Shoulder wheel type quadruped robot

Abstract

The utility model relates to the technical field of robot movement, in particular to a shoulder wheel type quadruped robot which comprises a robot body, two shoulder shafts which are symmetrically distributed left and right are fixed to the shoulders of the front end and the rear end of the robot body respectively, leg assemblies are arranged at the outer ends of the shoulder shafts, shoulder wheels are arranged on the outer sides of the leg assemblies, and the shoulder wheels are connected with the robot body. The shoulder wheels are installed on the shoulder shafts close to each other, and the shoulder wheels and the shoulder shafts close to each other are coaxially arranged. Two shoulder wheels are respectively arranged on the front end shoulder part and the rear end shoulder part of a robot body. In the process of traveling on the flat ground, the robot achieves a wheel traveling mode by means of the four shoulder wheels. Compared with a traditional design, the layout mode effectively reduces the height of the gravity center of the robot, and meanwhile the transverse span of the supporting face is widened. When the robot faces complex road conditions or external force interference, the swinging and toppling risks can be greatly reduced by means of more stable gravity center distribution, and it is ensured that the walking stability on the flat ground is remarkably improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot movement technical field, concretely is a kind of shoulder wheel type quadruped robot. BACKGROUND

[0002] Wheel-legged robot is a kind of robot combined with wheeled and foot type movement mode, it fuses the advantages of wheeled robot and foot type robot, with stronger environmental adaptability and movement flexibility.The existing wheel-legged robot, wheel group is generally installed in the leg of robot, such as the patent with announcement number CN116279891B, discloses a wheel-foot composite robot and its control method, wheel group is installed on shank body, the included angle size between shank body and ground is adjusted, and the switching of wheel and foot is realized.

[0003] Due to the installation of wheel group in leg, the position of wheel group is high, so that the gravity center of robot is significantly promoted, and the stability of leg itself as slender support structure is congenitally insufficient.Once uneven ground is encountered, or is subjected to external sudden external force interference, or in the process of advancing, the gravity center of robot will be easily deviated.This instability of gravity center is easy to cause the shaking of robot, and even directly falls seriously, so that robot cannot maintain stable operation under complex working conditions at all.For this reason, we propose a shoulder wheel type quadruped robot to solve the above-mentioned disadvantages. CONTENT OF UTILITY MODEL

[0004] The utility model aims at providing a shoulder wheel type quadruped robot, to solve the problem of insufficient stability in prior art that wheel group is installed in leg in the background art.

[0005] The utility model is realized by the following technical scheme: a shoulder wheel type quadruped robot, including robot body, the front and rear two ends of the robot body are fixed with two left and right symmetrical shoulder shafts, leg assembly is arranged at the outer end of each shoulder shaft, shoulder wheel is arranged on the outer side of each leg assembly, each shoulder wheel is installed on the shoulder shaft close to each other, and each shoulder wheel is coaxially arranged with the shoulder shaft close to each other.

[0006] Optionally, the leg assembly includes thigh and shank, one end of the thigh is rotatably connected with the shoulder shaft, and the other end of the thigh is rotatably connected with the shank.

[0007] Optionally, the shoulder wheel is a hub motor driven wheel.

[0008] Optionally, the top of the shoulder shaft is detachably connected with arc-shaped plate, the top of the arc-shaped plate is fixedly connected with L-shaped mounting plate, the horizontal section of the L-shaped mounting plate passes through above the leg assembly, the vertical section of the L-shaped mounting plate is located on the outer side of the leg assembly, and the shoulder wheel is installed on the vertical section of the L-shaped mounting plate.

[0009] Optionally, the two ends of the arc-shaped plate are fixed with connecting plates, and C-shaped plates for horizontally inserting the connecting plates are fixed on the shoulder shafts, and fixing bolts vertically penetrating the connecting plates are arranged on the C-shaped plates;

[0010] The arc-shaped plate is detachably connected with the shoulder shafts through cooperation of the connecting plates, the C-shaped plates and the fixing bolts.

[0011] Optionally, a plurality of T-shaped sliding grooves are arranged on the inner arc surface of the arc-shaped plate and are spaced apart in the circumferential direction, the side of each T-shaped sliding groove close to the shoulder wheel is closed, and the side of each T-shaped sliding groove away from the shoulder wheel is open; and T-shaped sliding rails matched with the T-shaped sliding grooves are fixed on the shoulder shafts.

[0012] Compared with the prior art, the shoulder wheel type four-legged robot has the following advantages

[0013] Beneficial effects:

[0014] The utility model discloses two shoulder wheels are installed on the front end shoulder part and rear end shoulder part of the robot body respectively. In the process of advancing on the flat ground, the robot realizes the wheel advancing mode by the four shoulder wheels. Compared with the traditional design, this layout mode effectively reduces the gravity center height of the robot, and widens the horizontal span of the support surface. When the robot faces the complex road condition or external force interference, the more stable gravity center distribution can greatly reduce the shaking and toppling risk, and ensures that the walking stability on the flat ground is obviously improved. BRIEF DESCRIPTION OF DRAWINGS

[0015] Fig. 1 It is the whole structure schematic diagram of the utility model;

[0016] Fig. 2 It is the schematic diagram of the shoulder shaft of the utility model;

[0017] Fig. 3 It is the schematic diagram of the arc-shaped plate of the utility model;

[0018] Fig. 4 It is the schematic diagram of the leg assembly of the utility model.

