Wheel-legged biped robot

Abstract

The utility model discloses a wheel-legged biped robot which comprises a wheel seat, a connecting rod assembly, a bearing seat and a driving assembly, and tires are rotatably arranged on the wheel seat; the connecting rod assembly comprises a first connecting rod, a second connecting rod and a third connecting rod which are sequentially hinged, the end, away from the second connecting rod, of the first connecting rod is hinged to the first hinge portion of the wheel seat, and the end, away from the second connecting rod, of the third connecting rod is hinged to the second hinge portion of the wheel seat. The wheel seat, the first connecting rod, the second connecting rod and the third connecting rod jointly form a parallelogram structure; the bearing seat is arranged on the connecting rod assembly; the driving assembly is in driving connection with at least one of the first connecting rod, the second connecting rod and the third connecting rod and used for adjusting the distance between the first connecting rod and the third connecting rod. The wheel-legged biped robot disclosed by the utility model is better in loading capacity.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a wheel -leg formula biped robot. BACKGROUND

[0002] The wheel -leg formula biped robot combines the efficiency of wheeled movement and the flexibility of biped walking, can move fast on the flat ground, simultaneously has the ability of crossing obstacles and adapting complex terrain. The wheel -leg formula biped robot exhibits great potential in multiple fields owing to its efficient and flexible characteristics. In the related art, the wheel -leg formula biped robot directly drives the bearing seat to lift through the driver, correspondingly, all the load of the bearing seat of the wheel -leg formula biped robot needs to be carried through the driver, when the load of the bearing seat needs to be increased, then the driver with greater load capacity needs to be used. SUMMARY

[0003] The utility model discloses at least one of the technical problems existing in the prior art. To this end, the utility model provides a wheel -leg formula biped robot with better load capacity.

[0004] According to the wheel -leg formula biped robot of the utility model embodiment, including wheel seat, connecting rod assembly, bearing seat and drive assembly, the tire is rotatably arranged on the wheel seat;The connecting rod assembly includes the first connecting rod, the second connecting rod and the third connecting rod that are hingedly connected in turn, the first connecting rod is hingedly connected with the first hinged part of the wheel seat on the end away from the second connecting rod, the third connecting rod is hingedly connected with the second hinged part of the wheel seat on the end away from the second connecting rod, the first hinged part is located on the upper side of the second hinged part, and the wheel seat, the first connecting rod, the second connecting rod and the third connecting rod jointly constitute a parallelogram structure;The bearing seat is arranged on the connecting rod assembly;The drive assembly is drivenly connected with at least one of the first connecting rod, the second connecting rod and the third connecting rod, and is used for adjusting the distance between the first connecting rod and the third connecting rod.

[0005] According to the wheel -leg formula biped robot of the utility model embodiment, at least has the following technical effects:

[0006] In the wheel -leg formula biped robot of the application, the gravity of the bearing seat is partly transmitted to the wheel seat through the first connecting rod and the third connecting rod to be balanced by the supporting force of the wheel seat, and the gravity of the bearing seat is partly transmitted to the drive assembly through the connecting rod assembly to be balanced by the driving force of the drive assembly, that is, in the wheel -leg formula biped robot of the application, the drive assembly only needs to load part of the gravity of the bearing seat, under the premise that the driving force of the drive assembly is constant, the workpiece with greater weight can be placed on the bearing seat, so that the wheel -leg formula biped robot of the application has greater load capacity.

[0007] According to some embodiments of the present invention, a wheel-legged bipedal robot has a second link comprising a connecting section and a supporting section connected together. The two ends of the connecting section are respectively hinged to the first link and the third link. The supporting section is located directly above the wheel seat, and the bearing seat is supported on the supporting section.

[0008] According to some embodiments of the present invention, a wheel-legged bipedal robot has a drive component mounted on a support section. The output end of the drive component is connected to a third link and is used to drive the third link to rotate around the wheel seat.

[0009] According to some embodiments of the present invention, a wheel-legged bipedal robot has a drive component including an electric cylinder, which is hinged to a support section, and the telescopic rod of the electric cylinder is hinged to a third connecting rod.

[0010] According to some embodiments of the present invention, a wheel-legged bipedal robot has a third hinge portion and a fourth hinge portion on the third link. The third hinge portion is hinged to the second link, and the fourth hinge portion is hinged to the output end of the drive assembly. The fourth hinge portion is located below the line connecting the second hinge portion and the third hinge portion.

