Wheel-legged robot

Abstract

The utility model discloses a wheel-legged robot, relates to the technical field of robots, and aims to solve the problem that an existing robot is low in operation efficiency in complex action scenes. The wheel-leg type robot comprises a mounting platform, two moving wheels, wheel-leg structures and a driving motor, a battery used for supplying power is arranged on the mounting platform, the two moving wheels are symmetrically arranged on the two sides of the mounting platform and used for driving the mounting platform to move, and the multiple wheel-leg structures are arranged between the mounting platform and the moving wheels and used for driving the mounting platform to move. The wheel-leg structure is arranged to be capable of rotating relative to the mounting platform so as to drive the wheel-leg type robot to achieve complex movement, and the driving motor is electrically connected with the moving wheels and the wheel-leg structure so as to provide driving force for the moving wheels and the wheel-leg structure. The wheel-legged robot provided by the utility model is used for improving the working efficiency of the robot in a complex working scene.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a wheeled-legged robot. Background Technology

[0002] Currently, mobile robots are widely used in numerous fields such as industry, agriculture, rescue, and exploration. Traditional wheeled robots have the advantages of high speed and efficiency on flat surfaces, but their ability to traverse complex terrains such as steps, ditches, and soft ground is poor. Legged robots, while highly adaptable to complex terrains, have relatively slow movement speeds and higher energy consumption. Wheel-legged robots combine the advantages of both wheeled and legged robots, enabling rapid movement on flat surfaces and performing actions such as crossing and climbing in complex terrains through leg movement. However, existing wheel-legged robots still have many shortcomings in structural design, motion control, and energy utilization, limiting their further application and development. Therefore, there is an urgent need for a wheel-legged robot with superior performance. Utility Model Content

[0003] The purpose of this invention is to provide a wheeled-legged robot to improve the robot's work efficiency in complex work scenarios.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a wheeled robot, comprising: a mounting platform, on which a battery for power supply is provided; two moving wheels, symmetrically arranged on both sides of the mounting platform for driving the mounting platform to move; wheel-leg structures, wherein a plurality of wheel-leg structures are disposed between the mounting platform and the moving wheels, the wheel-leg structures being configured to rotate relative to the mounting platform to drive the wheeled robot to perform complex movements; and a drive motor, which is electrically connected to the moving wheels and the wheel-leg structures respectively, providing driving force to the moving wheels and the wheel-leg structures.

[0005] Optionally, the wheel leg structure includes a first link, a second link, and a support wheel. One end of the first link is coaxially connected to the movable wheel, and the other end is coaxially connected to the support wheel and one end of the second link. The other end of the second link is connected to the drive motor. The drive motor drives the second link to rotate, thereby causing the support wheel to rotate relative to the mounting platform.

[0006] Optionally, the wheel leg structure is configured as four, with the four wheel leg structures arranged in pairs on both sides of the mounting platform, and the first connecting rods of the two wheel leg structures located on the same side of the mounting platform are coaxially connected to the moving wheel.

[0007] Optionally, the drive motor includes a joint motor and a hub motor, the joint motor being used to drive the wheel leg structure to rotate, and the hub motor being used to drive the moving wheel to move.

[0008] Optionally, four joint motors are provided, which are mounted on the mounting platform and are respectively connected to the four wheel leg structures for transmission. The four joint motors are used to drive the four wheel leg structures to rotate respectively.

[0009] Optionally, two hub motors are provided, each located on the side of the movable wheel near the mounting platform, for driving the two movable wheels to move.

[0010] Optionally, the wheeled robot further includes an attitude sensor for monitoring the attitude data of the wheeled robot.

[0011] Optionally, the wheeled robot further includes a control module, which is mounted on the mounting platform and includes a main control module and a remote control module. The main control module is electrically connected to the attitude sensor and the drive motor, and is used to receive attitude data and control the drive motor to drive the wheeled robot.

[0012] Optionally, the remote control module is used to receive control commands issued by an external control device and transmit the control commands to the main control module.

[0013] Optionally, the wheeled robot also includes a data display screen, which is mounted on the mounting platform and used to display real-time data of the wheeled robot.

