Intelligent mobile terminal

Abstract

The utility model relates to an intelligent mobile terminal which comprises a base and mechanical legs connected to the left side and the right side of the base. The mechanical leg comprises a thigh unit, a shank unit, a knee joint motor and a hip joint motor, the thigh unit comprises a thigh support, the shank unit comprises a shank support, a first advancing wheel device and a second advancing wheel device, and the lower end of the thigh support is rotationally connected to the shank support; the knee joint motor is used for driving the thigh support to rotate around a first axis relative to the shank support through the first transmission mechanism, and the hip joint motor is used for driving the base to rotate around a second axis relative to the thigh support through the second transmission mechanism; the first axis is located between the first advancing wheel device and the second advancing wheel device. The intelligent mobile terminal 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 capability.

Description

Technical Field

[0001] The utility model belongs to the field of mobile technologies, and particularly relates to 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 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, an embodiment of the utility model provides an intelligent mobile terminal, including a base and mechanical legs connected to the left and right sides of the base;

[0006] Each of the mechanical legs includes a thigh unit, a calf unit, a knee joint motor, and a hip joint motor. The knee joint motor and the hip joint motor are installed on the base. 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 lower end of the thigh bracket is rotatably connected to the calf bracket;

[0007] The knee joint motor is used to drive the thigh bracket to rotate relative to the calf bracket around a first axis through a first transmission mechanism, and the hip joint motor is used to drive the base to rotate relative to the thigh bracket around a second axis through a second transmission mechanism; wherein, the first axis is located between the first traveling wheel device and the second traveling wheel device.

[0008] In the intelligent mobile terminal according to the embodiment of the present utility model, the knee joint motor drives the thigh bracket to rotate relative to the calf bracket around the first axis through the first transmission mechanism. By controlling the output speed and torque of the knee joint motor and transmitting such speed, torque, etc. to the calf unit through the output shaft end, the attitude and center of gravity of the intelligent mobile terminal are 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 can realize the switching between the two-wheel drive mode (only one of the first traveling wheel device and the second traveling wheel device touches the ground) and the four-wheel drive mode (both the first traveling wheel device and the second traveling wheel device touch the ground), realizing two forms of the intelligent mobile terminal, namely 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, it can ensure the obstacle-crossing passability of the intelligent mobile terminal in complex working conditions such as continuous steps, uneven roads, and steep slopes. 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.

[0009] 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.

[0010] Optionally, 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 for driving the first traveling wheel to rotate relative to the calf bracket around the third axis;

[0011] 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 for driving the second traveling wheel to rotate relative to the calf bracket around the fourth axis.

[0012] Optionally, the first axis, the second axis, the third axis and the fourth axis are parallel.

[0013] Optionally, the distance between the axis of the first motor and the first axis is greater than the distance between the axis of the second motor and the first axis.

[0014] Optionally, the first transmission mechanism is a four-bar linkage mechanism, and the first transmission mechanism includes a knee joint output link, a knee joint link, a first thigh bracket link and a calf bracket link, and the knee joint output link is connected to the output shaft end of the knee joint motor;

[0015] The first end of the knee joint output link is hinged to the first end of the first thigh bracket link about a fifth axis at a first hinge point, the second end of the knee joint output link is hinged to the first end of the knee joint link about a sixth axis at a second hinge point, the second end of the knee joint link is hinged to the first end of the calf bracket link about a seventh axis at a third hinge point, and the second end of the calf bracket link is hinged to the second end of the first thigh bracket link about an eighth axis at a fourth hinge point; wherein, the fifth axis, the sixth axis, the seventh axis and the eighth axis are parallel.

[0016] Optionally, the quadrilateral connecting the first hinge point, the second hinge point, the third hinge point and the fourth hinge point is a parallelogram.

[0017] Optionally, the first thigh bracket link is a part of the thigh bracket;

[0018] Or,

[0019] The first thigh bracket link is independent of the thigh bracket and is mounted on the thigh bracket.

[0020] Optionally, the calf bracket link is a part of the calf bracket;

[0021] Or,

[0022] The calf bracket link is independent of the calf bracket and is mounted on the calf bracket.

[0023] Optionally, the thigh bracket is a hollow structure, and the knee joint output link and the knee joint link are arranged inside the thigh bracket.

[0024] Optionally, the output shaft end of the knee joint motor is connected to the first end of the knee joint output link, and the axis of the knee joint motor coincides with the fifth axis.

