Mobile device and intelligent mobile terminal

Abstract

The utility model relates to a moving device and an intelligent mobile terminal, the moving device comprises a thigh unit, a shank unit and a knee joint motor, the thigh unit comprises a thigh support, and the shank unit comprises a shank support, a first advancing wheel device and a second advancing wheel device; the knee joint motor is connected between the thigh support and the shank support and used for driving the thigh unit to rotate around a first axis relative to the shank unit; the knee joint motor is located between the first advancing wheel device and the second advancing wheel device; and the shank bracket is provided with a battery mounting part for placing a battery. The moving device disclosed by the utility model can well consider the flexibility of a flat road surface and the obstacle crossing trafficability of a complex road condition, and has stronger obstacle crossing ability.

Description

Technical Field

[0001] The utility model belongs to the field of mobile technologies, and particularly relates to a mobile device and an intelligent mobile terminal. Background Art

[0002] A wheel-legged robot is a robot that combines wheeled and legged locomotion technologies. Its design allows for diverse locomotion modes in different scenarios. It can move quickly in a straight line using wheels and perform more flexible movements, such as obstacle crossing, climbing, or adapting to irregular terrains, through its feet or legs. The advantage of a wheel-legged robot is that it can overcome the limitations of traditional wheeled robots in complex terrains while retaining the flexibility of legged robots.

[0003] However, existing wheel-legged robots lack the flexibility to switch the number of wheels and are easily restricted when crossing obstacles, with limited obstacle-crossing ability. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to provide a mobile device and an intelligent mobile terminal to solve the problem of limited obstacle-crossing ability of existing wheel-legged robots.

[0005] To solve the above technical problem, on the one hand, an embodiment of the utility model provides a mobile device, including a thigh unit, a calf unit, and a knee joint motor. The thigh unit includes a thigh bracket. The calf unit includes a calf bracket, a first traveling wheel device connected to the front end of the calf bracket, and a second traveling wheel device connected to the rear end of the calf bracket;

[0006] The knee joint motor is connected between the thigh bracket and the calf bracket and is used to drive the thigh unit to rotate relative to the calf unit around a first axis to adjust the relative angle between the thigh bracket and the calf bracket;

[0007] The knee joint motor is located between the first traveling wheel device and the second traveling wheel device;

[0008] The first traveling wheel device includes a first motor and a first traveling wheel connected to the output shaft end of the first motor. The first motor is used to drive the first traveling wheel to rotate relative to the calf bracket around a second axis;

[0009] The second traveling wheel device includes a second motor and a second traveling wheel connected to the output shaft end of the second motor. The second motor is used to drive the second traveling wheel to rotate relative to the calf bracket around a third axis;

[0010] The calf bracket is provided with a battery installation part for placing a battery.

[0011] Optionally, the axes of the first motor, the second motor and the knee joint motor are parallel.

[0012] Optionally, the distance between the axis of the first motor and the axis of the knee joint motor is greater than the distance between the axis of the second motor and the axis of the knee joint motor.

[0013] Optionally, the battery mounting portion is located between the knee joint motor and the first traveling wheel device in the front-rear direction.

[0014] Optionally, the calf bracket has a groove opening outward;

[0015] Further comprising a cover plate, the cover plate is sealingly connected to the opening of the groove to form the battery mounting portion.

[0016] Optionally, the housing of the knee joint motor is fixed on the calf bracket, and the output shaft end of the knee joint motor is connected to the lower end of the thigh bracket;

[0017] The rotation axis of the output shaft end of the knee joint motor coincides with the first axis.

[0018] Optionally, the calf bracket includes a front section of the calf bracket, a rear section of the calf bracket, and a middle section of the calf bracket connected between the front section of the calf bracket and the rear section of the calf bracket. The housing of the first motor is fixed on the front section of the calf bracket, the housing of the second motor is fixed on the rear section of the calf bracket, and the housing of the knee joint motor is fixed on the middle section of the calf bracket;

[0019] The battery mounting portion is provided on the front section of the calf bracket.

[0020] Optionally, the thigh bracket includes an inner mounting bracket and an outer mounting bracket connected to the outside of the inner mounting bracket.

[0021] Optionally, further comprising a driver and a driver connection plate, the driver is electrically connected to the knee joint motor, the first motor and the second motor respectively, and a cavity suitable for placing the driver is formed between the inner mounting bracket and the outer mounting bracket;

[0022] The driver connection plate is fixed between the inner mounting bracket and the outer mounting bracket and covers the opening of the cavity, and the driver is fixed on the driver connection plate.

[0023] Optionally, output shaft ends and support ends are respectively arranged at both axial ends of the knee joint motor, and one of the output shaft end and the support end of the knee joint motor is connected to the lower end of the outer mounting bracket, and the other is connected to the lower end of the inner mounting bracket.

[0024] Optionally, a rotation-limiting boss is provided inside the lower end of the outer mounting bracket, and a rotation-limiting groove is provided at the output shaft end of the knee joint motor. The rotation-limiting boss is inserted into the rotation-limiting groove to limit the relative rotation between the thigh bracket and the output shaft end of the knee joint motor.

[0025] Optionally, it further includes a knee joint motor support end connecting member and a knee joint motor support end bearing. The outer ring of the knee joint motor support end bearing is press-fitted into the knee joint motor support end connecting member, and the inner ring of the knee joint motor support end bearing is connected to the lower end of the thigh bracket.

[0026] Optionally, the calf bracket is provided with a first front limiting member and a first rear limiting member located behind the first front limiting member;

[0027] The first front limiting member can abut against the front edge of the thigh bracket when the thigh bracket rotates forward to limit the maximum angle of forward rotation of the thigh bracket; the first rear limiting member can abut against the rear edge of the thigh bracket when the thigh bracket rotates backward to limit the maximum angle of backward rotation of the thigh bracket.

[0028] Optionally, when the first front limiting member abuts against the front edge of the thigh bracket, the extending direction of the thigh bracket is consistent with the extending direction of the calf bracket.

[0029] In the mobile device according to the embodiment of the present utility model, the thigh unit and the calf unit are directly connected by a knee joint motor. The knee joint motor is used to drive the thigh unit to rotate relative to the calf unit around a first axis. By controlling the output speed and torque of the knee joint motor and transmitting the speed, torque, etc. to the calf unit through the output shaft end, the attitude and center of gravity of the intelligent mobile terminal using the mobile device can be adjusted and maintained. In this way, the angle adjustment between the thigh unit and the calf unit can be accurately and effectively realized. The angle adjustment between the thigh unit and the calf unit can change the relative angle between the thigh unit and the calf unit, so that at least one of the first traveling wheel device connected to the front end of the calf bracket and the second traveling wheel device connected to the rear end of the calf bracket can be separated from the ground. In this way, the intelligent mobile terminal (four-wheel) using the mobile device can realize the switching between the two-wheel drive mode (only one of the first traveling wheel device and the second traveling wheel device is on the ground) and the four-wheel drive mode (both the first traveling wheel device and the second traveling wheel device are on the ground), realizing two forms of the intelligent mobile terminal: two-wheel drive and four-wheel drive. When the intelligent mobile terminal is switched to the two-wheel drive mode, it can travel flexibly and quickly on flat ground or gentle slopes; when the intelligent mobile terminal is switched to the four-wheel drive mode, the obstacle-crossing passability of the intelligent mobile terminal under complex working conditions such as continuous steps and steep slopes can be ensured. Therefore, the flexibility of flat ground and the obstacle-crossing passability of complex road conditions can be well balanced, and it has a strong obstacle-crossing ability. The calf bracket is provided with a battery installation part for placing the battery. Compared with the prior art where the battery is placed under the seat of the wheel-foot robot, on the one hand, the center of gravity of the intelligent mobile terminal can be reduced, and on the other hand, the battery does not occupy the overall space of the machine, the overall height of the intelligent mobile terminal can be reduced, the volume of the intelligent mobile terminal is reduced, and the structure is more compact.

