Tandem type wheel-legged robot

Abstract

The utility model provides a tandem wheel-leg robot, and belongs to the technical field of machinery. Comprising a frame body, and hip joints are fixedly connected to the two sides of the frame body; and the leg connecting rods are used for improving the energy transmission efficiency of the robot, and the leg connecting rods are connected with the hip joints. The leg connecting rods are arranged, the leg connecting rods are of a four-connecting-rod structure, the length and the angle of the connecting rods can be adjusted through mutual cooperation of the first connecting rods, the second connecting rods and the third connecting rods, and therefore complex gait planning can be achieved, and different movement requirements can be met; the robot can flexibly adjust the posture and the gait in a complex environment, has the advantages of being simple in structure, high in stability, diversified in motion form, low in energy consumption and the like, and can remarkably improve the performance and the adaptability of the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical technical field, especially a series -connected wheel -leg robot. BACKGROUND

[0002] The existing wheel -leg robot technology is mainly divided into series -connected leg type and parallel leg type two configurations in mechanical structure aspect. Series -connected leg type robot adopts multi -joint series -connected structure, has greater workspace and higher flexibility, can realize complex motion mode, is suitable for complex terrain environment, but its mechanical structure is complex, and the number of joints is many, lead to control difficulty is high and energy consumption is big, parallel leg type robot adopts parallel mechanism design, compact structure and high stability, has good bearing capacity and energy efficiency, but due to the limited range of motion, it is difficult to adapt to complex terrain.

[0003] The existing mechanical structure still has challenges in complex terrain adaptability, motion range optimization and energy efficiency improvement, for example, the deficiencies of series -connected leg type structure in lightweight and energy transmission efficiency, and the limitations of parallel leg type structure in expanding workspace and enhancing terrain adaptability, therefore, the utility model provides a series -connected wheel -leg robot to meet the demand. UTILITY MODEL CONTENT

[0004] The utility model solves the technical problem to provide a series -connected wheel -leg robot through setting leg link, and the leg link adopts four -bar linkage configuration, can adjust the length and angle of connecting rod, so that the robot can adjust the posture and gait more flexibly in complex environment, has the advantages such as simple structure, high stability, various motion forms, low energy consumption, can significantly improve the performance and adaptability of robot, and the above setting can solve the deficiencies of series -connected leg type structure in lightweight and energy transmission efficiency, and the limitations of parallel leg type structure in expanding workspace and enhancing terrain adaptability.

[0005] To solve the above technical problems, the utility model provides the following technical scheme:

[0006] A series -connected wheel -leg robot, including the frame body, the both sides of the frame body are fixedly connected with the hip joint, the leg link is used to improve the energy transmission efficiency of robot, and the leg link is connected with the hip joint.

[0007] Optionally, the hip joint includes symmetrically installed protection plate and motor bracket, and the protection plate and the motor bracket are fixedly connected through four-hole adapter, the motor bracket is fixedly connected with micro motor, and the motor bracket is fixedly connected with joint motor pad block corresponding to the position of the micro motor.

[0008] Optionally, the top of the motor frame is provided with a circular groove and uniformly distributed lightweight grooves, an upper limit block is fixedly connected to the motor frame at a position corresponding to the top of the joint motor pad, and a lower limit block is fixedly connected to the motor frame at a position corresponding to one side of the bottom of the joint motor pad.

[0009] Optionally, the leg link includes a first link rotatably connected to one side of the joint motor pad and a third link rotatably connected to the circular groove through a flange bearing, the free ends of the first link and the third link are rotatably connected to a second link, the first link, the second link and the third link are provided with lightweight grooves, and the free end of the second link is rotatably connected to a wheel set.

[0010] Optionally, the wheel set includes a reduction box, a rubber-coated wheel and a drive motor, and the output gear of the drive motor is engaged with the planetary size of the reduction box.

[0011] Optionally, the bottom center of the frame body is fixedly connected with symmetrically distributed cross beams, the top sides of the cross beams are threadedly connected with longitudinal beams, the top center of the cross beam is fixedly connected with a bottom plate, and the two ends of the cross beam are threadedly connected with motor beams.

[0012] Optionally, the frame body further includes symmetrically distributed upper load plates, the bottom of the upper load plate is fixedly connected with a guide wheel connecting plate through the four-hole adapter, one side of the bottom of the guide wheel connecting plate is fixedly connected with a guide wheel mounting piece, and the other side of the bottom of the guide wheel connecting plate is fixedly connected with a guide wheel.