[0014] Compared with existing technologies, the wheeled-legged robot provided by this utility model has strong terrain adaptability. Through the design of the wheel-leg structure, the wheeled-legged robot can move quickly on flat roads using wheels, improving movement efficiency; and it can also move on legs by unfolding the wheel-leg structure in complex terrains such as steps, ditches, and sand, achieving actions such as crossing and climbing, greatly enhancing its adaptability to different terrains. The motion control is precise. The attitude sensor monitors the attitude data of the wheeled-legged robot in real time, and the main control module precisely controls the drive motor based on this data, which can achieve precise control of the motion attitude and trajectory of the wheeled-legged robot, ensuring the stability and accuracy of the wheeled-legged robot in complex movement processes. The operation is convenient. The setting of remote control module and data display screen allows operators to conveniently control and monitor the status of the wheeled-legged robot remotely, improving the convenience and safety of operation. Attached Figure Description

[0015] Figure 1This is a structural schematic diagram of a wheeled-legged robot provided in an embodiment of the present invention.

[0016] Figure 2 A side view of a wheeled-legged robot provided in an embodiment of this utility model.

[0017] Figure 3 A front view of a wheeled-legged robot provided in an embodiment of this utility model.

[0018] Figure 4 A top view of the wheeled-legged robot provided in an embodiment of this utility model.

[0019] Reference numerals: 100-Wheel-Leg Robot; 1-Mounting Platform; 2-Moving Wheel; 3-Wheel-Leg Structure; 31-First Link; 32-Second Link; 33-Support Wheel; 4-Joint Motor; 5-Hub Motor; 6-Control Module; 7-Battery. Detailed Implementation

[0020] To make the technical problems, technical solutions, and beneficial effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present utility model and are not intended to limit the present utility model.

[0021] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this utility model, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0023] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship 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.

[0024] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0025] Please see Figures 1-4 The wheeled robot 100 provided in this embodiment includes a mounting platform 1, two movable wheels 2, wheel-leg structures 3, and a drive motor. The mounting platform 1 is equipped with a battery 7 for power supply. The two movable wheels 2 are symmetrically arranged on both sides of the mounting platform 1 to drive the mounting platform 1 to move. Multiple wheel-leg structures 3 are arranged between the mounting platform 1 and the movable wheels 2. The wheel-leg structures 3 are configured to rotate relative to the mounting platform 1 to drive the wheeled robot 100 to achieve complex movements. The drive motor is electrically connected to the movable wheels 2 and the wheel-leg structures 3 respectively to provide driving force to the movable wheels 2 and the wheel-leg structures 3.

[0026] Please see Figure 1 and Figure 2 Specifically, the wheel-leg structure 3 includes a first link 31, a second link 32, and a support wheel. One end of the first link 31 is coaxially connected to the movable wheel 2, and the other end is coaxially connected to the support wheel 33 and one end of the second link 32. The other end of the second link 32 is connected to a drive motor. The drive motor drives the second link 32 to rotate, thereby causing the support wheel 33 to rotate relative to the mounting platform 1.

[0027] Furthermore, four wheel leg structures 3 are provided, and the four wheel leg structures 3 are arranged in pairs on both sides of the mounting platform 1. The first connecting rods 31 of the two wheel leg structures 3 located on the same side of the mounting platform 1 are coaxially connected to the moving wheel 2.

[0028] Through this structural design, the wheel-leg structure 3 can switch between multiple motion modes, such as retracting the support wheels 33 for wheel-like movement on flat surfaces and lowering the support wheels 33 for leg-like movement on complex terrain. In this invention, four wheel-leg structures 3 are configured, arranged in pairs on both sides of the mounting platform 1. The first connecting rods 31 of the two wheel-leg structures 3 located on the same side of the mounting platform 1 are coaxially connected to the moving wheels 2. This layout makes the wheel-legged robot 100 experience more even force distribution and better stability during movement.

[0029] In this application, the drive motor includes a joint motor 4 and a hub motor 5. The joint motor 4 is used to drive the wheel leg structure 3 to rotate, and the hub motor 5 is used to drive the moving wheel 2 to move.