[0025] Optionally, the second transmission mechanism is a four-link mechanism, and the second transmission mechanism includes a hip joint output link, a hip joint link, a second thigh bracket link and a base link, and the hip joint output link is connected to the output shaft end of the hip joint motor;

[0026] The first end of the hip joint output link is hinged to the first end of the base link about a ninth axis at a fifth hinge point, the second end of the hip joint output link is hinged to the first end of the hip joint link about a tenth axis at a sixth hinge point, the second end of the hip joint link is hinged to the first end of the second thigh bracket link about an eleventh axis at a seventh hinge point, and the second end of the second thigh bracket link is hinged to the second end of the base link about a twelfth axis at an eighth hinge point; wherein, the ninth axis, the tenth axis, the eleventh axis and the twelfth axis are parallel.

[0027] Optionally, the quadrilateral connecting the fifth hinge point, the sixth hinge point, the seventh hinge point and the eighth hinge point is a parallelogram.

[0028] Optionally, the second thigh bracket link is part of the thigh bracket;

[0029] Or,

[0030] The second thigh bracket link is independent of the thigh bracket and is mounted on the thigh bracket.

[0031] Optionally, the base link is part of the calf bracket;

[0032] Or,

[0033] The base link is independent of the base and is mounted on the base.

[0034] Optionally, the output shaft end of the hip joint motor is connected to the first end of the hip joint output link, and the axis of the hip joint motor coincides with the ninth axis.

[0035] Optionally, the hip joint motor is located in front of the knee joint motor.

[0036] Optionally, it further includes a seat, and the seat is mounted on the top of the base.

[0037] Optionally, the top of the base is provided with a mounting rail extending in the front-rear direction, and the seat is mounted on the mounting rail.

[0038] Optionally, it further includes a seat folding connection member. The seat includes a seat surface and a backrest. The backrest is rotatably connected to the rear side of the seat surface around the thirteenth axis through the seat folding connection member; wherein, the thirteenth axis extends in the left-right direction.

[0039] Optionally, the backrest can be rotated forward to fit with the seat surface.

[0040] Optionally, the seat folding connection 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, and the connecting rod is rotatably connected to the connecting seat around the thirteenth axis.

[0041] Optionally, the seat further includes armrests. The armrests are rotatably connected to both left and right sides of the backrest around the fourteenth axis; wherein, the fourteenth axis extends in the left-right direction;

[0042] The armrests can be rotated to be flush with the seat surface.

[0043] Optionally, the base includes a top plate, a bottom plate, a left side plate and a right side plate. The left side plate is connected between the left side of the top plate and the left side of the bottom plate, and the right side plate is connected between the right side of the top plate and the right side of the bottom plate. The top plate, the bottom plate, the left side plate and the right side plate enclose to form a receiving cavity, and the knee joint motor and the hip joint motor are located in the receiving cavity;

[0044] The knee joint motor and the hip joint motor on the left side are installed on the inner side of the left side plate, and the knee joint motor and the hip joint motor on the right side are installed on the inner side of the right side plate.

[0045] Optionally, the base further includes a front side plate and a rear side plate. The front side plate covers the front side of the receiving cavity, and the rear side plate covers the rear side of the receiving cavity.

[0046] Optionally, it further includes a control box and a driver. The control box is installed on the base, the driver is installed on the thigh bracket or the base, the control box is electrically connected to the driver, and the driver is respectively electrically connected to the knee joint motor, the hip joint motor, the first motor and the second motor.

[0047] Optionally, it further includes a footrest. The footrest is installed on the housing of the first motor or the front end of the calf bracket.

[0048] When the intelligent mobile terminal adopts a 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.

[0049] 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 and the second traveling wheel device that touches the ground. 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, thereby driving the intelligent mobile terminal to travel. By controlling the output speed and torque of the first motor, the driving 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, thereby driving the intelligent mobile terminal to travel. By controlling the output speed and torque of the second motor, the driving requirements of the intelligent mobile terminal under different working conditions in the two-wheel drive mode are realized.

[0050] 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 respectively controlling the output speed and torque of the first motor and the second motor, the driving requirements of the intelligent mobile terminal under different working conditions in the four-wheel drive mode are realized.

