Multi-connecting-rod wheel-legged robot and wheel-legged robot

Abstract

The utility model relates to the technical field of wheel-legged robots, and discloses a multi-connecting-rod wheel-legged robot. The multi-connecting-rod wheel-legged robot comprises a robot body; the two wheel-leg mechanisms are arranged on the two sides of the machine body respectively; the wheel-leg mechanism comprises a thigh rod piece, a shank rod piece, a first driving piece, a second driving piece, a shank driving connecting rod mechanism, a leg center shaft and a wheel set. The end part of the inner side of the leg central shaft is fixedly arranged on the machine body; one end of the thigh rod piece rotationally sleeves the leg center shaft, and the other end of the thigh rod piece is rotationally connected with the shank rod piece; one end of the shank rod piece is rotationally connected with the thigh rod piece, the other end of the shank rod piece is rotationally provided with a wheel set, and one end of the shank driving connecting rod mechanism rotationally sleeves the leg center shaft while the other end of the shank driving connecting rod mechanism is rotationally connected with the shank rod piece. The wheel-legged robot provided by the utility model can realize self-rescue through the self wheel-legged mechanism in various states such as unbalance, toppling, rollover and turnover, so as to keep a stable balance posture.

Description

Technical Field

[0001] This utility model relates to the field of wheeled robot technology, and in particular to a multi-link wheeled robot. Background Technology

[0002] Wheeled-legged robots combine the advantages of wheeled and legged robots and are finding increasing applications. Traditional wheeled-legged robots mainly use two-degree-of-freedom parallel or serial wheel-leg mechanisms. The range of motion of these mechanisms is limited by their design or motor placement, resulting in a limited spatial reach. When the robot is subjected to severe external disturbances and fails to maintain its balance through its own algorithms, it may tip over. In such cases, the wheel-leg mechanisms cannot contact the ground and therefore cannot generate a reaction force to right the robot.

[0003] To address the issue of unbalanced, tipped-over robots often employ a guide wheel structure. This structure provides auxiliary support to the robot after an imbalance, preventing the center of gravity from crossing the fulcrum and causing a complete tip-over. In this case, the robot's legs remain in contact with the ground, allowing the joint motors and drive motors to provide a counter-torque to restore balance. Similar methods for self-rescue after a tip-over involve increasing the weight of the wheels and chassis during design, ensuring the fulcrum doesn't become too close to the legs during a tip-over. The robot can then extend and retract its legs to shift the center of gravity, generating a torque that allows the legs to cross the fulcrum and regain contact with the ground. However, neither of these methods solves the problem of a robot completely tipping over. When the robot completely tipps over or rolls to its side and cannot regain contact with the ground through its own structural movement, the limited range of motion of the legs prevents them from providing the necessary counter-force to right the robot and return it to a balanced state.

[0004] Therefore, in existing wheeled robots, the wheel-leg mechanism cannot effectively contact the ground to right the robot when it overturns. Utility Model Content

[0005] To address the aforementioned problems, the present invention aims to provide a multi-link wheeled robot that can solve the problem in the prior art where the wheeled mechanism cannot effectively contact the ground to right the robot when it overturns.

[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution: a multi-link wheeled robot, comprising:

[0007] fuselage; and

[0008] Two wheel-leg mechanisms are respectively disposed on both sides of the machine body. Each wheel-leg mechanism includes a thigh rod, a calf rod, a first drive member, a second drive member, a calf drive linkage mechanism, a leg central shaft, and a wheel assembly. The inner end of the leg central shaft is fixedly disposed on the machine body. One end of the thigh rod is rotatably sleeved on the leg central shaft, and the other end is rotatably connected to the calf rod. The first drive member is disposed on the machine body and is used to drive the thigh rod to rotate around the leg central shaft. One end of the calf rod is rotatably connected to the thigh rod, and the other end is rotatably disposed on the wheel assembly. One end of the calf drive linkage mechanism is rotatably sleeved on the leg central shaft, and the other end is rotatably connected to the calf rod. The second drive member is disposed on the machine body and is used to drive the calf drive linkage mechanism to rotate around the leg central shaft and drive the calf rod to rotate.