[0030] Furthermore, four joint motors 4 are configured and mounted on the mounting platform 1, each connected to one of the four wheel-leg structures 3. These four joint motors 4 drive the rotation of each of the four wheel-leg structures 3. By precisely controlling the rotation angle and speed of the joint motors 4, the wheel-leg structures 3 can rotate flexibly, meeting the movement requirements of the wheel-legged robot 100 in different terrains.

[0031] In addition, two hub motors 5 are configured, each located on the side of the movable wheel 2 closest to the mounting platform 1, to drive the two movable wheels 2 to move. The two hub motors 5, each located on the side of the movable wheel 2 closest to the mounting platform 1, directly drive the movable wheels 2 to rotate, providing power for the wheeled robot 100 to move quickly on flat surfaces, enabling movement in the forward, backward, left, and right directions.

[0032] In one embodiment provided in this application, the wheeled-legged robot 100 further includes an attitude sensor for monitoring the attitude data of the wheeled-legged robot 100. The attitude sensor is used to monitor the attitude data of the wheeled-legged robot 100 in real time, including but not limited to information such as the tilt angle, roll angle, and acceleration of the wheeled-legged robot 100. Through a high-precision attitude sensor, the attitude changes of the wheeled-legged robot 100 during movement can be accurately acquired, providing a reliable data foundation for subsequent motion control.

[0033] In addition, the wheeled robot 100 may also include a control module 6, which is mounted on the mounting platform 1. The control module 6 includes a main control module and a remote control module 6. The main control module is electrically connected to the attitude sensor and the drive motor, and is used to receive attitude data and control the drive motor to drive the wheeled robot 100. The main control module receives attitude data from the attitude sensor and, through internal algorithms and control logic, precisely controls the drive motor to adjust the motion state of the wheeled robot 100, ensuring that the wheeled robot 100 maintains a stable attitude and motion trajectory in various terrains.

[0034] It should be noted that the remote control module 6 is used to receive control commands from external control devices and transmit them to the main control module. The remote control module 6 receives control commands from external control devices (such as remote controls, computers, mobile phones, etc.) and transmits them to the main control module. Through the remote control module 6, operators can remotely operate the wheeled robot 100, controlling its direction of movement, speed, and action mode, making it suitable for dangerous environments or environments difficult for humans to access.

[0035] In this application, the wheeled-legged robot 100 may further include a data display screen, which is mounted on the mounting platform 1 and used to display real-time data of the wheeled-legged robot 100. The data display screen, mounted on the mounting platform 1, displays real-time data of the wheeled-legged robot 100, such as battery level, movement speed, posture data, motor operating status, etc. Operators can intuitively understand the operation of the wheeled-legged robot 100 through the data display screen, and promptly identify and handle problems.

[0036] In practice: When the wheel-legged robot 100 is on a flat surface, the operator sends a wheel movement command through the remote control module 6. Upon receiving the command, the main control module controls the joint motor 4 to retract the support wheels 33 of the wheel-leg structure 3, preventing them from contacting the ground. Then, based on the speed and other parameters set by the operator, the main control module controls the hub motor 5 to drive the moving wheels 2 to rotate, enabling the wheel-legged robot 100 to move quickly on the flat surface. During this process, the attitude sensor monitors the attitude data of the wheel-legged robot 100 in real time. If any instability such as tilting is detected, the main control module will promptly adjust the speed and other parameters of the hub motor 5 to ensure the stable operation of the wheel-legged robot 100.

[0037] When the wheel-legged robot 100 encounters complex terrain, the operator issues leg movement commands via the remote control module 6. The main control module controls the joint motors 4 to drive the second link 32 of the wheel-leg structure 3 to rotate, causing the support wheel 33 to lower and contact the ground. At this time, based on the terrain feedback from the attitude sensor and the attitude information of the wheel-legged robot 100, the main control module coordinates and controls the rotation of the four joint motors 4, enabling the wheel-legged robot 100 to perform actions such as crossing and climbing through the movement of the wheel-leg structure 3. For example, when encountering stairs, the main control module controls the joint motors 4 of the corresponding wheel-leg structure 3 to raise the support wheel 33 to a certain height, allowing the robot to cross the stairs before lowering the support wheel 33 to complete the step-crossing action.