[0030] In addition, when the intelligent mobile terminal is idle, the relative angle between the thigh bracket and the calf bracket can be adjusted to 0 (or close to 0), and the intelligent mobile terminal can be folded to save the placement space.

[0031] On the other hand, the embodiment of the present utility model provides an intelligent mobile terminal, including a seat, a base, and the above-mentioned mobile devices connected to the left and right sides of the base, and the seat is installed on the base.

[0032] Optionally, the upper end of the thigh bracket of the mobile device is rotatably connected to the base, and the mobile device further includes a hip joint motor;

[0033] The hip joint motor is installed at the upper end of the thigh bracket and is used to drive the base to rotate relative to the thigh bracket around a fourth axis; wherein, the fourth axis is parallel to the first axis.

[0034] Optionally, the base includes a seat bracket and a mounting base disposed below the seat bracket. The seat is mounted on the seat bracket, and the upper end of the thigh bracket is rotatably connected to the mounting base;

[0035] The housing of the hip joint motor is fixed to the upper end of the thigh bracket, and the output shaft end of the hip joint motor is connected to the mounting base;

[0036] The rotation axis of the output shaft end of the hip joint motor coincides with the fourth axis.

[0037] Optionally, the mounting base includes an inner mounting plate and an outer mounting plate located outside the inner mounting plate. Axial ends of the hip joint motor are respectively provided with an output shaft end and a support end. One of the output shaft end and the support end of the hip joint motor is connected to the outer mounting plate, and the other is connected to the inner mounting plate.

[0038] Optionally, it further includes a hip joint motor output end connecting member, and the hip joint motor output end connecting member is connected between the output shaft end of the hip joint motor and the mounting base.

[0039] Optionally, it further includes a hip joint motor support end connecting member and a hip joint motor support end bearing. The outer ring of the hip joint motor support end bearing is press-fitted into the hip joint motor support end connecting member, and the inner ring of the hip joint motor support end bearing is connected to the mounting base.

[0040] Optionally, the hip joint motor support end connecting member is provided with a second front limiting member and a second rear limiting member located behind the second front limiting member;

[0041] The second front limiting member can abut against the front side edge of the mounting base when the base rotates forward to limit the maximum forward rotation angle of the base; the second rear limiting member can abut against the rear side edge of the mounting base when the base rotates backward to limit the maximum backward rotation angle of the base.

[0042] Optionally, it further includes a seat folding connecting member. The seat includes a seat surface and a backrest. The backrest is rotatably connected to the rear side of the seat surface around a fifth axis through the seat folding connecting member; wherein, the fifth axis extends in the left-right direction.

[0043] Optionally, the backrest can rotate forward to fit with the seat surface.

[0044] Optionally, the seat folding connecting member includes a connecting rod connected to the bottom side of the backrest and a connecting seat connected to the rear side of the seat surface. The connecting rod and the connecting seat are rotatably connected around the fifth axis.

[0045] Optionally, it further includes a seat motor and a seat link mechanism. The seat motor is installed below the seat surface, and the seat motor drives the backrest to rotate forward and backward relative to the seat surface through the seat link mechanism to achieve the angle adjustment of the backrest.

[0046] Optionally, the seat link mechanism includes a seat motor output link and a seat connection link. One end of the motor output link is connected to the output end of the seat motor, the other end of the motor output link is hinged to one end of the seat connection link, and the other end of the seat connection link is hinged to the backrest.

[0047] Optionally, the seat further includes armrests. The armrests are rotatably connected to both the left and right sides of the backrest around a sixth axis; wherein, the sixth axis extends in the left-right direction;

[0048] The armrest can be rotated to be flush with the seat surface.

[0049] Optionally, it further includes a footrest and a footrest connecting member. The top side of the footrest has a spaced first end and second end. Pins are respectively connected to the first end and the second end of the footrest. The footrest connecting members are arranged on both the left and right sides below the front of the seat surface. The footrest connecting member has a chute with an upward opening, and the pins are slidably arranged in the chute;

[0050] When the pins are located at the bottom of the chute, the footrest can rotate up and down around a seventh axis; when the pins are disengaged from the chute upward, the footrest can move backward and be received below the seat surface; wherein, the seventh axis extends in the left-right direction.

[0051] Optionally, it further includes a footrest movement guiding member. The footrest movement guiding members are arranged on both the left and right sides below the back of the seat surface. When the footrest moves backward, the footrest connecting member and the footrest movement guiding member can support and guide the footrest.

[0052] Optionally, it further includes a control box, and the control box is installed at the bottom of the seat surface.

[0053] The intelligent mobile terminal according to the embodiment of the present utility model has all the advantages of the above-mentioned moving device. In addition, the intelligent mobile terminal according to the embodiment of the present utility model further has the following advantages:

[0054] (1) A seat is designed to achieve the function of carrying people for driving.

[0055] (2) The knee joint motor increases the degree of freedom of the moving device and enhances the obstacle-crossing ability of the intelligent mobile terminal.

[0056] (3) Both the knee joint motor and the hip joint motor adopt a direct connection form, with a simpler and more reliable structure and higher transmission efficiency.

[0057] (4) The thigh unit and the calf unit can be folded to be close to 0 degrees, the backrest of the seat can be folded to lean against the seat surface, the armrest can be rotated to be flush with the seat surface, and the footrest can also be lifted and housed under the seat surface. In this way, the volume and size of the whole machine can be minimized after folding, which is convenient for carrying and storing.

[0058] (5) The intelligent mobile terminal can freely switch between two-wheel and four-wheel forms, and can meet the needs of various terrains and working conditions such as crossing obstacles and climbing stairs in narrow spaces.

[0059] When the intelligent mobile terminal adopts the two-wheel drive mode, by controlling the output speed and torque of the knee joint motor, and transmitting this speed, torque, etc. to the calf unit through the output shaft end, the relative angle between the thigh unit and the calf unit is controlled, so as to realize the two-wheel drive standing posture of the intelligent mobile terminal.

[0060] When the intelligent mobile terminal is in the two-wheel drive standing posture, one of the first traveling wheel device and the second traveling wheel device that touches the ground provides the driving power. Taking the first traveling wheel device touching the ground as an example, the first motor transmits the speed, torque, etc. to the first traveling wheel through its output shaft end, realizes the rotation of the first traveling wheel, and thus drives the intelligent mobile terminal to travel. By controlling the output speed and torque of the first motor, the traveling requirements of the intelligent mobile terminal under different working conditions in the two-wheel drive mode are realized. Taking the second traveling wheel device touching the ground as an example, the second motor transmits the speed, torque, etc. to the second traveling wheel through its output shaft end, realizes the rotation of the second traveling wheel, and thus drives the intelligent mobile terminal to travel. By controlling the output speed and torque of the second motor, the traveling requirements of the intelligent mobile terminal under different working conditions in the two-wheel drive mode are realized.

[0061] When the intelligent mobile terminal adopts four-wheel drive, both the first traveling wheel device and the second traveling wheel device touch the ground. By separately controlling the output speed and torque of the first motor and the second motor, the traveling requirements of the intelligent mobile terminal under different working conditions in the four-wheel drive mode are realized.

