Double-wheel-foot and four-wheel-foot switchable robot

Abstract

The utility model discloses a double-wheel-foot and four-wheel-foot switchable robot, which relates to the technical field of robots, and comprises a robot main body, the upper part of the robot main body is connected with a camera module, and two internal wheel-leg devices and two external wheel-leg devices which are symmetrically arranged are hinged to two sides of the robot main body; an internal walking device is arranged on the lower portion of the internal wheel leg device, an external walking device is arranged on the lower portion of the external wheel leg device, and the internal walking device and the external walking device are detachably connected under the cooperation of the internal wheel leg device and the external wheel leg device to form a four-wheel two-foot state or a four-wheel four-foot state. According to the utility model, the two groups of symmetrically arranged internal wheel leg devices and external wheel leg devices are arranged on the robot main body and are matched with the internal walking device and the external walking device, so that the internal walking device and the external walking device are detachably connected, and finally, a four-wheel two-foot state and a four-wheel four-foot state which can be switched are formed; and different terrain scenes can be flexibly coped with.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a wheeled mobile robot. Background Art

[0002] Currently, the more common mobile robots include wheeled robots, tracked robots and legged robots. Among them, wheeled robots have the advantages of good maneuverability and high energy efficiency, while legged robots have stronger terrain adaptability because their landing points are discontinuous and they can achieve short-term contact with the ground through actions such as jumping. However, due to the complex control of their movement process, legged mobile robots have problems such as slow movement speed and high energy consumption. If legged robots can be combined with wheeled robots, they will be able to better adapt to the operating requirements of different environments. Utility Model Content

[0003] In view of the deficiencies in the above-mentioned background technology, the present invention proposes a robot with two-wheeled legs and four-wheeled legs that can be switched, which solves the problems in the prior art of excessive energy consumption of two-wheeled legs robots in a balanced state and inflexible posture adjustment of four-wheeled legs robots.

[0004] The technical solution of the present invention is implemented as follows: a two-wheeled and four-wheeled switchable robot includes a robot body, the upper part of the robot body is connected to a camera module, two symmetrically arranged internal wheel-leg devices and two external wheel-leg devices are hinged on both sides of the robot body, the lower part of the internal wheel-leg device is provided with an internal walking device, and the lower part of the external wheel-leg device is provided with an external walking device, and the internal walking device and the external walking device are detachably connected with the cooperation of the internal wheel-leg device and the external wheel-leg device to realize the switching between the two-wheeled and four-wheeled mode.

[0005] Further preferably, the internal running device includes an internal wheel protection shell, an internal running wheel is provided in the internal wheel protection shell, an internal wheel drive motor is provided on the internal running wheel, and the internal wheel drive motor is located outside the internal wheel protection shell.

[0006] Further preferably, the inner wheel protection shell is connected to a fixed motor, and the output shaft of the fixed motor is connected to a wheel fixing rod.

[0007] Further preferably, the external traveling device includes an external wheel protection shell, an external traveling wheel is provided in the external wheel protection shell, an external wheel drive motor is installed on the external traveling wheel, and the external wheel drive motor is located outside the external wheel protection shell.

[0008] Further preferably, the outer wheel protection shell is provided with a wheel fixing groove that cooperates with the wheel fixing rod.

[0009] Further preferably, the external wheel-leg device and the internal wheel-leg device both include a thigh and a calf, the upper part of the thigh is connected to the drive assembly, the lower part of the thigh is hinged to the calf, and the calf is connected to the drive assembly.

[0010] Further preferably, the drive assembly includes a thigh control motor and a calf control motor connected to the thigh control motor, the thigh control motor is connected to the thigh, the output shaft of the calf control motor is connected to a calf drive rod, and the calf control motor is connected to the calf through the calf drive rod.

[0011] Further preferably, a joint protection sleeve is connected between the thigh and the calf.

[0012] Further preferably, the upper parts of the internal wheel-leg device and the external wheel-leg device are both connected to an outward expansion control rod, and the outward expansion control rod is connected to an outward expansion motor connected to the robot body.

[0013] Further preferably, the robot body is a T-shaped structure, and the upper part of the robot body is connected to two symmetrically arranged external ear plates.

