Four-foot wheel leg robot

Abstract

The utility model relates to the technical field of wheel-legged robots, and provides a four-foot wheel-legged robot, which comprises a robot body, a plurality of connecting parts and a plurality of wheel-legged robot legs, the number of the wheel leg assemblies is multiple, and each connecting part is provided with one wheel leg assembly; the limiting piece is arranged on the machine body, and the wheel leg assembly abuts against the limiting piece after being folded. By means of the technical scheme, the problems that in the prior art, a four-foot wheel-leg robot does not conduct operation mode switching, only wheels and legs work at the same time, and practicability is not high are solved.

Description

Technical Field

[0001] The utility model relates to the technical field of wheel-leg robots, and in particular to a four-legged wheel-leg robot. Background Art

[0002] The existing four-legged wheel-legged robot directly changes the four-legged robot's feet into wheels. When the leg motor loses power, under the action of gravity, the robot's legs will partially contact the ground and cannot naturally form a wheeled robot. That is, the existing four-legged wheel-legged robot does not switch the operating mode, and only has a mode in which the wheels and legs work at the same time, which is not very practical. Utility Model Content

[0003] The utility model provides a four-legged wheel-legged robot, which solves the problem in the related art that the existing four-legged wheel-legged robot has no operation mode switching and only has a mode in which the wheels and legs work simultaneously, which is not practical.

[0004] The technical solution of the utility model is as follows:

[0005] A quadruped wheeled robot comprising:

[0006] A fuselage body, wherein the fuselage body has a plurality of connecting parts in the circumferential direction;

[0007] There are a plurality of wheel-leg assemblies, and each of the connecting parts is provided with one wheel-leg assembly;

[0008] A limiting member is provided on the fuselage body, and the wheel leg assembly abuts against the limiting member after being folded.

[0009] Optionally, the wheel-leg assembly includes:

[0010] a hip joint connector, disposed on the connecting portion;

[0011] A thigh connecting rod, one end of which is rotatably arranged on the hip joint connecting member, and the thigh connecting rod abuts against the limiting member after being folded;

[0012] A calf connecting rod, one end of which is rotatably mounted on the other end of the thigh connecting rod, and the calf connecting rod abuts against the bottom surface of the thigh connecting rod after being folded;

[0013] The wheel is rotatably arranged on the outer side of the other end of the calf connecting rod.

[0014] Optionally, the connecting portion has a card slot and further includes:

[0015] The first driver is arranged in the slot, the hip joint connector is arranged on the output end of the first driver, and the hip joint connector is used to drive the thigh connecting rod to swing.

[0016] Optionally, also include:

[0017] The second driver is arranged on the outside of the other end of the thigh connecting rod, and the output end of the second driver is arranged on one end of the calf connecting rod. The second driver is used to drive the calf connecting rod to swing.

[0018] Optionally, also include:

[0019] The third driver is arranged at the other end of the calf connecting rod, and the output end of the third driver is arranged on the wheel. The third driver is used to drive the wheel to rotate.

[0020] Optionally, the connection between the thigh link and the calf link is a knee joint, the knee joints located on the same side of the fuselage body are arranged relative to each other, and the knee joints are inner knee structures.

[0021] Optionally, both the first driver and the second driver are servos.

[0022] Optionally, the main body of the device has a built-in battery compartment and a storage compartment.

[0023] The working principle and beneficial effects of the utility model are as follows:

[0024] The robot in this utility model possesses flexible transformation capabilities, capable of switching configurations to suit different working environments and requirements. By folding the wheel-leg assembly, the robot's footprint can be reduced when not in motion, facilitating storage and transportation. The provision of position limits ensures the accuracy and stability of the folding process, improving the robot's overall reliability. The robot features inward-facing knees, meaning both knee joints face inward. If the thigh and calf motors lose power, the entire robot folds into a wheeled configuration under the influence of gravity. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The preferred embodiments will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0026] Figure 1 This is a schematic diagram of the structure of the robot in the expanded state;

[0027] Figure 2 This is a schematic diagram of the structure of the robot in the folded state.

[0028] In the figure: 1. Body; 101. Connecting part; 1011. Slot; 2. Wheel-leg assembly; 201. Hip joint connector; 202. Thigh connecting rod; 203. Calf connecting rod; 204. Wheel; 3. First drive; 4. Second drive; 5. Third drive; 6. Limiting part; 7. Knee joint. DETAILED DESCRIPTION

[0029] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without inventive work.

[0030] To simplify the drawings, only the parts relevant to the utility model are schematically shown in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically shown or labeled. In this document, "one" not only means "only one" but also "more than one," and "several" includes "two" and "more than two."