[0019] In the drawing: 1, robot body; 2, shoulder shaft; 3, leg assembly; 301, thigh; 302, shank; 4, shoulder wheel; 5, arc-shaped plate; 6, L-shaped mounting plate; 7, connecting plate; 8, C-shaped plate; 9, fixing bolt; 10, T-shaped sliding groove; 11, T-shaped sliding rail. DETAILED DESCRIPTION

[0020] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described, obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0021] Please refer to Figs. 1 to 4 A shoulder wheel type four-legged robot, comprising a robot body 1, which provides stable support for other components. The front and rear ends of the robot body 1 are fixed with two left and right symmetrical shoulder shafts 2, and a leg assembly 3 is arranged at the outer end of each shoulder shaft 2, which is mainly used to realize the foot walking function of the robot. In this embodiment, the leg assembly 3 comprises a thigh 301 and a shank 302, one end of the thigh 301 is rotatably connected with the shoulder shaft 2, and the other end of the thigh 301 is rotatably connected with the shank 302. In actual operation, by flexibly adjusting the different rotation angles of the thigh 301 and the shank 302, the robot body 1 can realize flexible and variable foot walking mode, which is prior art and will not be described here.

[0022] In order to solve the problem that the wheel set is installed on the leg in the prior art and is not stable enough, the following design is made:

[0023] A shoulder wheel 4 is arranged on the outer side of each leg assembly 3, each shoulder wheel 4 is installed on the adjacent shoulder shaft 2, and each shoulder wheel 4 is coaxially arranged with the adjacent shoulder shaft 2, so that the shoulder wheel 4 can be in contact with the ground when the leg assembly 3 is completely retracted. In this embodiment, the shoulder wheel 4 is a hub motor driven wheel, the hub motor directly transmits power to the wheel body without the need for a complex transmission system, reducing the energy loss in the transmission process and enabling more efficient conversion of electrical energy into mechanical energy to provide strong power for the robot in the wheel walking mode, ensuring that it has high speed and good acceleration performance when walking on flat ground.

[0024] With the above structure, when the robot faces complex terrain, the leg assembly 3 can be unfolded and switched to foot walking mode, and by flexibly controlling the rotation angle of the thigh 301 and the shank 302, various rugged road conditions can be adapted. When the robot is on flat ground, the leg assembly 3 only needs to be retracted, so that the shoulder wheel 4 is in contact with the ground, and the wheel walking mode can be switched, so that the robot can quickly walk on flat ground. In the wheel walking mode, the four shoulder wheels 4 work cooperatively. Compared with the traditional design, this layout has obvious advantages, which not only effectively reduces the height of the center of gravity of the robot, enhances the overall stability, but also widens the horizontal span of the support surface, so that the robot can maintain stability when driving on flat ground, and is not easy to shake or fall.

[0025] In order to facilitate the disassembly and assembly of the shoulder wheel 4, the following design is made:

[0026] The top of the shoulder shaft 2 is detachably connected with an arc-shaped plate 5, which can be attached to the shoulder shaft 2 to ensure stable connection. The top of the arc-shaped plate 5 is fixed with an L-shaped mounting plate 6, the horizontal section of which passes above the leg assembly 3, and the vertical section of which is located outside the leg assembly 3. The shoulder wheel 4 is mounted on the vertical section of the L-shaped mounting plate 6, so that the shoulder wheel 4 is located outside the leg assembly 3 and is indirectly connected with the shoulder shaft 2 through the L-shaped mounting plate 6 and the arc-shaped plate 5.

[0027] In this embodiment, the two ends of the arc-shaped plate 5 are fixed with connecting plates 7, and C-shaped plates 8 are fixed on the shoulder shaft 2 for horizontal insertion of the connecting plates 7. Fixed bolts 9 are arranged on each C-shaped plate 8 to pass through the connecting plates 7 in the vertical direction. The arc-shaped plate 5 is detachably connected with the shoulder shaft 2 through the cooperation of the connecting plates 7, the C-shaped plates 8 and the fixed bolts 9. When the shoulder wheel 4 needs to be repaired or replaced, the operation process is very convenient. First, the fixed bolts 9 are unscrewed and removed; then the connecting plates 7 are horizontally pulled out from the C-shaped plates 8. After completing these two steps, the arc-shaped plate 5 can be smoothly separated from the shoulder shaft 2, and the shoulder wheel 4 can be easily disassembled from the robot structure, greatly facilitating the later maintenance work.

[0028] Further, a plurality of T-shaped sliding grooves 10 are arranged on the inner arc surface of the arc-shaped plate 5 and are spaced apart in the circumferential direction. The side of each T-shaped sliding groove 10 close to the shoulder wheel 4 is closed, and the side of each T-shaped sliding groove 10 away from the shoulder wheel 4 is open. T-shaped sliding rails 11 are fixed on the shoulder shaft 2 and cooperate with the T-shaped sliding grooves 10.

