CN111731405B

CN111731405B - robot

Info

Publication number: CN111731405B
Application number: CN202010662698.9A
Authority: CN
Inventors: 张东胜; 熊坤; 陈相羽; 杨思成; 徐良威; 周钦钦; 张正友
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-07-10
Filing date: 2020-07-10
Publication date: 2023-12-01
Anticipated expiration: 2040-07-10
Also published as: CN111731405A

Abstract

The application discloses a robot, and relates to the field of machinery. The robot includes: a trunk portion, and n mechanical legs connected to the trunk portion; the mechanical leg comprises a thigh unit and a shank unit; the joint end of the thigh unit is hinged with the joint end of the shank unit through a rotating shaft, and a travelling wheel is fixed on the rotating shaft; in a foot-type mode, the shank units in the n mechanical legs are fixedly connected with the rotating shaft; in a wheeled mode, there is a rotational connection of the shank unit and the spindle in at least two mechanical legs. The robot can realize wheel type and foot type double modes.

Description

Robot

Technical Field

The embodiment of the application relates to the field of machinery, in particular to a robot.

Background

The robot is a robot having both foot-type motion and wheel-type motion. Common robots are those employing two, three, four and six legged mechanical legs.

The related art provides a four-legged robot having four mechanical legs mounted thereto. The tail ends of the shanks of the four mechanical legs are provided with traveling wheels, so that the four-foot robot has two motion modes of wheels and feet.

The shank end of the mechanical leg is of a wheel type structure, so that the grip and balance of the shank end are poor.

Disclosure of Invention

The embodiment of the application provides a robot which can rely on traveling wheels at joints of thigh units and shank units and simultaneously realize the dual-mode driving of wheel-type wheel feet. The technical scheme is as follows:

according to an aspect of the present application, there is provided a robot including: a trunk part and n mechanical legs connected with the trunk part, wherein n is a positive integer not less than 2;

each mechanical leg comprises a thigh unit and a shank unit; one end of the thigh unit is hinged with one end of the shank unit through a rotating shaft, and a travelling wheel is fixed on the rotating shaft;

in a foot-type mode, the shank units in the n mechanical legs are fixedly connected with the rotating shaft;

in a wheeled mode, there is a rotational connection of the shank unit and the spindle in at least two mechanical legs.

In an alternative embodiment of the application, the proximal side of the calf unit is further provided with an auxiliary wheel;

in a first wheeled mode, the shank units in the n mechanical legs are rotationally connected with the rotating shaft;

and under a second wheel mode, the shank units in the m mechanical legs positioned at the same end of the trunk part are rotationally connected with the rotating shaft, the shank units in the remaining n-m mechanical legs are fixedly connected with the rotating shaft, and m is a positive integer smaller than n.

In an alternative embodiment of the present application, the mechanical leg further comprises: a first thigh drive, a second thigh drive, and a shank drive;

the first stator part of the first thigh driving device is connected with the trunk part, and the first rotor part of the first thigh driving device is connected with the side surface of the second stator part of the second thigh driving device;

the second rotor part of the second thigh driving device is connected with the third stator part of the shank driving device;

the third stator part of the lower leg driving device is connected with the root end of the thigh unit, and the third rotor part of the lower leg driving device is connected with the rotating shaft through a transmission device.

In an alternative embodiment of the application, the calf cell has a locking element therein;

when the locking component is in a locking state, the shank unit is fixedly connected with the rotating shaft through the travelling wheel;

when the locking component is in an unlocking state, the lower leg unit is rotationally connected with the rotating shaft.

In an alternative embodiment of the application, the travelling wheel is provided with a pin groove, the locking component comprises a linear motor and a flat pin, and the flat pin is fixed at the output end of the linear motor;

the locking member is in the locked state when the flat pin is inserted into the pin slot;

the locking member is in the unlocked state when the flat pin exits the pin slot.

In an alternative embodiment of the application, at least two of said pin grooves are radially distributed on said travelling wheel.

