Wheel-leg converted multi-legged robot

Abstract

The wheel-foot conversion multi-legged robot comprises a body, the side surface of the body is provided with a plurality of driving parts distributed in the circumferential direction, a multi-joint leg, the proximal end of the multi-joint leg is hinged to the driving part, the multi-joint leg comprises a plurality of joint arms arranged in a straight line and hinged in sequence, wherein the two ends of the joint arm farthest from the proximal end are respectively provided with a walking wheel and a gripping foot, both can support and drive the wheel-foot conversion multi-legged robot, and the robot realizes wheel running and foot running mode conversion by switching the use of the walking wheel and the gripping foot of the multi-joint leg. The multi-legged robot designed by the utility model can be switched between the use of the walking wheel and the gripping foot, and then the wheel running and foot running mode conversion is realized, and the innovative design significantly enhances the obstacle crossing ability of the robot.

Description

Technical Field

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

[0002] With advancements in technology and increased environmental awareness, exploring complex terrain in the wild has become increasingly important. However, complex terrain in the wild presents many potential dangers, such as the presence of wild animals, and terrain features like swamps and landslides pose significant threats to human exploration.

[0003] Existing field exploration robots struggle to move stably in complex terrains such as swamps and landslides, hindering the smooth progress of exploration missions. Furthermore, they lack effective detection measures against potential dangers such as wild animals, failing to guarantee the safety of exploration personnel. Utility Model Content

[0004] In view of this, the present invention provides a wheel-legged to multi-legged robot, thereby solving or at least alleviating one or more of the above-mentioned problems and other problems existing in the prior art.

[0005] To achieve the aforementioned objective, this utility model provides a wheel-legged to multi-legged robot, wherein the wheel-legged to multi-legged robot comprises:

[0006] The fuselage has multiple drive units distributed circumferentially on its side.

[0007] The multi-joint leg has its proximal end hinged to the drive unit. The multi-joint leg includes multiple articulated arms arranged in a straight line and hinged end to end in sequence. The two ends of the articulated arm furthest from the proximal end are respectively provided with a walking wheel and a gripping foot. Both can support and drive the wheel and foot to transform into a multi-legged robot. The robot realizes the conversion between wheeled and legged modes by switching the use of the walking wheel and gripping foot of the multi-joint leg.

[0008] In the wheel-legged multi-legged robot described above, optionally, the multi-joint leg includes a first joint arm closest to the proximal end, a third joint arm furthest from the proximal end, and a second joint arm connecting the first joint arm and the third joint arm.

[0009] In the wheel-leg-to-leg robot described above, optionally, the second joint arm is provided with a U-shaped groove, the opening of the U-shaped groove facing the hinge between the second joint arm and the third joint arm, the U-shaped groove providing a rotation channel for the walking wheel, thereby increasing the rotation range of the third joint arm.

[0010] In the wheel-legged to multi-legged robot described above, optionally, the gripping leg has a through-hole groove, and the through-hole groove is provided with a Y-shaped reinforcing rib.

[0011] In the wheel-legged multi-legged robot described above, optionally, the end of the third joint arm where the walking wheel is located is provided with opposing ear plates, and the walking wheel is rotatably connected between the two ear plates.

[0012] In the wheel-leg-to-leg robot described above, optionally, the width of the U-shaped groove is greater than the width of the walking wheel, and the depth of the U-shaped groove is greater than the sum of the radius of the walking wheel and the length of the ear plate.

[0013] Optionally, in the wheel-legged to multi-legged robot described above, the wheel-legged to multi-legged robot also includes a control system. The control system includes an environmental perception sensor and a motion execution sensor. The environmental perception sensor includes a lidar sensor and an infrared thermal imager, both of which are installed at the front of the robot body. The lidar sensor is tilted downwards.

[0014] In the wheel-legged to multi-legged robot described above, optionally, the control system further includes a central controller, which is located inside the body and electrically connected to the environmental perception sensor and the motion execution sensor; the motion execution sensor includes a position sensor and a torque sensor, both located at the hinge of adjacent joint arms in the multi-joint leg.

[0015] In the wheel-legged to multi-legged robot described above, optionally, the body includes six symmetrically arranged drive units, each drive unit being connected to one of the multi-jointed legs.

[0016] In the wheel-legged to multi-legged robot described above, optionally, the first joint arm is perpendicular to the hinge axis of the drive unit and the second joint arm.

