Wheel-foot type robot

Abstract

The utility model discloses a wheel foot type robot, which belongs to the technical field of robots, and comprises a machine body, wheels are arranged at the bottom of the machine body, a support leg component is arranged at the edge position of the bottom of the machine body, and the support leg component has a motion mode of lifting arms up and down and swinging arms left and right. According to the utility model, an existing robot in the market is innovatively designed, the advantages of a wheel type robot and a foot type robot are integrated, the survivability of the robot in a complex environment is improved, and free switching of wheel and foot modes is realized according to different road conditions, so that the application range of the robot is widened.

Description

Technical Field

[0001] This utility model relates to the technical field of robots, and in particular to a wheel-legged robot. Background Technology

[0002] Currently, the 21st century is the era of artificial intelligence. With the rapid aging of China's population and the severe shortage of labor, it is necessary to liberate people from complex, arduous, and dangerous work. Through artificial intelligence tools, complex, arduous, and dangerous work can be gradually handed over to robots.

[0003] Regarding the aforementioned technologies, the applicant found that in practical applications, the working environment of robots is complex, and relying solely on legged or wheeled locomotion can no longer meet the needs in reality. Legged robots can adapt to various road conditions, but their locomotion speed is relatively slow, while wheeled robots have a faster locomotion speed, but they have higher requirements for the flatness and slope of the terrain. Both types of robots have obvious advantages and disadvantages, resulting in significant limitations in their use. Utility Model Content

[0004] This utility model addresses the shortcomings of existing technologies by providing a wheeled-legged robot. It is an innovative design that combines the advantages of both wheeled and legged robots, improving the robot's survivability in complex environments. It can freely switch between wheeled and legged modes according to different road conditions, thereby broadening the robot's application range.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0006] A wheeled robot includes a body with wheels at the bottom and a leg assembly at the edge of the bottom of the body. The leg assembly has the ability to move by raising its arms up and down and swinging its arms left and right.

[0007] Furthermore, the outrigger assembly includes a composite bracket, which is rotatably connected to the body along a horizontal plane. The composite bracket is equipped with a swing arm servo, which is fixedly connected to the body. The swing arm servo drives the composite bracket to swing left and right relative to the body.

[0008] Furthermore, the composite bracket has a U-shaped structure, with an upper mounting part and a lower mounting part respectively at the upper and lower ends of the composite bracket near the body. The swing arm servo is placed between the upper mounting part and the lower mounting part, and the swing arm servo drives the composite bracket to swing within a range of 60° to 150°.

[0009] Furthermore, the composite support is provided with an upper swing arm and a lower swing arm on the side away from the machine body. The upper swing arm and the lower swing arm are rotatably connected to the composite support along the vertical plane. The upper swing arm and the lower swing arm are rotatably connected to a support leg at the end away from the composite support. The support leg, the upper swing arm, the lower swing arm and the composite support together form a four-bar linkage structure.

[0010] Furthermore, the composite support is equipped with a lifting arm servo, which is in a perpendicular position to the swing arm servo.

[0011] Furthermore, the composite bracket has a U-shaped structure, with a left mounting part and a right mounting part respectively located at the left and right ends of the side of the composite bracket near the body. The lifting arm servo is placed between the left and right mounting parts, and the lifting arm servo drives the lower swing arm to move up and down relative to the composite bracket.

[0012] In summary, compared with the prior art, the beneficial effects of the above technical solution are:

[0013] (1) Innovative design of existing robots on the market, drawing on the advantages of both wheeled and legged robots, to improve the robot's survivability in complex environments, and to enable free switching between wheeled and legged modes according to different road conditions, thereby increasing the robot's applicability.

[0014] (2) By specially designing and setting a U-shaped composite bracket, a four-bar linkage mechanism is formed to enable the four legs to lift and overcome obstacles. When encountering obstacles that cannot be overcome, the four legs are swung to avoid the obstacles, thus achieving the obstacle avoidance function. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the robot in this embodiment of the utility model;

[0016] Figure 2 This is a schematic diagram of the swing arm of the support leg assembly in an embodiment of this utility model;

[0017] Figure 3 This is a schematic diagram of the lifting arm of the outrigger assembly in an embodiment of the present invention;

[0018] Figure 4 This is a schematic diagram of the support leg assembly in an embodiment of the present invention;

[0019] Figure 5 This is a schematic diagram of the composite support structure in an embodiment of the present invention.