In an alternative embodiment of the application, a motor fixing seat is arranged in the lower leg unit, and the motor fixing seat fixes the linear motor and the inner wall of the lower leg unit.

In an alternative embodiment of the present application, the rotating shaft is also fixedly connected with a driving wheel; the output end of the third rotor part is fixed with a driving wheel;

the driving wheel is connected with the driving wheel through the transmission device.

In an alternative embodiment of the application, the transmission comprises: a belt;

the driving wheel is connected with the driving wheel through the belt.

In an alternative embodiment of the application, a belt compression device is included in the thigh unit, the belt compression device being in compression contact with an outer surface of the belt.

In an alternative embodiment of the application, the travelling wheel comprises: a first travel wheel and a second travel wheel;

the pin grooves are formed on a first wheel surface of the first travelling wheel facing the second travelling wheel, and the pin grooves are formed on a second wheel surface of the second travelling wheel facing the first travelling wheel;

the number and the slotting positions of the pin slots on the first wheel surface and the second wheel surface are the same.

In an alternative embodiment of the application, the lower leg unit has a first magnetic component thereon and the thigh unit has a second magnetic component thereon; in the wheeled mode, the first magnetic component and the second magnetic component are attracted;

wherein one of the first magnetic member and the second magnetic member is a magnet, and the other of the first magnetic member and the second magnetic member is a magnet or an iron block.

In an alternative embodiment of the application, the thigh unit comprises a first thigh section and a second thigh section which are detachably connected, and the calf unit comprises a first calf section and a second calf section which are detachably connected;

the first thigh section and the first calf section are located on a first side of the transmission and the second thigh section and the second calf section are located on a second side of the transmission.

In an alternative embodiment of the present application, the rotating shaft is further provided with a first shaft sleeve and a second shaft sleeve;

the first sleeve is mounted between the first thigh section and the first calf section;

the second hub is mounted between the second thigh section and the second calf section.

In an alternative embodiment of the application, the lower leg unit is connected at its distal end to the foot bottom.

The technical scheme provided by the embodiment of the application has the beneficial effects that at least:

the running wheels are arranged at joints of the thigh unit and the shank unit, the shank unit is fixedly connected with the rotating shaft in a foot-type mode, the shank unit is driven by the rotating shaft to realize foot-type running, and the running wheels are positioned at joints of the big and the small legs and do not contact the ground, so that the shank unit can keep better ground grabbing force and balance; in the wheeled mode, all or a part of the lower leg units are rotationally connected with the rotating shaft, and the traveling wheels on the rotating shaft realize wheeled traveling. From the whole, the robot has the characteristics of compact structure, high dexterity and light weight, and the environment adaptability of the robot can be enhanced to a large extent through flexible switching of the wheel type mode and the foot type mode.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a front view of a robot provided by an exemplary embodiment of the present application;

FIG. 2 is a schematic view of a robot in a foot-style mode provided in an exemplary embodiment of the present application;

FIG. 3 is a perspective view of a mechanical leg provided by an exemplary embodiment of the present application;

FIG. 4 is a top view of a robot in a foot-style mode provided by an exemplary embodiment of the present application;

FIG. 5 is a side view of a robot in a foot-style mode provided by an exemplary embodiment of the present application;

FIG. 6 is a perspective view of a robot in a first wheeled mode provided by an exemplary embodiment of the present application;

FIG. 7 is a front view of a robot in a first wheeled mode provided by an exemplary embodiment of the present application;

FIG. 8 is a perspective view of a robot in a second wheeled mode provided by an exemplary embodiment of the present application;

FIG. 9 is a schematic view of a locking member provided by an exemplary embodiment of the present application;

FIG. 10 is an exploded perspective view of a mechanical leg provided by an exemplary embodiment of the present application;

fig. 11 is an exploded top view of a mechanical leg provided by an exemplary embodiment of the present application.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the present application more apparent, the embodiments of the present application will be described in further detail with reference to the accompanying drawings.

Embodiments of the present application provide a robot that is capable of traveling in a wheeled mode or a foot mode.

