Wheel-legged robot

Abstract

This application discloses a wheeled-legged robot, comprising: a frame, wheels, a lifting drive component, and an electronic control module. Two sets of wheels and lifting drive components are correspondingly arranged. Each wheel includes a movable wheel and a rotating drive component. The output end of the rotating drive component is connected to the movable wheel and used to drive the movable wheel to rotate. The output end and the housing of the lifting drive component are respectively connected to the housing of the rotating drive component and the frame. The lifting drive component is used to drive the frame to lift and lower. The electronic control module includes a gyroscope and a control unit. The control unit is electrically connected to the gyroscope, the rotating drive component, and the lifting drive component. The wheeled-legged robot of this application has strong obstacle-crossing ability, a small turning radius, and the ability to adapt to complex terrain.

Description

Technical Field

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

[0002] In related technologies, wheeled robots typically possess the high efficiency and flexibility of wheeled mobility, enabling them to move quickly on flat ground while exhibiting precise maneuvering capabilities. These robots, with their high efficiency and flexibility, demonstrate enormous application potential in various fields such as industrial automation, logistics and transportation, and the service industry. However, traditional mobile robots, due to their low chassis, have poor obstacle-crossing and climbing abilities, making them difficult to adapt to complex terrain. Furthermore, the large turning radius of four-wheeled structures places higher demands on the space and width of the work area, limiting their application in confined environments. Utility Model Content

[0003] This invention aims to solve at least one of the technical problems existing in the prior art. To this end, this application proposes a wheeled-legged robot with strong obstacle-crossing ability, small turning radius, and the ability to adapt to complex terrain.

[0004] The wheeled robot according to an embodiment of the present invention includes: a frame, wheels, a lifting drive, and an electronic control module. Two sets of wheels and lifting drive are provided respectively. Each wheel includes a movable wheel and a rotating drive. The output end of the rotating drive is connected to the movable wheel and is used to drive the movable wheel to rotate. The output end and the housing of the lifting drive are respectively connected to the housing of the rotating drive and the frame. The lifting drive is used to drive the frame to lift. The electronic control module includes a gyroscope and a control unit. The control unit is electrically connected to the gyroscope, the rotating drive, and the lifting drive.

[0005] The wheeled-legged robot according to the embodiments of this utility model has at least the following beneficial effects: This wheeled-legged robot includes a frame, wheels, a lifting drive, and an electronic control module. Each wheel includes a movable wheel and a rotating drive. Two sets of each of the movable wheel, rotating drive, and lifting drive are provided. The output end of the rotating drive is connected to the movable wheel to drive its rotation. The lifting drive is located between the rotating drive and the frame to adjust the frame's height. Therefore, when climbing slopes or overcoming obstacles, the frame can be raised using the lifting drive, thereby raising the chassis and smoothly overcoming obstacles, improving the robot's adaptability. Simultaneously, the gyroscope in the electronic control module, in conjunction with the two movable wheels, achieves balance. Furthermore, due to its dual-wheel configuration, the turning radius is greatly reduced, improving the robot's adaptability in confined spaces. Therefore, the wheeled-legged robot of this application has strong obstacle-crossing ability, a small turning radius, and good adaptability to complex terrain.

[0006] According to some embodiments of this utility model, the bottom of the frame is provided with several legs for supporting the ground.

[0007] According to some embodiments of the present invention, at least three outriggers are provided, and the outriggers can be lowered under the drive of the lifting drive to support the ground, so that there is no force between the moving wheels and the ground.

[0008] According to some embodiments of the present invention, the output end of the lifting drive is connected to the housing of the rotating drive, and the housing of the lifting drive is connected to the bottom of the frame.

[0009] According to some embodiments of the present invention, it also includes a wheel seat, which connects the output end of the lifting drive component and the housing of the rotating drive component.

[0010] According to some embodiments of this utility model, the wheel seat is located on one side of the housing of the rotating drive component, and the output end of the lifting drive component is located above the wheel seat.

[0011] According to some embodiments of the present invention, a robotic arm is also included, which is mounted on the frame.

[0012] According to some embodiments of the present invention, a lidar is also included, which is mounted on a frame.

[0013] According to some embodiments of this utility model, it also includes a square tube, which is erected on the frame, and the lidar is located on the top of the square tube.

[0014] According to some embodiments of the present invention, a 3D camera is also included, which is mounted on the lidar.

