Wheel-legged robot

Abstract

The utility model discloses a wheel-legged robot, which comprises a support frame, a control unit, a power supply unit and a pair of wheel-legged mechanisms, wherein the wheel-legged mechanisms are symmetrically positioned under the support frame left and right; each wheel leg mechanism comprises a first servo motor, a second servo motor, a first connecting rod mechanism, a second connecting rod mechanism and a driving wheel; the first servo motor and the second servo motor are installed on the supporting frame front and back, the top ends of the first connecting rod mechanism and the second connecting rod mechanism are connected with output shafts of the first servo motor and the second servo motor respectively, and the bottom ends of the first connecting rod mechanism and the second connecting rod mechanism are connected with the two ends of the axis of the driving wheel respectively. The control unit is installed on the supporting frame and used for controlling the first servo motor, the second servo motor and the driving wheel. The power supply unit is installed on the supporting frame and used for supplying power to the wheel-legged robot. The robot is simple in structure and high in stability, and shaking of the robot in the moving process can be reduced; control is simple and efficient, and the requirement for computing power is low.

Description

Technical Field

[0001] This application relates to the field of robot technology, and specifically to a wheel-legged robot. Background Art

[0002] In recent years, robot technologies at home and abroad have been widely applied and deeply developed in various fields. In particular, wheel-legged robots, as a type of mobile robot with superior dynamic performance and high mobility, have gradually received more and more attention. Compared with traditional wheeled or legged robots, wheel-legged robots can not only overcome terrain obstacles but also complete more complex motion tasks, and have broad application prospects in military, exploration, rescue and other fields. Utility Model Content

[0003] The purpose of this application is to provide a wheel-legged robot with a simple structure and capable of achieving efficient and stable control.

[0004] The wheel-legged robot provided by this application includes:

[0005] A support frame, a control unit, a power supply unit, and a pair of wheel-leg mechanisms symmetrically located on the left and right under the support frame;

[0006] Each wheel-leg mechanism includes a first servo motor, a second servo motor, a first link mechanism, a second link mechanism, and a driving wheel; the first servo motor and the second servo motor are installed on the support frame front and back, the tops of the first link mechanism and the second link mechanism are respectively connected to the output shafts of the first servo motor and the second servo motor, and the bottoms of the first link mechanism and the second link mechanism are respectively connected to both ends of the driving wheel axis;

[0007] The control unit is installed on the support frame and used to control the first servo motor, the second servo motor, and the driving wheel;

[0008] The power supply unit is installed on the support frame and used to supply power to the wheel-legged robot.

[0009] In some specific embodiments, the first link mechanism includes a first upper connecting rod and a first lower connecting rod rotatably connected to the lower end of the first upper connecting rod; the second link mechanism includes a second upper connecting rod and a second lower connecting rod rotatably connected to the lower end of the second upper connecting rod; the upper ends of the first upper connecting rod and the second upper connecting rod are respectively connected to the output shafts of the first servo motor and the second servo motor, and the lower ends of the first lower connecting rod and the second lower connecting rod are respectively connected to both ends of the driving wheel axis.

[0010] In some specific embodiments, the support frame further includes a pair of mounting frames and a connecting frame for connecting the pair of mounting frames; the pair of mounting frames correspond to the pair of wheel-leg mechanisms respectively, that is, each wheel-leg mechanism is respectively mounted on the corresponding mounting frame; the first servo motor and the second servo motor in each wheel-leg mechanism are respectively mounted on the corresponding mounting frame front and back, and the output shafts of the first servo motor and the second servo motor are respectively located on both sides of the mounting frame, and the tops of the first link mechanism and the second link mechanism are respectively connected to the output shafts on both sides of the mounting frame.

[0011] In some specific embodiments, the above-mentioned wheel-leg robot further includes a control box, which is mounted on the support frame, and the control unit is mounted in the control box.

[0012] In some specific embodiments, the above-mentioned wheel-leg robot further includes an obstacle avoidance detection unit, which is connected to the control unit.

[0013] Furthermore, the obstacle avoidance detection unit is mounted on the control box.

[0014] In some specific embodiments, the above-mentioned wheel-leg robot further includes a signal receiving unit, which is connected to the control unit.

[0015] Furthermore, the signal receiving unit is mounted on the control box.

[0016] In some specific embodiments, the above-mentioned wheel-leg robot further includes an IMU unit, which is connected to the control unit.

[0017] Furthermore, the IMU unit is mounted on the control box.

[0018] Compared with the prior art, the wheel-leg robot of the present application has the following beneficial effects:

[0019] The structure is simple and has high stability, which can reduce the shaking during the movement of the robot. By controlling the first servo motor, the second servo motor and the hub motor in the driving wheel, the movement posture of the robot can be controlled, etc. The control is simple and efficient, and the computing power requirement is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the present application, by reading the detailed descriptions of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0021] Figure 1 It is a schematic three-dimensional structure diagram of the wheel-leg robot according to the embodiment of the present application;

[0022] Figure 2 It is a front elevation plan view of the wheel-leg robot according to the embodiment of the present application;

[0023] Figure 3 This is the left side view plan of the wheel-leg robot in the embodiment of the present application;

[0024] Figure 4 This is the right side view plan of the wheel-leg robot in the embodiment of the present application;

[0025] Figure 5 This is the top view plan of the wheel-leg robot in the embodiment of the present application;

[0026] Figure 6 This is the bottom view of the wheel-leg robot in the embodiment of the present application;

[0027] Figure 7 This is the bottom view plan of the wheel-leg robot in the embodiment of the present application.