Fig. 1 shows a schematic view of a robot 10 provided in an exemplary embodiment of the application. The robot 10 includes: a trunk portion 13, and n mechanical legs 14 connected to the trunk portion 13, n being a positive integer not less than 2.

The mechanical leg 14 includes: thigh unit 1 and shank unit 2; the joint end of the thigh unit 1 and the joint end of the shank unit 2 are hinged through a rotating shaft 3, and a travelling wheel 4 is fixed on the rotating shaft 3.

In the foot mode, the shank units 2 in the n mechanical legs 14 are fixedly connected with the rotating shaft 3. The robot 10 drives the traveling wheel 4 and the lower leg unit 2 to travel in a foot-type movement mode through the rotating shaft 3. When the rotating shaft 3 drives the travelling wheel 4 to rotate forwards, the lower leg unit 2 is also driven to rotate forwards; when the rotating shaft 3 drives the traveling wheel 4 to rotate backward, the lower leg unit 2 is also driven to rotate backward. The above-mentioned processes are repeatedly executed, so that the foot-type movement can be implemented.

In the wheeled mode there is a rotational connection of the shank unit 2 and the spindle 3 in at least two mechanical legs 14. Since the rotation shaft 3 and the running wheel 4 can be freely rotated with respect to the lower leg unit 2. The rotating shaft 3 drives the traveling wheel 4 to rotate forwards, so that wheeled movement is realized.

In summary, in the robot provided in this embodiment, the running wheels are disposed at the joints between the thigh unit and the shank unit, and in the foot mode, the shank unit is fixedly connected with the rotating shaft, and the rotating shaft drives the shank unit to implement foot-type running, and the running wheels are located at the joints of the thigh and the shank without contacting the ground, so that the shank unit can maintain good ground grabbing force and balance; in the wheeled mode, all or a part of the lower leg units are rotationally connected with the rotating shaft, and the traveling wheels on the rotating shaft realize wheeled traveling.

The number of the mechanical legs 14 of the robot 10 may be two, three, four, six, etc., and the number of the mechanical legs 14 is not limited in the present application. In the following, a number of 4 mechanical legs 14 will be taken as an example, and fig. 2 shows a perspective view of a robot 10 according to another exemplary embodiment of the present application. The robot 10 includes: a trunk 13, and 4 mechanical legs 14 connected to the trunk 13.

Referring to fig. 3 in combination, for each mechanical leg 14, the mechanical leg 14 includes: a first thigh drive 51, a second thigh drive 52, a shank drive 53, a thigh unit 1 and a shank unit 2.

The first thigh drive 51, the second thigh drive 52, and the shank drive 53 constitute a combined drive. The lower leg driving device 53 is also connected to the root end 11 of the thigh unit 1, the joint end 12 of the thigh unit 1 is connected to the joint end 21 of the lower leg unit 2, the side of the lower leg unit 2 near the ground (short: near the ground side) is provided with an auxiliary wheel 6, and the end 22 of the lower leg unit 2 is provided with a foot bottom 8.

Illustratively, the first thigh drive 51, the second thigh drive 52, and the calf drive 53 are all electric motors. Each motor includes a stator portion and a rotor portion, the rotor portion being rotatable relative to the stator portion.

Referring to fig. 4 and 5 in combination, fig. 4 is a top view of the robot 10 and fig. 5 is a side view of the robot 10.

The first thigh drive device 51 is for driving rotation of the thigh unit 1 along both sides of the trunk part 13. The first stator portion of the first thigh drive device 51 is connected to the trunk portion 13, and the first rotor portion of the first thigh drive device 51 is connected to a side surface of the second stator portion of the second thigh drive device 52. Alternatively, the central axis of the first rotor portion is parallel to the central axis of the trunk portion 13.

The second thigh drive 52 is for driving the swing of the thigh unit 1 along the front/rear of the trunk part 13. The second rotor part of the second thigh drive 52 is connected with the third stator part of the shank drive 53. Alternatively, the second rotor part faces the outside of the trunk part 13, the second stator part faces the inside of the trunk part 13, and the central axis of the second rotor part is perpendicular to the central axis of the trunk part 13.