[0009] In one feasible embodiment, the system further includes a first driven wheel and a second driven wheel; the first driven wheel is rotatably sleeved on the central shaft of the leg, the thigh member is fixedly connected to the first driven wheel, and the first driving member drives the first driven wheel to rotate; the second driven wheel is rotatably sleeved on the central shaft of the leg, the calf drive linkage mechanism is fixedly connected to the second driven wheel, and the second driving member drives the second driven wheel to rotate.

[0010] In one feasible embodiment, the second driven wheel is connected to the lower leg drive linkage mechanism via a lower leg mounting sleeve fitted onto the central axis of the leg, and the first driven wheel is rotatably fitted onto the outside of the lower leg mounting sleeve.

[0011] In one feasible embodiment, the first driven wheel is connected to the thigh rod via a thigh mounting sleeve fitted onto the central axis of the leg, and the second driven wheel is rotatably fitted onto the outside of the thigh mounting sleeve.

[0012] In one feasible embodiment, a slip ring is provided at the outer end of the central axis of the leg.

[0013] In one feasible embodiment, at least one quadrilateral linkage is formed between the lower leg drive linkage, the thigh link, and the lower leg link.

[0014] In one feasible embodiment, the calf drive linkage mechanism includes a first drive link, a second drive link, a third drive link, and a fourth drive link; one end of the first drive link is rotatably sleeved on the central axis of the leg, and the other end is rotatably connected to one end of the second drive link; the other end of the second drive link is rotatably connected to one end of the third drive link; the other end of the third drive link is rotatably connected to one end of the fourth drive link; the other end of the fourth drive link is rotatably connected to the calf link; and the middle part of the third drive link is rotatably disposed on the thigh link, so that two quadrilateral linkage mechanisms are formed between the calf drive linkage mechanism, the thigh link, and the calf link.

[0015] In one feasible embodiment, a limiting structure is provided on the thigh member to limit the range of rotation angle of the lower leg drive linkage relative to the thigh member.

[0016] In one feasible embodiment, a gas spring rod is provided between the thigh rod and the lower leg rod.

[0017] In one feasible embodiment, the device further includes a mounting bracket fixedly mounted on the body. The mounting bracket has a first mounting position, a second mounting position, and a third mounting position. The first driving member is fixedly mounted on the first mounting position, the second driving member is fixedly mounted on the second mounting position, and the leg central shaft passes through the third mounting position.

[0018] By adopting the above technical solution, this utility model has at least the following beneficial effects:

[0019] The multi-link wheeled robot provided by this utility model has its thigh link and lower leg drive linkage assembly coaxially mounted on the central axis of the leg, ensuring that the thigh link can rotate 360 ​​degrees relative to the body. Simultaneously, the thigh link and lower leg drive linkage assembly are driven independently by a first drive component and a second drive component, respectively, ensuring that the rotational drive between the thigh and lower leg links is relatively independent and does not interfere with each other. The lower leg link can be synchronously controlled by the lower leg drive linkage assembly when the thigh link rotates. When the robot falls or overturns, by controlling the large-angle rotation of the thigh and lower leg links, the wheeled leg mechanism can move to the required spatial position regardless of the robot's posture. Utilizing the counter-support force from the ground or other terrain, the robot can change its posture and restore balance. Therefore, the robot can maintain a stable balance posture through its own wheeled leg mechanism in various states such as imbalance, tipping, rolling over, and overturning. Attached Figure Description

[0020] Figure 1This is a schematic diagram of the overall structure of the multi-link wheeled robot provided in this embodiment of the utility model;