[0017] The multi-legged robot designed in this invention can switch between using walking wheels and gripping legs, thereby realizing the conversion between wheeled and legged modes. This innovative design significantly enhances the robot's obstacle-crossing ability. Attached Figure Description

[0018] The disclosure of this utility model will become more apparent with reference to the accompanying drawings. It should be understood that these drawings are for illustrative purposes only and are not intended to limit the scope of protection of this utility model. In the drawings:

[0019] Figure 1 This is a schematic perspective view of one embodiment of the wheel-legged to multi-legged robot of this utility model;

[0020] Figure 2 yes Figure 1 A schematic perspective view of one embodiment of the multi-joint leg in the Chinese embodiment.

[0021] Reference numerals: 1-Fuselage; 2-Drive unit; 3-Multi-joint leg; 4-Proximal end; 5-Walking wheel; 6-Grip foot; 7-First joint arm; 8-Second joint arm; 9-Third joint arm; 10-U-shaped groove; 11-Cutout groove; 12-Y-shaped reinforcing rib; 13-Ear plate; 14-LiDAR sensor; 15-Infrared thermal imager. Detailed Implementation

[0022] Referring to the accompanying drawings and specific embodiments, the structure, composition, features, and advantages of a wheel-legged to multi-legged robot of the present invention will be described below by way of example. However, all descriptions should not be construed as limiting the present invention in any way.

[0023] For any single technical feature described or implied in the embodiments mentioned herein, or any single technical feature shown or implied in the various drawings, the present invention still allows for any combination or deletion of these technical features (or their equivalents) without any technical obstacle, and thus these further embodiments according to the present invention should also be considered within the scope of the description herein.

[0024] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of those features.

[0025] In the description of this application, it should be understood that the terms "upper", "lower", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore should not be construed as a limitation of this application.

[0026] Figure 1 This is a schematic perspective view of one embodiment of the wheel-legged to multi-legged robot of this utility model; Figure 2 yes Figure 1 A schematic perspective view of one embodiment of the multi-joint leg in the Chinese embodiment. The following is in conjunction with... Figure 1 and Figure 2 The specific embodiments of this utility model are described below.

[0027] This invention designs a multi-legged robot capable of wheel-leg conversion. The robot's main structure includes a body 1 and multi-joint legs 3. The multi-joint legs 3 are connected to a drive unit 2 on the body 1. Multiple drive units 2 can be arranged circumferentially along the side of the body 1, with each drive unit 2 hinged to one multi-joint leg 3. Each multi-joint leg 3 consists of multiple articulated arms arranged in a straight line, with adjacent articulated arms arranged end-to-end and hinged sequentially. The end of the multi-joint leg 3 connected to the drive unit 2 is the proximal end 4. The multi-joint leg 3 can be composed of three articulated arms. Specifically, among these three articulated arms, the articulated arm closest to the proximal end 4 is the first articulated arm 7, the articulated arm farthest from the proximal end 4 is the third articulated arm 9, and the articulated arm 8 connects the first articulated arm 7 and the third articulated arm 9. The multi-joint leg 3 can have other numbers of articulated arms; this embodiment preferably uses a three-arm structure. The three-segment articulated arm enables multi-directional and multi-angle movement, meeting the obstacle-crossing requirements of complex terrains. Compared to articulated arms with more segments, it reduces the difficulty of design, manufacturing, and maintenance, and improves structural reliability. At each end of the third articulated arm 9 are a walking wheel 5 and a gripping foot 6, both of which support and drive the wheel-leg-converting multi-legged robot of this invention. By switching the use of the walking wheel 5 and gripping foot 6 on each multi-joint leg 3, the robot can switch between wheel-walking and leg-walking modes. On flat or hard surfaces, the robot prioritizes using the walking wheel 5 to increase movement speed; on complex, rugged, or soft surfaces, it switches to the gripping foot 6 to improve stability and traversability. When the robot overturns and lies on its back, it can automatically roll over and recover, thus achieving adaptive walking on different terrains. Furthermore, since the robot has multiple multi-joint legs 3, each multi-joint leg 3 can partially use the gripping foot 6 and partially use the walking wheel 5, achieving obstacle crossing in specific scenarios through wheel-leg cooperative operation. For example, when climbing steep slopes, the gripping feet 6 provide support and propulsion, while the walking wheels 5 assist in balance and maintain forward speed. This design significantly enhances the robot's terrain adaptability and operational flexibility. Each wheel can be equipped with an individual drive motor, allowing the robot to perform differential turns in wheeled mode, thus reducing the turning radius.

[0028] Optionally, six symmetrical drive units 2 can be arranged on the body 1, each drive unit being connected to a multi-joint leg 3. "Left" and "right" are relative to the robot's forward direction. The symmetrical arrangement of the drive units 2 and multi-joint legs 3 can ensure the robot's balance and stability during movement.