The third stator part of the calf drive 53 is connected to the root end 11 of the thigh unit 1 and the third rotor part of the calf drive 53 is connected to the shaft 3 via a transmission. Optionally, the central axis of the third rotor portion coincides with or is parallel to the central axis of the second rotor portion.

The robot 10 has at least three modes of motion: a foot-type modality, a first wheel-type modality, and a second wheel-type modality.

Foot mode:

in the foot mode shown in fig. 2, the calf unit 2 and the spindle 3 in each mechanical leg 14 are fixedly connected. The second rotor portion of the second thigh drive device 52 drives the swing of the thigh unit 1 in the front/rear direction of the trunk portion 13. The third rotor part of the calf drive 53 rotates, and the running wheel 4 and the calf unit 2 are driven to run in a foot-type movement mode through the rotating shaft 3. When the shank driving device 53 drives the traveling wheel 4 to rotate forwards through the rotating shaft 3, the shank unit 2 is also driven to rotate forwards; when the lower leg driving means 53 drives the traveling wheel 4 to rotate backward through the rotation shaft 3, the lower leg unit 2 is also driven to rotate backward. The above-mentioned processes are repeatedly executed, so that the foot-type movement can be implemented.

First wheel mode:

in the first wheeled mode shown in fig. 6, the calf unit 2 and the spindle 3 in each mechanical leg 14 are rotatably connected. The shank driving device 53 rotates the traveling wheel 4 through the rotation shaft 3 without rotating the shank unit 2.

As shown in fig. 7, the lower leg unit 2 has a first magnetic member 91, and the upper leg unit 1 has a second magnetic member 92. Wherein one of the first magnetic member 91 and the second magnetic member 92 is a magnet, and the other of the first magnetic member 91 and the second magnetic member 92 is a magnet or an iron block.

In the first wheel mode, the first magnetic member 91 and the second magnetic member 92 are attracted. At this time, the lower leg unit 2 and the thigh unit 1 are fixed by the magnetic force between the magnetic members, and the interference of the lower leg unit 2 with the first wheel mode is reduced. Because the lower leg unit 2 is in the retracted state, the distal end of the lower leg unit 2 faces upward, so the trunk 13 has a suitable ground clearance, and has low wind resistance and good trafficability.

Second wheel mode:

the proximal side of the calf unit 2 is also provided with an auxiliary wheel 6. In the second wheel mode, the shank unit 2 of the m mechanical legs 14 located at the same end (front end or rear end) 02 of the trunk 13 is rotatably connected to the rotating shaft 3, and the shank unit 2 of the remaining n-m mechanical legs 14 located at the other end 04 of the trunk 13 is fixedly connected to the rotating shaft 3.

As shown schematically in fig. 8, the lower leg unit 2 and the rotating shaft 3 in the two mechanical legs 14 located at the rear end 02 of the trunk 13 are rotatably connected, and the lower leg unit 2 and the rotating shaft 3 in the two mechanical legs 14 located at the front end 04 of the trunk 13 are fixedly connected.

The robot 10 performs wheeled forward or backward movement by two mechanical legs 14 located at the rear end 02 of the trunk 13. During wheel-type forward or backward movement, the robot 10 may perform other actions such as opening a door, transporting an article, photographing, etc., through the two mechanical legs 14 located at the front end 04 of the trunk 13.

As can be seen from the above embodiments, the calf unit 2 and the spindle 3 can be switched between a fixed connection and a rotary connection. In some embodiments, a locking member 7 is provided in the calf unit 2, which locking member 7 is used to effect a switch between a fixed connection and a rotational connection. As shown in fig. 9:

fig. 9 shows a block diagram of the locking member 7 provided by an exemplary embodiment of the present application. The locking member 7 is used to lock or unlock between the calf unit 2 and the running wheel 4. The locking member 7 includes: a linear motor 71 and a flat pin 72.

The linear motor 71 is a transmission device that converts electric energy into linear motion mechanical energy. Optionally, a motor fixing seat 33 is provided in the calf unit 2, and the motor fixing seat 33 fixes the linear motor 71 and the inner wall of the calf unit 2.