[0021] Figure 2 This is a schematic diagram of the wheel-leg mechanism provided in an embodiment of the present invention;

[0022] Figure 3 This is a cross-sectional structural diagram of the central shaft portion of the leg of the wheel-leg mechanism provided in this embodiment of the utility model;

[0023] Figure 4 This is an exploded view of the wheel-leg mechanism provided in an embodiment of the present invention;

[0024] Figure 5 This is a schematic diagram of the fuselage structure provided in an embodiment of the present utility model;

[0025] Figure 6 This is a structural schematic diagram of the thigh rod provided in an embodiment of the present utility model;

[0026] Figure 7 This is a schematic diagram of the mounting bracket provided in an embodiment of the present invention.

[0027] In the attached diagram: 1. Fuselage; 2. Two wheel-leg mechanisms; 21. Thigh rod; 211. Limiting structure; 212. First contact surface; 213. Second contact surface; 214. Third bearing; 22. Lower leg rod; 23. First drive component; 24. Second drive component; 25. Lower leg drive linkage mechanism; 251. First drive component; 252. Second drive component; 253. Third drive component; 254. Fourth drive component; 255. Second bearing; 26. Leg central shaft; 27. Wheel set; 28. Lower leg mounting cylinder; 3. First driven wheel; 4. Second driven wheel; 41. First bearing; 42. Crossed roller bearing; 5. Slip ring; 6. Gas spring rod; 7. Mounting bracket; 71. First mounting position; 72. Second mounting position; 73. Third mounting position. Detailed Implementation

[0028] The technical solution of this utility model patent will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0029] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0030] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances.

[0031] See Figures 1-4 As shown, where Figure 1 This is a schematic diagram of the overall structure of the multi-link wheeled robot provided in this embodiment. Figure 2 This is a schematic diagram of the wheel-leg mechanism provided in this embodiment. Figure 3 This is a cross-sectional structural diagram of the central shaft portion of the wheel-leg mechanism provided in this embodiment. Figure 4 This is an exploded view of the wheel-leg mechanism provided in this embodiment. This embodiment provides a multi-link wheel-leg robot, comprising:

[0032] fuselage 1; and

[0033] Two wheel-leg mechanisms 2 are respectively disposed on both sides of the machine body 1; each wheel-leg mechanism 2 includes a thigh rod 21, a lower leg rod 22, a first drive member 23, a second drive member 24, a lower leg drive linkage mechanism 25, a leg central shaft 26, and a wheel set 27; the inner end of the leg central shaft 26 is fixedly disposed on the machine body 1; one end of the thigh rod 21 is rotatably sleeved on the leg central shaft 26, and the other end is rotatably connected to the lower leg rod 22; the first drive member 23 is disposed on the... On the body 1, a mechanism is used to drive the thigh rod 21 to rotate around the leg central axis 26; one end of the calf rod 22 is rotatably connected to the thigh rod 21, and the other end is rotatably mounted on the wheel set 27; one end of the calf drive linkage mechanism 25 is rotatably sleeved on the leg central axis 26, and the other end is rotatably connected to the calf rod 22; the second drive member 24 is disposed on the body 1 and is used to drive the calf drive linkage mechanism 25 to rotate around the leg central axis 26 and drive the calf rod 22 to rotate.

[0034] It is understandable that the structure of the body 1 is not strictly limited. For parts of the wheeled robot not specifically described, existing technologies can be used, such as the control system and power supply unit located inside the body 1, which will not be described in further detail here. Furthermore, such as... Figure 5 The diagram shown illustrates the structure of a fuselage provided in this embodiment. The fuselage 1 primarily consists of a load-bearing frame structure composed of four aluminum square tubes as its main body. A carbon fiber sheet is used to fabricate the outer shell of the fuselage 1. The internal components house the hardware required for robot control and provide space for wiring. Wheel and leg mechanisms can be installed on the outer shell and connected to the aluminum square tubes of the frame structure to ensure the overall structural stability. Other implementation methods and scenarios are not further illustrated or described here; those skilled in the art can choose the appropriate configuration based on actual needs.