[0051] During the driving process of the intelligent mobile terminal, the output speed and torque of the knee joint motor can be controlled to change the relative angle between the thigh unit and the calf unit, 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 wheels 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

[0052] Figure 1 is a perspective view of the intelligent mobile terminal provided by the first embodiment of the present invention;

[0053] Figure 2 is a left view of the intelligent mobile terminal provided by the first embodiment of the present invention;

[0054] Figure 3 is Figure 2 a schematic diagram of removing the seat and the outer mounting bracket;

[0055] Figure 4 is a schematic diagram of the thigh unit of the intelligent mobile terminal provided by the first embodiment of the present invention;

[0056] Figure 5 is a schematic diagram of the calf unit of the intelligent mobile terminal provided by the first embodiment of the present invention;

[0057] Figure 6 is Figure 4 a schematic diagram of removing the outer mounting bracket;

[0058] Figure 7 is a partial right-side view of the intelligent mobile terminal provided by the first embodiment of the present invention;

[0059] Figure 8 is an assembly drawing of the seat and the base of the intelligent mobile terminal provided by the first embodiment of the present invention;

[0060] Figure 9 is a schematic diagram of the base of the intelligent mobile terminal provided by the first embodiment of the present invention.

[0061] The reference numerals in the specification are as follows:

[0062] 10. Base; 101. Mounting rail; 102. Top plate; 103. Bottom plate; 104. Left side plate; 105. Right side; 106. Front side plate; 107. Rear side plate; 20. Mechanical leg; 30. Seat; 301. Seat surface; 302. Backrest; 303. Armrest; 40. Seat folding connector; 401. Connecting rod; 402. Connecting seat; 50. Control box; 60. Footrest;

[0063] 1. Thigh unit; 11. Thigh bracket; 111. Inner mounting bracket; 112. Outer mounting bracket;

[0064] 2. Calf unit; 21. Calf bracket; 22. First traveling wheel device; 221. First motor; 222. First traveling wheel; 23. Second traveling wheel device; 231. Second motor; 232. Second traveling wheel;

[0065] 3. Knee joint motor;

[0066] 4. Hip joint motor;

[0067] 5. First transmission mechanism; 51. Knee joint output link; 52. Knee joint link; 53. Calf bracket link; 54. First thigh bracket link;

[0068] 6. Second transmission mechanism; 61. Hip joint output link; 62. Hip joint link; 63. Second thigh bracket link; 64. Base link. Detailed implementation manners

[0069] In order to make the technical problems, technical solutions and beneficial effects solved by the present utility model clearer, 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.

[0070] In this article, the front, rear, left, right, upper and lower directions refer to Figure 1 the coordinates shown. Among them, the front is the forward direction of the intelligent mobile terminal, and the rear is the backward direction of the wheeled robot. Inside and outside are relative to the geometric center of the intelligent mobile terminal, that is, the direction pointing to the geometric center of the intelligent mobile terminal is the inner side, and the direction facing away from the geometric center of the intelligent mobile terminal is the outer side.

[0071] First embodiment

[0072] See Figures 1 to 9, the intelligent mobile terminal provided by the first embodiment of the present utility model is a four-wheel robot, including a base 10 and mechanical legs 20 connected to the left and right sides of the base 10. Each mechanical leg 20 includes a thigh unit 1, a calf unit 2, a knee joint motor 3 and a hip joint motor 4. The knee joint motor 3 and the hip joint motor 4 are installed on the base 10. 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.

[0073] The knee joint motor 3 is used to drive the thigh bracket 11 to rotate relative to the calf bracket 21 around a first axis through a first transmission mechanism 5. The hip joint motor 4 is used to drive the base 10 to rotate relative to the thigh bracket around a second axis through a second transmission mechanism 6. Wherein, the first axis is located between the first traveling wheel device 22 and the second traveling wheel device 23.

[0074] In the intelligent mobile terminal of the first embodiment of the present utility model, the knee joint motor 3 drives the thigh bracket 11 to rotate relative to the calf bracket 21 around the first axis through the first transmission mechanism 5. 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 are 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 21 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 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 slopes. 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, uneven roads, and steep slopes. Therefore, it can well balance the flexibility of flat ground roads and the obstacle-crossing passability of complex road conditions, and has strong obstacle-crossing ability.

[0075] 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 storage space.

[0076] 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 configured to drive the first traveling wheel 222 to rotate relative to the calf bracket 21 about a third 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 configured to drive the second traveling wheel 232 to rotate relative to the calf bracket 21 about a fourth axis.

[0077] The first axis, the second axis, the third axis, and the fourth axis are parallel. This ensures the vertical state of the first traveling wheel 222 and the second traveling wheel 232, improving the driving stability.

[0078] The axis of the first motor 221, the axis of the second motor 231, the axis of the knee joint motor 31, and the axis of the hip joint motor 4 are parallel.

[0079] The distance between the axis of the first motor 221 and the first axis is greater than the distance between the axis of the second motor 231 and the first axis. That is, the hinge point between the thigh bracket 11 and the calf bracket 21 is closer to the second traveling wheel device 23.