A flat pin 72 is fixed to the output end of the linear motor 71. The travelling wheel 4 has at least one pin slot 73 thereon. The linear motor 71 drives the flat pin 72 to be inserted into the pin groove 73 or to be pulled out of the pin groove 73.

When the flat pin 72 is inserted into the pin slot 73, the locking member 7 is in a locked state. The lower leg unit 2 and the travelling wheel 4 are locked, and the lower leg unit 2 is fixedly connected with the rotating shaft 3 through the travelling wheel 4. When the rotating shaft 3 drives the traveling wheel 4 to rotate, the calf unit 2 also rotates along with the traveling wheel 4.

When the flat pin 72 is pulled out of the pin groove 73, the locking member 7 is in an unlocked state. The lower leg unit 2 and the travelling wheel 4 are unlocked, and the lower leg unit 2 is rotatably connected with the rotating shaft 3. When the rotating shaft 3 drives the traveling wheel 4 to rotate, the calf unit 2 does not rotate along with the traveling wheel 4.

In some embodiments, there are at least two pin grooves 73, each pin groove 73 being distributed in the radial direction of the travelling wheel 4. That is, at least two pin grooves 73 are radially distributed on the traveling wheel 4, and at least two pin grooves 73 may be uniformly or non-uniformly distributed.

In some embodiments, the travel wheel 4 comprises at least one travel wheel. Fig. 9 is exemplified by the travel wheels comprising a first travel wheel 41 and a second travel wheel 42. The first running wheel 41 and the second running wheel 42 are relatively fixed. A first wheel surface of the first traveling wheel 41 facing the second traveling wheel 42 is formed with pin grooves 73, and a second wheel surface of the second traveling wheel 42 facing the first traveling wheel 41 is formed with pin grooves 73. The number and grooving positions of the pin grooves 73 on the first tread and the second tread are the same.

In summary, in the locking component provided in this embodiment, the flat pin 72 is driven by the linear motor 71 to be inserted into the pin slot 73 of the traveling wheel 4 for locking, and the flat pin 72 is driven by the linear motor 71 to be pulled out of the pin slot of the traveling wheel 4 for unlocking, so that the linear motor 71 is hidden inside the lower leg unit 2, and therefore, the structure is simple, and the miniaturization and portability of the lower leg unit 2 can be better ensured.

Fig. 10 and 11 show exploded views of a mechanical leg 14 in two views, respectively, according to another exemplary embodiment of the present application. The mechanical leg 14 includes at least: a lower leg driving device 53, a thigh unit 1, a lower leg unit 2, a rotating shaft 3, a traveling wheel 4, a transmission device 5, and a locking member 7.

The lower leg driving unit 53 includes a third stator portion 531 and a third rotor portion 532. The third stator 531 is for providing rotational driving force. A driving wheel 533 is fixed to the output end of the third rotor portion 532. The transmission wheel 533 is connected to the transmission 5. The transmission 5 is a belt or chain, and the embodiment is exemplified by using the transmission 5 as a belt. Optionally, the surface of the driving wheel 533 is further formed with gear teeth to increase the driving force between the driving wheel 533 and the belt.

The root end 11 of the thigh unit 1 is fixed to the third stator portion 531. The joint end 12 of the thigh unit 1 is hinged with the joint end 21 of the shank unit 2 by means of the rotation shaft 3. Optionally, the thigh unit 1 comprises: first thigh 120 and second thigh 140 are detachably connected. First thigh 120 and second thigh 140 are spliced or screw or nut connected. The first thigh 120 and the second thigh 140 enclose a housing part forming the thigh unit 1 and form an inner accommodation chamber of the thigh unit 1. Alternatively, the first thigh 120 is located on a first side of the transmission 5 and the second thigh 140 is located on a second side of the transmission 5. For example, the first thigh 120 is located outside the transmission 5, and the second thigh 140 is located inside the transmission 5. Optionally, the thigh unit 1 further comprises a belt pressing device 23 therein, the belt pressing device 23 being in pressing contact with the outer surface of the belt.