[0015] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0016] The present invention will be further described below with reference to the accompanying drawings and embodiments, wherein:

[0017] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the wheeled robot of this utility model;

[0018] Figure 2 for Figure 1 A schematic diagram of a portion of the structure of the wheeled robot shown;

[0019] Figure 3 for Figure 1 The front view of the wheeled robot shown;

[0020] Figure 4 for Figure 1 The image shows a side view of the wheeled robot.

[0021] Figure label:

[0022] Frame 100; Support legs 110; Wheel legs 200; Moving wheels 210; Rotation drive 220; Lifting drive 300; Electrical control module 400; Wheel seat 500; Robotic arm 600; Vision unit 610; LiDAR 700; Square tube 800; 3D camera 900. Detailed Implementation

[0023] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0024] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, 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 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. Therefore, they should not be construed as limitations on this application.

[0025] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0026] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0027] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative 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 this application. 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.

[0028] The following is for reference. Figures 1 to 4This invention describes a wheeled-legged robot according to an embodiment of the present invention.

[0029] like Figures 1 to 2 As shown, the wheeled robot according to an embodiment of the present invention includes: a frame 100, wheel legs 200, a lifting drive component 300, and an electronic control module 400. Two sets of wheel legs 200 and lifting drive components 300 are provided respectively. The wheel legs 200 include a movable wheel 210 and a rotation drive component 220. The output end of the rotation drive component 220 is connected to the movable wheel 210 and is used to drive the movable wheel 210 to rotate. The output end and the housing of the lifting drive component 300 are respectively connected to the housing of the rotation drive component 220 and the frame 100. The lifting drive component 300 is used to drive the frame 100 to lift. The electronic control module 400 includes a gyroscope and a control unit. The control unit is electrically connected to the gyroscope, the rotation drive component 220, and the lifting drive component 300.

[0030] Understandably, this wheeled robot includes a frame 100, wheels 200, a lifting drive 300, and an electronic control module 400. The wheels 200 include movable wheels 210 and rotation drive 220. Two sets of each of the movable wheels 210, rotation drive 220, and lifting drive 300 are provided. The output end of the rotation drive 220 is connected to the movable wheels 210 to drive their rotation. The lifting drive 300 is located between the rotation drive 220 and the frame 100 to control the frame 100. The lifting and adjusting mechanism allows the frame 100 to be raised when climbing slopes or overcoming obstacles, thereby raising the chassis and facilitating smooth obstacle crossing and improving the robot's adaptability. Simultaneously, the gyroscope in the electronic control module 400, in conjunction with the two moving wheels 210, achieves balance. Furthermore, the dual-wheel configuration significantly reduces the turning radius, enhancing the robot's adaptability in confined spaces. Therefore, the wheeled robot of this application possesses strong obstacle-crossing ability, a small turning radius, and the ability to adapt to complex terrain.

[0031] Understandably, the frame 100 has several legs 110 at its bottom for supporting the ground. For example, as... Figures 1 to 4 As shown, in this embodiment, the bottom of the frame 100 can be provided with one support leg 110, two support legs 110, three or even more support legs 110 as needed, so that when the movement is paused, the frame 100 can be supported by the support legs 110 or the combination of the support legs 110 and the moving wheels 210.

[0032] Understandably, the outriggers 110 are provided with at least three legs, and the outriggers 110 can be lowered under the drive of the lifting drive 300 to support the ground, ensuring that there is no force between the moving wheels 210 and the ground. For example, as Figures 1 to 4As shown, in this embodiment, three support legs 110 are provided. When the lifting drive 300 retracts, the support legs 110 descend to support the ground. As they continue to retract, the moving wheels 210 are raised until they have no interaction with the ground, or even higher. At this point, at least three support legs 110 are sufficient to achieve the robot's support and balance. When there is no interaction between the moving wheels 210 and the ground, they are no longer deformed by gravity, and the robot's height depends entirely on the support legs 110, thereby greatly improving the robot's accuracy during operation.

[0033] It is understood that the output end of the lifting drive 300 is connected to the housing of the rotation drive 220, and the housing of the lifting drive 300 is connected to the bottom of the frame 100. For example, as Figure 2 As shown, in this embodiment, the outer diameter of the output end of the lifting drive 300 is smaller than the outer shell of the lifting drive 300. The arrangement of connecting the output end of the lifting drive 300 to the outer shell of the rotation drive 220 and the outer shell of the lifting drive 300 to the bottom of the frame 100 can reduce the space occupied below, thereby facilitating the lifting of the chassis while avoiding interference or collision between the lifting drive 300 and uneven protrusions on the ground, further improving the robot's obstacle-crossing ability.