[0062] During the driving process of the intelligent mobile terminal, the relative angle between the thigh unit and the calf unit can be changed by controlling the output speed and torque of the knee joint motor, so as to meet the driving requirements of different working conditions. When encountering continuous steps, the relative angle between the thigh unit and the calf unit can be adjusted in real time. By adjusting the center of gravity of the intelligent mobile terminal, it is easier to cross the obstacle and improve its obstacle-crossing performance. When encountering an uneven road surface, the relative angle between the thigh unit and the calf unit can be adjusted in real time to adapt to the contact situation between the traveling wheel and the road surface, reduce the vibration transmitted from the road surface to the intelligent mobile terminal, and improve the comfort of the intelligent mobile terminal. Description of the Drawings

[0063] Figure 1 is a perspective view of the intelligent mobile terminal provided by the first embodiment of the present utility model;

[0064] Figure 2 is a right view of the intelligent mobile terminal provided by the first embodiment of the present utility model;

[0065] Figure 3 is a schematic view of the thigh unit of the mobile device of the intelligent mobile terminal provided by the first embodiment of the present utility model;

[0066] Figure 4 is Figure 3 a partial sectional view;

[0067] Figure 5 is a schematic view of the calf unit of the mobile device of the intelligent mobile terminal provided by the first embodiment of the present utility model;

[0068] Figure 6 is Figure 5 another perspective view of;

[0069] Figure 7 is Figure 5 a schematic view of removing the cover plate;

[0070] Figure 8 is an assembly drawing of the base and the seat of the intelligent mobile terminal provided by the first embodiment of the present utility model;

[0071] Figure 9 is a schematic view of the seat of the intelligent mobile terminal provided by the first embodiment of the present utility model after being folded;

[0072] Figure 10 is a perspective view of the intelligent mobile terminal provided by the first embodiment of the present utility model after being folded;

[0073] Figure 11 is a right view of the intelligent mobile terminal provided by the first embodiment of the present utility model after being folded;

[0074] Figure 12 is a rear view of the intelligent mobile terminal provided by the first embodiment of the present utility model after being folded;

[0075] Figure 13 is an assembly drawing of the left and right two mobile devices and the base of the intelligent mobile terminal provided by the first embodiment of the present utility model.

[0076] The reference numerals in the specification are as follows:

[0077] 10. Base; 101. Seat bracket; 1011. Seat mounting base; 102. Mounting base; 1021. Inner mounting plate; 1022. Outer mounting plate; 20. Moving device; 30. Seat; 40. Control box; 50. Battery; 60. Seat folding connecting piece; 601. Connecting rod; 602. Connecting seat; 70. Seat motor; 80. Seat link mechanism; 801. Seat motor output link; 802. Seat connecting link; 803. Support; 804. Motor bracket; 90. Footrest; 100. Footrest connecting piece; 1001. Chute; 200. Pin shaft; 300. Footrest movement guide.

[0078] 1. Thigh unit; 11. Thigh bracket; 110. Rotation limiting boss; 111. Inner mounting frame; 112. Outer mounting frame; 12. Driver; 13. Driver connecting plate.

[0079] 2. Calf unit; 21. Calf bracket; 210. Groove; 211. Front section of calf bracket; 212. Rear section of calf bracket; 213. Middle section of calf bracket; 214. First front limiting piece; 215. First rear limiting piece; 22. First traveling wheel device; 221. First motor; 222. First traveling wheel; 23. Second traveling wheel device; 231. Second motor; 232. Second traveling wheel; 24. Cover plate.

[0080] 3. Knee joint motor; 31. Output shaft end of knee joint motor; 311. Rotation limiting groove; 32. Support end of knee joint motor.

[0081] 4. Hip joint motor.

[0082] 5. Connecting piece for support end of knee joint motor.

[0083] 6. Bearing for support end of knee joint motor.

[0084] 7. Connecting piece for output end of hip joint motor.

[0085] 8. Connecting piece for support end of hip joint motor.

[0086] 9. Bearing for support end of hip joint motor. Detailed implementation manners

[0087] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer and more understandable, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present utility model and are not used to limit the present utility model.

[0088] In this article, the front, rear, left, right, up and down orientations refer to Figure 1The coordinates shown. Among them, the front is the forward direction of the intelligent mobile terminal, and the back is the backward direction of the wheeled robot. Inside and outside are relative to the geometric center of the base 10, that is, the orientation pointing to the geometric center of the base 10 is the inside, and the orientation facing away from the geometric center of the base 10 is the outside.

[0089] The first embodiment

[0090] See Figures 1 to 8 , the intelligent mobile terminal provided by the first embodiment of the present invention is a four-wheel robot, including a base 10, a seat 30, a battery 50, and moving devices 20 connected to the left and right sides of the base 10. The seat 30 is installed on the base 10. Each of the moving devices 20 includes a thigh unit 1, a calf unit 2, and a knee joint motor 3. The thigh unit 1 includes a thigh bracket 11. The calf unit 2 includes a calf bracket 21, a first traveling wheel device 22 connected to the front end of the calf bracket 21, and a second traveling wheel device 23 connected to the rear end of the calf bracket 21. The knee joint motor 3 is connected between the thigh bracket 11 and the calf bracket 21.

[0091] The knee joint motor 23 is used to drive the thigh unit 1 to rotate relative to the calf unit 2 around a first axis to adjust the relative angle between the thigh bracket 11 and the calf bracket 21.

[0092] The first traveling wheel device 22 includes a first motor 221 and a first traveling wheel 222 connected to the output shaft end of the first motor 221; the first motor 221 is used to drive the first traveling wheel 222 to rotate relative to the calf bracket 21 around a second axis; the second traveling wheel device 23 includes a second motor 231 and a second traveling wheel 232 connected to the output shaft end of the second motor 231; the second motor 231 is used to drive the second traveling wheel 232 to rotate relative to the calf bracket 21 around a third axis.

[0093] The calf bracket 21 is provided with a battery installation part for placing the battery 50. The battery installation part can be set as a closed inner cavity inside the calf bracket 21. In this way, the battery 50 is placed in the battery installation part inside the calf bracket 21, which can play a role in waterproofing and dustproofing.

[0094] The knee joint motor 3 is located between the first traveling wheel device 22 and the second traveling wheel device 23, and the axes of the first motor 221, the second motor 231, and the axis of the knee joint motor 31 are parallel.

