CN115610547A

CN115610547A - Sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching

Info

Publication number: CN115610547A
Application number: CN202211201547.9A
Authority: CN
Inventors: 贾振中; 姚辰; 吕仕鹏; 葛扬涛; 陈有理; 魏晋; 赵雪晨; 齐文杰
Original assignee: Southwest University of Science and Technology
Current assignee: Southwest University of Science and Technology
Priority date: 2022-09-29
Filing date: 2022-09-29
Publication date: 2023-01-17

Abstract

The invention discloses a sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching, which comprises a robot body and a plurality of wheel-leg motion units connected with the robot body, wherein the robot body comprises a plurality of wheel-leg motion units; the wheel leg type movement unit comprises a first movable frame, a second movable frame, a first adjusting part, a second adjusting part and driving wheels, wherein the first movable frame is rotatably arranged on the machine body, and the rotating plane of the first movable frame is a first plane; the second movable frame is rotatably arranged at the end part, deviating from the machine body, of the first movable frame, and the rotating plane of the second movable frame is a second plane; an included angle is formed between the first plane and the second plane, and the included angle value is larger than 0 degree and smaller than 180 degrees; the first adjusting part is arranged on the machine body, one end of the second adjusting part is connected with the first adjusting part, and the other end of the second adjusting part is connected with the second movable frame. The robot disclosed by the application can rapidly change the action direction of the robot and the occupied space of the whole robot, improves the moving capacity and the obstacle crossing capacity, and increases the use flexibility.

Description

Sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching

Technical Field

The invention relates to the technical field of robots, in particular to a sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching.

Background

The existing wheel-leg type mobile robot at present generally adopts a form of multi-link mechanism series connection, and for the existing wheel-leg type mobile robot, although the functions are very similar, the structural characteristics of the existing wheel-leg type mobile robot can be generally divided into two types by combining the structural characteristics of the existing wheel-leg type mobile robot in a different way: the first type is that the wheel is installed at the tail end of the leg from the structural point of view, so that the wheel and the leg form a serial structure to be used for wheeling feet, which is a common type in a wheel-leg hybrid mechanism system and is a type with more research results at present. In most cases the wheels and legs are able to move in a single manner, even in some scenarios both movement mechanisms may be active simultaneously; it can be seen that the two sub-mechanisms in such a system are structurally independent and have significant integrity. The second category is structurally characterized by the complete separation of the wheels and the legs, the two movements acting either simultaneously to produce a hybrid movement or in a single manner; compared with the first type, the structure is simpler, and the control is easier.

However, in any combination mode, the existing wheel-legged robot has the problems of complex structure of a moving mechanism, multiple control steps and long movement interval, and also has the defects of increased weight, influence on the moving capability and obstacle crossing capability of the wheel-legged robot and insufficient flexibility in the use process.

Accordingly, the prior art is yet to be improved and developed.

Disclosure of Invention

In view of the defects of the prior art, the invention aims to provide a sensitive omnidirectional mobile wheel-legged robot with multi-mode active motion switching, and aims to solve the problems that the existing robot is complex in structure and insufficient in flexibility in the using process.

The technical scheme of the invention is as follows:

a sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching comprises a robot body and a plurality of wheel-leg motion units connected with the robot body; the wheel leg type movement unit comprises a first movable frame, a second movable frame, a first adjusting part, a second adjusting part and driving wheels, the first movable frame is rotatably arranged on the machine body, and the rotating plane of the first movable frame is a first plane; the second movable frame is rotatably arranged at the end part, deviating from the machine body, of the first movable frame, and the rotating plane of the second movable frame is a second plane; an included angle is formed between the first plane and the second plane, and the included angle is larger than 0 degree and smaller than 180 degrees; the first adjusting part is arranged on the machine body, one end of the second adjusting part is connected with the first adjusting part, and the other end of the second adjusting part is connected with the second movable frame; the first adjusting part is used for driving the first movable frame to rotate on the first plane; the second adjusting part is used for driving the second movable frame to rotate on the second plane; the driving wheels are arranged on the second movable frame and used for driving the machine body to move.

The sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching is characterized in that a connecting rotating shaft is convexly arranged on the robot body; the first movable frame comprises a rotating part, and the rotating part takes the connecting rotating shaft as a rotating shaft and is rotatably connected with the connecting rotating shaft; the second movable frame comprises a connecting rod assembly and a bearing support, one end of the connecting rod assembly is hinged with the rotating piece, and the other end of the connecting rod assembly is hinged with the bearing support; the bearing bracket is fixed with the driving wheel.

The sensitive omnidirectional moving wheel leg type robot with multi-mode active motion switching is characterized in that a shaft hole is formed in one end, deviating from the connecting rotating shaft, of the rotating piece; the connecting rod assembly comprises a first connecting rod which is rotatably arranged in the shaft hole, and a second connecting rod and a third connecting rod which are respectively arranged at two ends of the first connecting rod, wherein the second connecting rod and the third connecting rod are arranged in parallel and are hinged with the bearing support.

The multi-mode active motion switching sensitive omnidirectional moving wheel-legged robot comprises a first movable support, a second movable support, a driving wheel, a driving motor and a driving wheel, wherein the driving wheel is arranged on the first movable support, and the driving wheel is in transmission connection with the driving wheel.

The multi-mode active motion switching sensitive omnidirectional mobile wheel-legged robot comprises a second movable frame, a second adjusting component and a third movable frame, wherein the second movable frame further comprises a shock absorption piece, and the shock absorption piece is arranged on a bearing support and hinged to the second adjusting component.

The multi-mode active motion switching sensitive omnidirectional moving wheel-legged robot comprises a first adjusting component, a second adjusting component and a third adjusting component, wherein the first adjusting component comprises a first rotating motor and a first rotating connecting rod, the first rotating motor is fixed on the surface of a machine body, and the first rotating connecting rod is in transmission connection with the output end of the first rotating motor; the second adjusting component comprises a second rotating motor and a second rotating connecting rod, and the second rotating motor is fixedly arranged on the first rotating connecting rod and is in transmission connection with the second rotating connecting rod; one end of the second rotating connecting rod is hinged to the first rotating connecting rod, and the other end of the second rotating connecting rod is hinged to the second movable frame.

The sensitive omnidirectional moving wheel leg robot with multi-mode active motion switching function is characterized in that the rotatable angle of the first movable frame is 0-90 degrees.

The multi-mode active motion switching sensitive omnidirectional mobile wheel-legged robot comprises a first movable frame, a second movable frame and a third movable frame, wherein the first movable frame is movably connected with the second movable frame through a first movable frame, the second movable frame is movably connected with the third movable frame through a second movable frame, the third movable frame is movably connected with the fourth movable frame, the multimode active motion switching sensitive omnidirectional mobile wheel-legged robot is capable of actively switching among multiple modes, and the rotatable angle of the second movable frame is 0-60 degrees.

The sensitive omnidirectional moving wheel leg type robot with the multi-mode active motion switching function further comprises an environment sensing unit, and the environment sensing unit is arranged on the robot body; the environment sensing unit comprises one or more of an infrared sensor, an image sensor, a heat sensor and a navigation module.

The multi-mode active motion switching sensitive omnidirectional moving wheel-leg robot is characterized in that four wheel-leg motion units are arranged, and the four wheel-leg motion units are arranged at the bottom of the robot body in a trapezoidal mode.

