Double-wheel foot type intelligent mobile robot

Abstract

The utility model discloses a double-wheel foot type intelligent mobile robot, which comprises a central vehicle body, a driving device, a driving device and a driving device, the series leg assemblies are symmetrically arranged on the two sides of the central vehicle body; the power wheel assembly is arranged on the series leg assembly and used for driving the central vehicle body to move; the controller controls the driving assembly to drive the transmission assembly to move, the series leg assembly can be driven to move, then the posture adjustment of the central vehicle body is achieved, the posture adjustment comprises the state correction of rollover and the change of the height of the central vehicle body, and the controller can further control the power wheel assembly to move. The robot can move in different environments and terrains, and use is convenient.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, and in particular to a bipedal intelligent mobile robot. Background Technology

[0002] With the development of artificial intelligence, sensor technology, and motion control technology, intelligent mobile robots are widely used in many fields. Currently, mainstream mobile robots are divided into two categories according to their mode of movement: wheeled and legged. Wheeled mobile robots are technologically mature and are widely used in flat and regular scenarios such as indoor delivery and industrial inspection due to their simple structure, low energy consumption, and high control precision. However, their mobility is limited in complex terrain or environments with steps or elevation differences, requiring auxiliary facilities and reducing the system's adaptability and independence.

[0003] In recent years, biomimetic quadrupedal or multi-legged robots have emerged, capable of walking and jumping in complex three-dimensional terrain, with strong obstacle-crossing capabilities, making them suitable for special scenarios such as disaster search and rescue and field exploration. However, these robots suffer from problems such as complex drive systems, high requirements for control algorithms, high power consumption, short battery life, and high cost, which restrict their promotion in routine inspections and general service scenarios. Utility Model Content

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art or related technologies.

[0005] To address the aforementioned problems, this application provides a bipedal intelligent mobile robot, comprising:

[0006] The central vehicle body contains control components.

[0007] A series leg assembly, wherein the series leg assembly is symmetrically arranged on both sides of the central vehicle body;

[0008] A drive wheel assembly is mounted on the tandem leg assembly and is used to drive the central vehicle body to move.

[0009] A drive assembly, wherein the drive assembly is disposed within the central vehicle body;

[0010] A transmission assembly, which is connected to the drive assembly and the tandem leg assembly.

[0011] Optionally, the transmission assembly includes:

[0012] Lower leg drive wheel, the lower leg drive wheel is located on the outer side of the central vehicle body;

[0013] Thigh drive wheel, the thigh drive wheel is located on the outer side of the central vehicle body;

[0014] The lower leg driven wheel is located on the outer side of the central vehicle body and between the lower leg drive wheel and the thigh drive wheel. A lower leg transmission component is provided between the lower leg drive wheel and the lower leg driven wheel.

[0015] The thigh driven wheel is arranged parallel to the calf driven wheel on the outer side of the central vehicle body, and a thigh transmission component is arranged between the thigh drive wheel and the thigh driven wheel.

[0016] Optionally, the driving component includes:

[0017] The first drive motor is disposed in the central vehicle body and is connected to the lower leg drive wheel;

[0018] The second drive motor is located in the central vehicle body and is connected to the thigh drive wheel.

[0019] Optionally, the tandem leg assembly includes:

[0020] Lower leg drive lever;

[0021] The lower leg driven rod, wherein the first end of the lower leg driving rod is connected to the lower leg driven rod;

[0022] The lower leg plate, the first end of which is connected to the second end of the lower leg driven rod;

[0023] The thigh plate has its first end connected to the lower leg plate, and the thigh plate is located on one side of the lower leg driven rod.

[0024] Optionally, the transmission assembly further includes:

[0025] The lower leg drive shaft has a first end connected to the lower leg driven wheel, and a second end passing through the thigh driven wheel and connected to the second end of the lower leg drive rod.

[0026] A drive collar is sleeved on the outside of the calf transmission shaft. The drive collar is connected between the thigh driven wheel and the second end of the thigh plate. A bearing is provided between the drive collar and the calf transmission shaft.

[0027] Optionally, the drive wheel assembly includes:

[0028] The third drive motor is disposed on the second end of the lower leg plate;

[0029] The wheel is mounted on the second end of the lower leg plate and connected to the output end of the third drive motor.

[0030] Optionally, the control unit includes an embedded control board and a power distribution board, which are disposed in the central vehicle body and the wheels.

[0031] Optionally, the central vehicle body may also include a battery module and an edge computing device.

[0032] Optionally, an imaging device is provided on the front side of the central vehicle body.

[0033] Optionally, a lidar is installed on the top of the central vehicle body.