[0035] It is understood that the first driving component 23 and the second driving component 24 in this embodiment mainly refer to the motor assembly, including necessary output shafts or output drive wheels, etc. For example, in this embodiment, if the first driven wheel 3 and the second driven wheel 4 are included, the first driving component 23 and the second driving component 24 may include the output drive wheel. In addition, other rotation drive structures or conventional equipment are not excluded. In this embodiment, the first driving component 23 and the second driving component 24 are both set on the body 1. Compared with the traditional method of directly setting them on the wheel leg mechanism 2, the load on the wheel leg mechanism 2 and the structural space size of the wheel leg mechanism 2 can be reduced.

[0036] Further, such as Figure 3 As shown, the leg center axis 26 in this embodiment is a hollow structure, which can reduce weight, and a wire can be threaded through the middle to connect to the inside of the fuselage 1. The structure of the leg center axis 26 is only shown as a preferred embodiment, but does not strictly limit other simple modifications. More details will not be described further here.

[0037] Furthermore, since one end of the thigh member 21 is rotatably sleeved on the leg central shaft 26, and the other end is rotatably connected to the lower leg member 22, and the lower leg member 22 is also rotatably connected through the lower leg drive linkage 25, one end of which is rotatably sleeved on the leg central shaft 26, the wheel-leg mechanism 2 is essentially a multi-link parallel mechanism of a series-type leg. The lower leg member 22 is coupled in parallel with the thigh member 21 through the lower leg drive linkage 25, realizing the parallel coupling of the movement of the lower leg member 22 and the thigh member 21. Specifically, the thigh member 21 and the lower leg member 22 are driven by the first drive member 23 and the second drive member 24 respectively. At the same time, the rotation of the lower leg member 22 is not only... Driven by the second drive member 24, and simultaneously driven by the first drive member 23 to drive the thigh mechanism, the lower leg member 22 is driven to rotate relative to it. Thus, when necessary, the first drive member 23 and the second drive member 24 are used in combination to jointly control the lower leg member 22. Compared with the traditional method of setting the drive motor of the lower leg member 22 separately at the rotational connection between the thigh member 21 and the lower leg member 22, this embodiment does not cause the lower leg member 22 to overheat when driven by the second drive member 24 alone. It can reduce the motor load, and the corresponding control algorithm can use the algorithm of parallel legs, reducing the control difficulty. Furthermore, the rotation of the lower leg member 22 is not affected when the thigh member 21 moves independently at 360 degrees.

[0038] Further, such as Figure 1 and Figure 2 As shown, in this embodiment, the first drive member 23 and the second drive member 24 are preferably arranged on both sides of the central axis 26 of the leg, which facilitates reasonable space design and reduces structural complexity and redundancy.

[0039] In this embodiment, as Figure 3 and Figure 4 As shown, the multi-link wheeled robot also includes a first driven wheel 3 and a second driven wheel 4; the first driven wheel 3 is rotatably mounted on the leg central shaft 26, the thigh rod 21 is fixedly connected to the first driven wheel 3, and the first driving member 23 drives the first driven wheel 3 to rotate; the second driven wheel 4 is rotatably mounted on the leg central shaft 26, the lower leg drive linkage mechanism 25 is fixedly connected to the second driven wheel 4, and the second driving member 24 drives the second driven wheel 4 to rotate.