The lower leg unit 2 includes: first lower leg 220 and second lower leg 240 are detachably connected. The first and second lower leg portions 220 and 240 are inserted or screw-or nut-connected. The first and second lower leg portions 220, 240 enclose a shell portion forming the lower leg unit 2 and form an interior receiving cavity of the lower leg unit 2. Alternatively, the first lower leg 220 is located on a first side of the transmission 5 and the second lower leg 240 is located on a second side of the transmission 5. Referring to fig. 3 in combination, the first lower leg 220 is located outside of the transmission 5 and the second lower leg 240 is located inside of the transmission 5. As can be seen in fig. 3, the distal end 22 of the calf unit 2 is adapted to be connected to the foot section 8. The foot section 8 may be made of a wear resistant material such as rubber or wood. In some embodiments, the foot bottom 8 is semi-circular hoof shaped; in other embodiments, the foot portion 8 is spherical.

Illustratively, the first thigh 120, the second thigh 140, the first shank 220, and the second shank 240 are journaled on the rotating shaft 3 by bearings. A first spacer 31 is sleeved between the first thigh 120 and the first shank 220, and the first spacer 31 is used for separating a bearing corresponding to the first thigh 120 from a bearing inner ring of a bearing corresponding to the first shank 220, so that direct friction between the bearing and the bearing inner ring is avoided; a second spacer 32 is further sleeved between the second thigh 140 and the second shank 240, and the second spacer 32 is used for bearing the bearing corresponding to the second thigh 140 and the bearing inner race of the bearing corresponding to the second shank 240, so that direct friction between the two is avoided. In addition, the first spacer 31 and the second spacer 32 also function as axial positioning.

The travel wheel 4 includes: a first running wheel 41 and a second running wheel 42. The first running wheel 41, the second running wheel 42 and the driving wheel 34 are fixedly connected. Illustratively, the travel wheel includes: a first running wheel 41 and a second running wheel 42. A first wheel surface of the first traveling wheel 41 facing the second traveling wheel 42 is formed with pin grooves 73, and a second wheel surface of the second traveling wheel 42 facing the first traveling wheel 41 is formed with pin grooves 73; the number and grooving positions of the pin grooves 73 on the first tread and the second tread are the same. In some embodiments, there are at least two pin grooves 73, each pin groove 73 being distributed in the radial direction of the travelling wheel 4. That is, at least two pin grooves 73 are radially distributed on the traveling wheel 4, and at least two pin grooves 73 may be uniformly or non-uniformly distributed. In other embodiments, the number of the traveling wheels 4 may be 1, or more than 3, which is not limited in the present application.

A driving wheel 34 is also fixed on the rotating shaft 3. Illustratively, the drive wheel 34 is located between the first and second travel wheels 41, 42, the drive wheel 34 being connected to a drive wheel 533 via a transmission 5. Taking the transmission 5 as an example, the driving wheel 34 is connected to the driving wheel 533 via a belt. When the third rotor portion 533 of the calf drive 53 rotates, the drive wheel 533 also rotates. The driving wheel 533 drives the driving wheel 34 to rotate through a belt, and the driving wheel 34 drives the rotating shaft 3 and the travelling wheel 4 to rotate simultaneously, so that the driving force is transmitted.

A locking member 7 is also provided in the inner accommodation chamber of the lower leg unit 2, and the locking member 7 is used for locking or unlocking the lower leg unit 2 and the traveling wheel 4 (or the rotating shaft 3), so as to realize the switching between the wheeled mode and the foot mode. In some embodiments, the locking member 7 comprises: a linear motor 71 and a flat pin 72.

When the flat pin 72 is inserted into the pin slot 73, the locking member 7 is in a locked state. The lower leg unit 2 and the traveling wheel 4 are locked, and the lower leg unit 2 is fixedly connected with the rotating shaft 3 through the traveling wheel 4, as shown in fig. 4. When the rotating shaft 3 drives the traveling wheel 4 to rotate, the calf unit 2 also rotates along with the traveling wheel 4.