[0013] Optionally, the top of the guide wheel mounting piece is fixedly connected with a lower load plate, the lower load plate is located directly below the upper load plate, the upper load plate and the lower load plate are provided with lightweight grooves, the bottom of the lower load plate is fixedly connected with a supporting plate away from one side of the joint motor pad, a battery is placed on the supporting plate, and the battery is fixedly connected with vertical plates on both sides through the upper load plate.

[0014] Optionally, the top of the upper load plate is fixedly connected with symmetrically distributed side plates, the side plates are provided with lightweight grooves, one side of the side plate is fixedly connected with a front view plate, and the top of the side plate is fixedly connected with the same cover plate.

[0015] Optionally, the top of the cover plate is rotatably connected with a flip plate at a position corresponding to the battery, and the flip plate is provided with uniformly distributed lightweight grooves.

[0016] Compared with the prior art, the utility model has at least the following beneficial effects:

[0017] In the above scheme, by setting the leg link, the leg link adopts a four-bar linkage configuration, and by the mutual cooperation between the first link, the second link and the third link, the length and angle of the adjusting link can be adjusted, so that complex gait planning can be realized, different motion requirements can be adapted to, and the robot can be more flexibly adjusted in posture and gait in a complex environment, has the advantages of simple structure, high stability, various motion forms, low energy consumption and the like, and can significantly improve the performance and adaptability of the robot.

[0018] By setting the lightening groove, a plurality of lightening grooves are formed on the plurality of plate bodies on the frame body and the leg link, and by reasonably designing the shape and distribution of the lightening grooves, the weight can be reduced without reducing the overall strength and rigidity, the material consumption of the plate body can be effectively reduced, the weight can be significantly reduced, the use amount of the material is reduced, the material cost is reduced, the energy transmission efficiency is improved by lightening design, and the endurance mileage is prolonged.

[0019] By setting the upper limit block and the lower limit block, the highest position and the lowest position of the leg link are limited, so that the movement of the leg link in a predetermined range is ensured, the motion accuracy of the equipment is improved, and the leg link is prevented from damaging other key components due to excessive rotation.

[0020] By setting the guide wheel, the guide wheel serves as the first contact point at the front end, can absorb part of the impact, and protect the equipment robot from being damaged, can reduce friction and vibration during walking, reduce the energy consumption of the robot, indirectly improve the stability and reliability of the robot in complex tasks, and can guide and support the leg link and the wheel set, ensure smooth running along the predetermined path, and reduce vibration and deviation. BRIEF DESCRIPTION OF DRAWINGS

[0021] The drawings incorporated herein and forming a part of the specification, illustrate embodiments of the present application and, together with the description, further serve to explain the principles of the application and to enable one skilled in the pertinent art to make and use the application.

[0022] Figure 1 It is a schematic diagram of a three-dimensional structure of a series wheel-legged robot;

[0023] Figure 2 It is a schematic diagram of a three-dimensional structure of a frame body;

[0024] Figure 3 It is a schematic diagram of a three-dimensional structure of a hip joint;

[0025] Figure 4 It is a schematic diagram of a three-dimensional structure of a wheel set;

[0026] Figure 5 It is a schematic diagram of a three-dimensional structure of a leg link.

[0027] Reference signs:

[0028] 1, frame body; 101, cover plate; 102, front view plate; 103, upper loading plate; 104, guide wheel connecting plate; 105, unloading plate; 106, guide wheel mounting member; 107, side plate; 108, longitudinal beam; 109, motor beam; 110, cross beam; 111, bottom plate; 112, guide wheel; 113, turning plate; 114, battery; 115, supporting plate; 116, vertical plate; 2, hip joint; 201, protection plate; 202, four-hole adapter; 203, upper limit block; 204, circular groove; 205, lightening groove; 206, lower limit block; 207, micro motor; 208, joint motor cushion block; 209, motor frame; 3, wheel set; 301, speed reducer box; 302, rubber-coated wheel; 303, driving motor; 4, leg connecting rod; 401, first connecting rod; 402, second connecting rod; 403, flange bearing; 404, third connecting rod.

[0029] As shown in the drawings, in order to clearly realize the structure of the embodiments of the present application, specific structures and devices are marked in the drawings, but this is only for the need of illustration, and is not intended to limit the present application in the specific structure, device and environment, and those skilled in the art can adjust or modify these devices and environment according to specific needs. DETAILED DESCRIPTION

[0030] A series wheel-legged robot provided by the present application is described in detail below in combination with the drawings and specific embodiments. It is pointed out here that in order to make the embodiments more detailed, the following embodiments are the best, preferred embodiments, and other alternative ways can also be adopted by those skilled in the art to implement them; and the drawings are only for more specific description of the embodiments, and are not intended to specifically limit the present application.