[0029] As an alternative embodiment, two opposing ear plates 13 are provided at the end of the third joint arm 9 where the walking wheel 5 is located, and the walking wheel 5 is rotatably connected between the two ear plates 13. Simultaneously, the ear plates extend along the axial direction away from the gripping foot 6, allowing the walking wheel to connect to this end of the third joint arm 9. The opposing ear plates provide dual-sided support for the walking wheel 5, enabling a more even distribution of the pressure and torque borne by the walking wheel 5 during movement. By providing the walking wheel and gripping foot at each end, this design significantly simplifies the switching action between the two. When the wheel-to-legged multi-legged robot switches between wheeled and legged modes, it is only necessary to control the third joint arm 9 to rotate significantly around the second joint arm 8, for example, by 180 degrees, to reverse the upper and lower positions of the third joint arm 9, thereby quickly and efficiently switching modes. This design not only improves the convenience of mode switching but also reduces the time required for mode switching.

[0030] Optionally, to facilitate significant rotation of the third joint arm 6, a U-shaped groove 10 can be provided on the second joint arm 8. The opening of the U-shaped groove faces the hinge of the second joint arm 8 and the third joint arm 9. The purpose of providing the U-shaped groove 10 is to provide a passage for the walking wheel 5. When switching between wheeled and legged modes, the walking wheel 5 will rotate around the hinge of the second joint arm 8 and the third joint arm 9 and can pass through the U-shaped groove. The design of the U-shaped groove avoids the third joint arm being blocked by the second joint arm during rotation, expands the rotation range of the third joint arm, and thus meets the needs of mode switching. Furthermore, the U-shaped groove reduces the weight of the robot's leg structure, which can increase battery life. Specifically, in order for the walking wheel 5 to pass smoothly, the width of the U-shaped groove should be greater than the width of the walking wheel, and the depth should be greater than the sum of the radius of the walking wheel 5 and the length of the ear plate 13. The U-shaped groove also allows the second joint arm 8 and the third joint arm 9 to rotate until their axes are parallel, which facilitates storage when carrying and transporting the robot.

[0031] As an optional embodiment, a through-hole groove 11 is provided in the gripping foot 6, so that most of the center of the gripping foot 6 is hollowed out, which has a weight reduction effect; a Y-shaped reinforcing rib 12 is provided in the hollowed-out groove 11. The Y-shaped reinforcing rib 12 connects the left, right and bottom side walls of the gripping foot 6, improving its structural strength and enhancing the structural reliability of the robot when passing through rugged terrain.

[0032] This multi-legged robot also includes a control system, comprising a central controller and sensors, including environmental perception sensors and motion execution sensors. The sensors are used to perceive the robot's motion state, external environmental information, and obstacles. Among these, environmental sensors enhance the robot's environmental perception capabilities. These include a lidar sensor 14 and an infrared thermal imager 15, both mounted on the front of the robot. The lidar sensor is tilted downwards for better terrain imaging, while the infrared thermal imager faces forward to detect objects in the space ahead. The lidar sensor 14 periodically collects data on the shape of environmental targets and their relative position to the robot, providing high-precision environmental maps and obstacle information to aid navigation, obstacle avoidance, and path planning in complex environments. The infrared thermal imager can penetrate the surface covering of the nest to detect internal temperature distribution and abnormal hotspots, promptly identifying potential fire hazards or biological invasion behaviors. Infrared sensors can also be mounted on the gripping legs 6. These sensors detect the presence, distance, and temperature of objects, assisting the robot in adjusting its walking direction when obstacles are detected. When the robot approaches a dangerous location such as the edge of a table, it can detect that there is no ground in front of it and that it is about to step into an empty space, and thus adjust its direction of movement to avoid falling.

[0033] The central controller can be located inside the robot body 1, which has a cavity for housing the battery, sensors, central controller, and wiring. The central controller is electrically connected to the environmental perception sensors and motion execution sensors, receiving and processing various sensor data in real time to control the movement of the robot's movable parts. For example, the central controller adjusts the gait of the multi-joint leg 3 based on the detected environmental data.

