Wheel-foot robot

Abstract

The utility model relates to a wheel-foot robot. Comprising a first fuselage, a second fuselage and a connecting assembly, and the connecting assembly is connected with the first fuselage and the second fuselage; mounting cavities are formed in the two opposite sides of the first machine body in the preset direction and the two opposite sides of the second machine body in the preset direction; the rotating assemblies are arranged in the mounting cavities in a one-to-one correspondence manner; the moving assemblies are used for driving the wheel-foot robot to move, the moving assemblies and the rotating assemblies are connected in a one-to-one correspondence mode, and the control unit is used for controlling the rotating assemblies so that the rotating assemblies can drive the corresponding moving assemblies to rotate in the height direction of the wheel-foot robot, and the wheel-foot robot can rotate in situ. By adjusting the rotating direction of the rotating assembly, the moving assemblies can be driven to rotate along with the rotating assembly, the multiple moving assemblies of the wheel-foot robot can rotate in situ, run obliquely, run while rotating and the like, and the problem that an existing wheel-foot robot cannot run according to a specific track can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to a wheel-foot robot. BACKGROUND

[0002] With the development of robot technology, a wheel-foot robot appears, which perfectly combines the speed and agility of a wheeled robot with the strong adaptability of a legged robot. The streamlined integrated form and excellent maneuverability enable it to maintain stability when crossing various obstacles and ensure reliable performance in dynamic environments.

[0003] However, the existing wheel-foot robot cannot travel according to a specific trajectory, such as rotating in place, driving obliquely, etc., and has poor adaptability to some special terrains. CONTENT OF THE UTILITY MODEL

[0004] Therefore, it is necessary to provide a wheel-foot robot to solve the problem that the existing wheel-foot robot cannot travel according to a specific trajectory.

[0005] A wheel-foot robot, comprising:

[0006] a first body, a second body and a connecting assembly, the connecting assembly being connected with the first body and the second body respectively; the first body and the second body are provided with mounting cavities on opposite sides along the same preset direction;

[0007] a rotating assembly, which is provided in the mounting cavities one by one;

[0008] a moving assembly, which is used to drive the wheel-foot robot to move, the moving assembly being connected with the rotating assembly one by one, and

[0009] a control unit, which is used to control the rotating assembly to drive the corresponding moving assembly to rotate around the height direction of the wheel-foot robot.

[0010] In one embodiment, the rotating assembly comprises a first motor and a rotating support; the output end of the first motor and the rotating support are respectively arranged on a group of opposite cavity walls of the mounting cavities; part of the structure of the moving assembly is sleeved with a connecting support and located in the mounting cavities; the first end of the connecting support is connected with the output end of the first motor, and the second end of the connecting support is rotationally connected with the corresponding cavity wall through the rotating support.

[0011] In one of the embodiments, the first end of the connecting bracket is provided with a plurality of first mounting holes, and the output end of the first motor is provided with a plurality of second mounting holes corresponding to the first mounting holes; a first connecting member passes through the first mounting holes and the second mounting holes to connect the first end of the connecting bracket and the output end of the first motor.

[0012] In one of the embodiments, the rotating bracket comprises a first connecting part, a bearing and a second connecting part; the outer ring of the bearing is connected with the first connecting part, and the inner ring of the bearing is connected with the second connecting part; the first connecting part is arranged on the first body and / or the second body; the second connecting part is provided with a plurality of third mounting holes; the second end of the connecting bracket is provided with a plurality of fourth mounting holes; a second connecting member passes through the third mounting holes and the fourth mounting holes to connect the second end of the connecting bracket and the second connecting part.

[0013] In one of the embodiments, the moving assembly comprises a second motor, a third motor, a mounting bracket, a first connecting rod, a second connecting rod and a wheel hub assembly.

[0014] The connecting bracket is sleeved on the second motor; the first end of the mounting bracket is connected with the output end of the second motor, and the second end of the mounting bracket is connected with a side opposite to the output end of the third motor; the output end of the third motor is connected with the first connecting rod; the first connecting rod and the second connecting rod are hinged; and the second connecting rod is connected with the wheel hub assembly.

[0015] In one of the embodiments, the wheel hub assembly comprises a motor and a wheel hub; the motor is connected with an end of the second connecting rod away from the first connecting rod; and the motor is arranged in the wheel hub and used to drive the wheel hub to rotate.

