High-adaptability walking mechanism of wheel-foot type robot

Abstract

The utility model discloses a high-adaptability walking mechanism of a wheel-foot type robot, which relates to the technical field of mobile robots and comprises a base mechanism, a transmission mechanism is arranged on the top surface of the base mechanism, a connecting rod mechanism is arranged on the side surface of the base mechanism, and a damping mechanism is arranged at the bottom end of the connecting rod mechanism. The seat mechanism, the transmission mechanism and the connecting rod mechanism are arranged and matched with one another, so that the device can easily cross an uneven road surface, a transmission motor only needs to be started, an output shaft of the transmission motor drives a second transmission wheel to rotate, and then a transmission belt in transmission connection with the outer wall of the second transmission wheel is driven; and then a first transmission wheel in transmission connection with a transmission belt rotates, then a rotating rod fixedly connected with the first transmission wheel rotates, then a small sliding block on the inner wall of a first connecting rod slides in a sliding groove formed in the inner wall of the sliding block, meanwhile, the sliding block is driven to slide in the sliding groove, and then the whole device can move on the uneven road surface.

Description

Technical Field

[0001] This utility model relates to the field of mobile robot technology, specifically to a highly adaptable walking mechanism for a wheeled robot. Background Technology

[0002] The highly adaptable locomotion mechanism of wheeled robots is an innovative design that integrates the efficient mobility of wheeled robots with the obstacle-crossing capabilities of legged robots. Its core lies in achieving adaptation to complex terrain through dynamic structural reconfiguration and intelligent control. As an important branch of terrestrial mobile robots, the technological development of wheeled robots stems from the urgent need for adaptability to complex terrain. While traditional wheeled structures possess efficient mobility, they are prone to getting stuck in unstructured terrain; legged robots, although possessing strong obstacle-crossing capabilities, suffer from low motion efficiency and complex control.

[0003] Patent publication number CN119283060A discloses a wheeled humanoid robot, including a wheeled chassis walking mechanism. A robot torso mechanism is arranged above the wheeled chassis walking mechanism. A robot head mechanism is installed on the robot torso mechanism. Robot arm mechanisms are installed on both sides of the robot torso mechanism. A gripper is installed at the end of each robot arm mechanism away from the robot torso mechanism. A robot lower limb waist mechanism is arranged between the robot torso mechanism and the wheeled chassis walking mechanism and is connected to the robot lower limb waist mechanism.

[0004] To address the issue that legged humanoid robots are flexible in their movement but slow and inefficient on flat surfaces, existing technologies employ differential wheel chassis. These chassis offer flexible steering, fast movement, and easy control, significantly improving the robot's operational efficiency on flat surfaces. However, when the road surface is uneven or in poor condition, the device may struggle to traverse obstacles, resulting in limited practicality. Utility Model Content

[0005] The purpose of this invention is to provide a highly adaptable walking mechanism for wheeled robots to solve the problems mentioned in the background art.

[0006] To solve the above-mentioned technical problems, the technical solution adopted by this utility model is as follows:

[0007] A highly adaptable walking mechanism for a wheeled robot includes a base mechanism, a transmission mechanism on the top surface of the base mechanism, a linkage mechanism on the side of the base mechanism, and a shock-absorbing mechanism at the bottom end of the linkage mechanism.

[0008] The base mechanism includes a base, and two sliding grooves are provided on the side of the base. A motor bracket is fixedly installed in the middle of the top surface of the base.

[0009] A further improvement of this utility model is that: a bracket is fixedly installed on the top side of the base, and there are two brackets, with two rotating rods movably connected to the inner walls of the two brackets.

[0010] A further improvement of this utility model is that a sensor is provided on the top surface of the left-side bracket, and a traction block is fixedly installed on the right side of the base.

[0011] A further improvement of the present invention is that the transmission mechanism includes a transmission motor, the transmission motor is fixedly installed on the top surface of the motor bracket, the output shaft of the transmission motor is fixedly connected to a second transmission wheel, the outer wall of the second transmission wheel is connected to a transmission belt, the end of the transmission belt away from the second transmission wheel is connected to a first transmission wheel, and the first transmission wheel is fixedly connected to the outer wall of the rotating rod.