[0031] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0032] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0033] Reference Figure 1~Figure 2 , which is an embodiment of the present utility model, proposes a quadruped wheel-leg robot, including: a body body 1, the body body 1 has a plurality of connecting parts 101 in the circumferential direction; a wheel-leg assembly 2, having a plurality of wheel-leg assemblies, each of which is provided with a wheel-leg assembly 2 on the connecting part 101; a limiting member 6, which is provided on the body body 1, and the wheel-leg assembly 2 abuts against the limiting member 6 after being folded.

[0034] In the above scheme, the main body 1 provides support and a connection base for other components. The main body 1 has several connecting portions 101 circumferentially, specifically four, located at the corners of the main body 1. These connecting portions 101 allow the wheel-leg assemblies 2 to be evenly distributed around the body, ensuring the robot's balance and stability. The wheel-leg assemblies 2 are the components that enable the robot's mobility. Multiple wheel-leg assemblies 2 are connected one-to-one with the connecting portions 101 of the main body 1, enabling the robot to possess multi-legged support and mobility capabilities. A stopper 6 is provided on the main body 1 to provide accurate positioning and support for the wheel-leg assemblies 2 when folded, ensuring that the wheel-leg assemblies 2 remain stable and horizontal in the folded state. When the robot is in normal operation, the wheel-leg assemblies 2 unfold and support the main body 1. The coordinated movement of the wheel-leg assemblies 2 enables the robot to move. When it is necessary to switch to folding mode, the wheel-leg assemblies 2 fold around their connection points with the connecting portions 101 until they abut against the stopper 6, completing the folding process. This gives the robot flexible deformation capabilities, enabling it to switch configurations to suit different working environments and needs. By folding the wheel-leg assembly 2, the robot can reduce its footprint when not in use, making it easier to store and transport. Furthermore, the provision of the stopper 6 ensures the accuracy and stability of the folding process, improving the overall reliability of the robot.

[0035] Furthermore, the wheel-leg assembly 2 includes: a hip joint connector 201, which is arranged on the connecting part 101; a thigh link 202, one end of which is rotatably arranged on the hip joint connector 201, and the thigh link 202 abuts against the limiter 6 after being folded; a calf link 203, one end of which is rotatably arranged on the other end of the thigh link 202, and the calf link 203 abuts against the bottom surface of the thigh link 202 after being folded; and a wheel 204, which is rotatably arranged on the outside of the other end of the calf link 203.

[0036] It should be noted that the robot consists of a main body and four leg branches. Each branch consists of a hip joint connector 201, a thigh link 202, a calf link 203, and a rotating wheel, each of which is driven by a motor. Limits can be set in the thigh drive joint motor, which occurs when the thigh is raised to be level with the main body; the limit occurs when the calf and thigh are folded together. The robot uses an inward-facing knee, meaning that both knee joints face inward. If the thigh and calf motors lose power, the entire robot folds into a wheeled state due to gravity.

[0037] In the above scheme, the hip joint connector 201 serves as a connector between the wheel-leg assembly 2 and the connection portion 101 of the main body 1, connecting the wheel-leg assembly 2 to the drive device of the fuselage, realizing power transmission, and providing a support point for the rotation of the thigh connecting rod 202. One end of the thigh connecting rod 202 is rotatably connected to the hip joint connector 201, and the other end is connected to the shank connecting rod 203. The length and material of the thigh connecting rod 202 determine the extension range and strength of the leg. The shank connecting rod 203 is connected to the thigh connecting rod 202. The length and structure of the shank connecting rod 203 affect the overall shape and movement flexibility of the leg. The shank connecting rod 203 can be folded so that the leg can be compactly stored when not needed or when the vehicle has a serious power outage, allowing the wheel-legged robot to continue moving in the vehicle state. The wheels 204 are located on the outside of the shank connecting rod 203 and are the direct components of the robot that contact the ground and achieve movement.

[0038] During robot movement, the hip joint connector 201, driven by the first driver 3, drives the thigh link 202 to swing, thereby adjusting the position and posture of the leg. Simultaneously, the second driver 4 drives the shank link 203 to swing relative to the thigh link 202, further precisely controlling the leg's movement. Driven by the third driver 5, the wheels 204 rotate, enabling the robot to move forward, backward, and turn. When the leg needs to be folded, the thigh link 202 folds upward until it abuts the limiter 6, and the shank link 203 folds inward to abut the bottom surface of the thigh link 202. This layered wheel-leg assembly 2 design makes leg movement more flexible and precise. By controlling the movement of different joints separately with multiple drivers, complex gaits and movements can be achieved. The independent drive of the wheels 204 also improves the robot's mobility and adaptability. While ensuring the robot's normal function, the folding structure of the leg effectively reduces its size, making it convenient for use or storage in confined spaces.