[0080] 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. 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 to switch to the two-wheel drive mode. In contrast, when 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, enabling it to travel flexibly and quickly on flat ground or gentle slopes.

[0081] 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.

[0082] 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.

[0083] See Figures 1 to 3, the first transmission mechanism 5 is a four-bar linkage mechanism. The first transmission mechanism 5 includes a knee joint output link 51, a knee joint link 52, a first thigh bracket link 54, and a calf bracket link 53. The knee joint output link 51 is connected to the output shaft end of the knee joint motor 3. The first end of the knee joint output link 51 is hinged to the first end of the first thigh bracket link 54 around a fifth axis at a first hinge point A. The second end of the knee joint output link 51 is hinged to the first end of the knee joint link 52 around a sixth axis at a second hinge point B. The second end of the knee joint link 52 is hinged to the first end of the calf bracket link 53 around a seventh axis at a third hinge point C. The second end of the calf bracket link 53 is hinged to the second end of the first thigh bracket link 54 around an eighth axis at a fourth hinge point D. Among them, the fifth axis, the sixth axis, the seventh axis, and the eighth axis are parallel.

[0084] Preferably, referring to Figure 3 , the quadrilateral connecting the first hinge point A, the second hinge point B, the third hinge point C, and the fourth hinge point D is a parallelogram ABCD, that is, the first transmission mechanism 5 is a parallelogram four-bar linkage mechanism. In this way, the knee joint motor 3 drives the thigh bracket 11 to rotate relative to the calf bracket 21 through the parallelogram four-bar linkage mechanism, and the movement is stable.

[0085] In this embodiment, the first thigh bracket link 54 is a part of the thigh bracket 11.

[0086] However, in other alternative embodiments, it may also be that the first thigh bracket link 54 is independent of the thigh bracket 11 and is installed on the thigh bracket 11.

[0087] In this embodiment, the calf bracket link 53 is a part of the calf bracket 21.

[0088] However, in other alternative embodiments, it may also be that the calf bracket link 53 is independent of the calf bracket 21 and is installed on the calf bracket 21.

[0089] The thigh bracket 11 is a hollow structure, and the knee joint output link 51 and the knee joint link 52 are arranged inside the thigh bracket 11. In this way, the thigh bracket 11 can protect the knee joint output link 51 and the knee joint link 52.

[0090] Referring to 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. The inner mounting frame 111 and the outer mounting frame 112 are docked inside and outside, and a space for accommodating the knee joint output link 51 and the knee joint link 52 is formed between them.

[0091] The output shaft end of the knee joint motor 3 is connected to the first end of the knee joint output link 51, and the axis of the knee joint motor 3 coincides with the fifth axis.

[0092] See Figures 1 to 3 , the second transmission mechanism 6 is a four-bar linkage mechanism. The second transmission mechanism 6 includes a hip joint output link 61, a hip joint link 62, a second thigh bracket link 63, and a base link 64. The hip joint output link 61 is connected to the output shaft end of the hip joint motor 4; the first end of the hip joint output link 61 is hinged to the first end of the base link 64 about the ninth axis at the fifth hinge point E, the second end of the hip joint output link 61 is hinged to the first end of the hip joint link 62 about the tenth axis at the sixth hinge point F, the second end of the hip joint link 62 is hinged to the first end of the second thigh bracket link 63 about the eleventh axis at the seventh hinge point G, and the second end of the second thigh bracket link 63 is hinged to the second end of the base link 64 about the twelfth axis at the eighth hinge point H; wherein, the ninth axis, the tenth axis, the eleventh axis, and the twelfth axis are parallel. The eighth hinge point H coincides with the first hinge point A.

[0093] See Figure 3 , the quadrilateral connecting the fifth hinge point E, the sixth hinge point F, the seventh hinge point G, and the eighth hinge point H is a parallelogram EFGH. That is, the second transmission mechanism 6 is a parallel four-bar linkage mechanism. In this way, the knee joint motor 3 drives the thigh bracket 11 to rotate relative to the calf bracket 21 through the parallel four-bar linkage mechanism, and the movement is stable.

[0094] In this embodiment, the second thigh bracket link 63 is a part of the thigh bracket 11.

[0095] However, in other alternative embodiments, it may also be that the second thigh bracket link 63 is independent of the thigh bracket 11 and is mounted on the thigh bracket 11.

[0096] In this embodiment, the base link 64 is a part of the calf bracket 21.

[0097] However, in other alternative embodiments, it may also be that the base link 64 is independent of the base 10 and is mounted on the base 10.