[0095] The mobile device 20 and the intelligent mobile terminal according to the first embodiment of the present utility model, the thigh unit 1 and the calf unit 2 are directly connected by the knee joint motor 3. The knee joint motor 3 is used to drive the thigh unit 1 to rotate relative to the calf unit 2 around the first axis. By controlling the output speed and torque of the knee joint motor 3, and transmitting this speed, torque, etc. to the calf unit 2 through the output shaft end, the attitude and center of gravity of the intelligent mobile terminal can be adjusted and maintained. In this way, the angle adjustment between the thigh unit 1 and the calf unit 2 can be accurately and effectively realized. The angle adjustment between the thigh unit 1 and the calf unit 2 can change the relative angle between the thigh unit 1 and the calf unit 2, so that at least one of the first traveling wheel device 22 connected to the front end of the calf bracket 11 and the second traveling wheel device 23 connected to the rear end of the calf bracket 21 can be lifted off the ground. In this way, the intelligent mobile terminal (four-wheel) using the mobile device 20 can realize the switching between the two-wheel drive mode (only one of the first traveling wheel device 22 and the second traveling wheel device 23 is on the ground) and the four-wheel drive mode (both the first traveling wheel device 22 and the second traveling wheel device 23 are on the ground), realizing two forms of two-wheel drive and four-wheel drive of the intelligent mobile terminal. When the intelligent mobile terminal is switched to the two-wheel drive mode, it can travel flexibly and quickly on flat ground or gentle slope working conditions; when the intelligent mobile terminal is switched to the four-wheel drive mode, it can ensure the obstacle-crossing passability of the intelligent mobile terminal in complex working conditions such as continuous steps and steep slopes. Therefore, it can well balance the flexibility of flat ground and the obstacle-crossing passability of complex road conditions, and has a strong obstacle-crossing ability. The calf bracket 21 is provided with a battery installation part for placing the battery 50. Compared with the prior art where the battery is placed under the seat of the wheel-legged robot, on the one hand, it can reduce the center of gravity of the intelligent mobile terminal, and on the other hand, the battery 50 does not occupy the overall space of the machine, which can reduce the overall height of the intelligent mobile terminal, reduce the volume of the intelligent mobile terminal, and make the structure more compact.

[0096] In addition, when the intelligent mobile terminal is idle, the relative angle between the thigh bracket 11 and the calf bracket 21 can be adjusted to 0 (or close to 0), and the intelligent mobile terminal can be folded to save the placement space.

[0097] The axes of the first motor 221, the second motor 231 and the axis of the knee joint motor 31 are parallel, making the rotation of the knee joint motor 31 of the intelligent mobile terminal using the mobile device 20 more flexible.

[0098] The distance between the axis of the first motor 221 and the axis of the knee joint motor 3 is greater than the distance between the axis of the second motor 231 and the axis of the knee joint motor 3. That is, the knee joint motor 3 is closer to the second traveling wheel device 23.

[0099] The first traveling wheel device 22 is a front-wheel drive device, and the second traveling wheel device 23 is a rear-wheel drive device. That is, the first traveling wheel device 22 is not coaxially designed with the knee joint motor 3, and the second traveling wheel device 23 is not coaxially designed with the knee joint motor 3. In this way, the size of the knee joint and the difficulty of layout can be reduced, the structural design is simpler, the mechanical structure is more reliable, the structure is more compact, making the intelligent mobile terminal conducive to lightweight and improving the battery life of the intelligent mobile terminal. At least one of the first traveling wheel device 22 and the second traveling wheel device 23 can be detached from the calf bracket 21. When switching from the four-wheel drive mode to the two-wheel drive mode, the non-grounded traveling wheel device can be removed and switched to the two-wheel drive mode. In contrast, if the non-grounded traveling wheel device is suspended (not disassembled), removing the non-grounded traveling wheel device can reduce the weight and volume of the wheeled robot and enable it to travel flexibly and quickly under flat or gentle slope conditions.

[0100] Preferably, both the first traveling wheel device 22 and the second traveling wheel device 23 can be detached from the calf bracket 21. In this way, in the two-wheel drive mode, the intelligent mobile terminal can select front-wheel drive or rear-wheel drive.

[0101] The first axis, the second axis and the third axis are parallel. To ensure the vertical state of the first traveling wheel 222 and the second traveling wheel 232 and improve the driving stability.

[0102] The calf bracket 21 has a groove 210 opening outward; it further includes a cover plate 24, and the cover plate 24 is sealingly connected to the opening of the groove to form the battery installation part.

[0103] It further includes a cover plate, and the cover plate is sealingly connected to the opening of the groove to form the battery installation part

[0104] The housing of the first motor 221 is fixed to the front end of the calf bracket 21, and the housing of the second motor 231 is fixed to the rear end of the calf bracket 21. At least one of the housing of the first motor 221 and the housing of the second motor 231 is detachably connected to the calf bracket 21. Preferably, the housing of the first motor 221 is detachably connected to the calf bracket 21, and the housing of the second motor 231 is detachably connected to the calf bracket 21.

[0105] The housing of the knee joint motor 31 is fixed on the lower leg bracket 21, and the output shaft end 311 of the knee joint motor 31 is connected to the lower end of the thigh bracket 11; the rotation axis of the output shaft end 311 of the knee joint motor 31 coincides with the first axis. In this way, there is no eccentricity between the rotation axes (the first axis) of the thigh bracket 11 and the lower leg bracket 21 and the rotation axis of the output shaft end 311 of the knee joint motor 31, improving the rotational stability of the thigh bracket 11 and the lower leg bracket 21 and enhancing the working efficiency of the knee joint motor 31.

[0106] See Figures 5 - 7 , the lower leg bracket 21 includes a front section 211 of the lower leg bracket, a rear section 212 of the lower leg bracket, and a middle section 213 of the lower leg bracket connected between the front section 211 and the rear section 212 of the lower leg bracket. The housing of the first motor 221 is fixed on the front section 211 of the lower leg bracket, the housing of the second motor 231 is fixed on the rear section 212 of the lower leg bracket, and the housing of the knee joint motor 31 is fixed on the middle section 213 of the lower leg bracket. The battery mounting portion is provided on the front section 211 of the lower leg bracket, that is, the battery 50 is placed inside the front section 211 of the lower leg bracket.

[0107] See Figure 3 and Figure 4 , the thigh bracket 11 includes an inner mounting frame 111 and an outer mounting frame 112 connected to the outside of the inner mounting frame 111. Specifically, the inner mounting frame 111 and the outer mounting frame 112 are fixedly connected by means of screws, bolts, etc. The inner mounting frame 111 and the outer mounting frame 112 are generally T-shaped and are connected at the middle position to form a thigh bracket 11 that is generally H-shaped. The upper part of the H-shaped thigh bracket 11 has an upper space A for accommodating the hip joint motor 4, and the lower part of the H-shaped thigh bracket 11 has a lower space B for accommodating the knee joint motor 3.

[0108] It further includes a driver 12 and a driver connection plate 13. The driver 12 is electrically connected to the knee joint motor 3, the first motor 221, and the second motor 231 respectively. A cavity C suitable for placing the driver 12 is formed between the inner mounting frame 111 and the outer mounting frame 112; the driver connection plate 13 is fixed between the inner mounting frame 111 and the outer mounting frame 112 by screws and covers the opening of the cavity C, and the driver 12 is fixed on the driver connection plate 13 by screws.

[0109] In this way, the driver 12 is placed in the closed cavity C inside the thigh bracket 11, which can play a role in waterproofing and dustproofing.

[0110] See Figure 5 and Figure 6, output shaft ends 31 and support ends 32 are respectively arranged at two axial ends of the knee joint motor 3. The output shaft end 31 of the knee joint motor 3 is connected to the lower end of the outer mounting bracket 112, and the support end 32 of the knee joint motor 3 is connected to the lower end of the inner mounting bracket 111.

[0111] See Figure 3 and Figure 5 , a rotation limiting boss 110 is arranged inside the lower end of the outer mounting bracket 112, and a rotation limiting groove 311 is arranged at the output shaft end 31 of the knee joint motor 3. The rotation limiting boss 110 is inserted into the rotation limiting groove 311 to limit the relative rotation between the thigh bracket 11 and the output shaft end 31 of the knee joint motor 3. The rotation limiting boss 110 has a non-circular cross-section, and the cross-sectional shape of the rotation limiting groove 311 is adapted to that of the rotation limiting boss 110. For example, the cross-section of the rotation limiting boss 110 is a polygon such as a triangle, a quadrilateral, a pentagon, a hexagon, etc.