[0038] During the movement of the wheeled robot 100, attitude sensors continuously monitor attitude data and transmit it to the main control module in real time. Simultaneously, a data display screen shows various real-time data of the wheeled robot 100, such as battery level and movement speed. Operators can adjust the motion parameters and operating mode of the wheeled robot 100 in a timely manner via the remote control module 6 based on the information displayed on the data display screen. When the main control module receives abnormal data from the attitude sensors, it will automatically implement corresponding control strategies, such as adjusting motor power or changing the movement posture, to ensure the safe operation of the wheeled robot 100.

[0039] As can be seen from the structure and specific implementation process of the wheeled-legged robot 100 described above, the wheeled-legged robot 100 provided in this application has strong terrain adaptability. Through the design of the wheel-leg structure 3, the wheeled-legged robot 100 can move quickly on flat roads using wheels, improving movement efficiency; and it can also move on legs by unfolding the wheel-leg structure 3 in complex terrains such as steps, ditches, and sand, achieving actions such as crossing and climbing, greatly enhancing its adaptability to different terrains. The motion control is precise. The attitude sensor monitors the attitude data of the wheeled-legged robot 100 in real time. The main control module precisely controls the drive motor based on this data, which can achieve precise control of the motion attitude and trajectory of the wheeled-legged robot 100, ensuring the stability and accuracy of the wheeled-legged robot 100 in complex motion processes. The operation is convenient. The setting of the remote control module 6 and the data display screen allows the operator to conveniently control and monitor the status of the wheeled-legged robot 100 remotely, improving the convenience and safety of operation.

[0040] In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.

[0041] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A wheeled-legged robot, characterized in that, include: The installation platform is equipped with a battery for power supply; Two movable wheels are symmetrically arranged on both sides of the installation platform to drive the installation platform to move; The wheel-leg structure consists of four wheel-leg structures arranged in pairs on both sides of the mounting platform. The first connecting rods of the two wheel-leg structures located on the same side of the mounting platform are coaxially connected to the moving wheel. The wheel-leg structure is located between the mounting platform and the moving wheel. The wheel-leg structure is configured to rotate relative to the mounting platform to drive the wheel-legged robot to perform complex movements. A drive motor is electrically connected to both the movable wheel and the wheel leg structure, providing driving force to both the movable wheel and the wheel leg structure. The drive motor includes a joint motor and a hub motor, wherein the joint motor drives the wheel leg structure to rotate, and the hub motor drives the movable wheel to move. The wheel leg structure includes a first link, a second link, and a support wheel. One end of the first link is coaxially connected to the movable wheel, and the other end is coaxially connected to the support wheel and one end of the second link. The other end of the second link is connected to the drive motor. The drive motor drives the second link to rotate, thereby causing the support wheel to rotate relative to the mounting platform.

2. The wheeled-legged robot according to claim 1, characterized in that, The joint motor is configured as four, which are mounted on the mounting platform and are respectively connected to the four wheel leg structures for transmission. The four joint motors are used to drive the four wheel leg structures to rotate respectively.

3. The wheeled-legged robot according to claim 1, characterized in that, Two hub motors are provided, each located on the side of the movable wheel near the mounting platform, for driving the two movable wheels to move.

4. The wheeled-legged robot according to claim 1, characterized in that, The wheeled robot also includes an attitude sensor, which is used to monitor the attitude data of the wheeled robot.

5. The wheeled-legged robot according to claim 4, characterized in that, The wheeled robot also includes a control module, which is mounted on the mounting platform and includes a main control module and a remote control module. The main control module is electrically connected to the attitude sensor and the drive motor, and is used to receive attitude data and control the drive motor to drive the wheeled robot.

6. The wheeled-legged robot according to claim 5, characterized in that, The remote control module is used to receive control commands from external control devices and transmit the control commands to the main control module.

7. The wheeled-legged robot according to claim 1, characterized in that, The wheeled-legged robot also includes a data display screen, which is mounted on the mounting platform and used to display the real-time data of the wheeled-legged robot.

Images