Wheel-foot robot steering structure

Abstract

The utility model relates to the technical field of wheel-foot robots, in particular to a wheel-foot robot steering structure which comprises a steering mechanism arranged at the bottom of a supporting leg, a connecting frame is fixedly connected to the lower side of the steering mechanism, and walking wheels used for moving a robot are assembled at the outer end of the connecting frame. The steering mechanism comprises a bottom frame fixedly connected with the bottoms of the supporting legs, a rotatable large-diameter bearing is embedded in the bottom of the bottom frame, the large-diameter bearing is sleeved with a driven belt wheel, the bottom of the driven belt wheel is fixedly connected with a fixing frame through a plurality of sets of bolts, and the fixing frame is welded and fixed to the upper wheel of the connecting frame. The driving gear is driven by the motor in the steering mechanism, then the driven gear and the driven belt wheel are driven to rotate, finally, the walking wheels are driven to rotate through belt transmission, and the design allows the walking wheels to rotate by a large angle relative to the supporting legs and even achieve in-situ transverse movement. And the steering flexibility and the terrain adaptive capacity of the robot are greatly improved.

Description

Technical Field

[0001] The utility model relates to the technical field of wheel-legged robots, and more specifically, to a steering structure for a wheel-legged robot. Background Art

[0002] A wheel-legged robot is a robot that can flexibly switch between wheeled and legged motion modes. It combines the high mobility of wheels and the terrain adaptability of legs, and can operate effectively on flat ground and complex terrains. A wheel-legged robot can move quickly on flat ground like a wheeled robot, with high speed and efficiency; it can also walk on complex terrains like a legged robot, such as rugged mountain roads, stairs, etc., adapting to different environments.

[0003] In the prior art, due to the fixed angle of the wheels relative to the leg structure or only allowing a certain range of rotation, the turning radius of the wheel-legged robot is large, and it cannot complete complex wheel-leg coupling motion actions such as large-angle side shift, in-situ transverse shift, and moving while spinning. The high mobility characteristics of the wheeled mode are not fully reflected. Therefore, it is particularly important to design a steering structure for a wheel-legged robot in which the wheels can rotate independently relative to the legs to reduce the turning radius and improve the mobility. Summary of the Utility Model

[0004] Aiming at the existing deficiencies, the utility model provides a steering structure for a wheel-legged robot to solve the problems raised in the above background art.

[0005] To achieve the above object, the technical solution adopted by the utility model is as follows:

[0006] A steering structure for a wheel-legged robot, including a steering mechanism provided at the bottom of the leg. A connecting frame is fixedly connected to the lower side of the steering mechanism, and a walking wheel for the movement of the robot is assembled at the outer end of the connecting frame;

[0007] The steering mechanism includes a chassis fixedly connected to the bottom of the leg. A large-diameter bearing that can rotate is embedded at the bottom of the chassis. A driven pulley is sleeved outside the large-diameter bearing. The bottom of the driven pulley is fixedly connected to a fixing frame through a plurality of groups of bolts, and the fixing frame is welded and fixed to the connecting frame. An overhead fixing frame is installed on the chassis on the right side of the leg through bolts. A driven gear that can rotate is assembled inside the fixing frame. A driving pulley is fixedly connected to the lower side of the driven gear. The driving pulley is in transmission connection with the driven pulley through a belt. A motor is installed on the fixing frame. A driving gear is assembled at the output end of the motor, and the driving gear is in meshing transmission connection with the driven gear.

[0008] Further, the traveling wheel is composed of a tire, a snap cover, and a hub. The tire is sleeved outside the hub. Snap covers are assembled on both the left and right sides of the hub. The hub is rotatable relative to the snap cover. The right snap cover is fixedly connected to the lower end of the connecting frame. The two snap covers are connected by a coupling shaft. And the left snap cover is fixedly connected to the left end of the coupling shaft through a fastening bolt. A ring gear is fixedly provided on the inner side wall of the hub. A stepper motor is installed on the right snap cover. A driving gear is installed on the output end of the stepper motor. And the driving gear is in meshing transmission connection with the ring gear.