[0112] It further includes a knee joint motor support end connecting member 5 and a knee joint motor support end bearing 6. The outer ring of the knee joint motor support end bearing 6 is press-fitted into the knee joint motor support end connecting member 5, and the inner ring of the knee joint motor support end bearing 6 is connected to the lower end of the inner mounting bracket 111 of the thigh bracket 11.

[0113] See Figure 5 and Figure 11 , the calf bracket 11 is provided with a first front limiting member 214 and a first rear limiting member 215 located behind the first front limiting member 214; the first front limiting member 214 can abut against the front edge of the thigh bracket 11 when the thigh bracket 11 rotates forward to limit the maximum forward rotation angle of the thigh bracket 11; the first rear limiting member 215 can abut against the rear edge of the thigh bracket 11 when the thigh bracket 11 rotates backward to limit the maximum backward rotation angle of the thigh bracket 11. In this way, the rotation angle range of the thigh bracket 11 can be limited.

[0114] The first front limiting member 21 and the first rear limiting member 22 are cylindrical, and their structure is that a buffer sleeve (such as a rubber sleeve) is wrapped outside a rigid cylinder (such as a metal cylinder). In this way, when the thigh bracket 11 abuts against the first front limiting member 21 and the first rear limiting member 22, buffering can be formed to avoid damage caused by mutual impact and also reduce the impact noise.

[0115] See Figure 11 , when the first front limiting member 214 abuts against the front edge of the thigh bracket 11, the extending direction of the thigh bracket 11 is consistent with the extending direction of the calf bracket 21, that is, the two are approximately parallel. In this way, it can ensure that the volume of the mobile device 20 after folding is small.

[0116] When the first rear limiting member 215 abuts against the rear edge of the thigh bracket 11, the thigh bracket 11 and the calf bracket 21 form the maximum included angle. In this way, the maximum rotation angle of the thigh bracket 11 backward can be limited.

[0117] See Figures 1 to 3 , the upper end of the thigh bracket 11 of the mobile device 20 is rotatably connected to the base 10, and the mobile device 20 further includes a hip joint motor 4. The hip joint motor 4 is installed at the upper end of the thigh bracket 11 and is used to drive the base 10 to rotate relative to the thigh bracket 11 around a fourth axis; wherein, the fourth axis is parallel to the first axis. Specifically, the hip joint motor 4 is installed between the upper end of the inner mounting bracket 111 and the upper end of the outer mounting bracket 112.

[0118] See Figure 13 , the base 10 includes a seat bracket 101 and a mounting seat 102 arranged below the seat bracket 101. The seat 30 is installed on the seat bracket 101, and the upper end of the thigh bracket 11 is rotatably connected to the mounting seat 102. The housing of the hip joint motor 4 is fixed on the mounting seat 102, and the output shaft end of the hip joint motor 4 is connected to the upper end of the thigh bracket 11; the rotation axis of the output shaft end of the hip joint motor 4 coincides with the fourth axis.

[0119] Seat mounting seats 1011 are arranged on both the left and right sides of the seat bracket 101. The seat surface of the seat 30 is installed on the seat mounting seats 1011. The seat mounting seats 1011 are trapezoidal in reverse and are of a hollow structure.

[0120] See Figure 13 , the mounting seat 102 includes an inner mounting plate 1021 and an outer mounting plate 1022 located outside the inner mounting plate 1021. Axial ends of the hip joint motor 4 are respectively provided with an output shaft end 41 and a support end 42. The output shaft end 41 of the hip joint motor 4 is connected to the outer mounting plate 1022, and the support end 41 of the hip joint motor 4 is connected to the inner mounting plate 1021.

[0121] It further includes a hip joint motor output end connecting member 7, and the hip joint motor output end connecting member 7 is connected between the output shaft end 41 of the hip joint motor and the outer mounting plate 1022 of the mounting seat 102.

[0122] It further includes a hip joint motor support end connecting member 8 and a hip joint motor support end bearing 9. The outer ring of the hip joint motor support end bearing 9 is press-fitted into the hip joint motor support end connecting member 8, and the inner ring of the hip joint motor support end bearing 9 is connected to the inner mounting plate 1021 of the mounting seat 102.

[0123] The hip joint motor support end connecting member 8 is provided with a second front limiting member and a second rear limiting member located behind the second front limiting member; the second front limiting member can abut against the front side edge of the mounting seat 102 when the base 10 rotates forward, so as to limit the maximum angle of forward rotation of the base 10; the second rear limiting member can abut against the rear side edge of the mounting seat 102 when the base 10 rotates backward, so as to limit the maximum angle of backward rotation of the base 10. In this way, the pitch adjustment of the base 10 can be realized to adjust the attitude of the seat 30.

[0124] The second front limiting member and the second rear limiting member are cylindrical in shape, and their structure is that a buffer sleeve (such as a rubber sleeve) is wrapped outside a rigid cylinder (such as a metal cylinder). In this way, when the mounting seat 102 abuts against the first front limiting member 21 and the first rear limiting member 22, buffering can be formed to avoid damage caused by mutual impact and reduce the impact noise.

[0125] It further includes a seat folding connecting member 60. The seat 30 includes a seat surface 301 and a seat back 302. The seat back 302 is rotatably connected to the rear side of the seat surface 301 around a fifth axis through the seat folding connecting member 60; wherein, the fifth axis extends in the left-right direction. The seat back 302 can rotate forward to fit with the seat surface 301. In this way, the seat back 302 can rotate in the front-rear direction. When the smart mobile terminal is idle, the seat back 302 can be rotated forward and folded to reduce the volume of the smart mobile terminal and facilitate carrying and storing.

[0126] The seat surface 301 includes a seat surface skeleton and a seat surface cushion. The seat surface skeleton is a rigid member, which is convenient for installing other components. The seat surface cushion is a flexible member, which is convenient for sitting. Similarly, the seat back 302 includes a seat back skeleton and a seat back cushion. The seat back skeleton is a rigid member, which is convenient for installing other components. The seat back cushion is a flexible member, which is convenient for the passenger to lean on.

[0127] The seat surface skeleton is a rectangular thin member with rounded corners at four corners, and the shape of the seat surface cushion matches that of the seat surface skeleton. The seat back skeleton is a rectangular thin member with rounded corners at four corners, and the shape of the seat back cushion matches that of the seat back skeleton.

[0128] The seat folding connecting member 60 includes a connecting rod 601 connected to the bottom side of the seat back 302 and a connecting seat 602 connected to the rear side of the seat surface 301. The connecting rod 601 is rotatably connected to the connecting seat 602 around the fifth axis.

[0129] See Figure 2 and Figure 12, further comprising a seat motor 70 and a seat link mechanism 80. The seat motor 70 is installed below the seat surface 301. The seat motor 70 drives the backrest 302 to flip back and forth relative to the seat surface 301 through the seat link mechanism 80 to adjust the angle of the backrest 302, so as to realize the automatic folding of the seat 30.

[0130] The seat link mechanism 80 includes a seat motor output link 801 and a seat connection link. One end of the motor output link 801 is connected to the output end of the seat motor 70, and the other end of the motor output link 801 is hinged to one end of the seat connection link 802. The other end of the seat connection link 802 is hinged to the backrest 302. Specifically, a support 803 is fixedly connected to the middle position below the rear side surface of the backrest 302, and the other end of the seat connection link 802 is hinged to the support 803. The seat motor 70 is installed below the seat surface 301 through a motor bracket 804.

