Reconfigurable wheel-foot composite robot

Abstract

The utility model relates to the technical field of robots, and discloses a reconfigurable wheel-foot composite robot which comprises a main body, composite wheel-foot mechanisms are connected to the periphery of the main body, a bottom plate frame is fixed to the bottom end of the main body in a threaded mode, each composite wheel-foot mechanism comprises a steering pile, the top end of each steering pile is in shaft connection with a main steering engine, and the main steering engine is in shaft connection with the bottom plate frame. A numerical control connecting wire is connected to the outer wall of one side of the main steering engine, a rubber pad is attached to the top face of the main steering engine, a longitudinal inserting pile is fixed to the center of the top end of the main steering engine, bolt pieces are distributed on the periphery of the longitudinal inserting pile, and an auxiliary steering engine is connected to one side of the steering pile. Each composite wheel foot mechanism is in butt joint through the auxiliary steering engine on one side of the steering pile, the shaft sleeve can be matched with the auxiliary steering engine to be connected with the clamping plate in an inserted mode, the main steering engine can be matched with the longitudinal insertion pile and the bolt piece to be fixed in an inserted and threaded mode, joints can be detached and combined, and therefore replacement and overhaul of independent wheel foot components are facilitated, and the maintenance cost is reduced. And normal use of the whole robot is not affected.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a reconfigurable wheel-legged composite robot. Background Technology

[0002] The wheel-legged hybrid robot is an intelligent device that integrates wheeled and legged locomotion modes, aiming to overcome the contradiction between terrain adaptability and operational efficiency in traditional robots through multimodal motion capabilities. Its core design concept lies in combining the efficient mobility of a wheeled structure with the complex terrain adaptability of a legged mechanism to achieve all-terrain coverage operations.

[0003] Existing technology, such as the patent with publication number CN210437288U, discloses a wheeled robot, including a robot body, a legged crawling mechanism and a wheeled crawling mechanism. The wheeled crawling mechanism includes multiple omnidirectional wheels and multiple drive motors. Each drive motor is connected to an omnidirectional wheel and the drive motor is fixed to the robot body. The legged crawling mechanism includes multiple foot supports and multiple drive units. The drive units are fixed to the robot body and each drive unit is connected to a foot support.

[0004] While the aforementioned existing technologies have significant beneficial effects, they still have shortcomings:

[0005] The aforementioned wheel-legged robot achieves a mutually supportive crawling process by combining a quadrupedal structure with a wheeled crawling structure. It can walk quickly and smoothly on both rugged and flat surfaces. However, since the wheel structure and quadrupedal structure are independent components, in actual use, due to the large number of components and the difficulty in disassembly, if individual crawling structures are damaged, the entire robot needs to be repaired, affecting its normal use. Therefore, a reconfigurable wheel-legged composite robot is proposed. Utility Model Content

[0006] To address the shortcomings of existing technologies, this utility model provides a reconfigurable wheel-leg composite robot. The robot uses composite wheel-leg mechanisms distributed around its main body for wheel-leg assisted walking. Each composite wheel-leg mechanism is connected to a secondary servo motor on one side of the steering pile. Both the bushings and the main servo motor can be disassembled and reassembled, facilitating the replacement and maintenance of individual wheel-leg components without affecting the normal use of the overall robot.

[0007] To achieve the above objectives, this utility model provides the following technical solution: a reconfigurable wheel-leg composite robot, comprising a main body, a composite wheel-leg mechanism connected around the main body, a base plate frame threadedly fixed to the bottom end of the main body, the composite wheel-leg mechanism including a steering pile, a main servo motor shafted to the top of the steering pile, CNC wiring connected to one side of the outer wall of the main servo motor, a rubber pad abutting the top surface of the main servo motor, a longitudinal insert fixed to the center of the top of the main servo motor, bolts distributed around the longitudinal insert, a secondary servo motor connected to one side of the steering pile, clamping plates fixed to the outer walls of both sides of the shaft of the secondary servo motor, a bushing inserted into one end of the secondary servo motor, a screw passing through the shaft of the bushing, a mechanical foot fixed to one side of the outer wall of the bushing, a drive motor connected to one end of the outer wall of the mechanical foot, and a tire shafted to one end of the shaft of the drive motor.

[0008] Preferably, the tire forms a rotating structure with the mechanical foot via a drive motor, and the mechanical foot is connected to the auxiliary servo motor via screws and threaded fixation.

[0009] Preferably, the steering pile is rotatably engaged with the bottom shaft of the main servo motor, and the main servo motor is inserted and threadedly fixed to the body around the perimeter through longitudinal stakes and bolts.

[0010] Preferably, the main body includes a robot body, a top plate frame is fixed to the top surface of the robot body, an outer shell frame is fixed to the bottom end of the robot body, and a bottom plate frame is attached to the bottom end of the outer shell frame.