[0014] The beneficial effects of the present invention are as follows: the present invention provides two groups of symmetrically arranged two internal wheel-leg devices and an external wheel-leg device on the robot body to cooperate with the internal walking device and the external walking device, thereby realizing a detachable connection between the internal walking device and the external walking device, and finally forming two switchable states of four-wheeled two-legged and four-wheeled four-legged, which can flexibly respond to different terrain scenes, expand the use scenarios of the robot, and avoid the problems of high static energy consumption and poor flexibility of four-wheeled feet when using only two wheel groups. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of 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 paying any creative work.

[0016] Figure 1 This is the state diagram of the four-wheeled and four-legged robot of this utility model;

[0017] Figure 2 This is the state diagram of the four-wheeled and two-legged robot of this utility model;

[0018] Figure 3 for Figure 2 Schematic diagram of the connection between the outer wheel protection shell and the inner wheel protection shell;

[0019] Figure 4 This is a schematic diagram of the internal wheel-leg device structure;

[0020] Figure 5 It is a left view of the utility model;

[0021] Figure 6 It is a right view of the utility model.

[0022] In the figure: 1. Camera module, 2. Robot body, 3. Internal wheel-leg device, 4. External wheel-leg device, 5. Internal walking device, 6. External walking device, 7. Internal wheel protective shell, 8. Internal walking wheel, 9. Internal wheel drive motor, 10. Fixed motor, 11. Wheel fixing rod, 12. External wheel protective shell, 13. External walking wheel, 14. External wheel drive motor, 15. Wheel fixing slot, 16. Thigh, 17. Joint protection cover, 18. Calf, 19. Calf drive rod, 20. Calf control motor, 21. Thigh control motor, 22. Outward expansion control rod, 23. Outward expansion motor, 24. Ear plate. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0024] like Figure 1 and Figure 2 As shown in Example 1, a two-wheeled foot or four-wheeled foot switchable robot includes a robot body 2, a camera module 1 is connected to the upper part of the robot body 2, two symmetrically arranged internal wheel-leg devices 3 and two external wheel-leg devices 4 are hinged on both sides of the robot body 2, an internal walking device 5 is provided at the lower part of the internal wheel-leg device 3, and an external walking device 6 is provided at the lower part of the external wheel-leg device 4. The internal walking device 5 and the external walking device 6 are detachably connected with each other in cooperation with the internal wheel-leg device 3 and the external wheel-leg device 4 to realize the switching between the two-wheeled foot mode and the four-wheeled foot mode. Two sets of symmetrically arranged two internal wheel-leg devices 3 and external wheel-leg devices 4 are provided on the robot body 2 to cooperate with the internal walking device 5 and the external walking device 6 to realize the detachable connection between the internal walking device 5 and the external walking device 6, and finally form two states that can be switched between four-wheeled two-legged and four-wheeled four-legged, which can flexibly cope with different terrain scenes, expand the use scenarios of the robot, and avoid the problems of high static energy consumption and poor flexibility of four-wheeled feet when using two wheel groups alone.

[0025] In this embodiment, the internal running device 5 includes an internal wheel protection shell 7, which houses an internal running wheel 8. The internal running wheel 8 is equipped with an internal wheel drive motor 9, which is located outside the internal wheel protection shell 7. The internal wheel protection shell 7 is connected to a fixed motor 10, and the output shaft of the fixed motor 10 is connected to a wheel fixing rod 11. The fixed motor 10 rotates to drive the wheel fixing rod 11 to rotate, thereby switching between a vertical and horizontal state. The external running device 6 includes an external wheel protection shell 12, which houses an external running wheel 13. The external running wheel 13 is equipped with an external wheel drive motor 14, which is located outside the external wheel protection shell 12. The external wheel protection shell 12 is provided with a wheel fixing groove 15 that cooperates with the wheel fixing rod 11. When the wheel fixing rod 11 is in the horizontal position, one end of the wheel fixing rod 11 engages with the wheel fixing groove 15, thereby fixing the internal wheel protection shell 7 to the external wheel protection shell 12. When the inner walking wheel 8 and the outer walking wheel 13 are in the front and rear positions, the robot is in a four-wheel mode. The cooperation between the wheel fixing rod 11 and the wheel fixing groove 15 realizes the fixation of the inner wheel protective shell 7 and the outer wheel protective shell 12. The inner walking wheel 8 and the outer walking wheel 13 form two parallel wheels, which are combined into one, so that the robot forms a four-wheel bipedal walking mode, that is, the fixed motor 10 controls the vertical or horizontal state of the wheel fixing rod 11 to realize the adjustment of the walking mode.