[0031] It should be noted that in the specification, "one embodiment", "embodiment", "exemplary embodiment", "some embodiments" and the like indicate that the described embodiments can include specific features, structures or characteristics, but not necessarily every embodiment includes the specific features, structures or characteristics. In addition, when a specific feature, structure or characteristic is described in combination with an embodiment, it should be within the knowledge of those skilled in the art to realize this feature, structure or characteristic in combination with other embodiments (whether or not explicitly described).

[0032] In general, the terminology can be understood at least in part from a context of a use of the language within a description. For example, the term “one or more” as used herein, depending at least in part upon a context of a

[0033] It is to be understood that the terms “on,” “over,” and “above” in the present disclosure are to be interpreted in the broadest possible way consistent with the context. Consequently, “on” a surface means not only “directly on” the surface, but also includes being “on” the surface with intervening features or layers also present. Similarly, “over” or “above” a surface means not only directly above the surface, but also includes being “over” or “above” the surface with no intervening features or layers present.

[0034] In addition, spatially relative terms, such as “beneath,” “below,” “lower,” “above,” “upper” and the like, can be used herein for ease of description to describe one element or feature’s relationship to another element(s) or feature(s) as illustrated in the figures. The spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientations depicted in the figures. The devices can be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

[0035] As Figures 1 to 5The utility model discloses an embodiment provides a series type wheel -leg robot, including frame body 1, the both sides fixed connection of frame body 1 have hip joint 2, leg link 4, leg link 4 is used for improving the energy transmission efficiency of robot, leg link 4 is connected with hip joint 2, and the free end of leg link 4 is connected with wheel group 3, the series type wheel -leg robot provided in the application mainly consists of frame body 1, hip joint 2, leg link 4 and wheel group 3 four parts, frame body 1 plays the role of supporting and connecting other components, provides the installation basis for hip joint 2, leg link 4 and wheel group 3, and ensures the relative position and stability between each component, hip joint 2 is the key position of robot leg and frame connection, is used for controlling the swing direction and angle of leg, and wheel group 3 is the driving component of robot leg end, is used for realizing fast movement and crossing barrier, and leg link 4 is the intermediate component connecting hip joint 2 and wheel group 3, the leg link 4 of the device adopts four connecting rods configuration, not only can adjust adjusting connecting rod length and angle, thereby can realize complex gait planning, adapt to different movement needs, make the robot in complex environment can adjust the attitude and gait more flexibly, has simple structure, high stability, various movement forms, low energy consumption and other advantages, can significantly improve the performance and adaptability of robot.

[0036] As one of the embodiments in the embodiment, as shown in Figures 1 to 3 And Figure 5 As shown, the leg link 4 includes the first connecting rod 401 rotatably connected on one side of the joint motor pad 208 and the third connecting rod 404 rotatably connected on the circular groove 204 through the flange bearing 403, the free ends of the first connecting rod 401 and the third connecting rod 404 are rotatably connected with the second connecting rod 402, the first connecting rod 401, the second connecting rod 402 and the third connecting rod 404 are all penetrated by the lightweight grooves 205, the free end of the second connecting rod 402 is rotatably connected with the wheel group 3, the wheel group 3 includes the reduction box 301, the rubber-coated wheel 302 and the driving motor 303, the output gear of the driving motor 303 is engaged with the planetary size of the reduction box 301, the hip joint 2 includes the upper and lower symmetrical protection plate 201 and the motor frame 209, the protection plate 201 and the motor frame 209 are fixedly connected through the four-hole adapter 202, the motor frame 209 is fixedly connected with the micro motor 207, the motor frame 209 is fixedly connected with the joint motor pad 208 corresponding to the position of the micro motor 207, the top of the motor frame 209 is penetrated by the circular groove 204 and the uniformly distributed lightweight grooves 205, the motor frame 209 is fixedly connected with the upper limit block 203 corresponding to the top of the joint motor pad 208, and the motor frame 209 is fixedly connected with the lower limit block 206 corresponding to one side of the bottom of the joint motor pad 208.

[0037] Specifically, the drive motor 303 output gear meshes with the planetary size of the reduction box 301, which has the effect of reducing the speed and increasing the torque. The structure and working principle of the drive motor 303 and the reduction box 301 are disclosed in the prior art, and will not be described in detail here. The rubber-coated wheel 302 is made of polyurethane material, which has high wear resistance and high load capacity, as well as good elasticity and buffering performance. The rubber-coated wheel 302 is connected to the outer ring stator of the reduction box 301 by bolts. The connection structure and working principle of the rubber-coated wheel 302 and the reduction box 301 are disclosed in the prior art, and will not be described in detail here. By setting the upper limit block 203 and the lower limit block 206, the highest position and the lowest position of the leg link 4 are limited, which can ensure that the leg link 4 moves within a predetermined range, thereby improving the motion accuracy of the equipment, and also preventing the leg link 4 from damaging other key components due to excessive rotation.