[0020] Explanation of reference numerals in the attached drawings: 1. Body; 2. Wheel; 3. Outrigger assembly; 31. Composite bracket; 311. Upper mounting part; 312. Lower mounting part; 313. Left mounting part; 314. Right mounting part; 32. Swing arm servo; 33. Upper swing arm component; 34. Lower swing arm component; 35. Outrigger component; 36. Raising arm servo. Detailed Implementation

[0021] The principles and features of this utility model are described below with reference to all the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0022] This utility model discloses a wheel-legged robot.

[0023] Reference Figure 1 A wheel-legged robot is disclosed, comprising a body 1, wheels 2 at the bottom of the body 1, and leg components 3 at the edge of the bottom of the body 1. The leg components 3 have the ability to move by raising and lowering the arms and swinging the arms left and right. This application innovatively designs existing robots on the market, drawing on the advantages of both wheeled and legged robots, improving the robot's survivability in complex environments, and enabling free switching between wheel-legged modes according to different road conditions, thereby expanding the robot's applicability.

[0024] Reference Figure 2 and Figure 3 , Figure 4 , Figure 5 In this embodiment, there are four outrigger assemblies 3. Each outrigger assembly 3 includes a composite bracket 31, which is rotatably connected to the body 1 along a horizontal plane. A swing arm servo 32 is housed within the composite bracket 31 and is fixedly connected to the body 1. The swing arm servo 32 drives the composite bracket 31 to swing left and right relative to the body 1. The composite bracket 31 has a U-shaped structure. An upper mounting portion 311 and a lower mounting portion 312 are respectively located at the upper and lower ends of the composite bracket 31 near the body 1. The swing arm servo 32 is positioned between the upper mounting portion 311 and the lower mounting portion 312, and the swing arm servo 32 drives the composite bracket 31 to swing within a range of 60° to 150°.

[0025] Reference Figure 2 and Figure 3 , Figure 4 , Figure 5 The composite bracket 31 has an upper swing arm 33 and a lower swing arm 34 on the side away from the body 1. The upper swing arm 33 and the lower swing arm 34 are rotatably connected to the composite bracket 31 along the vertical plane. The ends of the upper swing arm 33 and the lower swing arm 34 away from the composite bracket 31 are rotatably connected to a support leg 35. The support leg 35, the upper swing arm 33, the lower swing arm 34, and the composite bracket 31 together form a four-bar linkage. The composite bracket 31 has a lifting arm servo 36, which is perpendicular to the swing arm servo 32. The composite bracket 31 has a U-shaped structure. The left mounting part 313 and the right mounting part 314 are respectively located at the left and right ends of the composite bracket 31 closest to the body 1. The lifting arm servo 36 is located between the left mounting part 313 and the right mounting part 314, and the lifting arm servo 36 drives the lower swing arm 34 to move up and down relative to the composite bracket 31.

[0026] Reference Figure 4 The outrigger 35, under the action of the lifting arm servo 36, can be raised and lowered to achieve vertical movement. Under the action of the swing arm servo 32, the outrigger 35 can rotate 60° to 150° on the horizontal plane through the U-shaped composite bracket 31. Utilizing the instability of a quadrilateral, combined with a four-bar linkage mechanism, the four legs can easily lift up and down, find a temporary balance point, support the body 1, and overcome obstacles.

[0027] Reference Figure 1 and Figure 4 The outrigger assembly 3 employs a dual-axis servo configuration, cleverly utilizing the connection point of the swing arm on the hinge joint of the U-shaped composite bracket 31, and the servo mounting plate to ensure the coaxiality of the servo movement. The four-legged structure easily finds a balance point, supporting the body 1 and enabling it to overcome obstacles. Even when encountering insurmountable obstacles, the swing arm servo 32 allows for a 60°–150° swing, enabling the four legs to avoid obstacles and move forward.

[0028] Reference Figure 1 The robot body also features reserved interface technology. To facilitate learning about robotics among young people, this technology provides enthusiasts with interfaces for programming and adding new hardware. Utilizing the underlying code, new functions and hardware can be upgraded and added through code extensions, enhancing the learning interest and entertainment value for robotics enthusiasts, allowing them to enjoy themselves without sacrificing anything.