[0011] According to some embodiments of the present invention, a wheel-legged bipedal robot has a third link comprising a first segment, a second segment, and a third segment connected end to end. The junction of the first segment and the second segment is hinged to a second hinge portion. A third hinge portion is provided at the junction of the first segment and the third segment, and a fourth hinge portion is provided at the junction of the second segment and the third segment.

[0012] According to some embodiments of the present invention, a wheel-legged bipedal robot has a foot pad on the third link, which is used to cooperate with the tire to support the wheel-legged bipedal robot.

[0013] According to some embodiments of the present invention, a wheel-legged bipedal robot has two sets of wheel seats, linkage assemblies and drive assemblies, with a support seat disposed on the two linkage assemblies.

[0014] Additional aspects and advantages of this invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0015] The above and / or additional aspects and advantages of this utility model will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0016] Figure 1 This is a structural schematic diagram of a wheel-legged bipedal robot according to the present invention;

[0017] Figure 2 for Figure 1A schematic diagram of the connection structure of the wheel seat, linkage assembly and drive assembly in the diagram;

[0018] Figure 3 for Figure 1 A front view of a wheeled bipedal robot in action;

[0019] Figure 4 for Figure 1 Front view of the support after it has been raised;

[0020] Figure 5 for Figure 1 A structural schematic diagram of a wheel-legged bipedal robot from another perspective.

[0021] Figure label:

[0022] Wheel base 100, first hinge 100a, second hinge 100b, tire 110, motor 120;

[0023] Linkage assembly 200, first link 210, second link 220, connecting section 221, support section 222, third link 230, third hinge 230a, fourth hinge 230b, first section 231, second section 232, third section 233, foot pad 234;

[0024] 300 bearing base;

[0025] Drive assembly 400, electric cylinder 410;

[0026] Electrical control box 500. Detailed Implementation

[0027] The embodiments of this utility model are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this utility model, and should not be construed as limiting this utility model.

[0028] In the description of this utility model, it should be understood that the orientation descriptions, such as up, down, left, right, front, and back, 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.

[0029] In the description of this utility model, the use of "first" and "second" is only for the purpose of distinguishing technical features and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features or the order of the technical features.

[0030] In the description of this utility model, unless otherwise explicitly defined, terms such as "setting," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this utility model in conjunction with the specific content of the technical solution.

[0031] The following is for reference. Figures 1 to 5 A wheel-legged bipedal robot according to an embodiment of the present invention will be described in detail.

[0032] refer to Figures 1 to 3 A wheel-legged bipedal robot according to an embodiment of the present invention includes a wheel base 100, a link assembly 200, a support base 300, and a drive assembly 400. A tire 110 is rotatably mounted on the wheel base 100. The link assembly 200 includes a first link 210, a second link 220, and a third link 230 that are hinged sequentially. The end of the first link 210 facing away from the second link 220 is hinged to a first hinge portion 100a of the wheel base 100, and the end of the third link 230 facing away from the second link 220... The first hinge 100a is located above the second hinge 100b of the wheel seat 100. The wheel seat 100, the first connecting rod 210, the second connecting rod 220 and the third connecting rod 230 together form a parallelogram structure. The bearing seat 300 is provided on the connecting rod assembly 200. The drive assembly 400 is driven connected to at least one of the first connecting rod 210, the second connecting rod 220 and the third connecting rod 230, and is used to adjust the distance between the first connecting rod 210 and the third connecting rod 230.

[0033] For example, such as Figure 2 and Figure 3 As shown, the support 300 is mounted on the second link 220, and the drive assembly 400 is connected to the third link 230 and is used to drive the third link 230 to rotate around the second hinge portion 100b.

[0034] In the operation of the wheel-legged bipedal robot of this embodiment, the workpiece can be placed on the support 300. When it is necessary to raise the height of the support 300, the drive assembly 400 can drive the third link 230 to rotate upward relative to the second hinge 100b. At this time, the first link 210 rotates upward relative to the first hinge 100a, the first link 210 and the third link 230 move closer to each other, the second link 220 moves away from the wheel seat 100, and the height of the second link 220 is raised, thus raising the height of the support. The seat 300 is raised following the second link 220; when it is necessary to lower the height of the support seat 300, the drive assembly 400 can drive the third link 230 to rotate downward relative to the second hinge 100b. At this time, the first link 210 rotates downward relative to the first hinge 100a, the first link 210 and the third link 230 move away from each other, the second link 220 moves closer to the wheel seat 100, the height of the second link 220 decreases, and the support seat 300 follows the second link 220 to decrease.