[0040] It is understandable that the first driving component 23 and the first driven wheel 3, and the second driving component 24 and the second driven wheel 4, can be connected by chain drive or belt drive. For example, if chain drive is used, both the first driven wheel 3 and the second driven wheel 4 can be gear structures. Specifically, in this embodiment, the driven wheel and the drive chain can be 21-tooth bicycle sprockets and bicycle chains, instead of the roller chains and toothed chains commonly used in traditional mechanical industries. This significantly reduces the weight and size of the transmission mechanism, provides excellent tensile and torsional resistance, and is also cheaper. Of course, belt drive may also be used; the corresponding wheel structure can be adjusted accordingly, but this will not be described further here. It is understandable that the combined driving method of the first driving member 23 driving the first driven wheel 3 and the second driving member 24 driving the second driven wheel 4 in this embodiment can realize the power transmission from the driving member to the corresponding leg rod through chain drive or belt drive, instead of adopting a direct connection and direct output design. This allows the two motors controlling one wheel leg to not be installed on the same central shaft, simplifying the structure of the leg central shaft 26, and allowing the use of a lower-priced commercial servo motor as the drive motor without the need for a custom motor.

[0041] Furthermore, the thigh rod 21 and the first driven wheel 3 can be an integrated structural design or a combined assembly design. For example, the thigh rod 21 and the first driven wheel 3 can be combined and fixedly connected by bolts, rivets, pins, etc. Specific details will not be described further here.

[0042] In this embodiment, as Figure 3 and Figure 4 As shown, the second driven wheel 4 is connected to the calf drive linkage mechanism 25 via the calf mounting cylinder 28 sleeved on the leg center shaft 26, and the first driven wheel 3 and the thigh rod 21 are rotatably sleeved on the outside of the calf mounting cylinder 28.

[0043] Understandably, when the first driven wheel 3 is sleeved on the outside of the calf mounting sleeve 28, and the second driven wheel 4 drives the calf mounting sleeve 28 to rotate in conjunction with the calf drive linkage mechanism 25, it will not interfere with the first driven wheel 3. Similarly, when the second driven wheel 4 rotates and drives the thigh rod 21 to rotate, it will not interfere with the calf drive linkage mechanism 25 or the calf rod 22. Furthermore, while ensuring normal transmission, it can reduce the space occupied by the first driven wheel 3 and the second driven wheel 4 on the leg central axis 26, resulting in a compact and reasonable structure. Moreover, compared to the sequential arrangement, the rotation between the first driven wheel 3 and the second driven wheel 4 will not interfere with each other, and the transmission chain or belt between the first driven wheel 3 and the first drive member 23 or between the second driven wheel 4 and the second drive member 24 will not be interfered with by the thigh rod 21 or other rods, ensuring that the rotation drive of the thigh rod 21 and the calf rod 22 is independent of each other.

[0044] It is understandable that although this embodiment describes the first driven wheel 3 being sleeved on the outside of the calf mounting sleeve 28 as a specific example, the possibility of the second driven wheel 4 being rotated and sleeved on the outside of the thigh mounting sleeve cannot be ruled out. This is equivalent to an adaptive change in the positions of the thigh rod 21 and the calf drive linkage mechanism 25. Specifically, in other embodiments, the first driven wheel 3 may be connected to the thigh rod 21 through the thigh mounting sleeve sleeved on the leg central axis 26, and the second driven wheel 4 may be rotated and sleeved on the outside of the thigh mounting sleeve. The corresponding positional relationship can be understood and implemented based on the above examples, and simple adjustments to the positional relationship can be made if necessary, which will not be further described here.

[0045] In this embodiment, as Figure 2 and Figure 4 As shown, a slip ring 5 is provided at the outer end of the central shaft 26 of the leg. The slip ring 5 mainly refers to the slip ring, which is an electrical component responsible for connecting and transmitting energy and signals to the rotating body. According to the transmission medium, slip rings are divided into electric slip rings, fluid slip rings, and smooth slip rings, and can also be commonly referred to as "rotational connection" or "rotational connection". The slip ring is usually installed at the rotation center of the equipment and mainly consists of two parts: a rotating part and a stationary part. The rotating part connects to the rotating structure of the equipment and rotates with it, called the "rotor". The stationary part connects to the energy source of the fixed structure of the equipment, called the "stator". The slip ring is a component in the prior art and will not be described in further detail here. Those skilled in the art can understand and select it based on the above description. By setting the slip ring 5, it is ensured that the thigh rod 21 can rotate 360 ​​degrees without affecting the cable routing, and the electrical signal remains stable, thereby realizing that the overall wheel-leg mechanism 2 can rotate 360 ​​degrees relative to the main body 1.