[0029] Reference Figure 1 The body 1 also adopts lightweight technology. In order to make reasonable use of the energy of the battery or power supply and maximize efficiency without affecting the structural strength of the robot, depending on the part, the body 1 and the leg assembly 3 are made of high-strength aluminum alloy and nylon materials. 3D printing can be used to reduce the overall weight of the machine and minimize the energy consumption of the robot's movement per unit time.

[0030] Reference Figure 1 The body 1 also employs modular technology, dividing each component into modules according to function. This reduces costs by designing the simplest parts, simplifying manufacturing, and achieving functional performance requirements through different module combinations. This improves design efficiency, minimizes costs, and increases the degree of versatility. Using the simplest parts, different module combinations achieve functional performance requirements, improve design efficiency, minimize costs, and increase versatility.

[0031] Reference Figure 1This application is suitable not only for 14-year-olds, but also for scientific research and teaching, cultivating students' understanding of robots, increasing their interest in learning about robots, improving their programming skills, learning programming through play, relaxing their minds while programming, and enjoying the process, achieving a balance between play and learning. In the military field, due to the low cost of the robot in this application, it can replace humans or military dogs in mine clearance on the battlefield. In disaster relief and rescue, it can also adapt to complex terrain and carry out emergency rescue operations.

[0032] The implementation principle of a wheeled robot according to this utility model embodiment is as follows:

[0033] The outrigger 35 can be raised and lowered by the lifting arm servo 36, achieving vertical movement. Under the action of the swing arm servo 32, and through the U-shaped composite bracket 31, the outrigger 35 can rotate 60° to 150° on the horizontal plane. Utilizing the instability of a quadrilateral, combined with a four-bar linkage, the four legs can easily lift up and down, finding a temporary balance point to support the main body 1 and enabling it to overcome obstacles.

[0034] The outrigger assembly 3 employs a dual-axis servo motor setup, cleverly utilizing the hinge point of the U-shaped composite bracket 31 and the connection point of the swing arm, along with the servo motor mounting plate, to ensure the coaxiality of the servo motor's movement. The four-legged structure easily finds a balance point, supporting the robot body 1 and enabling it to overcome obstacles. When the robot encounters an obstacle on the road, the size and distance of the obstacle are manually determined, accurately triggering the switch from wheeled to legged motion to overcome the obstacle.

[0035] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A wheel-legged robot, comprising a body (1), wherein wheels (2) are provided at the bottom of the body (1), characterized in that: The bottom edge of the body (1) is provided with a support leg assembly (3), which has the movement modes of raising the arm up and down and swinging the arm left and right; The outrigger assembly (3) includes a composite bracket (31), which is rotatably connected to the body (1) along the horizontal plane. The composite bracket (31) is equipped with a swing arm servo (32), which is fixedly connected to the body (1). The swing arm servo (32) drives the composite bracket (31) to swing left and right relative to the body (1).

2. The wheel-legged robot according to claim 1, characterized in that: The composite bracket (31) has a U-shaped structure. The upper and lower ends of the composite bracket (31) near the body (1) are respectively provided with an upper mounting part (311) and a lower mounting part (312). The swing arm servo (32) is placed between the upper mounting part (311) and the lower mounting part (312). The swing arm servo (32) drives the composite bracket (31) to swing within a range of 60° to 150°.

3. The wheel-legged robot according to claim 1, characterized in that: The composite support (31) is provided with an upper swing arm (33) and a lower swing arm (34) on the side away from the body (1). The upper swing arm (33) and the lower swing arm (34) are rotatably connected to the composite support (31) along the vertical plane. The upper swing arm (33) and the lower swing arm (34) are rotatably connected to a support leg (35) at the end away from the composite support (31). The support leg (35), the upper swing arm (33), the lower swing arm (34) and the composite support (31) together form a four-bar linkage structure.

4. The wheel-legged robot according to claim 3, characterized in that: The composite bracket (31) is equipped with a lifting arm servo motor (36), which is perpendicular to the swing arm servo motor (32).

5. The wheel-legged robot according to claim 4, characterized in that: The composite bracket (31) has a U-shaped structure. The left and right ends of the composite bracket (31) near the body (1) are respectively provided with a left mounting part (313) and a right mounting part (314). The lifting arm servo (36) is placed between the left mounting part (313) and the right mounting part (314). The lifting arm servo (36) drives the lower swing arm (34) to move up and down relative to the composite bracket (31).

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