[0098] The output shaft end of the hip joint motor 4 is connected to the first end of the hip joint output link 61, and the axis of the hip joint motor 4 coincides with the ninth axis.

[0099] The hip joint motor 4 is located in front of the knee joint motor 3. In this way, the layout is more compact.

[0100] See Figure 1, further comprising a seat 30, and the seat 30 is installed on the top of the base 10. The seat 30 is for carrying people.

[0101] See Figure 8 , on the top of the base 10, there is an installation rail 101 extending in the front-back direction, and the seat 30 is installed on the installation rail 101. For example, the seat 30 can be installed on the installation rail 101 by a buckle. In this way, the seat 30 can be detached from the base 10. There are two parallel installation rails 101 to enhance the installation stability of the seat 30.

[0102] See Figure 8 , further comprising a seat folding connecting member 40, the seat 30 includes a seat surface 301 and a seat back 302, and the seat back 302 is rotatably connected to the rear side of the seat surface 301 around a thirteenth axis through the seat folding connecting member 40; wherein, the thirteenth axis extends in the left-right direction. In this way, the seat back 302 can rotate in the front-back 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 storage.

[0103] In addition, it further includes a seat motor and a seat link mechanism. The seat motor is installed below the seat surface 301, and the seat motor drives the seat back 302 to flip relative to the seat back 302 through the seat link mechanism, which can realize the angle adjustment of the seat back 302 to realize the automatic folding of the seat 30. 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 seat back 302. Specifically, a support is fixedly connected to the middle position below the rear side surface of the seat back 302, and the other end of the seat connection link is hinged to the support.

[0104] Preferably, the seat back 302 can rotate forward to fit with the seat surface 301.

[0105] See Figure 1 , the seat folding connecting member 40 includes a connecting rod 401 connected to the bottom side of the seat back 302 and a connecting seat 402 connected to the rear side of the seat surface 301, and the connecting rod 401 is rotatably connected to the connecting seat 402 around the thirteenth axis.

[0106] The seat surface 301 includes a seat surface frame and a seat surface cushion. The seat surface frame is a rigid member for facilitating the installation of other components, and the seat surface cushion is a flexible member for facilitating sitting. Similarly, the seat back 302 includes a seat back frame and a seat back cushion. The seat back frame is a rigid member for facilitating the installation of other components, and the seat back cushion is a flexible member for facilitating the passenger to lean on.

[0107] See Figure 1, the seat 30 further includes armrests 303. The left and right sides of the chair back 302 are rotatably connected to the armrests 303 around the fourteenth axis; wherein, the fourteenth axis extends in the left-right direction; the armrests 303 are used to support the hands of the occupant.

[0108] The armrest 303 can be rotated to be flush with the seat surface 301. In this way, when folding the smart mobile terminal, the armrest 303 does not occupy space. A limiting component is provided on the armrest 303 so that the armrest 303 can maintain a horizontal posture.

[0109] See Figure 8 and Figure 9 , the base 10 includes a top plate 102, a bottom plate 103, a left side plate 104 and a right side plate 105. The left side plate 104 is connected between the left side of the top plate 102 and the left side of the bottom plate 103. The right side plate 105 is connected between the right side of the top plate 102 and the right side of the bottom plate 103. The top plate 102, the bottom plate 103, the left side plate 104 and the right side plate 105 enclose an accommodation cavity, and the knee joint motor 3 and the hip joint motor 4 are located in the accommodation cavity.

[0110] See Figure 7 , the right knee joint motor 3 and the hip joint motor 4 are installed on the inner side of the right side plate 105. The base link 64 of the right mechanical leg is a part of the right side plate 105. That is, the first end of the right hip joint output link 61 is hinged to the right side plate 105 at the fifth hinge point E, and the right thigh bracket 11 is hinged to the right side plate 105 at the eighth hinge point H.

[0111] The left knee joint motor 3 and the hip joint motor 4 are installed on the inner side of the left side plate 104. The base link 64 of the left mechanical leg is a part of the left side plate 104. That is, the first end of the left hip joint output link 61 is hinged to the left side plate 104 at the fifth hinge point E, and the left thigh bracket 11 is hinged to the left side plate 104 at the eighth hinge point H.

[0112] See Figure 8 and Figure 9 , the base 10 further includes a front side plate 106 and a rear side plate 107. The front side plate 106 covers the front side of the accommodation cavity, and the rear side plate 107 covers the rear side of the accommodation cavity. In this way, the knee joint motor 3 and the hip joint motor 4 are protected in the front, rear, left, right, up and down directions, and the safety is relatively high.