[0046] In this embodiment, at least one quadrilateral linkage mechanism is formed between the lower leg drive linkage 25, the thigh linkage 21, and the lower leg linkage 22.

[0047] like Figure 2 and Figure 4As shown, this embodiment uses the lower leg drive linkage mechanism 25, the thigh member 21, and the lower leg member 22 as examples to illustrate the formation of two quadrilateral linkage mechanisms. The lower leg drive linkage mechanism 25 includes a first drive member 251, a second drive member 252, a third drive member 253, and a fourth drive member 254. One end of the first drive member 251 is rotatably mounted on the leg central shaft 26, and the other end is rotatably connected to one end of the second drive member 252. The other end of the driving rod 252 is rotatably connected to one end of the third driving rod 253, the other end of the third driving rod 253 is rotatably connected to one end of the fourth driving rod 254, and the other end of the fourth driving rod 254 is rotatably connected to the lower leg rod 22. The middle portion of the third driving rod 253 is rotatably mounted on the thigh rod 21, thus forming two quadrilateral linkage mechanisms between the lower leg driving linkage mechanism 25, the thigh rod 21, and the lower leg rod 22. By forming two quadrilateral linkage mechanisms, the span of a single rod in the lower leg driving linkage mechanism 25 can be reduced, resulting in a more stable overall structure.

[0048] In addition, it is also possible to form only a quadrilateral linkage mechanism. For example, in the example of the two quadrilateral linkage mechanisms mentioned above, the second driving link 252 is directly rotatably connected to the lower leg link 22, so that the first driving link 251, the second driving link 252, the lower leg link 22 and the thigh link 21 form a quadrilateral linkage mechanism. More embodiments are not described in detail here. Those skilled in the art can make simple changes and adjustments according to actual needs.

[0049] In this embodiment, as Figure 6 As shown, Figure 6 This is a structural schematic diagram of the thigh member provided in this embodiment, combined with... Figure 2 The thigh member 21 is provided with a limiting structure 211, which is used to limit the rotation angle range of the lower leg drive linkage 25 relative to the thigh member 21.

[0050] It is understandable that, such as Figure 4 As shown, the limiting structure 211 mainly includes two contact surfaces: a first contact surface 212 and a second contact surface 213, which respectively contact the third driving rod 253 and the fourth driving rod 254 of the lower leg drive linkage mechanism 25 to limit the rotation angle of the lower leg drive linkage mechanism 25 relative to the thigh rod 21 and prevent the lower leg rod 22 from flipping in the opposite direction.

[0051] In this embodiment, as Figure 4As shown, a gas spring rod 6 connects the thigh rod 21 and the lower leg rod 22. It is understood that the gas spring rod 6 is an industrial accessory that can provide support, cushioning, braking, height adjustment, and angle adjustment. It can be selected from existing technologies according to actual needs and will not be further described here. By connecting the thigh rod 21 and the lower leg rod 22 near the rotatable joint with a gas spring rod 6, gravity compensation and shock absorption of the leg can be achieved.

[0052] In this embodiment, as Figure 1 , Figure 5 as well as Figure 7 As shown, Figure 7 The diagram below shows the structure of the mounting bracket provided in this embodiment. The multi-link wheeled robot in this embodiment also includes a mounting bracket 7, which is fixedly mounted on the body 1. The mounting bracket 7 is provided with a first mounting position 71, a second mounting position 72 and a third mounting position 73. The first driving member 23 is fixedly mounted on the first mounting position 71, the second driving member 24 is fixedly mounted on the second mounting position 72, and the leg central shaft 26 passes through the third mounting position 73.