[0034] Understandably, it also includes a wheel base 500, which connects the output end of the lifting drive 300 and the housing of the rotation drive 220. For example, as Figure 2 As shown, in this embodiment, the lifting drive 300 is connected to the housing of the rotating drive 220 via the wheel seat 500, which facilitates disassembly and subsequent maintenance.

[0035] Understandably, the wheel seat 500 is located on one side of the housing of the rotation drive component 220, and the output end of the lifting drive component 300 is located above the wheel seat 500. For example, as... Figure 2 As shown, in this embodiment, the lifting drive 300 is mounted on a wheel seat 500 on one side of the housing of the rotating drive 220, thereby reducing the overall space occupied by the wheeled robot.

[0036] Understandably, it also includes a robotic arm 600, which is mounted on the frame 100. For example, as Figure 1 As shown, in this embodiment, a robotic arm 600 is mounted on the frame 100, enabling the wheeled robot to be applied in industries such as manufacturing, transportation, and services.

[0037] Understandably, it also includes a lidar 700, which is mounted on rack 100. For example, as Figure 1As shown, in this embodiment, by setting a lidar 700 on the rack 100, it is possible to handle the detection of obstacles at a distance, thereby generating a high-precision environmental cloud map through scanning.

[0038] Understandably, it also includes a square tube 800, which stands upright on the frame 100, with the lidar 700 mounted on top of the square tube 800. For example, as... Figure 1 As shown, in this embodiment, the lidar 700 is located on the top of the square tube 800 on the frame 100, which facilitates scanning the surrounding environment. The hollow square tube 800 reduces weight and decreases the robot's load.

[0039] Understandably, it also includes a 3D camera, which is mounted on the LiDAR 700. For example, as... Figure 1 As shown, in this embodiment, the 3D camera is used to capture textures and details, and together with the LiDAR 700 and the gyroscope, it achieves multimodal perception, thereby improving navigation accuracy and safety.

[0040] It should be understood that a vision unit can be installed at the end of the robotic arm of a wheeled robot to improve the working accuracy of the robotic arm.

[0041] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A wheeled-legged robot, characterized in that, include: The system comprises a frame, wheel legs, a lifting drive component, and an electronic control module. Two sets of wheel legs and lifting drive components are provided. Each wheel leg includes a movable wheel and a rotation drive component. The output end of the rotation drive component is connected to the movable wheel and is used to drive the movable wheel to rotate. The output end and housing of the lifting drive component are respectively connected to the housing of the rotation drive component and the frame. The lifting drive component is used to drive the frame to lift. The electronic control module is located on the frame and includes a gyroscope and a control unit. The control unit is electrically connected to the gyroscope, the rotation drive component, and the lifting drive component.

2. The wheeled robot according to claim 1, characterized in that, The frame is equipped with several legs at its bottom to support the ground.

3. The wheeled robot according to claim 2, characterized in that, The outriggers are provided in at least three form, and the outriggers can be lowered under the drive of the lifting drive to support the ground, so that there is no force between the moving wheels and the ground.

4. The wheeled robot according to claim 1, characterized in that, The output end of the lifting drive is connected to the housing of the rotation drive, and the housing of the lifting drive is connected to the bottom of the frame.

5. The wheeled robot according to claim 4, characterized in that, It also includes a wheel seat, which connects the output end of the lifting drive component and the housing of the rotating drive component.

6. The wheeled robot according to claim 5, characterized in that, The wheel seat is located on one side of the housing of the rotating drive component, and the output end of the lifting drive component is located above the wheel seat.

7. The wheeled-legged robot according to any one of claims 1-6, characterized in that, It also includes a robotic arm, which is mounted on the frame.

8. The wheeled robot according to claim 1, characterized in that, It also includes a lidar, which is mounted on the rack.

9. The wheeled-legged robot according to claim 8, characterized in that, It also includes a square tube, which is erected on the frame, and the lidar is located on the top of the square tube.

10. The wheeled-legged robot according to claim 9, characterized in that, It also includes a 3D camera, which is mounted on the lidar.

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