Compared with the prior art, the embodiment of the invention has the following advantages:

the invention discloses a sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching, which is provided with a rotatable first movable frame and a rotatable second movable frame to be connected with driving wheels and is driven by a first adjusting part and a second adjusting part, wherein in the moving process, the rotation of the first movable frame and the second movable frame in different planes is synchronously controlled, so that a wheel-leg moving unit can rotate in the horizontal direction and the vertical direction, the horizontal position and the vertical height of the driving wheels are further adjusted, and the aim of adjusting the height and the moving direction of the robot is quickly fulfilled; secondly, wheel type movement and leg type movement can be combined, rolling movement is achieved through driving wheels in the running process of the robot, the robot can lift or put down the driving wheels while keeping stability through the cooperative work of the first adjusting part and the second adjusting part, the height of the driving wheels is changed, and therefore the robot is suitable for complex terrains, and the adaptability of the sensitive omnidirectional moving wheel leg type robot switched by multi-mode active movement to the environment is improved; generally speaking, the sensitive omnidirectional moving wheel leg type robot with multi-mode active motion switching disclosed by the invention can quickly change the action direction and the occupied space of the whole machine according to the landforms and space shapes of different use occasions by the cooperative control of the first adjusting part and the second adjusting part, can perform actions such as mimicry walking, lifting, rolling, rotating and the like, improves the moving capability and obstacle crossing capability of the sensitive omnidirectional moving wheel leg type robot with multi-mode active motion switching, has a simple structure, is easier to control, and improves the use flexibility of the sensitive omnidirectional moving wheel leg type robot with multi-mode active motion switching.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments described in the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural diagram of a multi-modal active motion switching sensitive omnidirectional mobile wheel legged robot according to the present invention;

FIG. 2 is a front view of the multi-modal active motion switched sensitive omni-directional mobile wheel legged robot of the present invention;

FIG. 3 is a schematic structural diagram of another state of the multi-modal active motion switching sensitive omnidirectional mobile wheel legged robot of the present invention;

FIG. 4 is a front view of another state of the multi-modal active motion switched sensitive omni-directional mobile wheel legged robot of the present invention;

FIG. 5 is a schematic structural view of a wheel-leg type exercise unit according to the present invention;

fig. 6 is another angle structure diagram of the wheel-leg type movement unit of the present invention.

Wherein, 100, the fuselage; 110. connecting the rotating shaft; 200. a wheel-leg type movement unit; 210. a first movable frame; 211. a rotating member; 220. a second movable frame; 221. a connecting rod assembly; 2211. a first link; 2212. a second link; 2213. a third link; 222. a load bearing support; 223. a drive motor; 224. a shock absorbing member; 230. a first adjustment member; 231. a first rotating electrical machine; 232. a first rotating link; 240. a second adjustment member; 241. a second rotating electrical machine; 242. a second rotating link; 250. the wheels are driven.

Detailed Description

In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The mobile robot can complete exploration, reconnaissance, patrol, disaster relief, explosion elimination and other work in dangerous environments, and has wider and wider application prospect. At present, a mobile robot is provided with wheels for rolling, mechanical legs for moving or tracks for moving; the wheel type mobile robot has the advantages of simple structure, high efficiency, light weight and easy control, but the environmental adaptability is poor, and the wheel type mobile robot is difficult to adapt to special structural environments such as steps; the legged mobile robot has strong environment adaptability, can adapt to rugged terrain by adjusting the posture of the legs, but has complex structure, slow moving speed and low efficiency, and is difficult to realize stable gait planning and stable balance control; the crawler-type mobile robot has good obstacle crossing capability, but has poor flexibility and maneuverability, larger self weight and slower moving speed.

In recent decades, the wheel-leg mobile robot technology has been developed rapidly, and has many successful cases, and is widely applied to the fields of emergency rescue, explosion elimination, pollution source detection and the like. The wheel-leg robot is one of mobile robots, has the obstacle crossing capability and the maneuvering performance, is simple in structure, and can keep good moving efficiency and stability. The wheel structure can be used for advancing on a flat terrain, and the foot type or wheel leg combined type advancing can be used for advancing on a non-flat terrain environment. The method has the characteristics of high speed, low energy consumption and strong terrain adaptability.

However, the existing wheel-leg mobile robot solution generally adopts a multi-link mechanism series connection mode, the driving process is complex, the structure is complex, the movement gap is long, and therefore the problem of insufficient flexibility still exists in the use process.