[0053] Understandably, by uniformly setting the mounting positions using the mounting bracket 7, the positional relationship of the first driving component 23, the second driving component 24, and the leg central axis 26 (including the first driven wheel 3, the second driven wheel 4, the thigh link 21, the lower leg drive linkage mechanism 25, etc., mounted on the leg central axis 26) is relatively fixed, preventing relative positional movement and ensuring the motion stability of the multi-link wheeled robot. Furthermore, the mounting position can be a fixed mounting hole, mounting slot, or mounting boss, or other forms of mounting position structure. Specific details are not elaborated here; the primary purpose is to achieve a relatively fixed positional relationship between the first driving component 23, the second driving component 24, and the leg central axis 26.

[0054] It is understood that, in this embodiment, for the rotation setting, necessary bearing components can be installed for mounting, such as in this embodiment, as... Figure 3 and Figure 4As shown, a first bearing 41 is provided between the second driven wheel 4 and the leg central shaft 26. The first bearing 41 enables the second driven wheel 4 to rotate relative to the leg central shaft 26. Furthermore, the second driven wheel 4 can be connected to the body 1 (mounting bracket 7) via a crossed roller bearing 42, allowing the second driven wheel 4 to rotate radially with the body 1. Further, since the second driven wheel 4 is fixedly connected to the calf drive linkage mechanism 25 via the calf mounting cylinder 28 in this embodiment, and the span is large, a second bearing 255 is also provided at the interface between the calf drive linkage mechanism 25 and the leg central shaft 26 to achieve rotational engagement. Moreover, in this embodiment, while the thigh rod 21 is fixedly connected to the first driven wheel 3, a third bearing 214 is also provided between the thigh rod 21 and the calf mounting cylinder 28 to enable relative rotation between the thigh rod 21 and the calf mounting cylinder 28. In general, to achieve rotational configuration, those skilled in the art can select different types of bearings at the corresponding rotational connection points according to actual needs, which will not be described in detail here. Furthermore, other joint rotation points, such as the rotational connection between thigh rod 21 and lower leg rod 22, and the rotational connection between lower leg drive linkage 25 and lower leg rod 22, can all be equipped with rotating shafts or pins to achieve rotational connection. The technicians of this LinGu can set them according to the actual situation and in combination with existing technology, and will not be described further here.

[0055] In addition, such as Figure 1 as well as Figure 2 As shown, in this embodiment, the wheel assembly 27 can be selected from the existing technology according to actual needs. It can be formed by combining the thigh rod 21, the lower leg rod 22, etc. to form the wheel leg mechanism 2. The wheel assembly 27 can realize electric drive rotation and forward movement. It generally includes wheels and drive motors, etc. The specific details will not be further described here.

[0056] The multi-link wheeled robot provided by this utility model has its thigh link 21 and lower leg drive linkage assembly coaxially mounted on the central axis 26 of the leg, thus ensuring that the thigh link 21 can rotate 1360 degrees relative to the body. At the same time, the thigh link 21 and the lower leg drive linkage assembly are driven independently by the first drive member 23 and the second drive member 24, so that the rotation drive between the thigh link 21 and the lower leg link 22 is relatively independent and will not interfere with each other. The lower leg link 22 can be synchronously controlled by the lower leg drive linkage assembly when the thigh link 21 rotates. When the robot falls or overturns, by controlling the thigh link 21 and the lower leg link 22 to rotate at a large angle, the wheeled leg mechanism 2 can move to the required spatial position when the robot is in any posture. With the help of the counter-support force with the ground or other terrain, the robot can change its posture and restore its balance. Thus, the robot can maintain a stable balance posture by self-rescue in various states such as imbalance, tipping, side-flipping, and overturning.