When the flat pin 72 is pulled out of the pin groove 73, the locking member 7 is in an unlocked state. The lower leg unit 2 and the travelling wheel 4 are unlocked, and the lower leg unit 2 and the rotating shaft 3 are rotatably connected. When the rotating shaft 3 drives the traveling wheel 4 to rotate, the calf unit 2 does not rotate along with the traveling wheel 4.

Irrespective of whether the locking member 7 is in the locked or unlocked state, the thigh unit 1 and the shaft 3 are in rotational connection, and the travelling wheel 4 is capable of forward or backward rotation relative to the thigh unit 1.

Illustratively, the lower leg unit 2 has a first magnetic member 91 thereon and the upper leg unit 1 has a second magnetic member 92 thereon; when the lock member 7 is in the locked state, the first magnetic member 91 and the second magnetic member 92 are attracted. Wherein one of the first magnetic member 91 and the second magnetic member 92 is a magnet, and the other of the first magnetic member 91 and the second magnetic member 92 is a magnet or an iron block. In the present embodiment, the first magnetic member 91 is a magnet, and the second magnetic member 92 is an iron block. Alternatively, the magnetic attraction between the first magnetic member 91 and the second magnetic member 92 is smaller than the maximum driving force provided by the lower leg driving means 53.

In summary, in the mechanical leg provided in this embodiment, the locking component is disposed in the shank unit, and when the locking component is in the locking state, the shank unit is locked with the running wheel, and the shank unit is fixedly connected with the rotating shaft through the running wheel, so that the driving device drives the running wheel to drive the shank unit to run in a foot-type mode through the rotating shaft; when the locking part is in an unlocking state, the lower leg unit is unlocked from the traveling wheel, and the lower leg unit is rotationally connected with the rotating shaft, so that the driving device drives the traveling wheel to travel in a wheel type mode through the rotating shaft.

The locking part that this embodiment provided is locked through the pin groove that linear electric motor drive flat round pin inserted the wheel of marcing, and linear electric motor drive flat round pin pulls out the pin groove of marcing the wheel and unblock, because linear electric motor hides in the inside of shank unit, therefore the structure is comparatively succinct, can guarantee miniaturization and the portability of shank unit better.

The belt compressing device provided by the embodiment can ensure that the belt in the transmission device is kept in a compressing state, thereby ensuring the transmission force of the driving device to the travelling wheel.

The first magnetic component and the second magnetic component provided by the embodiment can fix the thigh unit and the shank unit when the mechanical leg is in a wheeled form, so that the shank unit cannot influence the normal running of the running wheel.

The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments.

It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program for instructing relevant hardware, where the program may be stored in a computer readable storage medium, and the storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.

The foregoing description of the preferred embodiments of the present application is not intended to limit the application, but rather, the application is to be construed as limited to the appended claims.

Claims

1. A robot, the robot comprising: a trunk portion (13), and n mechanical legs (14) connected to the trunk portion (13), n being a positive integer not less than 2;

the mechanical leg (14) comprises a thigh unit (1) and a shank unit (2); the joint end of the thigh unit (1) and the joint end of the shank unit (2) are hinged through a rotating shaft (3), and a travelling wheel (4) is fixed on the rotating shaft (3);

in a foot-type mode, the shank units (2) in the n mechanical legs (14) are fixedly connected with the rotating shaft (3);

in a wheeled mode, the calf unit (2) and the spindle (3) of at least two mechanical legs (14) are rotatably connected.

2. Robot according to claim 1, characterized in that the proximal side of the calf unit (2) is further provided with an auxiliary wheel (6);

in a first wheeled mode, the shank units (2) of the n mechanical legs (14) are rotationally connected to the shaft;

in a second wheeled mode, the shank units (2) in the m mechanical legs (14) positioned at the same end of the trunk part (13) are rotationally connected with the rotating shaft (3), the shank units (2) in the remaining n-m mechanical legs (14) are fixedly connected with the rotating shaft (3), and m is a positive integer smaller than n.