[0011] Preferably, the outer shell frame is evenly distributed around the bottom of the robot body, and the outer shell frame is fixedly connected to the top plate frame.

[0012] Preferably, the base plate frame includes a base plate platform, which is attached to the bottom surface of the outer shell frame, and a threaded hole is provided at the middle of the base plate platform, and limit holes are provided around the perimeter of the base plate platform.

[0013] Preferably, the base plate is aligned with the bottom hole of the housing frame through a threaded hole.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] 1. Each set of composite wheel and foot mechanisms in this utility model is connected to the auxiliary servo motor on one side of the steering pile. Its bushing can be used to connect the auxiliary servo motor and the clamping plate, while the main servo motor part can be used to connect and fix the longitudinal stake and bolts. All joints can be disassembled and reassembled, which facilitates the replacement and maintenance of individual wheel and foot components without affecting the normal use of the overall robot.

[0016] 2. This wheel-legged composite robot can provide protection for the robot body through the outer shell frame and the top plate frame. The holes opened around the top plate frame can be aligned with the bolts on the top surface of the main servo motor, keeping the structure firm after installation and providing safety protection during the use of the robot while maintaining the stability of the wheel-leg structure during operation.

[0017] 3. The base plate of this wheel-foot composite robot has four limiting holes that are aligned with the bottom of the steering pile, which can maintain the structural stability during the steering adjustment process. With the help of threaded holes and threaded fasteners, it forms a protective and reinforced structure at the bottom.

[0018] Other features and advantages of this invention will be set forth in the description which follows, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained by means of the structures pointed out in the description, claims, and drawings. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the three-dimensional structure of the main body of this utility model;

[0020] Figure 2 This is a three-dimensional structural diagram of the steering pile of this utility model;

[0021] Figure 3 This is a three-dimensional structural diagram of the composite wheel and foot mechanism of this utility model;

[0022] Figure 4 This is a schematic diagram of the three-dimensional structure of the base plate frame of this utility model.

[0023] In the diagram: 1. Main body; 101. Robot body; 102. Top plate frame; 103. Outer shell frame; 2. Composite wheel and foot mechanism; 201. Steering pile; 202. Main servo motor; 203. CNC wiring; 204. Rubber pad; 205. Longitudinal insertion pile; 206. Bolt; 207. Secondary servo motor; 208. Clamping plate; 209. Bushing; 210. Screw; 211. Mechanical foot; 212. Drive motor; 213. Tire; 3. Base plate frame; 301. Base plate platform; 302. Threaded hole; 303. Limiting hole. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figure 1-4 This embodiment of a reconfigurable wheel-leg composite robot includes a main body 1, with composite wheel-leg mechanisms 2 connected around the main body 1. A base plate frame 3 is threadedly fixed to the bottom end of the main body 1. The main body 1 includes a robot body 101, a top plate frame 102 fixed to the top surface of the robot body 101, and an outer shell frame 103 fixed to the bottom end of the robot body 101. The bottom end of the outer shell frame 103 is attached to the base plate frame 3.

[0026] like Figure 1-4 As shown, the wheel-legged composite robot of this utility model has a similar structure to existing wheel-legged composite robots, such as the wheel-legged robot with publication number CN210437288U. The main improvement of this utility model is that it uses composite wheel-legged mechanisms 2 distributed around the robot body 101 for wheel-legged assisted walking. Each set of composite wheel-legged mechanisms 2 is connected to the auxiliary servo motor 207 on one side of the steering pile 201. Its bushing 209 and main servo motor 202 can be disassembled and combined, which facilitates the replacement and maintenance of individual wheel-legged components without affecting the normal use of the overall robot. In this utility model, the main servo motor 202 and the robot body 101 are both existing technologies. When using this wheel-legged composite robot, the robot body 101 can be protected by the outer shell frame 103 and the top plate frame 102. The holes opened around the top plate frame 102 can be aligned with the bolts 206 on the top surface of the main servo motor 202 to keep the structure firm after installation and assembly. This provides safety protection during the use of the robot and keeps the operation of the four-sided wheel-legged structure stable.