[0016] In one of the embodiments, when the wheel-legged robot is in the state of rotating in place, the moving assembly is arranged to be inclined relative to the first body or the second body to which the moving assembly is connected.

[0017] In one of the embodiments, when the wheel-legged robot is in the state of rotating in place, the projection of each moving assembly on a plane perpendicular to the height direction of the wheel-legged robot is centrally symmetric relative to the center of the wheel-legged robot.

[0018] In one of the embodiments, the control unit is further used to control the rotating assembly to drive the rotating assembly to rotate the moving assembly around the height direction of the wheel-legged robot to the same inclined posture, so as to make the wheel-legged robot move obliquely.

[0019] In one of the embodiments, the output direction of the first motor is parallel to the height direction of the wheel-legged robot.

[0020] The wheel-legged robot can drive the moving assemblies to rotate, slant to move, move while rotating, and the like, by adjusting the rotating direction of the rotating assembly, and can solve the problem that the existing wheel-legged robot cannot move according to a specific trajectory. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 FIG. 1 is a schematic diagram of the overall structure of the wheel-legged robot according to an embodiment of the present application.

[0022] Figure 2 FIG. 2 is a schematic diagram of the overall structure of the wheel-legged robot according to an embodiment of the present application.

[0023] Figure 3 FIG. 3 is a schematic diagram of the overall structure of the connecting support according to an embodiment of the present application.

[0024] Figure 4 FIG. 4 is a schematic diagram of the overall structure of the first motor according to an embodiment of the present application.

[0025] Figure 5 FIG. 5 is a schematic diagram of the overall structure of the rotating support according to an embodiment of the present application.

[0026] Figure 6 FIG. 6 is a schematic diagram of the overall structure of the moving assembly according to an embodiment of the present application. Figure 1

[0027] Figure 7 FIG. 7 is a schematic diagram of the overall structure of the moving assembly according to an embodiment of the present application.

[0028] Figure 8 FIG. 8 is a schematic diagram of the wheel-legged robot according to an embodiment of the present application.

[0029] Figure 9 FIG. 9 is a schematic diagram of the wheel-legged robot according to an embodiment of the present application.

[0030] REFERENCE SIGNS:

[0031] 10, first body;

[0032] 20, second body;

[0033] 30, connecting assembly;

[0034] 40, rotating assembly; 41, first motor; 42, rotating support; 421, first connecting part; 422, bearing; 423, second connecting part; 424, third mounting hole;

[0035] ​50, moving assembly; 51, second motor; 52, third motor; 53, mounting bracket; 54, first connecting rod; 55, second connecting rod; 56, wheel hub assembly;

[0036] 60, connecting bracket; 61, first mounting hole. DETAILED DESCRIPTION

[0037] In order to make the above objectives, features and advantages of the present application more apparent, the specific embodiments of the present application will be described in detail below with reference to the accompanying drawings. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application. It will be apparent, however, to one skilled in the art that the present application can be practiced in a variety of ways beyond the specific embodiments described herein without departing from the spirit of the present application, and that the present application is not limited to the specific embodiments disclosed below.

[0038] In the description of the present application, it should be understood that, if there are terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, these terms indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0039] In addition, if the terms "first", "second" appear, these terms are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the technical features referred to. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically limited.

[0040] In the present application, unless otherwise specifically defined and limited, if the terms "mounting", "connecting", "connecting", "fixing" and the like appear, these terms should be interpreted broadly. For example, it can be fixedly connected, or it can be detachably connected, or it can be integrated; it can be mechanically connected, or it can be electrically connected; it can be directly connected, or it can be indirectly connected through an intermediate medium; it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0041] In the present application, unless specifically defined and limited otherwise, if there is a description of a first feature "on" or "under" a second feature, etc., it can mean that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature "over", "above" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "under", "below" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0042] It should be noted that if an element is referred to as being "fixed" or "set" to another element, it can be directly on the other element or there can be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be an intermediate element. If present, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in the present application are for illustrative purposes only and do not represent the only implementation.

