Large-wheel-diameter cross-country type double-wheel-leg robot

Abstract

The utility model discloses a large-wheel-diameter cross-country type double-wheel-leg robot which comprises a main body assembly, and the main body assembly comprises a robot control main body. The cleaning assembly comprises a first electric push rod, a connecting block, a first movable groove, a second electric push rod, a movable block and a second movable groove; the first electric push rod is fixedly installed in the middle of the lower surface of the robot control body, the connecting block is fixedly connected to the output end of the first electric push rod, the first movable groove is formed in one side of the outer surface of the connecting block, the second electric push rod is fixed to the lower surface of the connecting block, and the movable block is connected to the output end of the second electric push rod. The second movable groove is formed in one side of the outer surface of the movable block. The utility model has the advantages that soil is scraped off from the bottom wheel, the soil adhered to the bottom wheel can be quickly and effectively removed, the requirement of manual intervention is reduced, the operation efficiency of the robot is improved, and the capability of maintaining high efficiency performance in complex terrains is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of two-wheeled leg robots, in particular to a large-wheel-diameter off-road two-wheeled leg robot. Background Art

[0002] The large-wheeled, off-road, two-wheeled, legged robot is an advanced robot that combines the features of both wheeled and legged robots. Its design enables efficient mobility in complex terrain, improving its adaptability and obstacle-crossing capabilities in unstructured environments. Its development has promoted research in multiple fields, including robotics, mechanical engineering, and artificial intelligence, particularly in enhancing robot autonomy and adaptability.

[0003] When existing large-wheel-diameter off-road two-wheeled legged robots move on muddy ground, the robot's wheels are easily adhered to a thick layer of mud. As the mud accumulates on the wheels, the overall weight of the robot increases, which exceeds the expected load during design, thereby affecting the robot's stability and reliability. Utility Model Content

[0004] The purpose of the present utility model is to provide a large-wheel diameter off-road two-wheel leg robot to solve the problem raised in the above-mentioned background technology that when the existing large-wheel diameter off-road two-wheel leg robot moves on muddy ground, the wheels of the robot are easily adhered to a thick layer of mud. As the mud accumulates on the wheels, the overall weight of the robot increases, which exceeds the expected load during design, thereby affecting the stability and reliability of the robot.

[0005] In order to solve the above technical problems, the present invention is achieved through the following technical solutions:

[0006] The utility model is a large-wheel-diameter off-road two-wheeled leg robot, comprising:

[0007] A main body component, the main body component including a robot control body;

[0008] A cleaning assembly, comprising a first electric push rod, a connecting block, a first movable groove, a second electric push rod, a movable block, and a second movable groove;

[0009] The first electric push rod is fixedly installed in the middle of the lower surface of the robot control body, the connecting block is fixedly connected to the output end of the first electric push rod, and the first movable groove is opened on one side of the outer surface of the connecting block. The second electric push rod is fixed on the lower surface of the connecting block, the movable block is connected to the output end of the second electric push rod, and the second movable groove is opened on one side of the outer surface of the movable block.

[0010] Furthermore, the main body assembly further includes a first toggle, a second toggle, and a bottom wheel;

[0011] The first toggle is movably connected to the middle of one side of the outer surface of the robot control body, the second toggle is rotatably connected to one side of the outer surface of the first toggle, and the bottom wheel is movably connected to one side of the outer surface of the second toggle;

[0012] Among them, two first elbow joints, two second elbow joints and two bottom wheels are provided, respectively on both sides of the outer surface of the robot control body.

[0013] Furthermore, a first movable shaft is passed through the inside of the second movable groove, a connecting rod is passed through the middle of the outer surface of the first movable shaft, the other end of the connecting rod is passed through the second movable shaft, an opening and closing rod is movably passed through the outer surface of the second movable shaft, a scraper is fixed on one side of the outer surface of the opening and closing rod, and a third movable shaft is passed through one end of the outer surface of the opening and closing rod.

[0014] Furthermore, the third movable shaft passes through the first movable groove, the second electric push rod passes through the connecting block, and there are two first movable grooves, which are respectively located on both sides of the connecting block, and there are two opening and closing rods, which are respectively movably installed in the two first movable grooves.