[0009] Further, a circle of outwardly protruding clamping blocks is provided on the inner side surface of the hub near the edge. A sliding groove adapted to the clamping blocks is provided on the circumferential surface of the snap cover. The hub is rotationally connected to the snap cover by the clamping blocks being snapped into the sliding grooves.

[0010] Further, a plurality of groups of rotatable rollers are equiangularly embedded at the bottom of the sliding groove. And the outer surface of the roller is in contact connection with the outer surface of the clamping block.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] 1. In the utility model, the motor in the steering mechanism drives the driving gear, and then drives the driven gear and the driven pulley to rotate. Finally, the traveling wheel is rotated through belt transmission. This design allows the traveling wheel to rotate at a large angle relative to the support leg, and even achieve in-situ lateral movement, greatly improving the steering flexibility and terrain adaptability of the robot.

[0013] 2. Since the traveling wheel of the utility model can independently control the rotation speed and direction, the robot can rotate while moving. This compound motion mode enables the robot to more easily cross complex terrains, such as narrow spaces, rough roads, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic diagram of the overall structure of the utility model.

[0015] Figure 2 is a schematic diagram of the structure of the utility model from another angle.

[0016] Figure 3 is a schematic diagram of the overall disassembled structure of the utility model.

[0017] Figure 4 is a schematic diagram of the structure of the traveling wheel in the utility model.

[0018] Figure 5 is a schematic diagram of the disassembled structure of the traveling wheel in the utility model.

[0019] Figure 6 is a cross-sectional view of the traveling wheel in the utility model.

[0020] Figure 7 This is a schematic structural diagram of the steering mechanism in the present utility model.

[0021] Figure 8 This is a schematic bottom structural diagram of the steering mechanism in the present utility model.

[0022] Figure 9 This is a schematic disassembled structural diagram of the steering mechanism in the present utility model.

[0023] In the figure: 1, outrigger; 2, steering mechanism; 21, chassis; 22, large-diameter bearing; 23, driven pulley; 24, connecting seat; 25, driving pulley; 26, belt; 27, driving gear; 28, driven gear; 29, fixing frame; 210, motor; 3, connecting frame; 4, traveling wheel; 41, tire; 42, snap cover; 421, chute; 422, roller; 43, stepper motor; 44, hub; 441, block; 45, driving gear; 46, gear ring; 47, coupling shaft; 48, fastening bolt. Specific embodiments

[0024] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0025] Embodiment:

[0026] As Figures 1 to 9 shown, a steering structure of a wheel-legged robot includes a steering mechanism 2 provided at the bottom of the outrigger 1. A connecting frame 3 is fixedly connected to the lower side of the steering mechanism 2, and a traveling wheel 4 for the movement of the robot is assembled at the outer end of the connecting frame 3;

[0027] The steering mechanism 2 includes a chassis 21 fixedly connected to the bottom of the outrigger 1. A rotatable large-diameter bearing 22 is embedded in the bottom of the chassis 21. A driven pulley 23 is sleeved outside the large-diameter bearing 22. The bottom of the driven pulley 23 is fixedly connected to a fixing bracket 29 by a plurality of groups of bolts. The fixing bracket 29 is welded and fixed to the connecting bracket 3. An overhead fixing bracket 29 is installed on the chassis 21 on the right side of the outrigger 1 by bolts. A rotatable driven gear 28 is assembled inside the fixing bracket 29. A driving pulley 25 is fixedly connected to the lower side of the driven gear 28. The driving pulley 25 is in transmission connection with the driven pulley 23 through a belt 26. A motor 210 is installed on the fixing bracket 29. A driving gear 27 is assembled on the output end of the motor 210. The driving gear 27 is in meshing transmission connection with the driven gear 28. This design solves the problem that the existing wheel-legged robot has a large turning radius due to the fixed angle of the wheel relative to the leg structure or only allowing a certain range of rotation, and cannot complete complex wheel-leg coupling motion actions such as large-angle side shift, in-place lateral shift, and moving while spinning.