[0026] like Figure 1 、 Figure 2 and Figure 4~Figure 5 As shown in Example 2, a two-wheeled and four-wheeled switchable robot is shown. Unlike Example 1, the external wheel-leg device 4 and the internal wheel-leg device 3 both include a thigh 16 and a shank 18. The upper portion of the thigh 16 is connected to a drive assembly, and the lower portion of the thigh 16 is hingedly connected to the shank 18. The thigh 16 and shank 18 are connected via a bearing, and the shank 18 is connected to the drive assembly. The drive assembly includes a thigh control motor 21 and a shank control motor 20 connected to the thigh control motor 21. The thigh control motor 21 and the shank control motor 20 are two independent motors. The thigh control motor 21 drives the rotation of the thigh 16. The thigh control motor 21 is connected to the thigh 16. The output shaft of the shank control motor 20 is connected to the shank drive rod 19. The shank control motor 20 is connected to the shank 18 via the shank drive rod 19. The shank control motor 20 drives the rotation of the shank 18 via the shank drive rod 19, thereby achieving the lifting and lowering of the robot body 2, ensuring the stability of the robot body 2 during walking. A joint protection sleeve 17 is further connected between the thigh 16 and the calf 18. The thigh 16 is fixedly connected to the outer ring of the bearing, and the calf 18 is fixedly connected to the inner ring of the bearing. The joint protection sleeve 17 is sleeved outside the bearing to ensure the stability of the connection between the thigh 16 and the calf 18.

[0027] In this embodiment, the upper portions of the inner wheel-leg assembly 3 and the outer wheel-leg assembly 4 are each connected to an expansion control rod 22, which is connected to an expansion motor 23 connected to the robot body 2. The expansion control rod 22 is rotatably connected to the robot body 2 via the expansion motor 23. The expansion control rod 22 is located within a groove on the side wall of the robot body 2. The expansion control rod 22 can adjust the direction of the outer wheel-leg assembly 4 and the inner wheel-leg assembly 3, thereby increasing the flexibility of the device's travel direction adjustment. The robot body 2 has a T-shaped structure, which facilitates the coordination between the inner wheel-leg assembly 3 and the outer wheel-leg assembly 4. Two symmetrically arranged external lug plates 24 are connected to the upper portion of the robot body 2. The external lug plates 24 facilitate the installation of additional components to the robot body 2 and provide a secure mounting mechanism for the installation of other components. As another embodiment, the thigh 16 and the robot body 2 can also be connected using a fixed connection method, depending on practical needs. However, using a fixed connection between the thigh 16 and the robot body 2 reduces the flexibility of the device's travel direction adjustment to a certain extent.

[0028] Based on the wheel-legged robot, this device proposes a two-wheeled and four-wheeled switchable robot, and adds a switching function between the four-wheeled mode and the two-wheeled mode to the traditional wheel-legged robot. The traditional wheel-legged robot uses a two-wheeled or four-wheeled structure. The two-wheeled structure has higher energy consumption under static conditions, while the four-wheeled structure has poorer flexibility than the two-wheeled structure. This device can realize the mode switching between the two-wheeled and four-wheeled legs through the detachable connection between the internal walking device 5 and the external walking device 6, and flexibly respond to different terrain scenes. At the same time, this robot can adjust the opening and closing angles of the four legs through the leg expansion device, and adjust the flexibility and stability of the robot according to different task backgrounds.

[0029] The other structures are the same as those in Example 1.

[0030] like Figures 1 to 6 As shown in Example 3, a two-wheeled and four-wheeled switchable robot comprises: a robot body 2, a camera module 1, an external wheel-leg device 4, an internal wheel-leg device 3, an external wheel protective shell 12, an internal wheel protective shell 7, as shown Figure 1 As shown, the robot body 2 is connected to two external wheel-leg devices 4 and two internal wheel-leg devices 3, respectively. Figure 2 As shown, the external wheel-leg device 4 and the internal wheel-leg device 3 both have a thigh control motor 21 and a calf control motor 20 driven by independent motors. The external wheel-leg device 4 and the internal wheel-leg device 3 both have three rotating joints, namely, an upper joint, a middle joint, and a bottom joint. The three joints can rotate freely to realize the posture change of the robot. The robot can realize leg-type drive through the upper joint and the middle joint, and can also realize wheel-type drive through the bottom joint and the hub motor.