[0027] like Figure 2-3As shown, the composite wheel mechanism 2 includes a steering pile 201, with a main servo motor 202 shafted to the top of the steering pile 201. A CNC wiring 203 is connected to one side of the outer wall of the main servo motor 202. A rubber pad 204 is attached to the top surface of the main servo motor 202. A longitudinal insert 205 is fixed to the center of the top of the main servo motor 202. Bolts 206 are distributed around the longitudinal insert 205. A secondary servo motor 207 is connected to one side of the steering pile 201. The outer walls of both sides of the shaft of the 7 are fixed with clamping plates 208. One end of the auxiliary servo motor 207 is inserted into a bushing 209. A screw 210 passes through the shaft of the bushing 209. A mechanical foot 211 is fixed to one side of the outer wall of the bushing 209. A drive motor 212 is connected to one end of the outer wall of the mechanical foot 211. A tire 213 is axled to one end of the shaft of the drive motor 212. When assembling and disassembling this wheel structure, the mechanical foot 211 can be moved through the bushing 209. The auxiliary servo motor 207 is connected and assembled. Then, screws 210 are screwed into the bushing 209 from one side of the shaft center to thread the bushing 209 and the auxiliary servo motor 207. Then, the steering pile 201 connected to one end of the auxiliary servo motor 207 is engaged with the four-sided locking position of the top plate frame 102 through the longitudinal insertion pile 205 on the top surface of the main servo motor 202. The bolts 206 around the perimeter are inserted and threaded to fix it. Finally, the CNC wiring 203 is inserted into the four sides of the robot body 101 to complete the assembly and put it into use. Each set of composite wheel foot mechanism 2 is connected to the auxiliary servo motor 207 on one side of the steering pile 201. Its bushing 209 can be used to connect the auxiliary servo motor 207 and the locking plate 208. The main servo motor 202 part can be used to connect the longitudinal insertion pile 205 and the bolts 206 to be threaded and fixed. The joints can be disassembled and assembled, so as to facilitate the replacement and maintenance of individual wheel foot components without affecting the normal use of the overall robot.

[0028] like Figure 4 As shown, the base plate frame 3 includes a base plate platform 301, which is attached to the bottom surface of the outer shell frame 103. A threaded hole 302 is provided at the middle of the base plate platform 301, and limiting holes 303 are provided around the base plate platform 301. The limiting holes 303 around the base plate platform 301 are all engaged and aligned with the bottom end of the steering pile 201, which can maintain the structural stability during the steering adjustment process. With the help of the threaded hole 302 and threaded fasteners, etc., it forms protection and reinforcement for the bottom of the structure.

[0029] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating the present utility model, and are not intended to limit the implementation of the present utility model. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the protection scope of the claims of this utility model.

Claims

1. A reconfigurable wheel-legged hybrid robot, comprising a main body (1), characterized in that, The main body (1) is connected to a composite wheel foot mechanism (2) around its perimeter. A base plate frame (3) is threadedly fixed to the bottom end of the main body (1). The composite wheel foot mechanism (2) includes a steering pile (201). A main servo motor (202) is shaft-connected to the top of the steering pile (201). A CNC wiring harness (203) is connected to one outer wall of the main servo motor (202). A rubber pad (204) is attached to the top surface of the main servo motor (202). A longitudinal insert (205) is fixed to the center of the top of the main servo motor (202). The longitudinal insert (205) is surrounded by... Bolt component (206), a secondary servo motor (207) is connected to one side of the steering pile (201), a clamping plate (208) is fixed to the outer wall of both sides of the shaft of the secondary servo motor (207), a bushing (209) is inserted into one end of the secondary servo motor (207), a screw (210) is passed through the shaft of the bushing (209), a mechanical foot (211) is fixed to one side of the outer wall of the bushing (209), a drive motor (212) is connected to one end of the outer wall of the mechanical foot (211), and a tire (213) is axled to one end of the shaft of the drive motor (212).

2. The reconfigurable wheel-legged composite robot according to claim 1, characterized in that, The tire (213) forms a rotating structure with the mechanical foot (211) via the drive motor (212), and the mechanical foot (211) is connected to the auxiliary servo motor (207) and fixed by screws (210).

3. The reconfigurable wheel-legged composite robot according to claim 1, characterized in that, The steering pile (201) is rotatably engaged with the bottom shaft of the main servo motor (202), and the main servo motor (202) is inserted and threadedly fixed to the body (1) around the perimeter through longitudinal inserts (205) and bolts (206).

4. The reconfigurable wheel-legged composite robot according to claim 1, characterized in that, The main body (1) includes a robot body (101), a top plate frame (102) is fixed on the top surface of the robot body (101), an outer shell frame (103) is fixed on the bottom end of the robot body (101), and a bottom plate frame (3) is attached to the bottom end of the outer shell frame (103).

5. A reconfigurable wheel-legged composite robot according to claim 4, characterized in that, The outer shell frame (103) is evenly distributed around the bottom of the robot body (101), and the outer shell frame (103) is fixedly connected to the top plate frame (102).

6. A reconfigurable wheel-legged composite robot according to claim 4, characterized in that, The base plate frame (3) includes a base plate platform (301), which is attached to the bottom surface of the outer shell frame (103), and a threaded hole (302) is provided at the middle end of the base plate platform (301), and a limiting hole (303) is provided inside the periphery of the base plate platform (301).

7. A reconfigurable wheel-legged composite robot according to claim 6, characterized in that, The base plate (301) is aligned with the bottom hole of the outer casing (103) through the threaded hole (302).

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