[0131] The seat further includes armrests 303. The armrests 303 are rotatably connected to the left and right sides of the backrest 302 around a sixth axis; wherein, the sixth axis extends in the left-right direction; the armrests 303 are used to support the hands of the occupant. The armrests 303 can be rotated to be flush with the seat surface 301. In this way, when folding the intelligent mobile terminal, the armrests 303 do not occupy space. Limiting components are provided on the armrests 303 so that the armrests 303 can maintain a horizontal posture.

[0132] See Figure 8 and Figure 9 , further comprising a footrest 90 and a footrest connecting member 100. The footrest 90 is generally U-shaped. The top side of the footrest 90 has a spaced first end and second end. Pin shafts 200 are respectively connected to the first end and the second end of the footrest 90. The footrest connecting members 100 are provided on the left and right sides of the front lower part of the seat surface 301. The footrest connecting members 100 have a chute 1001 with an upward opening, and the pin shafts 200 are slidably arranged in the chute 1001. The footrest 90 is used to support a person's feet.

[0133] When the pin shafts 200 are located at the bottom of the chute 1001, the footrest 90 can rotate up and down around a seventh axis; when the footrest 90 is lifted, the pin shafts 200 are disengaged from the chute 1001 upward, and the footrest 90 can move backward and be received below the seat surface 301; wherein, the seventh axis extends in the left-right direction.

[0134] It further includes a footrest movement guide 300. The footrest movement guides 300 are provided on both the left and right sides below the rear of the seat surface 302. When the footrest 90 moves backward, the footrest connecting member 100 and the footrest movement guide 300 can support and guide the footrest 90. On the outer sides of the footrest connecting member 100 and the footrest movement guide 300, there are provided edge guards. In this way, when the footrest 90 moves, the left and right sides of the footrest 90 are limited by the edge guards of the footrest connecting members 100 and the footrest movement guides 300 on the left and right sides, and the footrest 90 can be prevented from falling off.

[0135] See Figure 1 It also includes a control box 40. The control box 40 is installed at the bottom of the seat surface 301, which can prevent the control box 40 from being damaged. The control box 40 is electrically connected to the driver 12, and the driver 12 is respectively electrically connected to the knee joint motor 3, the hip joint motor 4, the first motor 221, and the second motor 231. The control box 40 is used to send control instructions to the driver 12 to control the actions of the knee joint motor 3, the hip joint motor 4, the first motor 221, and the second motor 231. The control box 40 is also electrically connected to the battery 50 to control the battery 50 to supply power to the knee joint motor 3, the hip joint motor 4, the first motor 221, the second motor 231, and the seat motor 70.

[0136] In other embodiments, the control box 50 and the driver 12 can also be combined into one.

[0137] Handles can also be provided at the front and rear ends of the calf support 21 to facilitate the handling of the intelligent mobile terminal after folding.

[0138] A gyroscope can also be installed on the base 10. Through the gyroscope and each motor, the center of gravity of the intelligent mobile terminal can be adjusted.

[0139] By adjusting the relative angle between the thigh support 11 and the base 10 through the hip joint motor 31 and combining the adjustment of the gyroscope, the seat 30 can always be kept horizontal.

[0140] In addition, when the intelligent mobile terminal is idle, the relative angle between the thigh support 11 and the base 10 can be adjusted to 0 (or close to 0), and the relative angle between the thigh support 11 and the calf support 21 can be adjusted to (or close to 0). The intelligent mobile terminal can be folded in its entirety to save storage space.

[0141] See Figure 1, when both the first traveling wheel device 22 and the second traveling wheel device 23 are installed on the calf bracket 21 and both the first traveling wheel device 22 and the second traveling wheel device 23 are on the ground, a four-wheel drive mode can be adopted. When the intelligent mobile terminal adopts four-wheel drive, by separately controlling the output speed and torque of the first motor 221 and the second motor 231, the driving requirements of the intelligent mobile terminal under different working conditions in the four-wheel drive mode are realized.

[0142] In the four-wheel drive mode, by controlling the output speed and torque of the knee joint motor 3, the relative angle between the thigh unit 1 and the calf unit 2 is controlled so that one of the first traveling wheel device 22 and the second traveling wheel device 23 is on the ground and the other is suspended, and the intelligent mobile terminal is switched from the four-wheel drive mode to the two-wheel drive mode. The first traveling wheel device 22 is on the ground and the second traveling wheel device 23 is suspended. In addition, the suspended second traveling wheel device 23 can be removed as needed to reduce the weight and volume of the intelligent mobile terminal during driving, increase its passability, and reduce energy consumption.

[0143] When the intelligent mobile terminal adopts the two-wheel drive mode, by controlling the output speed and torque of the knee joint motor 3 and transmitting this speed, torque, etc. to the calf unit 2 through the output shaft end, the relative angle between the thigh unit 1 and the calf unit 2 is controlled to realize the two-wheel drive standing posture of the intelligent mobile terminal.

[0144] When the intelligent mobile terminal is in the two-wheel drive standing posture, the driving power is provided by one of the first traveling wheel device 22 and the second traveling wheel device 23 that is on the ground. Taking the first traveling wheel device 22 on the ground as an example, the first motor 221 transmits the speed, torque, etc. to the first traveling wheel 222 through its output shaft end to realize the rotation of the first traveling wheel 222, thereby driving the intelligent mobile terminal to travel. By controlling the output speed and torque of the first motor 221, the driving requirements of the intelligent mobile terminal under different working conditions in the two-wheel drive mode are realized.

[0145] During the driving process of the intelligent mobile terminal, the output speed and torque of the knee joint motor 3 can be controlled to change the relative angle between the thigh unit 1 and the calf unit 2 to meet the driving requirements of different working conditions. When encountering continuous steps, the relative angle between the thigh unit 1 and the calf unit 2 can be adjusted in real time. By adjusting the center of gravity of the intelligent mobile terminal, it is easier to cross the obstacle and improve its obstacle-crossing performance. When encountering an uneven road surface, the relative angle between the thigh unit 1 and the calf unit 2 can be adjusted in real time to adapt to the contact situation between the traveling wheel and the road surface, reduce the vibration transmitted from the road surface to the intelligent mobile terminal, and improve the comfort of the intelligent mobile terminal.

[0146] When the intelligent mobile terminal is traveling on a relatively flat road surface or slope, one of the first traveling wheel device 22 and the second traveling wheel device 23 is detached from the calf bracket 21 or suspended, and a two-wheel drive mode is adopted to achieve a standing form, and the movement of the intelligent mobile terminal is realized through the first traveling wheel device 22; when the intelligent mobile terminal encounters a relatively high step, continuous staircase or steep slope, the first traveling wheel device 22 and the second traveling wheel device 23 jointly drive to achieve a four-wheel drive mode, improving the obstacle-crossing ability and the safety in complex road conditions.

[0147] The mobile device 20 includes a first traveling wheel device 22 and a second traveling wheel device 23, and the intelligent mobile terminal is a four-intelligent mobile terminal. When all four wheels (two first traveling wheels 222 and two second traveling wheels 232) are on the ground at the same time, the intelligent mobile terminal is in a wheeled mode.

[0148] When the second traveling wheel device 23 does not need to drive, the second traveling wheel device 23 can be detached from the calf bracket 21, and the mobile device 20 only includes the first traveling wheel device 22. At this time, two wheels (two first traveling wheels 222) are on the ground, and the intelligent mobile terminal is in a legged mode.