[0028] In this embodiment, the walking wheel 4 is composed of a tire 41, a snap cover 42, and a wheel hub 44. The tire 41 is sleeved outside the wheel hub 44. The tire 41 serves as the outer layer of the walking wheel 4 and directly contacts the ground, providing necessary friction and grip to ensure the stable movement of the robot on various terrains. The wheel hub 44 is located inside the tire 41 and is the core component of the walking wheel 4. Snap covers 42 are assembled on both the left and right sides of the wheel hub 44. The wheel hub 44 can rotate relative to the snap covers 42. The snap covers 42 not only play a role in protecting the wheel hub 44 and the internal structure, but also the right snap cover 42 is fixedly connected to the lower end of the connecting bracket 3. The two snap covers 42 are connected by a coupling shaft 47. The left snap cover 42 is fixedly connected to the left end of the coupling shaft 47 by a fastening bolt 48. A ring gear 46 is fixedly provided on the inner side wall of the wheel hub 44. A stepper motor 43 is installed on the right snap cover 42. A driving gear 45 is installed on the output end of the stepper motor 43. The driving gear 45 is in meshing transmission connection with the ring gear 46. The stepper motor 43 provides power for the rotation of the walking wheel 4 and can precisely control the rotation speed of the walking wheel 4. When the stepper motor 43 rotates, the driving gear 45 drives the ring gear 46 to rotate, and then drives the wheel hub 44 and the tire 41 to rotate, realizing the rotation of the walking wheel 4. The structure of the walking wheel 4 adopts a modular design, and the connection between components is tight and easy to disassemble, facilitating maintenance and replacement.

[0029] In this embodiment, a circle of outwardly protruding blocks 441 is provided on the inner side surface of the wheel hub 44 near the edge. A chute 421 adapted to the blocks 441 is provided on the annular surface of the snap cover 42. The wheel hub 44 is rotationally connected to the snap cover 42 by the blocks 441 being snapped into the chute 421. The matching design of the blocks 441 and the chute 421 ensures the stable connection between the wheel hub 44 and the snap cover 42. The blocks 441 can be firmly snapped into the chute 421 and are not easily detached or loosened even during high-speed rotation or under large loads.

[0030] In this embodiment, a plurality of groups of rotatable rollers 422 are equiangularly embedded at the bottom of the chute 421, and the outer surface of the roller 422 is in contact connection with the outer surface of the clamping block 441. The introduction of the roller 422 makes the rotation of the clamping block 441 in the chute 421 smoother, can reduce the frictional resistance when the walking wheel 4 rotates, reduce the jamming and frictional noise during the rotation process. In addition, the rolling friction reduces the direct contact between the clamping block 441 and the chute 421, thereby reducing the wear degree and prolonging the service life of the walking wheel 4.

[0031] The working principle of this wheel-leg robot steering structure: The walking wheel 4 is composed of components such as a tire 41, a clamping cover 42, a hub 44, a coupling shaft 47, a stepping motor 43, a driving gear 45 and a gear ring 46. The stepping motor 43 is installed on the right clamping cover 42, and the driving gear 45 at its output end is in meshing transmission connection with the gear ring 46 on the inner side wall of the hub 44. When the stepping motor 43 rotates, the driving gear 45 drives the gear ring 46 to rotate, and then drives the hub 44 and the tire 41 to rotate, realizing the rotation of the walking wheel 4. The structure of the walking wheel 4 adopts a modular design, and the connection between each component is tight and easy to disassemble, which is convenient for maintenance and replacement, improving the maintainability and service life of the robot. The steering mechanism 2 includes components such as a chassis 21, a large-diameter bearing 22, a driven pulley 23, a fixing frame 29, a driven gear 28, a driving pulley 25, a motor 210 and a driving gear 27. The motor 210 drives the driven gear 28 to rotate through the driving gear 27 at its output end. The driven gear 28 is fixedly connected to the driving pulley 25, so the driving pulley 25 rotates accordingly. The driving pulley 25 is in transmission connection with the driven pulley 23 through a belt 26, driving the driven pulley 23 to rotate. Since the driven pulley 23 is sleeved on the outer side of the large-diameter bearing 22 at the bottom of the chassis 21 and is fixedly connected to the connecting frame 3 through the fixing frame 29, when the driven pulley 23 rotates, it will drive the entire connecting frame 3 and the walking wheel 4 to rotate around the axis of the large-diameter bearing 22. This rotational movement enables the robot to perform complex wheel-leg coupling movement actions such as large-angle side shift and in-situ transverse shift, significantly improving the steering flexibility and terrain adaptability of the robot.