[0035] It is understood that in the wheel-legged bipedal robot of this application, part of the weight of the support seat 300 is transmitted to the wheel seat 100 through the first link 210 and the third link 230, so as to be balanced by the supporting force of the wheel seat 100. The other part of the weight of the support seat 300 is transmitted to the drive assembly 400 through the link assembly 200, so as to be balanced by the driving force of the drive assembly 400. That is, in the wheel-legged bipedal robot of this application, the drive assembly 400 only needs to bear part of the weight of the support seat 300. Under the premise that the driving force of the drive assembly 400 is constant, a heavier workpiece can be placed on the support seat 300, thereby enabling the wheel-legged bipedal robot of this application to have a greater load capacity.

[0036] It is understandable that by having the wheel seat 100, the first link 210, the second link 220, and the third link 230 collectively form a parallelogram structure, on the one hand, when the drive assembly 400 rotates in the drive link assembly 200, there are no dead points between the second link 220 and the first link 210 and the third link 230, thereby reducing the possibility of the drive assembly 400 getting stuck when adjusting the height of the support seat 300; on the other hand, when the drive assembly 400 rotates in the drive link assembly 200, the tilt angle of the second link 220 relative to the horizontal plane can remain constant. By placing the support seat 300 on the second link 220, the tilt angle of the support seat 300 relative to the horizontal plane can remain constant during the lifting and lowering process, thereby improving the stability of the support seat 300 during the lifting and lowering process.

[0037] In some other embodiments of this utility model, the drive assembly 400 can be connected to the first link 210, and the support seat 300 is disposed on the second link 220. At this time, when the drive assembly 400 drives the first link 210 to rotate upward relative to the first hinge portion 100a, the distance between the first link 210 and the second link 220 becomes smaller, the second link 220 moves away from the wheel seat 100, and the support seat 300 follows the second link 220 to rise. When the drive assembly 400 drives the first link 210 to rotate downward relative to the first hinge portion 100a, the distance between the first link 210 and the third link 230 increases, the second link 220 moves closer to the wheel seat 100, and the support seat 300 follows the second link 220 to descend.

[0038] In some other embodiments of this utility model, the drive assembly 400 can be connected to the second link 220, and the support seat 300 is disposed on the second link 220. At this time, when the drive assembly 400 drives the second link 220 away from the wheel seat 100, the first link 210 rotates upward relative to the first hinge portion 100a, and the third link 230 rotates upward relative to the second hinge portion 100b. The distance between the first link 210 and the third link 230 decreases, and the support seat 300 follows the second link 220 to rise. When the drive assembly 400 drives the second link 220 closer to the wheel seat 100, the first link 210 rotates downward relative to the first hinge portion 100a, and the third link 230 rotates downward relative to the second hinge portion 100b. The distance between the first link 210 and the third link 230 increases, and the support seat 300 follows the second link 220 to descend.

[0039] refer to Figure 2 and Figure 3 In some embodiments of this utility model, the second connecting rod 220 includes a connecting section 221 and a supporting section 222 connected together. The two ends of the connecting section 221 are hinged to the first connecting rod 210 and the third connecting rod 230, respectively. The supporting section 222 is located directly above the wheel seat 100, and the bearing seat 300 is supported on the supporting section 222. It can be understood that by setting the bearing seat 300 on the supporting section 222, and with the supporting section 222 located directly above the wheel seat 100, it can be ensured that the center of gravity of the bearing seat 300 is as close as possible to the top of the wheel seat 100, thereby increasing the stability of the bearing seat 300 in supporting the workpiece.

[0040] Specifically, the support section 222 extends horizontally, enabling the bearing seat 300 to be supported horizontally on the support section 222. In this case, the bearing seat 300 can support the workpiece more stably.

[0041] like Figure 2 and Figure 3As shown, in some embodiments, the drive assembly 400 is mounted on the support section 222, and the output end of the drive assembly 400 is connected to the third link 230 and is used to drive the third link 230 to rotate around the wheel seat 100. It is understood that by mounting the drive assembly 400 on the support section 222 and connecting the output end of the drive assembly 400 to the third link 230, the installation space for the drive assembly 400 is increased.