[0043] Referring to Figure 1 , Figure 1 The overall structure of the wheel-legged robot in the embodiment of the present application is shown. The wheel-legged robot provided by the embodiment of the present application comprises:

[0044] The first body 10, the second body 20 and the connecting assembly 30 are connected with the first body 10 and the second body 20 respectively; the first body 10 and the second body 20 are provided with installation cavities on opposite sides along the same preset direction;

[0045] The rotating assembly 40 is arranged in the installation cavity one by one;

[0046] The moving assembly 50 is used to drive the wheel-legged robot to move, and the moving assembly 50 is connected with the rotating assembly 40 one by one, and

[0047] The control unit is used to control the rotating assembly 40, so that the rotating assembly 40 drives the corresponding moving assembly 50 to rotate around the height direction of the wheel-legged robot, so that the wheel-legged robot can rotate in place.

[0048] As Figure 1As shown, the first body 10 and the second body 20 need to be connected by the connecting assembly 30, and the first body 10 and the second body 20 are both in a vertical state. The opposite sides of the first body 10 and the second body 20 are provided with mounting cavities, the rotating assembly 40 is arranged in the mounting cavities, the moving assembly 50 is connected with the rotating assembly 40, and the control assembly is used for controlling the rotating assembly 40. When it is needed to set the wheel-foot robot to the in-place rotation mode, the rotating assembly 40 drives the corresponding moving assembly 50 to move around the height direction of the robot. By adjusting the rotating direction of the rotating assembly 40, the moving assembly 50 can be driven to rotate, and the multiple moving assemblies 50 of the wheel-foot robot are rotated to become a form capable of in-place rotation. Moreover, on the basis of the in-place rotation, the rotating direction of each moving assembly 50 can be adjusted to realize the process of rotating and moving at the same time. Moreover, the directions between the moving assemblies 50 can be set according to requirements to realize oblique driving; finally, the problem that the existing wheel-foot robot cannot drive according to a specific track can be solved.

[0049] Specifically, the rotating assembly 40 includes the first motor 41 and the rotating support 42, the output end of the first motor 41 and the rotating support 42 are arranged on a set of opposite cavity walls of the mounting cavity, the connecting support 60 is sleeved on part of the structure of the moving assembly 50 and is located in the mounting cavity, the first end of the connecting support 60 is connected with the output end of the first motor 41, and the second end of the connecting support 60 is rotatably connected with the corresponding cavity wall through the rotating support 42. Figures 3 to 6 As shown, the rotating assembly 40 is used for driving the moving assembly 50 to rotate, the rotating assembly 40 includes the first motor 41 and the rotating support 42, and the output end of the first motor 41 and the rotating support 42 are arranged on a set of opposite cavity walls of the mounting cavity. Then, the connecting support 60 is sleeved on part of the moving assembly 50, the first end of the connecting support 60 is connected with the output end of the first motor 41, and the second end of the connecting support 60 is connected with the rotating support 42. The first motor 41 and the rotating support 42 can be connected through the connecting support 60, so that the first motor 41 and the rotating support 42 can drive the moving assembly 50 to rotate, and the moving assembly 50 is rotated to a suitable position to achieve the posture of in-place rotation of the wheel-foot robot.

[0050] Further, the first end of the connecting support 60 is provided with multiple first mounting holes, the output end of the first motor 41 is provided with multiple second mounting holes corresponding to the first mounting holes, and the first connecting piece passes through the first mounting holes and the second mounting holes to connect the first end of the connecting support 60 and the output end of the first motor 41. Figure 3As shown, the first end of the connecting bracket 60 has multiple first mounting holes, and the output end of the first motor 41 has multiple second mounting holes. The first mounting holes and the second mounting holes correspond one-to-one. By connecting the first mounting holes and the second mounting holes with a connector, the first end of the connecting bracket 60 and the output end of the first motor 41 can be connected together. Specifically, the first connector can be a bolt or a pin.