[0034] Beneficial effects

[0035] The embodiment of this utility model provides a two-wheeled legged intelligent mobile robot. The controller controls the drive component to drive the transmission component to move, which can realize the movement of the tandem leg component, thereby realizing the adjustment of the posture of the central vehicle body, including the correction of the rollover state and the change of the height of the central vehicle body. Moreover, the controller can also control the movement of the power wheel component, so that the robot can move between different environments and terrains, which is convenient to use. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0037] Figure 2 This is a top view of the structure of this utility model;

[0038] Figure 3 This is a top sectional view of the present invention.

[0039] Figure 4 This is a structural diagram of the present invention, viewed from the front and in cross-section.

[0040] Figure 5 This is a side view of the structure of this utility model.

[0041] [Explanation of Labels in the Attached Image]

[0042] 1. Central vehicle body; 2. Series leg assembly; 21. Lower leg drive rod; 22. Lower leg driven rod; 23. Lower leg plate; 24. Thigh leg plate; 3. Power wheel assembly; 31. Third drive motor; 32. Wheel; 4. Drive assembly; 5. Transmission assembly; 51. Lower leg drive wheel; 52. Thigh drive wheel; 53. Lower leg driven wheel; 54. Lower leg transmission component; 55. Thigh driven wheel; 56. Thigh transmission component; 6. Embedded control board; 7. Power distribution board; 8. Battery module; 9. Edge computing device; 10. Imaging device; 11. LiDAR. Detailed Implementation

[0043] To better explain and facilitate understanding of this utility model, the present utility model will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0044] See also Figure 1-5 As shown, this application provides a bipedal intelligent mobile robot, comprising:

[0045] Central vehicle body 1, with control components installed inside the central vehicle body 1;

[0046] A series leg assembly 2 is symmetrically arranged on both sides of the central vehicle body 1;

[0047] The power wheel assembly 3 is mounted on the tandem leg assembly 2 and is used to drive the central vehicle body 1 to move.

[0048] Drive assembly 4, which is disposed within the central vehicle body 1;

[0049] Transmission component 5, which is connected to the drive component 4 and the tandem leg component 2.

[0050] Specifically, there are two tandem leg assemblies 2, symmetrically mounted on both sides of the central vehicle body 1. This transforms the existing quadruped robot into a bipedal robot, reducing its size and internal structure, making it easier to manufacture and produce, and saving costs. The controller controls the drive assembly 4 to move the transmission assembly 5, thereby moving the tandem leg assemblies 2 and adjusting the posture of the central vehicle body 1, including correcting rollover and changing the height of the central vehicle body 1. Furthermore, the controller can also control the movement of the drive wheel assembly 3, enabling the robot to move between different environments and terrains, making it convenient to use.

[0051] The transmission assembly 5 includes:

[0052] Lower leg drive wheel 51, the lower leg drive wheel 51 is disposed on the outer side of the central vehicle body 1;

[0053] Thigh drive wheel 52, the thigh drive wheel 52 is disposed on the outside of the central vehicle body 1;

[0054] The lower leg driven wheel 53 is located on the outside of the central vehicle body 1 and between the lower leg drive wheel 51 and the thigh drive wheel 52. A lower leg transmission component 54 is provided between the lower leg drive wheel 51 and the lower leg driven wheel 53.

[0055] The thigh driven wheel 55 is arranged parallel to the calf driven wheel 53 on the outside of the central vehicle body 1, and a thigh transmission component 56 is arranged between the thigh drive wheel 52 and the thigh driven wheel 55.

[0056] Specifically, the drive assembly 4 drives the lower leg drive wheel 51 and the upper leg drive wheel 52 to rotate. When the lower leg drive wheel 51 and the upper leg drive wheel 52 rotate, the lower leg driven wheel 53 can be driven to rotate through the lower leg transmission component 54, and the upper leg driven wheel 55 can be driven to rotate through the upper leg transmission component 56. When either the lower leg driven wheel 53 or the upper leg driven wheel 55 rotates, the state of the tandem leg assembly 2 can be changed, thereby changing the state of the central box. The lower leg drive wheel 51 and the upper leg drive wheel 52 can rotate simultaneously or independently, and their rotation speed is adjusted according to the state of the central vehicle body 1.

[0057] The driving component 4 includes:

[0058] The first drive motor is disposed inside the central vehicle body 1 and is connected to the lower leg drive wheel 51;

[0059] The second drive motor is located inside the central vehicle body 1 and is connected to the thigh drive wheel 52.

[0060] Specifically, the first drive motor provides power for the rotation of the lower leg drive wheel 51, and the second drive motor provides power for the rotation of the upper leg drive wheel 52.