[0042] like Figures 2 to 4 As shown, in one embodiment, the drive assembly 400 includes an electric cylinder 410, which is hinged to the support section 222, and the telescopic rod of the electric cylinder 410 is hinged to the third link 230. Understandably, since the electric cylinder 410 is hinged to the support section 222, and the telescopic rod of the electric cylinder 410 is hinged to the third connecting rod 230, when the telescopic rod is extended by the electric cylinder 410, the telescopic rod can drive the third connecting rod 230, which is hinged to it, to rotate upward around the second hinge portion 100b. Since the second connecting rod 220 is parallel to the wheel seat 100, the third connecting rod 230 can drive the second connecting rod 220 to move upward, so that the bearing seat 300 connected to the support section 222 rises. When the telescopic rod is retracted by the electric cylinder 410, the telescopic rod can drive the third connecting rod 230, which is hinged to it, to rotate downward around the second hinge portion 100b. Since the second connecting rod 220 is parallel to the wheel seat 100, the third connecting rod 230 can drive the second connecting rod 220 to move downward, so that the bearing seat 300 connected to the support section 222 falls.

[0043] Understandably, the connection between the electric cylinder 410 and the connecting rod assembly 200 further enhances the load-bearing capacity of the wheel seat 100 and the drive assembly 400, thereby further improving the load-bearing capacity of the bearing seat 300.

[0044] In some other embodiments of the present invention, the drive assembly 400 includes a cylinder, which is hinged to the support section 222, and the telescopic rod of the cylinder is hinged to the third connecting rod 230.

[0045] like Figures 1 to 4As shown, in one embodiment, the third connecting rod 230 is provided with a third hinge portion 230a and a fourth hinge portion 230b. The third hinge portion 230a is hinged to the second connecting rod 220, and the fourth hinge portion 230b is hinged to the output end of the drive assembly 400. The fourth hinge portion 230b is located below the line connecting the second hinge portion 100b and the third hinge portion 230a. It can be understood that because the third connecting rod 230 is hinged to the second connecting rod 220 via the third hinge portion 230a, and the third connecting rod 230 is connected to the telescopic rod of the electric cylinder 410 via the fourth hinge portion 230b, and the fourth hinge portion 230b is located below the line connecting the second hinge portion 100b and the third hinge portion 230a, the installation space of the electric cylinder 410 is larger, thereby increasing the extension range of the telescopic rod of the electric cylinder 410. At this time, the range of height adjustment of the bearing seat 300 via the electric cylinder 410 also increases.

[0046] like Figure 2 As shown, in one embodiment, the third link 230 includes a first segment 231, a second segment 232 and a third segment 233 connected end to end. The junction of the first segment 231 and the second segment 232 is hinged to the second hinge portion 100b. A third hinge portion 230a is provided at the junction of the first segment 231 and the third segment 233, and a fourth hinge portion 230b is provided at the junction of the second segment 232 and the third segment 233. Understandably, the third link 230 is composed of a triangular structure formed by the first segment 231, the second segment 232, and the third segment 233, which makes the third link 230 more stable. Furthermore, the second hinge 100b is located at the junction of the first segment 231 and the second segment 232, the third hinge 230a is located at the junction of the first segment 231 and the third segment 233, and the fourth hinge 230b is located at the junction of the second segment 232 and the third segment 233, which makes the third link 230 as a whole have a stronger load-bearing capacity.

[0047] refer to Figure 3 In some embodiments of this utility model, the third link 230 is provided with foot pads 234, which are used to cooperate with the tires 110 to support the wheel-legged bipedal robot. It is understood that when the robot is not in operation, the third link 230 can be supported on the ground by the foot pads 234, so as to reduce the possibility of damage caused by direct contact between the third link 230 and the ground.

[0048] refer to Figure 1 and Figure 5In some embodiments of this utility model, two sets of wheel seats 100, connecting rod assemblies 200, and drive assemblies 400 are provided respectively, and the bearing seat 300 is disposed on two connecting rod assemblies 200. It can be understood that by disposing of the bearing seat 300 on two connecting rod assemblies 200, and with each connecting rod assembly 200 correspondingly connected to a drive assemblies 400 and a wheel seat 100, the load-bearing capacity and stability of the bearing seat 300 are further improved.

[0049] In a specific embodiment of this utility model, two sets of wheel seats 100, connecting rod assemblies 200, and electric cylinders 410 are distributed along a first horizontal direction, and the lower surface of the support seat 300 is connected to the support sections 222 of the two second connecting rods 220. It is understood that the wheel-legged bipedal robot of this application can adjust the height of both ends of the support seat 300 in the first horizontal direction by adjusting the extension and retraction of the telescopic rods of the two electric cylinders 410, thereby ensuring that the upper surface of the support seat 300 remains horizontal at all times.