[0029] During the installation of the arc-shaped plate 5, the connecting plates 7 are inserted into the C-shaped plates 8, and the T-shaped sliding rails 11 are inserted into the open ends of the T-shaped sliding grooves 10 until the T-shaped sliding rails 11 reach the closed ends of the T-shaped sliding grooves 10. This operation not only accurately limits the position of the arc-shaped plate 5, but also creates convenient conditions for the subsequent smooth passage of the fixed bolts 9 through the connecting plates 7, and quickly determines the correct installation position of the arc-shaped plate 5 during installation, improving assembly efficiency.

[0030] In addition, after the fixed bolts 9 are tightened, the T-shaped sliding rails 11 and the T-shaped sliding grooves 10 are closely matched, effectively limiting the vertical displacement of the arc-shaped plate 5, so that the arc-shaped plate 5 is difficult to move up and down. When the shoulder wheel 4 bears the reaction force from the ground and various external forces generated during the movement of the robot, the arc-shaped plate 5 will not easily move upward due to the limiting action of the T-shaped sliding rails 11 and the T-shaped sliding grooves 10, thereby ensuring the stability of the installation position of the shoulder wheel 4 and guaranteeing the reliability of the robot during operation.

[0031] In the embodiment, it needs to be explained that a very flexible and stable detachable connection mode is adopted between the arc-shaped plate 5 and the shoulder shaft 2, which is realized by the cooperation of the connecting plate 7, the C-shaped plate 8, the T-shaped sliding groove 10 and the T-shaped sliding rail 11. In the actual application scene, the load size borne by the shoulder wheel 4 will also be different due to the complex and changeable working environment and task requirements of the robot. Based on this, the user can flexibly and accurately select the arc-shaped plate 5, the connecting plate 7, the C-shaped plate 8 and the T-shaped sliding rail 11 according to the actual load condition of the shoulder wheel 4. Whether it is facing the light load of the regular operation or coping with the heavy load of the special working condition, the above components of the corresponding size and specification can be reasonably selected to ensure that the robot can stably and efficiently run under different load conditions, greatly improving the environmental adaptability and application range of the robot.

[0032] It should be noted that in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the existence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0033] Although the embodiments of the present application have been shown and described, it is to be understood that for the purpose of the present application, the changes, modifications, replacements and variations of the embodiments can be made by those skilled in the art without departing from the principles and spirit of the present application, and the scope of the present application is defined by the appended claims and their equivalents.

Claims

1. A shoulder-wheeled quadruped robot comprising a robot body (1), characterized in that: The robot body (1) is provided with two symmetrical shoulder shafts (2) at the front and rear ends, a leg assembly (3) is arranged at the outer end of each shoulder shaft (2), a shoulder wheel (4) is arranged at the outer side of each leg assembly (3), each shoulder wheel (4) is coaxially arranged on the adjacent shoulder shaft (2).

2. The shoulder-wheeled quadruped robot according to claim 1, characterized in that: The leg assembly (3) comprises a thigh (301) and a shank (302), one end of the thigh (301) is rotatably connected with the shoulder shaft (2), and the other end of the thigh (301) is rotatably connected with the shank (302).

3. The shoulder-wheeled quadruped robot of claim 1, wherein: The shoulder wheel (4) is a wheel hub motor driven wheel.

4. The shoulder-wheeled quadruped robot of claim 1, wherein: The top of the shoulder shaft (2) is detachably connected with an arc-shaped plate (5), the top of the arc-shaped plate (5) is fixedly connected with an L-shaped mounting plate (6), the horizontal section of the L-shaped mounting plate (6) passes above the leg assembly (3), the vertical section of the L-shaped mounting plate (6) is located outside the leg assembly (3), and the shoulder wheel (4) is mounted on the vertical section of the L-shaped mounting plate (6).

5. The shoulder-wheeled quadruped robot of claim 4, wherein: Both ends of the arc-shaped plate (5) are fixedly connected with a connecting plate (7), a C-shaped plate (8) is fixedly arranged on the shoulder shaft (2) and used for horizontally inserting the connecting plate (7), and a fixing bolt (9) is arranged on each C-shaped plate (8) and used for penetrating the connecting plate (7) in the vertical direction. The arc-shaped plate (5) is detachably connected with the shoulder shaft (2) through the cooperation of the connecting plate (7), the C-shaped plate (8) and the fixing bolt (9).

6. The shoulder-wheeled quadruped robot of claim 5, wherein: A plurality of T-shaped sliding grooves (10) are arranged on the inner arc surface of the arc-shaped plate (5) and are spaced apart in the circumferential direction, one side of each T-shaped sliding groove (10) close to the shoulder wheel (4) is closed, and the other side of each T-shaped sliding groove (10) away from the shoulder wheel (4) is open, and a T-shaped sliding rail (11) matched with each T-shaped sliding groove (10) is fixedly arranged on the shoulder shaft (2).

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