3. The robot according to claim 1, wherein the mechanical leg (14) further comprises: a first thigh drive device (51), a second thigh drive device (52), and a shank drive device (53);

a first stator part of the first thigh driving device (51) is connected with the trunk part, and a first rotor part of the first thigh driving device (51) is connected with a side surface of a second stator part of the second thigh driving device (52);

the second rotor part of the second thigh drive (52) is connected with the third stator part of the shank drive (53);

the third stator part (531) of the lower leg driving device (53) is connected with the root end of the thigh unit (1), and the third rotor part (532) of the lower leg driving device (53) is connected with the rotating shaft (3) through a transmission device (5).

4. A robot according to any of claims 1-3, characterized in that the calf unit (2) has a locking member (7) inside;

when the locking part (7) is in a locking state, the lower leg unit (2) is fixedly connected with the rotating shaft (3) through the travelling wheel (4);

when the locking part (7) is in an unlocking state, the lower leg unit (2) is rotationally connected with the rotating shaft (3).

5. The robot according to claim 4, characterized in that the travelling wheel (4) has a pin slot (73) thereon, the locking member (7) comprising a linear motor (71) and a flat pin (72), the flat pin (72) being fixed at the output of the linear motor (71);

-said locking member (7) is in said locked state when said flat pin (72) is inserted into said pin slot (73);

the locking member (7) is in the unlocked state when the flat pin (72) leaves the pin slot (73).

6. Robot according to claim 5, characterized in that at least two of said pin grooves (73) are radially distributed on the travelling wheel (4).

7. The robot according to claim 5, characterized in that the lower leg unit (2) has a motor holder (33) therein, the motor holder (33) holding the linear motor (71) and the inner wall of the lower leg unit (2).

8. A robot according to claim 3, characterized in that the shaft (3) is also fixedly connected with a driving wheel (34); the output end of the third rotor part (532) is fixedly provided with a driving wheel (533);

the driving wheel (34) is connected with the driving wheel (533) through the transmission device (5).

9. Robot according to claim 8, characterized in that the transmission (5) comprises: a belt;

the driving wheel (34) is connected with the driving wheel (533) through the belt.

10. Robot according to claim 8, characterized in that the thigh unit (1) comprises a belt pressing device (23) therein, which belt pressing device (23) is in pressing contact with the outer surface of the belt.

11. The robot according to claim 4, characterized in that the travelling wheel (4) comprises: a first travel wheel (41) and a second travel wheel (42);

a first wheel surface of the first travelling wheel (41) facing the second travelling wheel (42) is provided with a pin groove (73), and a second wheel surface of the second travelling wheel (42) facing the first travelling wheel (41) is provided with the pin groove (73);

wherein the number and grooving positions of the pin grooves (73) on the first tread and the second tread are the same.

12. A robot according to any of claims 1-3, characterized in that the lower leg unit (2) has a first magnetic part (91) thereon, and the upper leg unit (1) has a second magnetic part (92) thereon; in the wheeled mode, the first magnetic member (91) and the second magnetic member (92) are attracted;

wherein one of the first magnetic member (91) and the second magnetic member (92) is a magnet, and the other of the first magnetic member (91) and the second magnetic member (92) is a magnet or an iron block.

13. A robot according to claim 3, characterized in that the thigh unit (1) comprises a first thigh section (120) and a second thigh section (140) which are detachably connected, the shank unit (2) comprising a first shank section (220) and a second shank section (240) which are detachably connected;

the first thigh section (120) and the first lower leg section (220) are located on a first side of the transmission (5), and the second thigh section (140) and the second lower leg section (240) are located on a second side of the transmission (5).

14. The robot according to claim 13, characterized in that the shaft (3) is further provided with a first bushing (31) and a second bushing (32);

the first boss (31) is mounted between the first thigh section (120) and the first shank section (220);

the second hub (32) is mounted between the second thigh section (140) and the second calf section (240).

15. A robot according to any one of claims 1-3, characterized in that the lower leg unit (2) is connected at its end to a sole (8).