[0149] Alternatively, when the second traveling wheel device 23 does not need to drive, by rotating the thigh bracket 11 and the calf bracket 21 by a certain angle, the first traveling wheel device 22 is on the ground and the second traveling wheel device 23 is off the ground, and the mobile device 20 is only driven by the first traveling wheel device 22, and the second motor 232 of the second traveling wheel device 23 does not provide power. At this time, two wheels are on the ground, and the intelligent mobile terminal is in a legged mode.

[0150] Therefore, the intelligent mobile terminal of this embodiment can realize the dual-mode switching between the wheeled mode and the legged mode.

[0151] The working principle of the intelligent mobile terminal of the present invention is as follows:

[0152] (1) Working mode in four-wheel mode

[0153] Hip joint movement: The control box 40 sends an instruction to the hip joint motor 4, and the hip joint motor 4 rotates forward or backward to drive the connecting piece 7 at the output end of the hip joint motor, the supporting end connecting piece 8 of the hip joint motor, the base 10, and the seat 30 to rotate, controlling the pitch (angle relative to the horizontal plane) of the seat surface 301 of the intelligent mobile terminal.

[0154] Knee joint movement: The control box 40 sends an instruction to the knee joint motor 3, and the knee joint motor 3 rotates forward or backward to drive the thigh unit 1 to rotate, thereby controlling the front and rear positions of the seat 30.

[0155] The knee joint motor 3 and the hip joint motor 4 are linked together, and can simultaneously adjust the up and down, front and back, and horizontal movements of the seat 30, thereby achieving the effect of active vibration suppression.

[0156] Traveling wheel movement: The control box 40 sends instructions to the first motor 221 and the second motor 231. The first motor 221 and the second motor 231 transmit power through the drive wheel shaft to control the rotation of the first traveling wheel 221 and the first traveling wheel 231, thereby controlling the forward and backward movement of the first traveling wheel 221 and the first traveling wheel 231, and realizing the front-back movement function of the intelligent mobile terminal.

[0157] (2) Working mode in two-wheel mode

[0158] Hip joint movement: The control box 40 sends instructions to the hip joint motor 4. The hip joint motor 4 rotates forward or backward to drive the thigh unit 1 etc. to rotate, and controls the squatting and standing upright of the seat surface 301 of the intelligent mobile terminal.

[0159] Knee joint movement: The control box 40 sends instructions to the knee joint motor 3. The knee joint motor 3 rotates forward or backward to drive the calf unit 2 to rotate, thereby controlling the kicking and retracting of the calf unit 2.

[0160] The knee joint motor 3 and the hip joint motor 4 are linked together, and can simultaneously control the front-back and up-down movement of the wheel end in the plane, thereby controlling the whole mobile device 20 to perform functions such as front-back stepping and forward-backward movement.

[0161] Traveling wheel movement: The control box 40 sends instructions to the first motor 221 or the second motor 231. The first motor 221 or the second motor 231 transmits power through the drive wheel shaft to control the rotation of the first traveling wheel 222 or the second traveling wheel 232, thereby controlling the forward and backward movement of the first traveling wheel 222 or the second traveling wheel 232, and realizing the front-back movement function of the intelligent mobile terminal.

[0162] (3) Folding of the whole machine

[0163] The control box 40 sends instructions to the seat motor 70. The seat motor 70 drives the backrest 302 to rotate and swing through the seat link mechanism 80, so that the backrest 302 leans against the seat surface 301, thereby realizing the automatic folding function of the seat 30. Due to the misalignment and clearance avoidance treatment in the structural design, only the control box 40 needs to send instructions to control the hip joint motor 4 and the knee joint motor 3 to rotate to a specific angle, and the folding function of the mobile device 20 can be realized. Lift the end of the footrest 90 so that the pin shaft 200 disengages from the chute 1001 of the footrest connecting piece 100, and push the footrest 90 along the supporting position of the footrest connecting piece 100, then the footrest 90 can be hidden under the seat surface 301, realizing the folding function of the footrest 90. Furthermore, the folding function of the whole intelligent mobile terminal is completed.

[0164] In addition, the intelligent mobile terminal of the first embodiment of the present utility model also has the following advantages:

[0165] (1) The seat 30 is designed to achieve the function of carrying people for driving.

[0166] (2) The knee joint motor 3 increases the degree of freedom of the moving device 20 and enhances the obstacle-crossing ability of the intelligent mobile terminal.

[0167] (3) Both the knee joint motor 3 and the hip joint motor 4 adopt a direct connection form, with a simpler and more reliable structure and higher transmission efficiency.

[0168] (4) The thigh unit 1 and the calf unit 2 can be folded to be close to 0 degrees, the backrest 302 of the seat 30 can be folded to lean against the seat surface 301, the armrest 303 can be rotated to be flush with the seat surface 301, and the footrest 90 can also be lifted and housed under the seat surface 301. In this way, the volume size can be minimized after the whole machine is folded, which is convenient for carrying and storing.

[0169] (5) The intelligent mobile terminal can freely switch between two-wheel and four-wheel forms, and can adapt to the needs of various terrains and working conditions such as obstacle-crossing in narrow spaces and climbing stairs.

[0170] Second Embodiment

[0171] The intelligent mobile terminal provided by the second embodiment of the present utility model is different from the first embodiment in that the seat is an integrated seat, and the backrest of the seat is relatively fixed to the seat surface.

[0172] Compared with the first embodiment, the seat structure is simpler and the cost is lower.

[0173] Third Embodiment

[0174] The intelligent mobile terminal provided by the third embodiment of the present utility model is different from the first embodiment in that the seat motor is cancelled, and the angle of the backrest of the seat is manually adjusted.

[0175] Compared with the first embodiment, the seat structure is simpler and the cost is lower.

[0176] The intelligent mobile terminal may further include a touch display screen to provide a man-machine interaction interface. The touch display screen is respectively connected to the battery and the control box.

[0177] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A mobile device, characterized in that, It includes a thigh unit, a calf unit and a knee joint motor. The thigh unit includes a thigh bracket. The calf unit includes a calf bracket, a first traveling wheel device connected to the front end of the calf bracket, and a second traveling wheel device connected to the rear end of the calf bracket. The knee joint motor is connected between the thigh bracket and the calf bracket and is used to drive the thigh unit to rotate relative to the calf unit around a first axis so as to adjust the relative angle between the thigh bracket and the calf bracket. The knee joint motor is located between the first traveling wheel device and the second traveling wheel device. The first traveling wheel device includes a first motor and a first traveling wheel connected to the output shaft end of the first motor. The first motor is used to drive the first traveling wheel to rotate relative to the calf bracket around a second axis. The second traveling wheel device includes a second motor and a second traveling wheel connected to the output shaft end of the second motor. The second motor is used to drive the second traveling wheel to rotate relative to the calf bracket around a third axis. The calf bracket is provided with a battery installation part for placing a battery.

2. The mobile device according to claim 1, wherein The axes of the first motor, the second motor and the axis of the knee joint motor are parallel.

3. The mobile device according to claim 2, characterized in that, The distance between the axis of the first motor and the axis of the knee joint motor is greater than the distance between the axis of the second motor and the axis of the knee joint motor.

4. The mobile device according to claim 1, characterized in that, The battery installation part is located between the knee joint motor and the first traveling wheel device in the front-rear direction.

5. The mobile device according to claim 1, characterized in that, The calf bracket has a groove opening outward. The calf bracket further includes a cover plate, and the cover plate is sealingly connected to the opening of the groove to form the battery installation part.