[0028] Reference numerals: mounting frame 1, connecting frame 2, power supply box 3, first servo motor 4, second servo motor 5, driving wheel 6, hub motor 7, first upper connecting rod 8, first lower connecting rod 9, second upper connecting rod 10, second lower connecting rod 11, sliding rotating shaft 12, control box 13, obstacle avoidance detection unit 14, signal receiving unit 15. Detailed implementation manners

[0029] Next, the technical solutions in the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings. Apparently, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0030] Please refer to the attached Figures 1 to 7 , showing the wheel-leg robot in the embodiment of the present application. Next, the structure of the wheel-leg robot of the present application will be described in detail with reference to the attached Figures 1 to 7 drawings.

[0031] The wheel-leg robot in the embodiment of the present application includes:

[0032] A support frame, a control unit, a power supply unit, and a pair of wheel-leg mechanisms are all installed on the support frame;

[0033] A control unit for controlling the power mechanism in a pair of wheel-leg mechanisms;

[0034] A power supply unit for supplying power to the wheel-leg robot;

[0035] And a pair of wheel-leg mechanisms symmetrically located on the left and right under the support frame;

[0036] Each wheel-leg mechanism includes a first servo motor 4, a second servo motor 5, a first link mechanism, a second link mechanism, and a drive wheel 6; the first servo motor 4 and the second servo motor 5 are mounted front and rear on the support frame, the tops of the first link mechanism and the second link mechanism are respectively connected to the output shafts of the first servo motor 4 and the second servo motor 5, and the bottoms of the first link mechanism and the second link mechanism are respectively connected to both ends of the axis of the drive wheel 6;

[0037] Specifically, the control unit is used to control the first servo motor 4, the second servo motor 5, and the drive wheel 6.

[0038] Specifically, the drive wheel 6 includes a wheel body and a hub motor 7 mounted at the axis of the wheel body, and the control unit controls the hub motor 7 to drive the drive wheel 6 to roll.

[0039] In this embodiment, both the first link mechanism and the second link mechanism are composed of an upper connecting rod and a lower connecting rod, wherein the lower end of the upper connecting rod and the upper end of the lower connecting rod are rotatably connected. Specifically, the first link mechanism includes a first upper connecting rod 8 and a first lower connecting rod 9 rotatably connected to the lower end of the first upper connecting rod 8; the second link mechanism includes a second upper connecting rod 10 and a second lower connecting rod 11 rotatably connected to the lower end of the second upper connecting rod 10; the first upper connecting rod 8 and the first lower connecting rod 9 can be rotatably connected through a sliding rotating shaft 12. Among them, the upper ends of the first upper connecting rod 8 and the second upper connecting rod 10 are respectively connected to the output shafts of the first servo motor 4 and the second servo motor 5, and the lower ends of the first lower connecting rod 9 and the second upper connecting rod 10 are respectively connected to both ends of the axis of the drive wheel 6.

[0040] In this application, the angle formed by the first upper connecting rod 8 and the first lower connecting rod 9 in the first link mechanism is adjustable. Similarly, the angle formed by the second upper connecting rod 10 and the second lower connecting rod 11 in the second link mechanism is adjustable. The output shaft of the first servo motor 4 is connected to the upper end of the first upper connecting rod 8, and the first servo motor 4 drives the upper end of the first upper connecting rod 8 to rotate, thereby changing the angle formed by the first upper connecting rod 8 and the first lower connecting rod 9 and controlling the telescopic movement of the first link mechanism; similarly, the output shaft of the second servo motor 5 is connected to the upper end of the second upper connecting rod 10, and the second servo motor 5 drives the second upper connecting rod 10 (the second upper connecting rod 10 in the original text seems to be repeated by mistake, assuming it should be the correct one), changing the angle formed by the second upper connecting rod 10 and the second lower connecting rod 11 and controlling the telescopic movement of the second link mechanism. By respectively controlling the telescopic movements of the first link mechanism and the second link mechanism through the first servo motor 4 and the second servo motor 5, the purpose of controlling the posture of the wheel-leg robot is achieved.

[0041] In this embodiment, the support frame further includes a pair of mounting frames 1 and a connecting frame 2 for connecting the pair of mounting frames 1; the pair of mounting frames 1 correspond to the pair of wheel-leg mechanisms respectively, that is, each wheel-leg mechanism is respectively mounted on the corresponding mounting frame 1. Specifically, the first servo motor 4 and the second servo motor 5 are respectively mounted on the corresponding mounting frames front and back, and the output shafts of the first servo motor 4 and the second servo motor 5 are respectively located on both sides of the mounting frame 1. The tops of the first link mechanism and the second link mechanism are respectively connected to the output shafts on both sides of the mounting frame 1.