[0032] Obviously, the above-mentioned embodiments of the present invention are merely examples for clearly explaining the present invention, rather than limitations on the implementation manners of the present invention. For those of ordinary skill in the art, other different forms of changes or variations can be made on the basis of the above description. It is impossible to list all the implementation manners here. Any obvious changes or variations derived from the technical solutions of the present invention still fall within the protection scope of the present invention.

Claims

1. A steering structure for a wheel-legged robot, characterized in that: It includes a steering mechanism (2) provided at the bottom of the outrigger (1). A connecting frame (3) is fixedly connected to the lower side of the steering mechanism (2), and a traveling wheel (4) for the movement of the robot is assembled at the outer end of the connecting frame (3). The steering mechanism (2) includes a chassis (21) fixedly connected to the bottom of the outrigger (1). A large-diameter bearing (22) that can rotate is embedded at the bottom of the chassis (21). A driven pulley (23) is sleeved outside the large-diameter bearing (22). The bottom of the driven pulley (23) is fixedly connected to a fixing frame (29) by multiple groups of bolts. The fixing frame (29) is welded and fixed to the connecting frame (3). An overhead fixing frame (29) is installed on the chassis (21) on the right side of the outrigger (1) by bolts. A driven gear (28) that can rotate is assembled inside the fixing frame (29). A driving pulley (25) is fixedly connected to the lower side of the driven gear (28). The driving pulley (25) is in transmission connection with the driven pulley (23) through a belt (26). A motor (210) is installed on the fixing frame (29). A driving gear (27) is assembled at the output end of the motor (210), and the driving gear (27) is in meshing transmission connection with the driven gear (28).

2. The steering structure of the wheel-legged robot according to claim 1, wherein: The traveling wheel (4) is composed of a tire (41), a retaining cap (42), and a wheel hub (44). The tire (41) is sleeved outside the wheel hub (44). Retaining caps (42) are assembled on both the left and right sides of the wheel hub (44). The wheel hub (44) can rotate relative to the retaining cap (42). The retaining cap (42) on the right is fixedly connected to the lower end of the connecting frame (3). The two retaining caps (42) are connected by a coupling shaft (47). The retaining cap (42) on the left is fixedly connected to the left end of the coupling shaft (47) by a fastening bolt (48). A toothed ring (46) is fixedly provided on the inner side wall of the wheel hub (44). A stepping motor (43) is installed on the retaining cap (42) on the right. A driving gear (45) is installed at the output end of the stepping motor (43), and the driving gear (45) is in meshing transmission connection with the toothed ring (46).

3. The steering structure of the wheel-legged robot according to claim 2, wherein: A circle of outwardly protruding clamping blocks (441) is provided on the inner surface of the wheel hub (44) near the edge. A sliding groove (421) adapted to the clamping blocks (441) is formed on the circumferential surface of the retaining cap (42). The wheel hub (44) is rotationally connected to the retaining cap (42) by clamping the clamping blocks (441) into the sliding groove (421).

4. The steering structure of the wheel-legged robot according to claim 3, characterized in that: Multiple groups of rotatable rollers (422) are embedded at equal angles at the bottom of the sliding groove (421), and the outer surface of the rollers (422) is in contact with the outer surface of the clamping blocks (441).

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