As shown in fig. 1, in an embodiment of the present application, a sensitive omnidirectional moving wheel-leg robot with multi-modal active motion switching is disclosed, wherein the robot includes a body 100, and a plurality of wheel-leg motion units 200 connected to the body 100. In this embodiment, the main body 100 may be a box structure, and is used for transporting or transferring materials, carrying various detection instruments and devices, and the like, so as to facilitate working in outdoor or dangerous environments; a plurality of the wheel-legged moving units 200 are provided as supports, so that the body 100 has obstacle surmounting capability and mobility.

As shown in fig. 2, 3 and 4, as an embodiment of the present embodiment, it is disclosed that four wheel-leg type moving units 200 are provided, and the four wheel-leg type moving units 200 are arranged at the bottom of the body 100 in a trapezoidal shape. The four wheel-leg type moving units 200 are arranged in the embodiment, so that the stability of supporting the robot body 100 can be improved, the two opposite wheel-leg type moving units 200 are staggered in a trapezoidal arrangement mode, the connecting position on the robot body 100 is more reasonable, the supporting force received by each region is balanced, the stability of the sensitive omnidirectional moving wheel-leg type robot with multi-mode active movement switching is further improved, and the rapid moving and obstacle crossing are facilitated.

As shown in fig. 5 and 6, the wheel-leg type moving unit 200 in this embodiment includes a first movable frame 210, a second movable frame 220, a first adjusting member 230, a second adjusting member 240, and a driving wheel 250, wherein the first movable frame 210 is rotatably disposed on the body 100, and a rotation plane of the first movable frame 210 is a first plane; the second movable frame 220 is rotatably disposed at an end of the first movable frame 210 away from the machine body 100, and a rotation plane of the second movable frame 220 is a second plane; an included angle is formed between the first plane and the second plane, and the included angle is larger than 0 degree and smaller than 180 degrees; the first adjusting member 230 is disposed on the body 100, and one end of the second adjusting member 240 is connected to the first adjusting member 230, and the other end is connected to the second movable frame 220; the first adjusting part 230 is used for driving the first movable frame 210 to rotate on the first plane; the second adjusting part 240 is configured to drive the second movable frame 220 to rotate on the second plane; the driving wheels 250 are disposed on the second movable frame 220, and are used for driving the body 100 to move.

The multi-modal active motion switching sensitive omnidirectional moving wheel-legged robot disclosed in this embodiment is connected with a driving wheel 250 through the arrangement of the rotatable first movable frame 210 and the rotatable second movable frame 220, and is driven through the first adjusting part 230 and the second adjusting part 240, in the moving process, the rotation of the first movable frame 210 and the second movable frame 220 in different planes is synchronously controlled, so that the wheel-legged moving unit 200 can complete the rotation in the horizontal direction and the vertical direction, and further the horizontal position and the vertical height of the driving wheel 250 are adjusted, and the purpose of adjusting the height and the moving direction of the robot is quickly achieved, and the wheel-legged moving unit 200 can be rotated from one side to the other side of the robot body 100, so that the occupied space of the wheel-legged moving unit 200 is reduced, the moving capability of the robot is maintained, and the capability of the robot passing through a narrow space is increased; secondly, the wheel type movement and the leg type movement can be combined, the robot can realize rolling movement through the driving wheels 250 in the running process, and the first adjusting component 230 and the second adjusting component 240 can work cooperatively, so that the robot can lift up or put down the driving wheels 250 while keeping stability, the height of the driving wheels 250 is changed, the robot is suitable for complex terrains, and the adaptability of the sensitive omnidirectional moving wheel leg type robot switched by multi-mode active movement to the environment is improved.