[0012] A further improvement of the present invention is that the linkage mechanism includes a slider and a third linkage, the third linkage is disposed on the outer wall of the end of the rotating rod, the top of the third linkage is movably connected to a second linkage, and the inner wall of the second linkage is movably connected to a rotating shaft.

[0013] A further improvement of this utility model is that: the end of the rotating shaft away from the second connecting rod is movably connected to the inner wall of the bracket; the end of the second connecting rod away from the third connecting rod is movably connected to the first connecting rod; a small slider is provided on the inner wall of the first connecting rod; the small slider on the inner wall of the first connecting rod is slidably connected to a groove opened on the inner wall of the slider; and the slider is slidably connected to the groove.

[0014] A further improvement of the present invention is that the shock absorption mechanism includes a limiting plate, the limiting plate is fixedly installed on the bottom surface of the first connecting rod, a limiting post is fixedly installed on the bottom surface of the limiting plate, a shock absorption spring is provided on the outer wall of the limiting post, and a roller is provided on the bottom surface of the limiting post.

[0015] Due to the adoption of the above technical solution, the technological progress achieved by this utility model compared to the prior art is as follows:

[0016] 1. This utility model provides a highly adaptable walking mechanism for a wheel-legged robot. It comprises a base mechanism consisting of a base, a slide groove, a support, a sensor, a motor support, a rotating rod, and a traction block; a transmission mechanism consisting of a transmission motor, a first transmission wheel, a transmission belt, and a second transmission wheel; and a linkage mechanism consisting of a first connecting rod, a slider, a second connecting rod, a rotating shaft, and a third connecting rod. These three components work together to allow the device to easily traverse uneven surfaces. When needed, simply start the transmission motor. The output shaft of the transmission motor drives the second transmission wheel to rotate, which in turn drives the transmission belt connected to the outer wall of the second transmission wheel. This drives the first transmission wheel, which is connected to the transmission belt, to rotate. This causes the rotating rod, which is fixedly connected to the first transmission wheel, to rotate, leading to the rotation of the third connecting rod. This, in turn, causes the second connecting rod, which is movably connected to the third connecting rod, to rotate, thus moving the first connecting rod. This causes a small slider on the inner wall of the first connecting rod to slide within a groove on the inner wall of the slider, simultaneously moving the slider within the groove. This allows the entire device to move across uneven surfaces.

[0017] 2. This utility model provides a highly adaptable walking mechanism for a wheeled robot. By setting a shock absorption mechanism consisting of rollers, limiting plates, limiting columns, and shock-absorbing springs, the device can be shock-absorbing when running on uneven surfaces to avoid damage. When the rollers come into contact with the ground, they generate an upward impact force, which compresses the shock-absorbing springs and causes them to generate an elastic force in the opposite direction to counteract the impact force and thus prevent damage to the device. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0019] Figure 2 This is a schematic diagram of the base mechanism of this utility model;

[0020] Figure 3 This is a schematic diagram of the transmission mechanism of this utility model;

[0021] Figure 4 This is a schematic diagram of the linkage mechanism of this utility model;

[0022] Figure 5 This is a schematic diagram of the shock absorption mechanism of this utility model.

[0023] In the diagram: 1. Base mechanism; 11. Base; 12. Slide groove; 13. Bracket; 14. Sensor; 15. Motor bracket; 16. Rotating rod; 17. Traction block; 2. Transmission mechanism; 21. Transmission motor; 22. First transmission wheel; 23. Transmission belt; 24. Second transmission wheel; 3. Linkage mechanism; 31. First connecting rod; 32. Slider; 33. Second connecting rod; 34. Rotating shaft; 35. Third connecting rod; 4. Shock absorption mechanism; 41. Roller; 42. Limiting plate; 43. Limiting post; 44. Shock absorption spring. Detailed Implementation

[0024] The present invention will be further described in detail below with reference to embodiments:

[0025] Example 1

[0026] like Figure 1-5 As shown, this utility model provides a highly adaptable walking mechanism for a wheeled robot, including a base mechanism 1. A transmission mechanism 2 is provided on the top surface of the base mechanism 1, a linkage mechanism 3 is provided on the side of the base mechanism 1, and a shock-absorbing mechanism 4 is provided at the bottom end of the linkage mechanism 3. The base mechanism 1 includes a base 11, with two sliding grooves 12 on the side of the base 11. A motor bracket 15 is fixedly installed in the middle of the top surface of the base 11, and two brackets 13 are fixedly installed on the top surface of the side of the base 11. Two rotating rods 16 are movably connected to the inner walls of the two brackets 13. A sensor 14 is provided on the top surface of the left bracket 13, and a traction block 17 is fixedly installed on the right side of the base 11. The transmission mechanism 2 includes a transmission motor 21, which is fixedly installed on the top surface of the motor bracket 15. The output shaft of the transmission motor 21... A second transmission wheel 24 is fixedly connected. A transmission belt 23 is driven to the outer wall of the second transmission wheel 24. A first transmission wheel 22 is driven to the end of the transmission belt 23 away from the second transmission wheel 24. The first transmission wheel 22 is fixedly connected to the outer wall of the rotating rod 16. The linkage mechanism 3 includes a slider 32 and a third connecting rod 35. The third connecting rod 35 is located on the outer wall of the end of the rotating rod 16. A second connecting rod 33 is movably connected to the top of the third connecting rod 35. A rotating shaft 34 is movably connected to the inner wall of the second connecting rod 33. The end of the rotating shaft 34 away from the second connecting rod 33 is movably connected to the inner wall of the bracket 13. A first connecting rod 31 is movably connected to the end of the second connecting rod 33 away from the third connecting rod 35. A small slider is provided on the inner wall of the first connecting rod 31. The small slider on the inner wall of the first connecting rod 31 is slidably connected to a groove opened on the inner wall of the slider 32. The slider 32 is slidably connected to the groove 12.

[0027] In this embodiment, by setting up a base mechanism 1 consisting of a base 11, a slide 12, a bracket 13, a sensor 14, a motor bracket 15, a rotating rod 16, and a traction block 17; a transmission mechanism 2 consisting of a transmission motor 21, a first transmission wheel 22, a transmission belt 23, and a second transmission wheel 24; and a linkage mechanism 3 consisting of a first connecting rod 31, a slider 32, a second connecting rod 33, a rotating shaft 34, and a third connecting rod 35, the three mechanisms work together to allow the device to easily traverse uneven road surfaces. When needed, simply start the transmission motor 21, and the output shaft of the transmission motor 21 will drive the second transmission wheel. The rotation of wheel 24 causes the transmission belt 23, which is connected to the outer wall of the second transmission wheel 24, to rotate. This causes the first transmission wheel 22, which is connected to the transmission belt 23, to rotate. This causes the rotating rod 16, which is fixedly connected to the first transmission wheel 22, to rotate. This causes the third connecting rod 35 to rotate. This causes the second connecting rod 33, which is movably connected to the third connecting rod 35, to rotate. This causes the first connecting rod 31 to move. This causes the small slider on the inner wall of the first connecting rod 31 to slide in the groove opened on the inner wall of the slider 32. At the same time, it causes the slider 32 to slide inside the groove 12. This allows the entire device to move on uneven surfaces.

[0028] Example 2

[0029] like Figure 1-5 As shown, based on Embodiment 1, this utility model provides a technical solution: Preferably, the shock absorption mechanism 4 includes a limiting plate 42, the limiting plate 42 is fixedly installed on the bottom surface of the first connecting rod 31, the bottom surface of the limiting plate 42 is fixedly installed with a limiting post 43, the outer wall of the limiting post 43 is provided with a shock absorption spring 44, and the bottom surface of the limiting post 43 is provided with a roller 41.

[0030] In this embodiment, by setting up a shock-absorbing mechanism 4 consisting of a roller 41, a limiting plate 42, a limiting post 43, and a shock-absorbing spring 44, the device can be shock-absorbing when running on uneven ground to avoid damage to the device. When the roller 41 contacts the ground, it will generate an upward impact force, which will compress the shock-absorbing spring 44 and cause the shock-absorbing spring 44 to generate an elastic force in the opposite direction to offset the impact force and thus prevent the device from being damaged.

[0031] The working principle of the highly adaptable walking mechanism of this wheeled robot will be explained in detail below.