[0015] Further, it includes removing the component;

[0016] The removal assembly includes a fixing frame, a mounting slot, a connecting frame, and fixing bolts;

[0017] The fixing frame is fixedly installed on one side of the upper surface of the robot control body, the installation groove is opened on one side of the upper end of the fixing frame, the connecting frame passes through the inside of the installation groove, and the fixing bolts pass through the fixing frame and the connecting frame.

[0018] Furthermore, two removal components are provided, which are respectively installed on both sides of the upper surface of the robot control body, and the outer surface of the connecting frame is in contact with the scraper.

[0019] Compared with the prior art, the advantages of the present invention are:

[0020] 1. The utility model provides a first electric push rod, a connecting block, a first movable groove, a second electric push rod, a movable block, a second movable groove, a first movable shaft, a connecting rod, a second movable shaft, an opening and closing rod, a scraper, and a third movable shaft. When the robot moves on muddy ground, the robot will start the first electric push rod and the second electric push rod through an external control module. First, the first electric push rod will extend outward to move the connecting block outward. Then, the second electric push rod will shorten downward to drive the movable block to move downward. At the same time, under the rotation connection of the first movable shaft, the second movable shaft, and the third movable shaft, the connecting rod will tend to be horizontal downward, and at the same time drive the opening and closing rod to be horizontal, drive the scraper to contact with the bottom wheel, and during the rotation movement of the bottom wheel, the mud will be scraped off the bottom wheel, which can quickly and effectively remove the mud adhering to the bottom wheel, reduce the need for manual intervention, improve the operating efficiency of the robot, and improve its ability to maintain high efficiency in complex terrain.

[0021] 2. Based on beneficial effect 1, through the set fixing frame, mounting groove, connecting frame and fixing bolts, after the mud on the bottom wheel is removed, the outer surface of the scraper may still be stained with mud. At this time, through the reverse operation of the second electric push rod, the second electric push rod is extended, driving the movable block to move upward, and the connecting rod tends to move vertically, and at the same time the opening and closing rod is closed to the middle. When the opening and closing rod is closed to the middle, the scraper contacts the connecting frame and pushes the mud on the scraper down. By automatically removing the mud on the scraper, the robot can perform cleaning operations continuously without frequent manual intervention for cleaning or maintenance, thereby improving the overall operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0023] Figure 1 This is a schematic diagram of the main components of the utility model;

[0024] Figure 2 This is a schematic diagram of the cleaning component of the utility model Figure 1 ;

[0025] Figure 3 Schematic diagram of the cleaning component of the utility model Figure 2 ;

[0026] Figure 4 This is a structural diagram of the utility model without components.

[0027] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0028] 11. Robot control body; 12. First elbow joint; 13. Second elbow joint; 14. Bottom wheel;

[0029] 21. First electric push rod; 22. Connecting block; 221. First movable slot; 23. Second electric push rod; 24. Movable block; 241. Second movable slot; 25. First movable shaft; 26. Connecting rod; 261. Second movable shaft; 27. Opening and closing lever; 28. Scraper; 29. ​​Third movable shaft;

[0030] 31. Fixing bracket; 32. Mounting slot; 33. Connecting bracket; 34. Fixing bolt. DETAILED DESCRIPTION

[0031] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0032] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0033] Next, the present invention is described in detail with reference to schematic diagrams. For ease of illustration, cross-sectional views of device structures may be partially enlarged and not to scale when describing the embodiments of the present invention. Furthermore, the schematic diagrams are merely illustrative and should not limit the scope of protection of the present invention. Furthermore, in actual production, three-dimensional dimensions, including length, width, and depth, should be included.

[0034] In order to make the purpose, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be described in further detail below with reference to the accompanying drawings.