[0057] Although the present invention has been described in detail above with general descriptions and specific embodiments, some modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, all such modifications or improvements made without departing from the spirit of the present invention fall within the scope of protection claimed by the present invention.

Claims

1. A multi-link wheeled robot, characterized in that, include: body; as well as Two wheel-leg mechanisms are respectively disposed on both sides of the machine body. Each wheel-leg mechanism includes a thigh rod, a calf rod, a first drive member, a second drive member, a calf drive linkage mechanism, a leg central shaft, and a wheel assembly. The inner end of the leg central shaft is fixedly disposed on the machine body. One end of the thigh rod is rotatably sleeved on the leg central shaft, and the other end is rotatably connected to the calf rod. The first drive member is disposed on the machine body and is used to drive the thigh rod to rotate around the leg central shaft. One end of the calf rod is rotatably connected to the thigh rod, and the other end is rotatably disposed on the wheel assembly. One end of the calf drive linkage mechanism is rotatably sleeved on the leg central shaft, and the other end is rotatably connected to the calf rod. The second drive member is disposed on the machine body and is used to drive the calf drive linkage mechanism to rotate around the leg central shaft and drive the calf rod to rotate.

2. The multi-link wheeled robot according to claim 1, characterized in that, It also includes a first driven wheel and a second driven wheel; the first driven wheel is rotatably sleeved on the central shaft of the leg, the thigh rod is fixedly connected to the first driven wheel, and the first driving member drives the first driven wheel to rotate; the second driven wheel is rotatably sleeved on the central shaft of the leg, the calf drive linkage mechanism is fixedly connected to the second driven wheel, and the second driving member drives the second driven wheel to rotate.

3. The multi-link wheeled robot according to claim 2, characterized in that, The second driven wheel is connected to the lower leg drive linkage mechanism via a lower leg mounting sleeve fitted on the central axis of the leg, and the first driven wheel is rotatably fitted on the outside of the lower leg mounting sleeve.

4. The multi-link wheeled robot according to claim 2, characterized in that, The first driven wheel is connected to the thigh rod through a thigh mounting sleeve fitted onto the central axis of the leg, and the second driven wheel is rotatably fitted onto the outside of the thigh mounting sleeve.

5. The multi-link wheeled robot according to claim 1, characterized in that, A slip ring is provided at the outer end of the central axis of the leg.

6. The multi-link wheeled robot according to claim 1, characterized in that, At least one quadrilateral linkage is formed between the lower leg drive linkage, the thigh link, and the lower leg link.

7. The multi-link wheeled robot according to claim 6, characterized in that, The calf drive linkage mechanism includes a first drive link, a second drive link, a third drive link, and a fourth drive link. One end of the first drive link is rotatably sleeved on the central axis of the leg, and the other end is rotatably connected to one end of the second drive link. The other end of the second drive link is rotatably connected to one end of the third drive link, and the other end of the third drive link is rotatably connected to one end of the fourth drive link. The other end of the fourth drive link is rotatably connected to the calf link, and the middle part of the third drive link is rotatably disposed on the thigh link, so that the calf drive linkage mechanism, the thigh link, and the calf link form two quadrilateral linkage mechanisms.

8. The multi-link wheeled robot according to claim 7, characterized in that, The thigh member is provided with a limiting structure, which is used to limit the rotation angle range of the lower leg drive linkage relative to the thigh member.

9. The multi-link wheeled robot according to claim 1, characterized in that, A gas spring rod is provided to connect the thigh rod and the lower leg rod.

10. The multi-link wheeled robot according to claim 1, characterized in that, It also includes a mounting bracket, which is fixedly mounted on the machine body. The mounting bracket is provided with a first mounting position, a second mounting position and a third mounting position. The first driving component is fixedly mounted on the first mounting position, the second driving component is fixedly mounted on the second mounting position, and the leg central shaft passes through the third mounting position.

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