[0034] Optionally, position sensors and torque sensors can be installed at the hinge points of adjacent articulated arms in the multi-articular leg 3. For example, for the multi-articular leg 3 composed of a first articulated arm 7, a second articulated arm 8, and a third articulated arm 9, position sensors are installed at the hinge points between the first and second articulated arms, and between the second and third articulated arms. The position sensors can be rotary encoders, with their shafts concentrically mounted to the hinge axes of the articulated arms. When the motor drives the articulated arm to rotate, the encoder ensures that it rotates accurately with the rotation of the articulated arm. The encoder's signal output line extends to the robot body and is connected to the central controller, ensuring stable signal transmission and real-time feedback of position information such as the angle of the articulated arm. Torque sensors can also be installed at the same locations to more precisely adjust the motor's output power and torque in real time, thereby making the robot's movement smoother.

[0035] The first joint arm 7 of the multi-joint leg 3 is hinged to the drive unit 2 and the second joint arm 8, respectively, and the hinge axes at these two locations are perpendicular to each other. The first joint arm can rotate around the body 1 in a plane parallel to the bottom surface of the body 1; the second joint arm can rotate around the first joint arm in a plane perpendicular to the bottom surface of the body 1; and the third joint arm can rotate around the first joint arm in the same plane. This gives the multi-joint leg 3 three degrees of rotational freedom in two mutually perpendicular directions, improving the robot's mobility.

[0036] The robot of this invention can be powered by motors (such as DC motors, AC motors, and stepper motors) installed between its drive unit and the joints of its multi-joint legs. The motors are connected to the central controller via wires to adjust the torque and speed in real time, so as to meet the robot's walking needs under different terrain and load conditions.

[0037] The technical scope of this utility model is not limited to the contents of the above description. Those skilled in the art can make various modifications and variations to the above embodiments without departing from the technical concept of this utility model, and all such modifications and variations should fall within the scope of this utility model.

Claims

1. A wheel-legged to multi-legged robot, characterized in that, The wheel-legged to multi-legged robot includes: The fuselage (1) has multiple drive units (2) distributed circumferentially on its side. The multi-joint leg (3) has its proximal end (4) hinged to the drive unit (2). The multi-joint leg (3) includes multiple joint arms arranged in a straight line and hinged end to end in sequence. The joint arm furthest from the proximal end (4) is provided with a walking wheel (5) and a gripping foot (6) at both ends. Both can support and drive the wheel-foot to transform into a multi-legged robot. The robot can switch between wheeled and legged modes by switching the use of the walking wheel (5) and gripping foot (6) of the multi-joint leg (3). The multi-joint leg (3) includes a first joint arm (7) closest to the proximal end (4), a third joint arm (9) furthest from the proximal end (4), and a second joint arm (8) connecting the first joint arm (7) and the third joint arm (9). The second joint arm (8) is provided with a U-shaped groove (10), the opening of the U-shaped groove (10) is facing the hinge of the second joint arm (8) and the third joint arm (9), the U-shaped groove (10) provides a rotation channel for the walking wheel (5), thereby increasing the rotation range of the third joint arm (9).

2. The wheel-legged to multi-legged robot as described in claim 1, characterized in that, The gripping foot (6) has a through-hole groove (11), and a Y-shaped reinforcing rib (12) is provided in the groove (11).

3. The wheel-legged to multi-legged robot as described in claim 1, characterized in that, The third joint arm (9) has opposing ear plates (13) at the end where the walking wheel (5) is located, and the walking wheel (5) is rotatably connected between the two ear plates (13).

4. The wheel-legged to multi-legged robot as described in claim 3, characterized in that, The width of the U-shaped groove (10) is greater than the width of the walking wheel (5), and the depth of the U-shaped groove (10) is greater than the sum of the radius of the walking wheel (5) and the length of the ear plate (13).

5. The wheel-legged to multi-legged robot as described in claim 1, characterized in that, The wheel-legged multi-legged robot also includes a control system, which includes an environmental perception sensor and a motion execution sensor. The environmental perception sensor includes a lidar sensor (14) and an infrared thermal imager (15), both of which are installed at the front of the body (1). The lidar sensor (14) is tilted downward.

6. The wheel-legged to multi-legged robot as described in claim 5, characterized in that, The control system also includes a central controller, which is located inside the body (1) and electrically connected to the environmental sensing sensor and the motion execution sensor; the motion execution sensor includes a position sensor and a torque sensor, which are located at the hinge of adjacent joint arms in the multi-joint leg (3).

7. The wheel-legged to multi-legged robot as described in claim 1, characterized in that, The fuselage (1) includes six symmetrical drive units (2), each drive unit (2) being connected to a multi-joint leg (3).

8. The wheel-legged to multi-legged robot as described in claim 1, characterized in that, The first articulated arm (7) is perpendicular to the hinge axis of the drive unit (2) and the second articulated arm (8).

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