[0035] See also Figure 1-Figure 3 As shown, this embodiment is a large-wheel-diameter off-road two-wheeled legged robot, comprising:

[0036] The main body component includes a robot control body 11;

[0037] The main assembly further includes a first toggle 12, a second toggle 13, and a bottom wheel 14;

[0038] The first toggle 12 is movably connected to the middle of one side of the outer surface of the robot control body 11, the second toggle 13 is rotatably connected to one side of the outer surface of the first toggle 12, and the bottom wheel 14 is movably connected to one side of the outer surface of the second toggle 13;

[0039] The first elbow joint 12, the second elbow joint 13 and the bottom wheel 14 are provided in two pieces, respectively on both sides of the outer surface of the robot control body 11;

[0040] The first toggle 12 is movably connected to the middle of one side of the outer surface of the robot control body 11. This layout helps provide sufficient support and flexibility, allowing the robot to maintain balance and maneuverability in changing terrain. The second toggle 13 is rotatably connected to one side of the outer surface of the first toggle 12. This design allows the second toggle to automatically adjust its angle according to different terrain, thereby optimizing the ground contact and obstacle crossing efficiency of the bottom wheel 14.

[0041] The cleaning assembly includes a first electric push rod 21, a connecting block 22, a first movable groove 221, a second electric push rod 23, a movable block 24, and a second movable groove 241;

[0042] The first electric push rod 21 is fixedly mounted on the middle portion of the lower surface of the robot control body 11, the connecting block 22 is fixedly connected to the output end of the first electric push rod 21, and the first movable groove 221 is provided on one side of the outer surface of the connecting block 22. The second electric push rod 23 is fixed to the lower surface of the connecting block 22, the movable block 24 is connected to the output end of the second electric push rod 23, and the second movable groove 241 is provided on one side of the outer surface of the movable block 24.

[0043] The first electric push rod 21 is fixed to the middle of the lower surface of the robot control body 11. Its telescopic movement can drive the connecting block 22 to move outward. The second electric push rod 23 is installed below the connecting block 22. Through its up and down movement, it drives the movable block 24 to automatically adjust the position of the opening and closing rod 27 and the position of the scraper 28 to meet the cleaning needs;

[0044] A first movable shaft 25 extends through the interior of the second movable groove 241 . A connecting rod 26 extends through the middle of the outer surface of the first movable shaft 25 . A second movable shaft 261 extends through the other end of the connecting rod 26 . An opening and closing rod 27 extends movably through the outer surface of the second movable shaft 261 . A scraper 28 is fixed to one side of the outer surface of the opening and closing rod 27 . A third movable shaft 29 extends through one end of the outer surface of the opening and closing rod 27 .

[0045] The opening and closing lever 27 is mounted via a third movable shaft 29 and can automatically adjust its position when the robot moves, ensuring that the scraper 28 is in close contact with the bottom wheel 14;

[0046] Working principle:

[0047] When moving on muddy ground;

[0048] The robot activates the first electric push rod 21 and the second electric push rod 23 through the external control module;

[0049] First, the first electric push rod 21 extends outward, moving the connecting block 22 outward, and then the second electric push rod 23 shortens downward, driving the movable block 24 to move downward;

[0050] At the same time, under the rotation connection of the first movable shaft 25, the second movable shaft 261, and the third movable shaft 29, the connecting rod 26 tends to be horizontal downward, and drives the opening and closing rod 27 to be horizontal, driving the scraper 28 to contact the bottom wheel 14;

[0051] And during the rotation of the bottom wheel 14, the dirt is scraped off the bottom wheel 14, so that the dirt adhering to the bottom wheel 14 can be removed quickly and effectively;

[0052] This step reduces the need for human intervention, improves the robot's operational efficiency, and enhances its ability to maintain efficient performance in complex terrain.

[0053] See also Figure 4 As shown, this embodiment is based on the above embodiment 1 and also includes:

[0054] Remove components;

[0055] The removal assembly includes a fixing bracket 31, a mounting slot 32, a connecting bracket 33, and fixing bolts 34;

[0056] The fixing frame 31 is fixedly mounted on one side of the upper surface of the robot control body 11. The mounting groove 32 is provided on one side of the upper end of the fixing frame 31. The connecting frame 33 passes through the mounting groove 32. The fixing bolt 34 passes through the fixing frame 31 and the connecting frame 33.