[0051] like Figure 5 As shown, the rotating bracket 42 includes a first connecting part 421, a bearing 422, and a second connecting part 423. The outer ring of the bearing 422 is connected to the first connecting part 421, and the inner ring of the bearing 422 is connected to the second connecting part 423. The first connecting part 421 is disposed on the first body 10 and / or the second body 20. The inner ring of the bearing 422 is connected to the second connecting part 423. The second connecting part 423 is provided with a plurality of third mounting holes 424. The second end of the connecting bracket 60 is provided with a plurality of fourth mounting holes. The second connecting member passes through the third mounting holes 424 and the fourth mounting holes to connect the second end of the connecting bracket 60 to the second connecting part 423. In one embodiment of this application, the bearing 422 connects the first connecting part 421 and the second connecting part 423. The first connecting part 421 is disposed on the first body 10 and / or the second body 20, and the second connecting part 423 is used to connect with the connecting bracket 60. The second connecting part 423 is also provided with a plurality of third mounting holes 424, and the second end of the connecting bracket 60 is provided with a plurality of fourth mounting holes. The third mounting holes 424 and the fourth mounting holes are connected by a connector, which is a bolt or a pin.

[0052] Specifically, regarding mobile component 50, such as Figure 7 As shown, the moving assembly 50 includes a second motor 51, a third motor 52, a mounting bracket 53, a first link 54, a second link 55, and a hub assembly 56;

[0053] The connecting bracket 60 is sleeved on the second motor 51. The first end of the mounting bracket 53 is connected to the output end of the second motor 51, and the second end of the mounting bracket 53 is connected to the side of the third motor 52 facing away from the output end. The output end of the third motor 52 is connected to the first connecting rod 54. The first connecting rod 54 and the second connecting rod 55 are hinged together. The second connecting rod 55 is connected to the hub assembly 56.

[0054] The output end of the second motor 51 is connected with the third motor 52 through the mounting bracket 53, the output end of the third motor 52 is connected with the first connecting rod 54, the first connecting rod 54 is connected with the second connecting rod 55, and the second connecting rod 55 is connected with the wheel hub assembly 56. The connection between the second motor 51 and the third motor 52 can increase the output power of the first connecting rod 54, the first connecting rod 54 can be driven to rotate through the second motor 51 and the third motor 52, the first connecting rod 54 and the second connecting rod 55 can rotate relative to each other, so that the first connecting rod 54 and the second connecting rod 55 play a role similar to the thigh and the lower leg of a human, and the wheel hub assembly 56 can rotate, so that the wheel-foot robot moves.

[0055] Specifically, the wheel hub assembly 56 includes a motor and a wheel hub, the wheel hub is connected with one end of the second connecting rod 55 away from the first connecting rod 54, and the motor is arranged in the wheel hub and used for driving the wheel hub to rotate relative to the second connecting rod 55. The wheel hub assembly 56 is a wheel hub motor, which is designed by integrating a power system, a transmission system and a brake system.

[0056] When the wheel-foot robot is in the state of rotating in place, the moving assembly 50 is arranged obliquely relative to the first fuselage 10 or the second fuselage 20 to which the moving assembly 50 is connected. By arranging the moving assembly 50 obliquely, the wheel-foot of the wheel-foot robot in the embodiment can be inclined, and the movement of the wheel-foot in the rotating-in-place state is facilitated to move along the circumferential direction of the rotating-in-place.

[0057] Further, as shown in Figure 8 When the wheel-foot robot is in the state of rotating in place, the projection of each moving assembly 50 on the plane perpendicular to the height direction of the wheel-foot robot is centrally symmetric relative to the center of the wheel-foot robot. The above arrangement is the most preferred arrangement of the moving assembly 50, and the moving assembly 50 can move along the same circumferential direction when rotating in place, so as to realize the rotating-in-place.

[0058] Further, as shown in Figure 2 and Figure 9 The wheel-foot robot also has a diagonal moving mode, and the control unit is further configured to control the rotating assembly 40 to drive the corresponding moving assembly 50 to rotate around the height direction of the wheel-foot robot to the same inclined posture of each moving assembly 50, so as to make the wheel-foot robot move diagonally. In the diagonal moving mode, the inclined postures of each moving assembly 50 are the same, so that the wheel-foot robot can move along the diagonal direction without changing the direction of the fuselage.

[0059] In addition, the output end direction of the first motor 41 is parallel to the height direction of the wheel-foot robot, and in this way, the moving assembly 50 can rotate around the height direction of the wheel-foot robot, so as to realize the two modes of rotating in place and moving diagonally of the wheel-foot robot.

[0060] Any combination of the technical features in the above-described embodiments can be made, and for the sake of brevity, not all possible combinations are described, however, it is to be understood that the application embraces all such possible combinations.