[0031] When this device is working, when the robot switches from the four-wheel foot mode to the two-wheel foot mode, the wheels of the external wheel-leg device 4 and the wheels of the internal wheel-leg device 3 are controlled at the same horizontal position under the drive of the thigh control motor 21 and the calf control motor 20 of the two. The internal wheel small motor in the wheel fixing device controls the angle of the wheel fixing rod 11, so that the wheel fixing rod 11 is stuck in the wheel fixing groove 15, fixing the inner and outer wheels to form a five-link two-wheel foot structure, obtaining stronger leg movement ability, improving movement speed and jumping ability. If the two-wheel foot mode is switched to the four-wheel foot mode, the internal wheel small motor in the wheel fixing device controls the angle of the wheel fixing rod 11, so that the wheel fixing rod 11 is disengaged from the wheel fixing groove 15, and the inner and outer wheels are separated, completing the switch to the four-wheel foot mode, obtaining stronger stability and reducing static energy consumption.

[0032] In this embodiment, the external wheel-leg device 4 and the internal wheel-leg device 3 mainly include a thigh control motor 21, a calf control motor 20, a thigh 16, a joint protection sleeve 17, a leg bearing, a calf drive rod 19, a calf 18, a wheel screw, a wheel motor, and a wheel. The thigh control motor 21 is fixed to the thigh 16 by screws, and the angle of the thigh 16 is directly controlled by the thigh control motor 21. The calf control motor 20 is connected to the calf drive rod 19, and the angle of the calf 18 is indirectly controlled by the calf drive rod 19. The thigh 16 and the calf 18 are connected together through the leg bearing. If the thigh 16 is fixed The calf 18 does not move, and the angle of the calf 18 is adjusted. At this time, the thigh 16 does not move. The calf 18 and the wheel will be controlled and adjusted by the calf control motor 20, and the height of the robot will be controlled at the same time. If the calf control motor 20 is fixed, the thigh control motor 21 cannot control the movement of the thigh 16 at this time. If the calf control motor 20 and the thigh control motor 21 are driven at the same time, the posture of the robot can be adjusted flexibly and smoothly. At the same time, a joint protection cover 17 is installed between the thigh 16 and the calf 18, and the wheel and the calf 18 are connected together by wheel screws. A wheel motor is installed inside the wheel, and the wheel is rotated by the wheel motor to perform wheel drive of the robot.

[0033] In this embodiment, the outer wheel protective shell 12 is fixed to the wheel by wheel screws, and the inner wheel protective shell is fixed to the wheel by wheel screws. The wheel fixing groove 15 is fixed on the outer wheel protective shell, and the inner diameter of the wheel fixing groove 15 is consistent with the size of the wheel fixing rod 11. The angle of the wheel fixing rod 11 is controlled by the internal wheel small motor. The wheel fixing rod 11 and the internal wheel protective shell are connected together by the internal wheel small motor. When the wheel fixing rod 11 falls, it can be stuck in the wheel fixing groove 15, fixing the inner and outer wheels to achieve the switching from the four-wheel foot mode to the two-wheel foot mode.

[0034] In this embodiment, the robot body 2 and the external wheel-leg device 4 are connected together through the external leg expansion motor 23. The expansion angle of the external wheel-leg device 4 can be adjusted by rotating the external leg expansion motor 23. The corner where the external leg expansion motor 23 is located in the robot body 2 is opened. When the external leg expansion motor 23 rotates the external wheel-leg device 4, it will not be restricted by the frame of the robot body 2. When the robot leg opening angle is larger, the stability of the robot will increase, but it will affect the normal operation of the robot and reduce the moving speed.

[0035] In this embodiment, the robot body 2 and the internal wheel-leg device 3 are connected together through the internal leg expansion motor 23. The expansion angle of the internal wheel-leg device 3 can be adjusted by rotating the internal leg expansion motor 23. The corner of the robot body 2 where the internal leg expansion motor 23 is located is opened. When the internal leg expansion motor 23 rotates the internal wheel-leg device 3, it will not be restricted by the frame of the robot body 2. When the robot leg opening angle is larger, the stability of the robot will increase, but it will affect the normal operation of the robot and reduce the moving speed.