[0039] Furthermore, the connecting portion 101 has a slot 1011 and also includes: a first driver 3, which is arranged in the slot 1011, and a hip joint connector 201 is arranged on the output end of the first driver 3, and the hip joint connector 201 is used to drive the thigh connecting rod 202 to swing.

[0040] In the above scheme, the slot 1011 of the connecting portion 101 provides a stable installation location for the first driver 3. The shape and size of the slot 1011 match the first driver 3, ensuring that the driver can be firmly fixed to the connecting portion 101. The first driver 3 serves as the power source of the hip joint connector 201 and can provide sufficient torque to drive the thigh connecting rod 202 to swing. The first driver 3 is installed in the slot 1011 and is tightly connected to the hip joint connector 201 to ensure the high efficiency of power transmission. When the robot receives a motion command, the control system sends a signal to the first driver 3. The first driver 3 rotates its output shaft according to the signal, and the output shaft drives the hip joint connector 201 to rotate, thereby causing the thigh connecting rod 202 to swing around the hip joint connector 201, realizing actions such as lifting, lowering, and moving the leg forward and backward. The slot 1011 structure makes the installation of the first driver 3 more stable, reduces the shaking and loosening of the driver during the robot's movement, and improves the stability and reliability of the robot. At the same time, through the precise control of the hip joint connector 201 by the first driver 3, accurate movement of the thigh link 202 can be achieved, providing a basis for the flexible movement of the robot.

[0041] Furthermore, it also includes: a second driver 4, which is arranged on the outside of the other end of the thigh connecting rod 202, and the output end of the second driver 4 is arranged on one end of the calf connecting rod 203, and the second driver 4 is used to drive the calf connecting rod 203 to swing.

[0042] In the above scheme, the second actuator 4 is mounted on the outside of the other end of the thigh link 202 and directly connected to the shank link 203. It is a key component that controls the movement of the shank link 203 relative to the thigh link 202. The position and connection of the second actuator 4 ensure efficient power transmission, driving the shank link 203 to swing. During robot motion, according to the control system's instructions, the output shaft of the second actuator 4 rotates, driving the shank link 203 to swing around its connection point with the thigh link 202. By working in conjunction with the first actuator 3, more complex and precise leg movements, such as knee flexion and extension, can be achieved. The provision of the second actuator 4 enables independent control of the movement of the shank link 203, increasing the freedom of leg movement. Through coordinated control with the first actuator 3, a movement pattern closer to that of a biological leg can be simulated, improving the robot's adaptability and mobility in complex terrain.

[0043] Furthermore, it also includes: a third driver 5, which is arranged at the other end of the calf connecting rod 203, and the output end of the third driver 5 is arranged on the wheel 204, and the third driver 5 is used to drive the wheel 204 to rotate.

[0044] In the above scheme, the third actuator 5 is located at the other end of the shank link 203 and directly connected to the wheel 204, providing the power source for the rotation of the wheel 204. The structure and connection method of the third actuator 5 ensure efficient power transmission to the wheel 204, enabling rapid and stable rotation of the wheel 204. When the robot needs to move, the control system sends a signal to the third actuator 5, which then rotates the wheel 204 accordingly. By adjusting the speed and direction of the third actuator 5, the robot can achieve various movement modes, including forward, backward, and turning. The independent control of the wheel 204 by the third actuator 5 makes the robot's movement more flexible and precise. The speed and direction of the wheel 204 can be quickly adjusted to suit different terrain and task requirements, improving the robot's mobility efficiency and adaptability. This structure also facilitates maintenance and replacement of the wheel 204.

[0045] Furthermore, the connection between the thigh link 202 and the calf link 203 is a knee joint 7. The knee joints 7 located on the same side of the fuselage body 1 are arranged relative to each other, and the knee joints 7 are inner knee structures.

[0046] In the above scheme, the knee joint 7 is located at the connection between the thigh link 202 and the calf link 203, and is an inner knee structure. The relative arrangement of the knee joints 7 on the same side is conducive to the robot turning and moving in a narrow space. During the movement of the robot, the knee joint 7 bends and stretches with the swing of the thigh link 202 and the calf link 203. The inner knee structure enables the leg to be closer to the fuselage main body 1 when bending, reduces the space occupied by the robot during movement, and improves the robot's ability to pass through narrow passages. The knee joint 7 of the inner knee structure improves the movement flexibility and spatial adaptability of the robot's legs. It enables the robot to move more freely in complex environments, such as in a small room or pipe. At the same time, this structure also makes the appearance of the robot more natural and beautiful, conforms to the principles of biomechanics, and helps to improve the overall performance of the robot.