[0061] The tandem leg assembly 2 includes:

[0062] Lower leg drive rod 21;

[0063] The lower leg driven rod 22, the first end of the lower leg driving rod 21 is connected to the lower leg driven rod 22;

[0064] Lower leg plate 23, the first end of which is connected to the second end of the lower leg driven rod 22;

[0065] Thigh plate 24, the first end of which is connected to the lower leg plate 23, and the thigh plate 24 is located on one side of the lower leg driven rod 22.

[0066] Specifically, the tandem leg assembly 2 includes a lower leg drive rod 21, a lower leg driven rod 22, a lower leg plate 23, and a thigh leg plate 24, forming a stable motion transmission system. During the rotation of the lower leg drive wheel 51, the lower leg drive rod 21 can be driven to rotate. The lower leg drive rod 21 drives the lower leg plate 23 to rotate based on the connection between the thigh leg plate 24 and the lower leg plate 23 through the lower leg driven rod 22. This can change the state of the tandem leg assembly 2, forming a structure similar to the human knee joint. The thigh leg plate 24 and the lower leg plate 23 simulate the movement pattern of biological legs through swinging and flexion at different angles, enabling the central vehicle body 1 to correct its tilting state and improve its flexibility of use.

[0067] The transmission assembly 5 also includes:

[0068] The lower leg drive shaft has a first end connected to the lower leg driven wheel 53, and a second end passing through the thigh driven wheel 55 and connected to the second end of the lower leg drive rod 21.

[0069] A drive collar is sleeved on the outside of the calf transmission shaft. The drive collar is connected between the thigh driven wheel 55 and the second end of the thigh plate 24. A bearing is provided between the drive collar and the calf transmission shaft.

[0070] Specifically, the first end of the calf drive shaft is connected to the calf driven wheel 53 via a key. This connection method can transmit a large torque and avoid slippage during power transmission. When the calf driven wheel 53 is driven by external power, it can transmit torque to the calf drive shaft. The second end of the shaft passes through the thigh driven wheel 55 and is connected to the second end of the calf drive rod 21 via a flange, ensuring that power is transmitted to the calf drive rod 21 and thus drives the calf plate 23 to move. The drive collar is sleeved on the outside of the calf drive shaft. One end of it is fixed to the thigh driven wheel 55 by welding or bolts to form a rigid connection structure, ensuring smooth power transmission. The other end is connected to the second end of the thigh plate 24, so that the calf drive shaft and the drive collar do not interfere with each other, thereby realizing the change of state of the tandem leg assembly 2.

[0071] The drive wheel assembly 3 includes:

[0072] The third drive motor 31 is disposed on the second end of the lower leg plate 23;

[0073] Wheel 32, which is disposed on the second end of the lower leg plate 23 and connected to the output end of the third drive motor 31.

[0074] Specifically, by mounting the third drive motor 31 onto the lower leg plate 23 and connecting the wheel 32 to the third drive motor 31, not only is the mobility efficiency in complex terrain improved, but the overall space utilization of the structure is also optimized through modular integration. In obstacle-crossing scenarios, the motor can quickly switch between forward and reverse rotation, driving the wheel 32 to make slight adjustments forward and backward, assisting the tandem leg assembly 2 in completing precise crossing actions.

[0075] The control components include an embedded control board 6 and a power distribution board 7, which are disposed within the central vehicle body 1 and the wheels 32.

[0076] Specifically, the controller includes an embedded control board 6 and a power distribution board 7. The embedded control board 6 controls the first drive motor, the second drive motor, and the third drive motor 31, thereby enabling the robot to move in complex environments.

[0077] The central vehicle body 1 is also equipped with a battery module 8 and an edge computing device 9.

[0078] Specifically, the battery module 8 is composed of multiple independent battery cells connected in series via laser welding, and the edge computing device 9 can process multi-source heterogeneous data in real time. The device integrates a multi-channel data interface, which can simultaneously receive data from the lidar 11 and the camera, and achieve local real-time data analysis through edge computing technology. It can automatically optimize the output power of the third drive motor 31 and adjust the movement posture of the series leg assembly 2, enabling the device to move in different terrains.

[0079] An imaging device 10 is installed on the front side of the central vehicle body 1.

[0080] A lidar 11 is installed on the top of the central vehicle body 1.