[0038] In this embodiment, as shown in Figures 1 to 2 The bottom center of the frame body 1 is fixedly connected with symmetrically distributed cross beams 110, the top of the cross beam 110 is threadedly connected with longitudinal beams 108 on both sides, the top center of the cross beam 110 is fixedly connected with a bottom plate 111, and the two ends of the cross beam 110 are threadedly connected with motor beams 109. The frame body 1 further comprises symmetrically distributed upper loading plates 103, the bottom of the upper loading plate 103 is fixedly connected with a guide wheel connecting plate 104 through a four-hole adapter 202, the bottom of the guide wheel connecting plate 104 is fixedly connected with a guide wheel mounting piece 106 on one side, the bottom of the guide wheel connecting plate 104 is fixedly connected with a guide wheel 112 on the other side, the top of the guide wheel mounting piece 106 is fixedly connected with a downloading plate 105, and the downloading plate 105 is located directly below the upper loading plate 103. Light weight grooves 205 are formed through the upper loading plate 103 and the downloading plate 105, the bottom of the downloading plate 105 is fixedly connected with a supporting plate 115 on the side away from the joint motor pad 208, the supporting plate 115 has a battery 114 placed thereon, and the battery 114 is fixedly connected with vertical plates 116 on both sides through the upper loading plate 103. The top of the upper loading plate 103 is fixedly connected with symmetrically distributed side plates 107, light weight grooves 205 are formed through the side plates 107, the side plates 107 are fixedly connected with a front view plate 102 on one side, and the top of the side plates 107 is fixedly connected with the same cover plate 101. The top of the cover plate 101 is rotatably connected with a flap 113 corresponding to the position of the battery 114, and light weight grooves 205 are formed through the flap 113.

[0039] Furthermore, the bottom of the frame 1 adopts a "well"-shaped design, with the longitudinal beams 108 and the transverse beams 110 connected by bolts and nuts, effectively increasing the overall stability of the frame 1. Lightweight slots 205 of varying shapes are threaded through the upper loading plate 103, lower loading plate 105, side plate 107, flip plate 113, support plate 115, and vertical plate 116 on the frame 1. By setting these lightweight slots 205, multiple slots 205 are opened on various plates on the frame 1 and leg connecting rods 4. Through the rational design of the shape and distribution of the lightweight slots 205, weight reduction can be achieved without compromising overall strength and rigidity, effectively reducing the amount of material used in the plates and significantly reducing their weight. Furthermore, the amount of material used is reduced, thereby lowering material costs. The lightweight design improves energy transfer efficiency and extends the driving range. Furthermore, the top of the motor beam 109 is fixedly connected to the bottom of the hip joint 2 through a four-hole connector, ensuring the structural stability of the hip joint 2. The battery 114 is electrically connected to the drive motor 303 and the micro motor 207 respectively. The connection method and working principle of the battery 114 and the motor are disclosed as prior art and will not be elaborated here. The guide wheels 112 are distributed at the four corners of the download plate 105. By setting the guide wheels 112, the guide wheels 112, as the first contact point at the front end, can absorb some of the impact and protect the robot from damage. The guide wheels 112 can not only reduce friction and vibration during walking and reduce the robot's energy consumption, indirectly improving its stability and reliability in complex tasks, but also guide and support the leg linkage 4 and wheel set 3, ensuring that they run smoothly along the predetermined path and reducing vibration and deviation.

[0040] The working principle of the technical solution provided by this utility model is as follows:

[0041] When in use, before starting the robot, check the hardware connection to ensure that the driving motor 303, the micro motor 207 and other structural connections are normal, adjust the hip joint 2 and the leg link 4 to the default position, and ensure that the robot is in a stable starting posture. The working principle of the serial wheel-legged robot is based on the switching and cooperation of wheel and leg movements. On flat or relatively flat ground, the robot mainly relies on the wheel set 3 for fast movement, which is in the wheel movement mode. The leg link 4 and the hip joint 2 are adjusted to the appropriate position to make the wheel set 3 contact and bear the weight of the robot. The wheel set 3 is driven by the micro motor 207 to realize efficient rolling movement. When encountering complex terrain, the robot switches to the leg movement mode. The leg link 4 and the hip joint 2 are controlled by the driving motor 303 and the micro motor 207 to adjust the posture and position of the legs, so that the robot can cross obstacles or walk on uneven ground. On inclined or slightly uneven ground, the leg link 4 can adjust the height and posture of the wheel set 3 to ensure that the wheel set 3 maintains good contact with the ground, and at the same time, the rolling ability of the wheel set 3 is utilized to realize efficient movement. The leg link 4 adopts a four-bar linkage configuration, which can adjust the length and angle of the link to realize complex gait planning and adapt to different movement requirements, so that the robot can adjust the posture and gait more flexibly in complex environments. The robot has the advantages of simple structure, high stability, various movement forms and low energy consumption, which can significantly improve the performance and adaptability of the robot. Moreover, the lightweight grooves 205 are arranged on the frame 1, the hip joint 2 and the leg link 4. By reasonably designing the shape and distribution of the lightweight grooves 205, the weight of the board body can be reduced without reducing the overall strength and rigidity, the material usage of the board body can be effectively reduced, the weight of the board body can be significantly reduced, the usage of materials is reduced, the material cost is reduced, the energy transmission efficiency is improved by lightweight design, and the endurance mileage is prolonged.

[0042] The utility model covers any alternative, modification, equivalent method and scheme which is made on the essence and range of the utility model. In order to make the public have the thorough understanding of the utility model, the specific details are explained in the following utility model preferred embodiment, and the utility model can also be completely understood without the description of these details for the person skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the utility model, the well-known method, process, flow, element and circuit etc. are not explained in detail.

[0043] It should be noted that, for those skilled in the art, without departing from the principle of the utility model, a number of improvements and refinements can be made, which should also be considered as the protection range of the utility model.

Claims

1. A tandem wheeled-legged robot, comprising a frame, characterized in that, Hip joints are fixedly connected to both sides of the frame; A leg link, which is used to improve the robot's energy transfer efficiency, is connected to the hip joint; The hip joint includes a protective plate and a motor frame installed symmetrically on the upper and lower sides. The protective plate and the motor frame are fixedly connected by a four-hole adapter. A micro motor is fixedly connected to the motor frame, and a joint motor pad is fixedly connected to the motor frame at the position corresponding to the micro motor. The top of the motor frame is provided with a circular groove and a uniformly distributed lightweight groove. An upper limit block is fixedly connected to the motor frame at the position corresponding to the top of the joint motor pad, and a lower limit block is fixedly connected to the motor frame at the position corresponding to the bottom side of the joint motor pad. The leg link includes a first link rotatably connected to one side of the joint motor pad and a third link rotatably connected to the circular groove via a flange bearing. The free ends of the first link and the third link are rotatably connected to a second link. Lightweight grooves are provided through the first link, the second link and the third link. A wheel set is rotatably connected to the free end of the second link.

2. The tandem wheeled robot according to claim 1, characterized in that, The wheel set includes a gearbox, rubber-coated wheels, and a drive motor. The output gear of the drive motor meshes with the planetary gear of the gearbox.

3. The tandem wheeled robot according to claim 1, characterized in that, Symmetrically distributed crossbeams are fixedly connected to the bottom center of the frame. Longitudinal beams are threadedly connected to the top two sides of the crossbeams. A base plate is fixedly connected to the top center of the crossbeams. Motor beams are threadedly connected to both ends of the crossbeams.

4. The tandem wheeled robot according to claim 1, characterized in that, The frame also includes symmetrically distributed upper loading plates. The bottom of the upper loading plates is fixedly connected to a guide wheel connecting plate through the four-hole adapter. A guide wheel mounting piece is fixedly connected to one side of the bottom of the guide wheel connecting plate, and a guide wheel is fixedly connected to the other side of the bottom of the guide wheel connecting plate.

5. The tandem wheeled robot according to claim 4, characterized in that, A download plate is fixedly connected to the top of the guide wheel mounting component. The download plate is located directly below the upper loading plate. Lightweight grooves are opened through both the upper loading plate and the download plate. A support plate is fixedly connected to the bottom of the download plate on the side away from the joint motor pad. A battery is placed on the support plate. Vertical plates are fixedly connected to both sides of the battery through the upper loading plate.

6. The tandem wheeled robot according to claim 5, characterized in that, The top of the upper plate is fixedly connected to symmetrically distributed side plates, each of which has a lightweight groove through it. A front viewing plate is fixedly connected to one side of each side plate, and the top of each side plate is fixedly connected to the same cover plate.

7. The tandem wheeled robot according to claim 6, characterized in that, The top of the cover plate is rotatably connected to a flap corresponding to the position of the battery, and the flap plate has evenly distributed lightweight grooves running through it.

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