot according to claim 1, characterized in that: The output shaft of the shoulder joint control motor (3) is equipped with an upper arm (8), the upper arm (8) is equipped with an elbow joint control motor (4), the output shaft of the elbow joint control motor (4) is equipped with a lower arm (9), and the bottom of the lower arm (9) is equipped with a wrist control motor (5).
3. A transformable wheel-foot robot according to claim 2, characterized in that: A front wheel arm (11) is installed on the output shaft of the front wheel arm control motor (2) of the front chest plate, and a front wheel (10) is connected to the front wheel arm (11) via a rotating shaft.
4. A transformable wheel-foot robot according to claim 3, characterized in that: A hip joint control motor (6) is installed at the bottom of the left and right sides of the robot trunk frame structure (1), a thigh (12) is installed on the output shaft of the hip joint control motor (6), a knee joint control motor (7) is installed on the thigh (12), and a calf (13) is installed on the output shaft of the knee joint control motor (7).
5. A transformable wheel-foot robot according to claim 4, characterized in that: An extension leg (131) is provided at the bottom of the calf (13), a slot (132) is provided at the top of the extension leg (131), an insert block (133) is installed at the bottom of the calf (13), the bottom of the insert block (133) passes through the slot (132) and extends to the inside to contact with the inner wall of the slot (132), and a fastening bolt (134) threadedly connected to the insert block (133) is provided in the groove of the extension leg (131).
6. A transformable wheel-foot robot according to claim 5, characterized in that: The extended leg (131) is connected to a wheel foot (14) via a rotating shaft, a rear chest plate control motor (18) is installed on the robot trunk frame structure (1) and located on the back of the front chest plate control motor (17), and a rear chest plate (16) is installed on the output shaft of the rear chest plate control motor (18).