[0081] Specifically,

[0082] The work process is as follows:

[0083] First, in the off-state, the lower leg plates 23 and wheels 32 of the parallel leg assemblies on both sides of the central vehicle body 1 are naturally positioned, and the robot is in a tilted state, with the lower leg plates 23 and wheels 32 in direct contact with the ground, supporting the entire robot. After the robot is powered on, the battery module installed in the central vehicle body 1 initializes the embedded control board 6 and edge computing device 9 through the power distribution board 7, starts the lidar 11 and imaging device 10, and supplies power to the first drive motor, second drive motor and third drive motor 31, so that the controller controls the first drive motor and second drive motor to drive the parallel leg assemblies to adjust the state, so that the robot can stand up. In the current state, the edge computing device 9 drives the first drive motor and the second drive motor through the embedded control board 6 to drive the parallel leg assembly to adjust the state and drive the central vehicle body 1 to move up and down. The third drive motor 31 drives the wheels 32 to rotate, enabling the robot to move forward, backward and rotate. In the working state, the robot's lidar 11 scans the surrounding environment by emitting laser pulses and combines them with the generated three-dimensional point cloud data map to construct the surrounding environment. The imaging device 10 emits a specific coded light spot or pulse, which is reflected by the object surface to receive the signal. Combined with the two-dimensional image, it generates RGB-D point cloud data and outputs three-dimensional environmental information to realize the detection and recognition of the surrounding terrain and assist in the work.

[0084] In the description of this utility model, it should be understood that 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. Therefore, 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.

[0085] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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. For those skilled in the art, the specific meaning of the above terms in this utility model can be understood according to the specific circumstances.

[0086] In this utility model, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0087] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0088] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A dual-wheeled, legged intelligent mobile robot, characterized by, include: Central vehicle body (1), and control components are installed inside the central vehicle body (1); A series leg assembly (2) is symmetrically arranged on both sides of the central vehicle body (1); A power wheel assembly (3) is mounted on the tandem leg assembly (2) and is used to drive the central vehicle body (1) to move. Drive assembly (4), which is disposed within the central vehicle body (1); The transmission assembly (5) is connected to the drive assembly (4) and the tandem leg assembly (2).

2. The dual wheeled, foot-based intelligent mobile robot of claim 1, wherein, The transmission assembly (5) includes: Lower leg drive wheel (51), the lower leg drive wheel (51) is located on the outside of the central vehicle body (1); Thigh drive wheel (52), the thigh drive wheel (52) is disposed on the outside of the central vehicle body (1); The lower leg driven wheel (53) is located on the outside of the central vehicle body (1) and between the lower leg drive wheel (51) and the thigh drive wheel (52). A lower leg transmission component (54) is provided between the lower leg drive wheel (51) and the lower leg driven wheel (53). A thigh driven wheel (55) is provided on the outside of the central vehicle body (1) parallel to the calf driven wheel (53). A thigh transmission component (56) is provided between the thigh drive wheel (52) and the thigh driven wheel (55).

3. The dual wheeled, foot-based intelligent mobile robot of claim 2, wherein, The driving component (4) includes: The first drive motor is located inside the central vehicle body (1) and is connected to the lower leg drive wheel (51); The second drive motor is located inside the central vehicle body (1) and is connected to the thigh drive wheel (52).

4. The dual wheeled, foot-based intelligent mobile robot of claim 3, wherein, The tandem leg assembly (2) includes: Lower leg drive rod (21); The lower leg driven rod (22) is connected to the first end of the lower leg driving rod (21). The lower leg plate (23) has its first end connected to the second end of the lower leg driven rod (22); Thigh plate (24), the first end of which is connected to the lower leg plate (23), the thigh plate (24) is located on one side of the lower leg driven rod (22).

5. The bipedal intelligent mobile robot according to claim 4, characterized in that, The transmission assembly (5) also includes: The lower leg drive shaft has a first end connected to the lower leg driven wheel (53) and a second end connected to the second end of the lower leg drive rod (21) through the thigh driven wheel (55). A drive collar is sleeved on the outside of the calf drive shaft. The drive collar is connected between the thigh driven wheel (55) and the second end of the thigh plate (24). A bearing is provided between the drive collar and the calf drive shaft.

6. The bipedal intelligent mobile robot according to claim 5, characterized in that, The power wheel assembly (3) includes: The third drive motor (31) is disposed on the second end of the lower leg plate (23); The wheel (32) is disposed on the second end of the lower leg plate (23) and connected to the output end of the third drive motor (31).

7. The bipedal intelligent mobile robot according to claim 6, characterized in that, The control unit includes an embedded control board (6) and a power distribution board (7), which are disposed in the central vehicle body (1) and the wheels (32).

8. The bipedal intelligent mobile robot according to claim 1, characterized in that, The central vehicle body (1) is also equipped with a battery module (8) and an edge computing device (9).

9. The bipedal intelligent mobile robot according to claim 1, characterized in that, An imaging device (10) is provided on the front side of the central vehicle body (1).

10. The bipedal intelligent mobile robot according to claim 1, characterized in that, A lidar (11) is installed on the top of the central vehicle body (1).

Images