[0057] The fixing frame 31 serves as the basic framework of the removal assembly and provides a stable support structure. It is installed on one side of the upper surface of the robot control body 11 to ensure the functionality and stability of the removal assembly. The connecting frame 33 is tightly connected to the fixing frame 31 inside the mounting groove 32 by fixing bolts 34 and is retracted by the opening and closing rod 27. The connecting frame 33 can remove mud from the scraper 28;

[0058] Working principle:

[0059] After removing the dirt from the bottom wheel 14;

[0060] First, the outer surface of the scraper 28 may still be stained with mud. At this time, through the reverse operation of the second electric push rod 23;

[0061] Next, the second electric push rod 23 is extended, driving the movable block 24 to move upward, and the connecting rod 26 tends to move vertically, while the opening and closing rod 27 is closed toward the middle;

[0062] When the opening and closing rod 27 is closed toward the middle, the scraper 28 contacts the connecting frame 33 and pushes the soil on the scraper 28 down;

[0063] This step automatically removes the dirt on the scraper 28, and the robot can continuously perform cleaning operations without frequent human intervention for cleaning or maintenance, thereby improving overall operating efficiency.

[0064] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "installed," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; and they may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0065] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A large-wheel-diameter off-road two-wheeled legged robot, characterized in that: include: A main body component, the main body component including a robot control body (11); A cleaning assembly, comprising a first electric push rod (21), a connecting block (22), a first movable groove (221), a second electric push rod (23), a movable block (24), and a second movable groove (241); The first electric push rod (21) is fixedly mounted on the middle portion of the lower surface of the robot control body (11); the connecting block (22) is fixedly connected to the output end of the first electric push rod (21); the first movable groove (221) is opened on one side of the outer surface of the connecting block (22); the second electric push rod (23) is fixed on the lower surface of the connecting block (22); the movable block (24) is connected to the output end of the second electric push rod (23); and the second movable groove (241) is opened on one side of the outer surface of the movable block (24).

2. A large-wheel-diameter off-road two-wheeled legged robot according to claim 1, characterized in that: The main body assembly further includes a first toggle (12), a second toggle (13), and a bottom wheel (14); The first toggle (12) is movably connected to the middle of one side of the outer surface of the robot control body (11), the second toggle (13) is rotatably connected to one side of the outer surface of the first toggle (12), and the bottom wheel (14) is movably connected to one side of the outer surface of the second toggle (13); Wherein, two first elbow joints (12), two second elbow joints (13) and two bottom wheels (14) are provided, respectively on both sides of the outer surface of the robot control body (11).

3. The large-wheel-diameter off-road two-wheeled legged robot according to claim 1, characterized in that: A first movable shaft (25) is passed through the interior of the second movable groove (241), a connecting rod (26) is passed through the middle of the outer surface of the first movable shaft (25), the other end of the connecting rod (26) is passed through the second movable shaft (261), an opening and closing rod (27) is movably passed through the outer surface of the second movable shaft (261), a scraper (28) is fixed to one side of the outer surface of the opening and closing rod (27), and a third movable shaft (29) is passed through one end of the outer surface of the opening and closing rod (27).

4. The large-wheel-diameter off-road two-wheeled legged robot according to claim 3, characterized in that: The third movable shaft (29) passes through the first movable groove (221), the second electric push rod (23) passes through the connecting block (22), and two first movable grooves (221) are provided, respectively located on both sides of the connecting block (22), and two opening and closing rods (27) are provided, respectively movably installed in the two first movable grooves (221).

5. The large-wheel-diameter off-road two-wheeled legged robot according to claim 4, characterized in that: It also includes removing components; The removal assembly includes a fixing frame (31), a mounting slot (32), a connecting frame (33), and a fixing bolt (34); The fixing frame (31) is fixedly mounted on one side of the upper surface of the robot control body (11); the mounting groove (32) is opened on one side of the upper end of the fixing frame (31); the connecting frame (33) passes through the inside of the mounting groove (32); and the fixing bolt (34) passes through the fixing frame (31) and the connecting frame (33).

6. The large-wheel-diameter off-road two-wheeled legged robot according to claim 5, characterized in that: Two removal components are provided and are respectively mounted on both sides of the upper surface of the robot control body (11), and the outer surface of the connecting frame (33) is in contact with the scraper (28).

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