6. The mobile device according to claim 1, characterized in that, The housing of the knee joint motor is fixed on the calf bracket, and the output shaft end of the knee joint motor is connected to the lower end of the thigh bracket. The rotation axis of the output shaft end of the knee joint motor coincides with the first axis.

7. The mobile device according to claim 2, characterized in that, The calf bracket includes a front section of the calf bracket, a rear section of the calf bracket and a middle section of the calf bracket connected between the front section of the calf bracket and the rear section of the calf bracket. The housing of the first motor is fixed on the front section of the calf bracket, the housing of the second motor is fixed on the rear section of the calf bracket, and the housing of the knee joint motor is fixed on the middle section of the calf bracket. The battery installation part is arranged on the front section of the calf bracket.

8. The mobile device according to claim 1, wherein The thigh bracket includes an inner mounting frame and an outer mounting frame connected to the outside of the inner mounting frame.

9. The mobile device according to claim 8, wherein It further includes a driver and a driver connecting plate. The driver is electrically connected to the knee joint motor, the first motor and the second motor respectively. A cavity suitable for placing the driver is formed between the inner mounting frame and the outer mounting frame. The driver connecting plate is fixed between the inner mounting frame and the outer mounting frame and covers the opening of the cavity. The driver is fixed to the driver connecting plate.

10. The mobile device according to claim 8, wherein Axial two ends of the knee joint motor are respectively provided with an output shaft end and a supporting end. One of the output shaft end and the supporting end of the knee joint motor is connected to the lower end of the outer mounting frame, and the other is connected to the lower end of the inner mounting frame.

11. The mobile device according to claim 10, characterized in that, A rotation-limiting boss is provided inside the lower end of the outer mounting bracket, and a rotation-limiting groove is provided at the output shaft end of the knee joint motor. The rotation-limiting boss is inserted into the rotation-limiting groove to limit the relative rotation between the thigh bracket and the output shaft end of the knee joint motor.

12. The mobile device according to claim 10, wherein It further includes a knee joint motor support end connecting member and a knee joint motor support end bearing. The outer ring of the knee joint motor support end bearing is press-fitted into the knee joint motor support end connecting member, and the inner ring of the knee joint motor support end bearing is connected to the lower end of the thigh bracket.

13. The mobile device according to claim 1, wherein The calf bracket is provided with a first front limiting member and a first rear limiting member located behind the first front limiting member; When the thigh bracket rotates forward, the first front limiting member can abut against the front edge of the thigh bracket to limit the maximum forward rotation angle of the thigh bracket; when the thigh bracket rotates backward, the first rear limiting member can abut against the rear edge of the thigh bracket to limit the maximum backward rotation angle of the thigh bracket.

14. The mobile device according to claim 13, wherein When the first front limiting member abuts against the front edge of the thigh bracket, the extending direction of the thigh bracket is consistent with the extending direction of the calf bracket.

15. An intelligent mobile terminal, characterized in that, It includes a seat, a base, a battery, and the mobile device according to any one of claims 1-14 connected to the left and right sides of the base, and the seat is mounted on the base.

16. The intelligent mobile terminal according to claim 15, wherein, The upper end of the thigh bracket of the mobile device is rotatably connected to the base, and the mobile device further includes a hip joint motor; The hip joint motor is mounted on the upper end of the thigh bracket and is used to drive the base to rotate relative to the thigh bracket around a fourth axis; wherein, the fourth axis is parallel to the first axis.

17. The intelligent mobile terminal according to claim 16, characterized in that, The base includes a seat bracket and a mounting seat provided below the seat bracket. The seat is mounted on the seat bracket, and the upper end of the thigh bracket is rotatably connected to the mounting seat; The housing of the hip joint motor is fixed to the upper end of the thigh bracket, and the output shaft end of the hip joint motor is connected to the mounting seat; The rotation axis of the output shaft end of the hip joint motor coincides with the fourth axis.

18. The intelligent mobile terminal according to claim 17, wherein The mounting seat includes an inner mounting plate and an outer mounting plate located outside the inner mounting plate. Axial ends of the hip joint motor are respectively provided with an output shaft end and a support end. One of the output shaft end and the support end of the hip joint motor is connected to the outer mounting plate, and the other is connected to the inner mounting plate.

19. The intelligent mobile terminal according to claim 18, wherein, It further includes a hip joint motor output end connecting member, and the hip joint motor output end connecting member is connected between the output shaft end of the hip joint motor and the mounting seat.

20. The intelligent mobile terminal according to claim 18, wherein It further includes a hip joint motor support end connecting member and a hip joint motor support end bearing. The outer ring of the hip joint motor support end bearing is press-fitted into the hip joint motor support end connecting member, and the inner ring of the hip joint motor support end bearing is connected to the mounting seat.

21. The intelligent mobile terminal according to claim 20, wherein, The hip joint motor support end connecting member is provided with a second front limiting member and a second rear limiting member located behind the second front limiting member; The second front limiting member can abut against the front side edge of the mounting base when the base rotates forward to limit the maximum forward rotation angle of the base; the second rear limiting member can abut against the rear side edge of the mounting base when the base rotates backward to limit the maximum backward rotation angle of the base.

22. The intelligent mobile terminal according to claim 15, wherein It further includes a seat folding connecting member. The seat includes a seat surface and a backrest. The backrest is rotatably connected to the rear side of the seat surface around a fifth axis through the seat folding connecting member; wherein, the fifth axis extends in the left-right direction.

23. The intelligent mobile terminal according to claim 22, wherein The backrest can rotate forward to fit with the seat surface.

24. The intelligent mobile terminal according to claim 22, characterized in that, The seat folding connecting member includes a connecting rod connected to the bottom side of the backrest and a connecting seat connected to the rear side of the seat surface. The connecting rod is rotatably connected to the connecting seat around the fifth axis.

25. The intelligent mobile terminal according to claim 24, wherein It further includes a seat motor and a seat link mechanism. The seat motor is installed below the seat surface. The seat motor drives the backrest to flip forward and backward relative to the seat surface through the seat link mechanism to realize the angle adjustment of the backrest.

26. The intelligent mobile terminal according to claim 23, characterized in that, The seat link mechanism includes a seat motor output link and a seat connecting link. One end of the motor output link is connected to the output end of the seat motor, the other end of the motor output link is hinged to one end of the seat connecting link, and the other end of the seat connecting link is hinged to the backrest.

27. The intelligent mobile terminal according to claim 22, wherein The seat further includes armrests. The armrests are rotatably connected to both the left and right sides of the backrest around a sixth axis; wherein, the sixth axis extends in the left-right direction; The armrests can rotate to be flush with the seat surface.

28. The intelligent mobile terminal according to claim 22, wherein It further includes a footrest and a footrest connecting member. The top side of the footrest has a spaced first end and a second end. Pins are respectively connected to the first end and the second end of the footrest. The footrest connecting members are arranged on both the left and right sides below the front of the seat surface. The footrest connecting members have chutes with upward openings, and the pins are slidably arranged in the chutes; When the pins are located at the bottom of the chutes, the footrest can rotate up and down around a seventh axis; when the pins move upward out of the chutes, the footrest can move backward and be received below the seat surface; wherein, the seventh axis extends in the left-right direction.

29. The intelligent mobile terminal according to claim 28, wherein It further includes footrest movement guiding members. The footrest movement guiding members are arranged on both the left and right sides below the rear of the seat surface. When the footrest moves backward, the footrest connecting members and the footrest movement guiding members can support and guide the footrest.

30. The intelligent mobile terminal according to claim 22, wherein It further includes a control box. The control box is installed at the bottom of the seat surface.

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