[0047] Furthermore, the first driver 3 and the second driver 4 are both steering gears.

[0048] In the above scheme, it is clearly stated that both the first actuator 3 and the second actuator 4 are servos. Servos are characterized by their small size, light weight, high control precision, and moderate torque, making them suitable for driving robot joints. Servos receive electrical signals from a control system and precisely adjust the angle of their output shafts based on the magnitude and direction of the signals. In the robot, the first actuator 3 and the second actuator 4 act as joint actuators, accurately controlling the movement angles of the thigh link 202 and the shank link 203 according to different motion commands, achieving precise movement of the robot's legs. Using servos as actuators offers numerous advantages. First, their high control precision enables fine movement of the robot's legs, improving the robot's flexibility and accuracy. Second, their moderate torque meets the demands of robot joint motion while avoiding problems caused by excessive or insufficient torque. Furthermore, the servos' small size and light weight help reduce the robot's overall weight and volume, improving its portability and flexibility.

[0049] Furthermore, the body 1 has a built-in battery compartment and a storage compartment.

[0050] In the above scheme, the main body 1 of the fuselage has a built-in battery compartment and a storage compartment: the battery compartment is used to store the battery pack that provides power to the robot. Its position and size are reasonably designed to ensure the stable placement of the battery and convenient replacement. The storage compartment can be used to store some items related to the robot's work, such as sensors, tools, etc. During the use of the robot, the batteries in the battery compartment provide power to the robot's various drives and electronic devices. When the battery needs to be replaced, the battery compartment can be easily opened for operation. The storage compartment can store or remove relevant items at any time as needed, which is convenient for the use of the robot in different working environments. The design of the battery compartment facilitates the management and replacement of batteries, and improves the convenience and sustainability of the robot. The existence of the storage compartment allows the robot to carry some necessary tools and sensors, enhances the implementation function and adaptability, and enables it to complete tasks in more complex environments.

[0051] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, and all of these should be included in the scope of the claims of the present invention.

Claims

1. A quadruped wheeled robot, characterized in that: include: A fuselage main body (1), the fuselage main body (1) having a plurality of connecting portions (101) in the circumferential direction; There are a plurality of wheel-leg assemblies (2), and each of the connecting parts (101) is provided with one wheel-leg assembly (2); A limiting member (6) is provided on the fuselage body (1), and the wheel leg assembly (2) abuts against the limiting member (6) after being folded.

2. A quadruped wheeled robot according to claim 1, characterized in that: The wheel-leg assembly (2) comprises: A hip joint connector (201) is provided on the connecting portion (101); A thigh connecting rod (202), one end of which is rotatably mounted on the hip joint connecting member (201), and the thigh connecting rod (202) abuts against the limiting member (6) after being folded; A calf connecting rod (203) has one end rotatably disposed on the other end of the thigh connecting rod (202), and the calf connecting rod (203) abuts against the bottom surface of the thigh connecting rod (202) after being folded; The wheel (204) is rotatably arranged on the outer side of the other end of the calf connecting rod (203).

3. A quadruped wheeled robot according to claim 2, characterized in that: The connecting portion (101) has a slot (1011) and further comprises: The first driver (3) is arranged in the slot (1011), and the hip joint connector (201) is arranged on the output end of the first driver (3). The hip joint connector (201) is used to drive the thigh connecting rod (202) to swing.

4. A quadruped wheeled robot according to claim 3, characterized in that: Also includes: The second driver (4) is arranged outside the other end of the thigh connecting rod (202), and the output end of the second driver (4) is arranged on one end of the calf connecting rod (203). The second driver (4) is used to drive the calf connecting rod (203) to swing.

5. A quadruped wheeled robot according to claim 2, characterized in that: Also includes: A third driver (5) is provided at the other end of the calf connecting rod (203), and an output end of the third driver (5) is provided on the wheel (204). The third driver (5) is used to drive the wheel (204) to rotate.

6. A quadruped wheeled robot according to claim 2, characterized in that: The connection point between the thigh connecting rod (202) and the calf connecting rod (203) is a knee joint (7), and the knee joints (7) located on the same side of the fuselage main body (1) are arranged relative to each other, and the knee joints (7) are inner knee structures.

7. The quadruped wheeled robot according to claim 4, characterized in that: The first driver (3) and the second driver (4) are both steering gears.

8. The quadruped wheeled robot according to claim 1, characterized in that: The main body (1) has a built-in battery compartment and a storage compartment.

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