[0061] The above-described embodiments only express several implementation manners of the present application, and the description is relatively specific and detailed, but it should not be understood as a limitation on the patent scope of the application. It should be pointed out that for ordinary skilled persons in the art, some modifications and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the patent protection scope of the present application should be subject to the appended claims.

Claims

1. A wheeled-legged robot, characterized in that, The wheeled robot includes: The first body (10), the second body (20), and the connecting component (30) are respectively connected to the first body (10) and the second body (20); the first body (10) and the second body (20) are provided with mounting cavities on opposite sides along the same preset direction; Rotating components (40) are respectively disposed in the mounting cavity; A moving component (50) is used to drive the wheeled robot to move. The moving component (50) is connected to the rotating component (40) in a one-to-one correspondence. A control unit is used to control the rotating component (40) so that the rotating component (40) drives the corresponding moving component (50) to rotate about the height direction of the wheeled robot.

2. The wheeled robot according to claim 1, characterized in that: The rotating assembly (40) includes a first motor (41) and a rotating bracket (42); the output end of the first motor (41) and the rotating bracket (42) are respectively disposed on a set of opposite cavity walls of the mounting cavity; a connecting bracket (60) is sleeved on a part of the structure of the moving assembly (50) and is located in the mounting cavity; the first end of the connecting bracket (60) is connected to the output end of the first motor (41), and the second end of the connecting bracket (60) is rotatably connected to the corresponding cavity wall through the rotating bracket (42).

3. The wheeled robot according to claim 2, characterized in that: The first end of the connecting bracket (60) is provided with a plurality of first mounting holes (61), and the output end of the first motor (41) is provided with a plurality of corresponding second mounting holes; the first connector passes through the first mounting holes (61) and the second mounting holes to connect the first end of the connecting bracket (60) and the output end of the first motor (41).

4. The wheeled robot according to claim 2, characterized in that: The rotating bracket (42) includes a first connecting part (421), a bearing (422), and a second connecting part (423): the outer ring of the bearing (422) is connected to the first connecting part (421), and the inner ring of the bearing (422) is connected to the second connecting part (423); the first connecting part (421) is disposed on the first body (10) and / or the second body (20); the second connecting part (423) is provided with a plurality of third mounting holes (424); the second end of the connecting bracket (60) is provided with a plurality of fourth mounting holes; the second connecting member passes through the third mounting holes (424) and the fourth mounting holes to connect the second end of the connecting bracket (60) with the second connecting part (423).

5. The wheeled robot according to claim 2, characterized in that: The moving component (50) includes a second motor (51), a third motor (52), a mounting bracket (53), a first link (54), a second link (55), and a hub assembly (56). The connecting bracket (60) is sleeved on the second motor (51); the first end of the mounting bracket (53) is connected to the output end of the second motor (51), and the second end of the mounting bracket (53) is connected to the side facing away from the output end of the third motor (52); the output end of the third motor (52) is connected to the first connecting rod (54); the first connecting rod (54) and the second connecting rod (55) are hinged together; the second connecting rod (55) is connected to the hub assembly (56).

6. The wheeled robot according to claim 5, characterized in that: The hub assembly (56) includes a motor and a hub; the motor is connected to the end of the second link (55) away from the first link (54); the motor is disposed in the hub and is used to drive the hub to rotate.

7. The wheeled robot according to claim 1, characterized in that: When the wheeled robot is in a stationary rotation state, the moving component (50) is tilted relative to the first body (10) or the second body (20) to which the moving component (50) is connected.

8. The wheeled robot according to claim 1, characterized in that: When the wheeled robot is in a stationary rotation state, the projection of each of the moving components (50) on a plane perpendicular to the height direction of the wheeled robot is centrally symmetrical with respect to the center of the wheeled robot.

9. The wheeled robot according to claim 1, characterized in that: The control unit is also used to control the rotating component (40) so that the rotating component (40) drives the corresponding moving component (50) to rotate around the height direction of the wheeled robot until the tilting posture of each moving component (50) is the same, so that the wheeled robot moves diagonally.

10. The wheeled robot according to claim 2, characterized in that: The output direction of the first motor (41) is parallel to the height direction of the wheeled robot.

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