[0113] See Figure 9, further comprising a control box 50 and a driver. The control box 50 is mounted on the base 10, and the driver is mounted on the thigh bracket 11 or the base 10. The control box 50 is electrically connected to the driver, and the driver 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 50 is used to send control instructions to the driver to control the actions of the knee joint motor 3, the hip joint motor 4, the first motor 221 and the second motor 231.

[0114] The thigh bracket 11 can be a hollow structure, and the driver is mounted inside the thigh bracket 11.

[0115] See Figure 1 , the control box 50 is mounted below the seat surface 301 and located in the accommodation cavity of the base, so as to avoid damage to the control box 50.

[0116] In other embodiments, the control box 50 and the driver can also be combined into one.

[0117] See Figure 9 , further comprising a footrest 60, and the footrest 60 is mounted on the housing of the first motor 221. The footrest 60 is used to support a person's feet.

[0118] However, in other alternative embodiments, it may also be that the footrest 60 is mounted at the front end of the calf bracket 21.

[0119] See Figure 1 , when both the first traveling wheel device 22 and the second traveling wheel device 23 are mounted 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 respectively 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.

[0120] In the four-wheel drive mode, by controlling the output speed and torque of the knee joint motor 31, 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 according to needs to reduce the weight and volume of the intelligent mobile terminal during driving, increase its passability, and reduce energy consumption.

[0121] When the intelligent mobile terminal adopts a two-wheel drive mode, by controlling the output speed and torque of the knee joint motor 31, 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, so as to realize the two-wheel drive standing posture of the intelligent mobile terminal.

[0122] When the intelligent mobile terminal is in the two-wheel drive standing posture, the driving power for traveling is provided by one of the first traveling wheel device 22 and the second traveling wheel device 23 that touches the ground. Taking the first traveling wheel device 22 touching the ground as an example, the first motor 221 transmits speed, torque, etc. to the first traveling wheel 222 through its output shaft end, realizes the rotation of the first traveling wheel 222, thereby driving the intelligent mobile terminal to travel, and by controlling the output speed and torque of the first motor 221, the traveling requirements under different working conditions in the two-wheel drive mode of the intelligent mobile terminal are realized.

[0123] During the traveling process of the intelligent mobile terminal, the relative angle between the thigh unit 1 and the calf unit 2 can be changed by controlling the output speed and torque of the knee joint motor 31, so as to adapt to the traveling requirements under 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 can more easily 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.

[0124] When the intelligent mobile terminal travels 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 the two-wheel drive mode is adopted to realize the standing form, and the intelligent mobile terminal is moved through the first traveling wheel device 22; when the intelligent mobile terminal encounters a relatively high step, continuous stairs or steep slope, the first traveling wheel device 22 and the second traveling wheel device 23 jointly drive to realize the four-wheel drive mode, and improve the obstacle-crossing ability and the safety in complex road conditions.

[0125] As Figure 1 shown, the mechanical leg 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) touch the ground at the same time, the intelligent mobile terminal is in the wheeled mode.

[0126] When the second traveling wheel device 23 is not required to drive, the second traveling wheel device 23 can be detached from the calf bracket 21, and the mechanical leg 20 only includes the first traveling wheel device 22. At this time, two wheels (two first traveling wheels 222) touch the ground, and the intelligent mobile terminal is in the legged mode.

[0127] Alternatively, when the second traveling wheel device 23 is not required to drive, the thigh bracket 11 can be rotated by a certain angle relative to the calf bracket 21 so that the first traveling wheel device 22 touches the ground and the second traveling wheel device 23 leaves the ground. The mechanical leg 20 is driven by only 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 touch the ground, and the intelligent mobile terminal is in a legged mode.

[0128] Therefore, the intelligent mobile terminal of this embodiment can realize the dual-mode switching between the wheeled mode and the legged mode.

[0129] It further includes a power battery installed on the base 10.

[0130] The control box 50 is electrically connected to the power battery, the first motor 221, the second motor 223, the knee joint motor 31 and the hip joint motor 4. The power battery can supply power to the control box 50, the first motor 221, the second motor 223, the knee joint motor 31 and the hip joint motor 4.

[0131] A gyroscope can also be installed on the base 10. The center of gravity of the intelligent mobile terminal can be adjusted through the gyroscope and each motor.

[0132] By adjusting the relative angle between the thigh bracket 11 and the seat bracket 101 through the hip joint motor 31 and combining with the adjustment of the gyroscope, the base 10 can always be kept horizontal.