[0032] like Figure 1-5As shown, during use, sensor 14 first detects unevenness on the road surface ahead, then starts drive motor 21. The output shaft of drive motor 21 drives the second drive wheel 24 to rotate, which in turn drives the drive belt 23 connected to the outer wall of the second drive wheel 24, which in turn drives the first drive wheel 22 connected to the drive belt 23 to rotate, which in turn drives the rotating rod 16 fixedly connected to the first drive wheel 22 to rotate, which in turn drives the third connecting rod 35 to rotate, which in turn drives the second connecting rod 33 movably connected to the third connecting rod 35 to rotate, which in turn drives the first connecting rod 31 to move, which in turn causes the small slider on the inner wall of the first connecting rod 31 to slide in the groove opened on the inner wall of the slider 32, and at the same time drives the slider 32 to slide inside the groove 12, so that the entire device can move on uneven road surfaces. When the roller 41 contacts the ground, it generates an upward impact force, which compresses the shock-absorbing spring 44, which in turn generates an elastic force in the opposite direction to counteract the impact force.

[0033] The present invention has been described in detail above. However, modifications or improvements can be made to it, which will be obvious to those skilled in the art. Therefore, any modifications or improvements that do not depart from the spirit of the present invention are within the protection scope of the present invention.

Claims

1. A highly adaptable walking mechanism for a wheel-legged robot, comprising a base mechanism (1), characterized in that: The base mechanism (1) is provided with a transmission mechanism (2) on its top surface, a linkage mechanism (3) is provided on the side of the base mechanism (1), and a shock absorption mechanism (4) is provided at the bottom of the linkage mechanism (3). The base mechanism (1) includes a base (11), and the base (11) has a sliding groove (12) on its side. There are two sliding grooves (12), and a motor bracket (15) is fixedly installed in the middle of the top surface of the base (11).

2. The highly adaptable walking mechanism for a wheeled robot according to claim 1, characterized in that: The base (11) has a bracket (13) fixedly installed on its side top surface. There are two brackets (13), and two rotating rods (16) are movably connected to the inner walls of the two brackets (13).

3. The highly adaptable walking mechanism for a wheeled robot according to claim 2, characterized in that: A sensor (14) is provided on the top surface of the bracket (13) on the left, and a traction block (17) is fixedly installed on the right side of the base (11).

4. The highly adaptable walking mechanism for a wheel-legged robot according to claim 3, characterized in that: The transmission mechanism (2) includes a transmission motor (21), which is fixedly installed on the top surface of the motor bracket (15). The output shaft of the transmission motor (21) is fixedly connected to a second transmission wheel (24). A transmission belt (23) is connected to the outer wall of the second transmission wheel (24). A first transmission wheel (22) is connected to the end of the transmission belt (23) away from the second transmission wheel (24). The first transmission wheel (22) is fixedly connected to the outer wall of the rotating rod (16).

5. The highly adaptable walking mechanism for a wheel-legged robot according to claim 4, characterized in that: The linkage mechanism (3) includes a slider (32) and a third link (35). The third link (35) is located on the outer wall of the end of the rotating rod (16). The top of the third link (35) is movably connected to the second link (33), and the inner wall of the second link (33) is movably connected to the rotating shaft (34).

6. The highly adaptable walking mechanism for a wheel-legged robot according to claim 5, characterized in that: The end of the rotating shaft (34) away from the second connecting rod (33) is movably connected to the inner wall of the bracket (13). The end of the second connecting rod (33) away from the third connecting rod (35) is movably connected to the first connecting rod (31). The inner wall of the first connecting rod (31) is provided with a small slider. The small slider on the inner wall of the first connecting rod (31) is slidably connected to the groove opened on the inner wall of the slider (32). The slider (32) is slidably connected to the groove (12).

7. The highly adaptable walking mechanism for a wheel-legged robot according to claim 6, characterized in that: The shock absorption mechanism (4) includes a limiting plate (42), which is fixedly installed on the bottom surface of the first connecting rod (31). A limiting post (43) is fixedly installed on the bottom surface of the limiting plate (42). A shock absorption spring (44) is provided on the outer wall of the limiting post (43), and a roller (41) is provided on the bottom surface of the limiting post (43).

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