[0042] In this embodiment, a control box 13 is further provided at the top of the support frame, and a power supply box 3 is provided at the bottom of the support frame. The control unit is installed in the control box 13, and the power supply unit is installed in the power supply box 3.

[0043] Furthermore, this embodiment further includes one or more of an obstacle avoidance detection unit 14, a signal receiving unit 15, and an IMU unit. The obstacle avoidance detection unit 14, the signal receiving unit 15, and the IMU unit are installed in the control box 13 and are all signal-connected to the control unit. The obstacle avoidance detection unit 14 is used to detect obstacles and send the obstacle detection information to the control unit; the signal receiving unit 15 is used to communicate with the outside world; the IMU unit is used to detect the attitude and send the attitude detection information to the control unit.

[0044] What this application provides is only the structure of the wheel-leg robot. This structure is simple and more stable, and can reduce the shaking during the movement of the robot. The control unit can control the movement of the robot by controlling the first servo motor, the second servo motor, and the drive wheels. Specifically, it can control the movement direction, attitude, etc. of the robot. The control is simple and efficient, and the computing power requirement is relatively low.

[0045] Based on the wheel-leg robot structure of this application, the function can be extended by designing a control method. Several possible control methods will be provided below, but obviously the control method does not belong to the protection scope of this application. Designed based on the obstacle detection information and the attitude detection information, when an obstacle is detected ahead, the control unit controls the wheel-leg robot according to the preset control method. For example, it can control the wheel-leg robot to stop, or control to change the movement direction of the wheel-leg robot. Even it can control the first link mechanism and the second link mechanism to quickly expand and contract to jump over the obstacle.

[0046] Note that the above is only a preferred embodiment of the present application and the technical principles applied. Those skilled in the art will understand that the present application is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments and substitutions can be made by those skilled in the art without departing from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments only. Without departing from the concept of the present application, more other equivalent embodiments can be included, all of which fall within the protection scope of the present application.

Claims

1. A wheel-legged robot, characterized in that, Comprising: A support frame, a control unit, a power supply unit, and a pair of wheel-leg mechanisms symmetrically located on the left and right under the support frame; Each wheel-leg mechanism includes a first servo motor, a second servo motor, a first link mechanism, a second link mechanism, and a driving wheel; The first servo motor and the second servo motor are mounted front and back on the support frame, the tops of the first link mechanism and the second link mechanism are respectively connected to the output shafts of the first servo motor and the second servo motor, and the bottoms of the first link mechanism and the second link mechanism are respectively connected to both ends of the driving wheel axis; The control unit is mounted on the support frame and is used to control the first servo motor, the second servo motor, and the driving wheel; The power supply unit is mounted on the support frame and is used to supply power to the wheel-leg robot.

2. The wheel-leg robot according to claim 1, wherein: The first link mechanism includes a first upper connecting rod and a first lower connecting rod rotatably connected to the lower end of the first upper connecting rod; The second link mechanism includes a second upper connecting rod and a second lower connecting rod rotatably connected to the lower end of the second upper connecting rod; The upper ends of the first upper connecting rod and the second upper connecting rod are respectively connected to the output shafts of the first servo motor and the second servo motor, and the lower ends of the first lower connecting rod and the second lower connecting rod are respectively connected to both ends of the driving wheel axis.

3. The wheel-leg robot according to claim 1, wherein: The support frame further includes a pair of mounting frames and a connecting frame for connecting the pair of mounting frames; The pair of mounting frames correspond to the pair of wheel-leg mechanisms respectively, that is, each wheel-leg mechanism is respectively mounted on the corresponding mounting frame; The first servo motor and the second servo motor in each wheel-leg mechanism are respectively mounted front and back on the corresponding mounting frame, and the output shafts of the first servo motor and the second servo motor are respectively located on both sides of the mounting frame, and the tops of the first link mechanism and the second link mechanism are respectively connected to the output shafts on both sides of the mounting frame.

4. The wheel-leg robot according to claim 1, wherein: It further includes a control box mounted on the support frame, and the control unit is mounted inside the control box.

5. The wheel-leg robot according to claim 1, wherein: It further includes an obstacle avoidance detection unit, which is connected to the control unit.

6. The wheel-leg robot according to claim 5, wherein: It further includes a control box mounted on the support frame, and the obstacle avoidance detection unit is mounted on the control box.

7. The wheel-leg robot according to claim 1, wherein: It further includes a signal receiving unit, which is connected to the control unit.

8. The wheel-leg robot according to claim 7, wherein: It further includes a control box mounted on the support frame, and the signal receiving unit is mounted on the control box.

9. The wheel-leg robot according to claim 1, wherein: It further includes an IMU unit, which is connected to the control unit.

10. The wheel-leg robot according to claim 9, wherein: It further includes a control box mounted on the support frame, and the IMU unit is mounted on the control box.

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