[0036] In this embodiment, the camera module 1 is installed on the robot body 2, and can collect image data. The visual function is transplanted to the utility model, and the path planning and obstacle avoidance functions can be realized through the visual function. The robot wheel leg advantages of the utility model can also be used to complete image acquisition tasks in multiple terrains such as complex terrain and dangerous situations. At the same time, the design of the camera module 1 also balances the front and rear center of gravity of the robot, increasing the stability of the robot's movement. There are two raised frames on the upper part of the robot body 2, which can be used to expand functional modules, expand functions according to different terrains and task conditions, and meet different task requirements.

[0037] In this embodiment, the thigh control motor 21 is not connected to the calf control motor 20. The thigh control motor 21 and the calf control motor 20 are driven independently, which can realize the posture adjustment of the robot during movement. At the same time, the thigh control motor 21 can be replaced by a fixed mechanical device without using a motor. This will cause the angle of the thigh 16 to be fixed, reducing the posture change of the robot, but will not affect the balance control of the robot.

[0038] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A robot with two wheels and four wheels that can be switched, characterized by: The invention comprises a robot body (2), the upper part of the robot body (2) is connected to a camera module (1), two internal wheel-leg devices (3) and two external wheel-leg devices (4) are hingedly connected on both sides of the robot body (2), the lower part of the internal wheel-leg device (3) is provided with an internal walking device (5), and the lower part of the external wheel-leg device (4) is provided with an external walking device (6), and the internal walking device (5) and the external walking device (6) are detachably connected in cooperation with the internal wheel-leg device (3) and the external wheel-leg device (4) to realize switching between a two-wheel-leg mode and a four-wheel-leg mode.

2. The two-wheeled and four-wheeled switchable robot according to claim 1, characterized in that: The internal running device (5) comprises an internal wheel protection shell (7), an internal running wheel (8) is provided in the internal wheel protection shell (7), an internal wheel drive motor (9) is provided on the internal running wheel (8), and the internal wheel drive motor (9) is located outside the internal wheel protection shell (7).

3. The two-wheeled and four-wheeled switchable robot according to claim 2, characterized in that: The inner wheel protection shell (7) is connected to a fixed motor (10), and the output shaft of the fixed motor (10) is connected to a wheel fixing rod (11).

4. The two-wheeled and four-wheeled switchable robot according to claim 3, characterized in that: The external running device (6) comprises an external wheel protection shell (12), an external running wheel (13) is provided in the external wheel protection shell (12), an external wheel drive motor (14) is mounted on the external running wheel (13), and the external wheel drive motor (14) is located outside the external wheel protection shell (12).

5. The robot with two wheels and four wheels that can be switched according to claim 4, characterized in that: The outer wheel protection shell (12) is provided with a wheel fixing groove (15) that matches the wheel fixing rod (11).

6. The robot with two wheels and four wheels that can be switched according to any one of claims 1 to 5, characterized in that: The external wheel-leg device (4) and the internal wheel-leg device (3) both comprise a thigh (16) and a calf (18), wherein the upper portion of the thigh (16) is connected to a driving assembly, and the lower portion of the thigh (16) is hingedly connected to the calf (18), which is connected to the driving assembly.

7. The robot with two wheels and four wheels that can be switched according to claim 6, characterized in that: The driving assembly comprises a thigh control motor (21) and a calf control motor (20) connected to the thigh control motor (21), wherein the thigh control motor (21) is connected to the thigh (16), and a calf drive rod (19) is hingedly connected to the output shaft of the calf control motor (20), and the calf control motor (20) is connected to the calf (18) via the calf drive rod (19).

8. The robot with two wheels and four wheels that can be switched according to claim 7, characterized in that: A joint protection sleeve (17) is also connected between the thigh (16) and the calf (18).

9. The robot with two wheels and four wheels that can be switched according to claim 8, characterized in that: The upper parts of the internal wheel-leg device (3) and the external wheel-leg device (4) are both connected to an outward expansion control rod (22), and the outward expansion control rod (22) is connected to an outward expansion motor (23) connected to the robot body (2).

10. The robot with two wheels and four wheels that can be switched according to any one of claims 7 to 9, characterized in that: The robot body (2) is a T-shaped structure, and the upper part of the robot body (2) is connected to two symmetrically arranged external ear plates (24).

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