Specifically, when the main body 100 moves to the front of the narrower passage, the first adjustment component 230 may drive the first movable frame 210 to rotate, so as to move the first movable frame 210, the second movable frame 220 and the driving wheels 250 from one side of the main body 100 to the other side, for example, as shown in fig. 1 and 3, the main body 100 is configured to be rectangular, and the driving wheels 250 are moved from the wider side to the narrower side of the main body 100, so that the main body 100 moves back and forth along the length direction, so as to reduce the space occupied by the moving movement and facilitate the passage through the narrow passage; before the fuselage 100 moves to the shorter passageway, can drive the rotation of second adjustable shelf 220 through second adjusting part 240 to reduce the height that first adjustable shelf 210 and fuselage 100 apart from ground, with the whole height that occupies of reduction robot, be convenient for pass shorter passageway.

In particular, the second adjusting component 240 disclosed in this embodiment is connected to the first adjusting component 230, and during the adjustment process, the first adjusting component 230 and the second adjusting component 240 can be simultaneously started to cooperatively control and change the position of the driving wheel 250, so as to quickly achieve the purpose of adjusting the height and the moving direction of the sensitive omnidirectional moving wheel-legged robot switched by the multi-modal active motion.

Generally speaking, by combining the control modes of wheel type movement and leg type movement, the sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching disclosed in the embodiment can change the action direction and the occupied space of the whole robot according to the terrain and space shape of different occasions, can perform actions such as mimicry walking, lifting, rolling, rotating and the like, and improves the moving capability and obstacle crossing capability of the robot; and the combination of the first adjusting component 230 and the second adjusting component 240 has a simple structure, and two sets of driving components are not required to be arranged independently, so that the robot is easier to control, the control efficiency is high, the self weight of the robot is reduced, the load is reduced, and the flexibility of the use of the sensitive omnidirectional moving wheel-leg robot for switching the multi-mode active motion is improved.

Specifically, in practical use, the sensitive omnidirectional moving wheel-legged robot with multi-mode active motion switching moves on the ground, and the first plane disclosed in this embodiment is the surface of the body 100, and when the wheel-legged moving unit 200 is arranged on the bottom surface of the body 100, the first plane is a horizontal plane parallel to the ground for driving; therefore, the second plane is an inclined plane forming a certain included angle with the ground, and the included angle is larger than 0 degree and smaller than 180 degrees; so that the two movable frames do not rotate on the same plane, that is, the wheel-legged movement unit 200 can provide a position adjustment function in at least two dimensions; preferably, the second plane is perpendicular to the first plane and is set as a vertical plane, so that the first movable frame 210 and the second movable frame 220 rotate independently from each other, and can be controlled independently by the first adjusting part 230 and the second adjusting part 240, thereby reducing mutual influence and simplifying the control mode of the wheel-leg type moving unit 200.

As shown in fig. 5 and 6, as another embodiment of this embodiment, it is disclosed that a connection rotation shaft 110 is protruded on the machine body 100; the first movable frame 210 includes a rotating member 211, and the rotating member 211 is rotatably connected to the connecting rotating shaft 110 by using the connecting rotating shaft 110 as a rotating shaft; the connecting rotating shaft 110 disclosed in this embodiment is a fixed shaft, and a through hole is formed in the rotating member 211, so that the connecting rotating shaft 110 penetrates through the through hole, and the rotating member 211 can be firmly connected to the robot body 100, and is not easy to drop, and meanwhile, the flexibility is maintained, and the connecting rotating shaft 110 can rotate around the connecting rotating shaft 110, so that the rotation on the first plane is realized, the second movable frame 220 connected to the rotating member 211 and the driving wheels 250 are driven to rotate, the position of the wheel-leg type moving unit 200 is changed, and the appearance of the sensitive omnidirectional moving wheel-leg type robot switched by the multi-mode active movement is adjusted.