[0133] In addition, when the intelligent mobile terminal is idle, the relative angle between the thigh bracket 11 and the base 10 can be adjusted to 0 (or close to 0), the relative angle b between the thigh bracket 11 and the calf bracket 21 can be adjusted to 0 (or close to 0), and the armrest 303 can be made flush with the seat surface 301. The intelligent mobile terminal can be folded up entirely to save storage space.

[0134] The intelligent mobile terminal of this embodiment also has the following advantages:

[0135] (1) It combines the flexibility of the intelligent mobile terminal and the sitting posture of the seat 30, providing passengers with a wider range of mobility, including obstacle crossing, omnidirectional movement, etc.

[0136] (2) Compared with the existing intelligent mobile terminals (usually with only one degree of freedom in the legs), the mechanical legs of the intelligent mobile terminal of this embodiment of the present invention have two degrees of freedom. When the intelligent mobile terminal carrying people encounters some steps or uneven roads, the seat motor will adaptively adjust the pitching angle of the seat so that the person always maintains a relatively stable state during the riding process.

[0137] (3) The intelligent mobile terminal according to the embodiment of the present invention can meet the requirement of climbing stairs, can carry people to climb stairs, and during this process, the legs of the intelligent mobile terminal have two degrees of freedom that can be adjusted, so that people will not feel bumps during the stair climbing process, and realize the smooth stair climbing with people.

[0138] (4) The seat 30 of the intelligent mobile terminal according to the embodiment of the present invention can rotate forward and backward, realize the retraction and extension within the range of 180 degrees, realize the posture adjustment of the user, and meet the posture requirements of more usage scenarios, such as rescue, exploration, assisted travel, etc.

[0139] Second Embodiment

[0140] The intelligent mobile terminal provided by the second embodiment of the present invention is different from the first embodiment in that the first transmission mechanism is a belt transmission mechanism, and the second transmission mechanism is a belt transmission mechanism.

[0141] Third Embodiment

[0142] The intelligent mobile terminal provided by the third embodiment of the present invention is different from the first embodiment in that the first transmission mechanism is a chain transmission mechanism, and the second transmission mechanism is a chain transmission mechanism.

[0143] The intelligent mobile terminal may further include a touch display screen to provide a human-machine interaction interface.

[0144] The touch display screen is respectively connected to the power battery and the control box.

[0145] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent mobile terminal, characterized in that, Comprising a base and mechanical legs connected to the left and right sides of the base; Each of the mechanical legs includes a thigh unit, a calf unit, a knee joint motor, and a hip joint motor. The knee joint motor and the hip joint motor are installed on the base. 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 lower end of the thigh bracket is rotatably connected to the calf bracket; The knee joint motor is used to drive the thigh bracket to rotate relative to the calf bracket about a first axis through a first transmission mechanism. The hip joint motor is used to drive the base to rotate relative to the thigh bracket about a second axis through a second transmission mechanism. Wherein, the first axis is located between the first traveling wheel device and the second traveling wheel device.

2. The intelligent mobile terminal according to claim 1, wherein, 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 about a third 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 about a fourth axis.

3. The intelligent mobile terminal according to claim 2, wherein The first axis, the second axis, the third axis, and the fourth axis are parallel.

4. The intelligent mobile terminal according to claim 3, characterized in that The distance between the axis of the first motor and the first axis is greater than the distance between the axis of the second motor and the first axis.

5. The intelligent mobile terminal according to claim 1, wherein The first transmission mechanism is a four-bar linkage mechanism. The first transmission mechanism includes a knee joint output link, a knee joint link, a first thigh bracket link, and a calf bracket link. The knee joint output link is connected to the output shaft end of the knee joint motor; The first end of the knee joint output link is hinged to the first end of the first thigh bracket link about a fifth axis at a first hinge point. The second end of the knee joint output link is hinged to the first end of the knee joint link about a sixth axis at a second hinge point. The second end of the knee joint link is hinged to the first end of the calf bracket link about a seventh axis at a third hinge point. The second end of the calf bracket link is hinged to the second end of the first thigh bracket link about an eighth axis at a fourth hinge point. Wherein, the fifth axis, the sixth axis, the seventh axis, and the eighth axis are parallel.

6. The intelligent mobile terminal according to claim 5, wherein The quadrilateral connecting the first hinge point, the second hinge point, the third hinge point, and the fourth hinge point is a parallelogram.

7. The intelligent mobile terminal according to claim 5, wherein The first thigh bracket link is a part of the thigh bracket; Or, The first thigh bracket link is independent of the thigh bracket and is installed on the thigh bracket.