[0050] like Figure 5 As shown, in some embodiments of this utility model, each wheel seat 100 is provided with a motor 120, the motor 120 is connected to the tire 110 of the corresponding wheel seat 100, and is used to drive the tire 110 to rotate around the horizontal axis. An electrical control box 500 is provided between the two sets of wheel seats 100, and the electrical control box 500 is connected to the lower surface of the support seat 300.

[0051] A control method, applied to the wheeled bipedal robot described in the above embodiments, includes the following steps:

[0052] It is determined that the bearing seat 300 is in an inclined state;

[0053] Adjust the relative distance between the first link 210 and the third link 230 in the two link assemblies 200 respectively until the bearing seat 300 switches from the tilted state to the horizontal state.

[0054] It is understood that a preset axis is provided on the support 300, which extends along the first horizontal direction. When the preset axis is tilted relative to the horizontal plane, the support 300 is in a tilted state. At this time, by controlling the extension of the two electric cylinders 410, the relative distance between the first connecting rod 210 and the third connecting rod 230 in the two sets of connecting rod assemblies 200 is adjusted respectively, thereby realizing the adjustment of the height of the two ends of the support 300 relative to the ground in the first horizontal direction until the preset axis is parallel to the horizontal plane. At this time, the support 300 switches from the tilted state to the horizontal state.

[0055] In some embodiments of this utility model, the control method further includes the following steps:

[0056] Obtain the actual height of the support 300;

[0057] The relative distance between the first link 210 and the third link 230 in the two link assemblies 200 is adjusted synchronously according to the actual height until the actual height of the bearing seat 300 reaches the preset height.

[0058] Understandably, when it is necessary to adjust the height of the support 300 to a preset height, the actual height of the support 300 is first obtained, and then, based on the actual height of the support 300, the telescopic rod is simultaneously driven to extend and retract via the electric cylinder 410 to simultaneously adjust the relative distance between the first link 210 and the third link 230 in the two link assemblies 200 until the support 300 is at the preset height.

[0059] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A wheel-legged bipedal robot, characterized in that, include: A wheel seat on which a tire is rotatably mounted; The linkage assembly includes a first linkage, a second linkage, and a third linkage that are hinged sequentially. The end of the first linkage away from the second linkage is hinged to a first hinge portion of the wheel seat, and the end of the third linkage away from the second linkage is hinged to a second hinge portion of the wheel seat. The first hinge portion is located above the second hinge portion. The wheel seat, the first linkage, the second linkage, and the third linkage together form a parallelogram structure. A support is provided on the connecting rod assembly; A drive assembly is drivenly connected to at least one of the first link, the second link, and the third link, and is used to adjust the distance between the first link and the third link.

2. The wheel-legged bipedal robot according to claim 1, characterized in that, The second link includes a connecting section and a support section connected to each other. The two ends of the connecting section are respectively hinged to the first link and the third link. The support section is located directly above the wheel seat, and the bearing seat is supported on the support section.

3. A wheel-legged bipedal robot according to claim 2, characterized in that, The drive assembly is mounted on the support section, and the output end of the drive assembly is connected to the third link and is used to drive the third link to rotate around the wheel seat.

4. A wheel-legged bipedal robot according to claim 3, characterized in that, The drive assembly includes an electric cylinder hinged to the support section, and the telescopic rod of the electric cylinder is hinged to the third connecting rod.

5. A wheel-legged bipedal robot according to claim 3 or 4, characterized in that, The third link is provided with a third hinge portion and a fourth hinge portion. The third hinge portion is hinged to the second link, and the fourth hinge portion is hinged to the output end of the drive assembly. The fourth hinge portion is located below the line connecting the second hinge portion and the third hinge portion.

6. A wheel-legged bipedal robot according to claim 5, characterized in that, The third link includes a first segment, a second segment, and a third segment connected end to end. The junction of the first segment and the second segment is hinged to the second hinge portion. The junction of the first segment and the third segment is provided with the third hinge portion. The junction of the second segment and the third segment is provided with the fourth hinge portion.

7. A wheel-legged bipedal robot according to claim 1, characterized in that, The third link is equipped with foot pads, which are used to cooperate with the tires to support the wheel-legged bipedal robot.

8. A wheel-legged bipedal robot according to any one of claims 1 to 7, characterized in that, The wheel seat, the connecting rod assembly, and the drive assembly are provided in two sets respectively, and the bearing seat is disposed on the two connecting rod assemblies.

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