8. The intelligent mobile terminal according to claim 5, characterized in that, The calf bracket link is a part of the calf bracket; Or, The calf bracket link is independent of the calf bracket and is installed on the calf bracket.

9. The intelligent mobile terminal according to claim 5, wherein The thigh bracket is a hollow structure, and the knee joint output link and the knee joint link are arranged inside the thigh bracket.

10. The intelligent mobile terminal according to claim 5, characterized in that, The output shaft end of the knee joint motor is connected to the first end of the knee joint output link, and the axis of the knee joint motor coincides with the fifth axis.

11. The intelligent mobile terminal according to claim 1, wherein The second transmission mechanism is a four-bar linkage mechanism, and the second transmission mechanism includes a hip joint output link, a hip joint link, a second thigh bracket link, and a base link. The hip joint output link is connected to the output shaft end of the hip joint motor. The first end of the hip joint output link is hinged to the first end of the base link at a fifth hinge point about a ninth axis, the second end of the hip joint output link is hinged to the first end of the hip joint link at a sixth hinge point about a tenth axis, the second end of the hip joint link is hinged to the first end of the second thigh bracket link at a seventh hinge point about an eleventh axis, and the second end of the second thigh bracket link is hinged to the second end of the base link at an eighth hinge point about a twelfth axis. Among them, the ninth axis, the tenth axis, the eleventh axis, and the twelfth axis are parallel.

12. The intelligent mobile terminal according to claim 11, wherein The quadrilateral connecting the fifth hinge point, the sixth hinge point, the seventh hinge point, and the eighth hinge point is a parallelogram.

13. The intelligent mobile terminal according to claim 11, wherein The second thigh bracket link is a part of the thigh bracket. Or, The second thigh bracket link is independent of the thigh bracket and is installed on the thigh bracket.

14. The intelligent mobile terminal according to claim 11, wherein, The base link is a part of the calf bracket. Or, The base link is independent of the base and is installed on the base.

15. The intelligent mobile terminal according to claim 11, wherein The output shaft end of the hip joint motor is connected to the first end of the hip joint output link, and the axis of the hip joint motor coincides with the ninth axis.

16. The intelligent mobile terminal according to claim 1, wherein, The hip joint motor is located in front of the knee joint motor.

17. The intelligent mobile terminal according to claim 1, characterized in that, It further includes a seat, and the seat is installed on the top of the base.

18. The intelligent mobile terminal according to claim 17, characterized in that, The top of the base is provided with a mounting rail extending in the front-rear direction, and the seat is installed on the mounting rail.

19. The intelligent mobile terminal according to claim 17, wherein, It further includes a seat folding connection member. The seat includes a seat surface and a backrest. The backrest is rotationally connected to the rear side of the seat surface about a thirteenth axis through the seat folding connection member. Among them, the thirteenth axis extends in the left-right direction.

20. The intelligent mobile terminal according to claim 19, wherein The backrest can rotate forward to fit with the seat surface.

21. The intelligent mobile terminal according to claim 19, characterized in that, The seat folding connection 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 about the thirteenth axis.

22. The intelligent mobile terminal according to claim 19, characterized in that, The seat further includes armrests. The left and right sides of the backrest are rotationally connected with the armrests about a fourteenth axis respectively. Among them, the fourteenth axis extends in the left-right direction. The armrests can rotate to be flush with the seat surface.

23. The intelligent mobile terminal according to claim 1, characterized in that, The base includes a top plate, a bottom plate, a left side plate, and a right side plate. The left side plate is connected between the left side of the top plate and the left side of the bottom plate, and the right side plate is connected between the right side of the top plate and the right side of the bottom plate. The top plate, the bottom plate, the left side plate, and the right side plate enclose a receiving cavity, and the knee joint motor and the hip joint motor are located in the receiving cavity. The knee joint motor and the hip joint motor on the left side are installed on the inner side of the left side plate, and the knee joint motor and the hip joint motor on the right side are installed on the inner side of the right side plate.

24. The intelligent mobile terminal according to claim 23, characterized in that, The base further includes a front side plate and a rear side plate. The front side plate covers the front side of the receiving cavity, and the rear side plate covers the rear side of the receiving cavity.

25. The intelligent mobile terminal according to claim 2, wherein, It further includes a control box and a driver. The control box is installed on the base, and the driver is installed on the thigh bracket or the base. The control box is electrically connected to the driver, and the driver is electrically connected to the knee joint motor, the hip joint motor, the first motor, and the second motor respectively.

26. The intelligent mobile terminal according to claim 2, wherein It further includes a footrest. The footrest is installed on the housing of the first motor or at the front end of the calf bracket.

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