As further shown in fig. 5, the second movable frame 220 includes a connecting rod assembly 221 and a bearing bracket 222, one end of the connecting rod assembly 221 is hinged to the rotating member 211, and the other end is hinged to the bearing bracket 222; the driving wheel 250 is fixed on the bearing bracket 222. The connecting rod assembly 221 disclosed in this embodiment plays a role of supporting and connecting, and both ends of the connecting rod assembly 221 are hinged, that is, the connecting rod assembly 221 can rotate freely relative to the rotating member 211 and the bearing bracket 222, and is not constrained by a rigid connection, when the second adjusting member 240 drives the connecting rod assembly 221 to move, the connecting rod assembly 221 rotates in the second plane, and both the rotating member 211 and the bearing bracket 222 can keep the original shape, so as to avoid bending. In addition, the bearing bracket 222 is connected with the driving wheel 250, so that the driving wheel 250 can be fixed more firmly and is not influenced by the rotation angle of the connecting rod assembly 221 during driving, and the driving wheel is kept perpendicular to the ground so as to be convenient for rolling.

As shown in fig. 5 and fig. 6, as another embodiment of the present embodiment, it is disclosed that a shaft hole is formed at one end of the rotating member 211 facing away from the connecting rotating shaft 110; the link assembly 221 includes a first link 2211 rotatably installed in the shaft hole, and a second link 2212 and a third link 2213 respectively disposed at both ends of the first link 2211, and the second link 2212 and the third link 2213 are disposed in parallel and are hinged to the carrying bracket 222. The first link 2211 disclosed in this embodiment is inserted into the axial hole, and is configured to extend in a direction parallel to the first plane, and serves as a rotation axis of the second link 2212 and the third link 2213, and the second link 2212 and the third link 2213 serve as a connection and a support, and are configured to be stably connected with the bearing bracket 222 by being parallel to each other; in particular, the first link 2211, the second link 2212, the third link 2213 and the bearing bracket 222 in the present embodiment are combined into a parallelogram structure, which is beneficial to improve the stability of the structure connecting the link assembly 221 and the bearing bracket 222, so as to increase the shock resistance of the wheel-leg type moving unit 200.

As shown in fig. 5, as another embodiment of this embodiment, it is disclosed that the second movable bracket further includes a driving motor 223, and the driving motor 223 is disposed on the bearing bracket 222 and is in transmission connection with the driving wheel 250. The driving motor 223 disclosed in the present embodiment includes a stepping motor, a motor, etc., but is not limited thereto, and the driving motor 223 is disposed on the supporting bracket 222 to control the rotation of the driving wheel 250, so as to improve the control of the movement of the sensitive omni-directional moving wheel-legged robot for switching the multi-mode active movement, and the driving motor 223 is independently disposed on each wheel-legged movement unit 200 to control the forward and backward movement of the driving wheel 250, so as to improve the control accuracy of the wheel-legged movement unit 200.

As shown in fig. 5, as another embodiment of this embodiment, it is disclosed that the second movable frame 220 further includes a shock absorbing member 224, and the shock absorbing member 224 is disposed on the bearing bracket 222 and is hinged to the second adjusting member 240. The shock absorbing member 224 disclosed in this embodiment includes a dual hydraulic push rod, and by providing the shock absorbing member 224, the shock absorbing capacity can be increased while the connection between the bearing bracket 222 and the second adjusting member 240 is maintained, and when the sensitive omnidirectional moving wheel-leg robot with multi-modal active motion switching moves in the vertical direction of the robot body 100 during the moving process or the obstacle crossing process, inertia may be generated and transmitted to the bearing bracket 222, which may damage the bearing bracket 222, so the shock absorbing member 224 is provided to buffer in time, and the impact of the inertia generated during the moving process on the second movable frame 220 is reduced.

Specifically, as another embodiment of this embodiment, it is disclosed that the rotatable angle of the first movable frame 210 is 0 to 90 °. The body 100 disclosed in the present embodiment is provided with a plurality of wheel-legged mobile units 200, that is, a plurality of first movable frames 210, so that the rotation angle of the first movable frame 210 is limited to prevent collision with the adjacent wheel-legged mobile units 200 and avoid damage. In order to maintain the balance of the body 100, generally, the wheel-leg type moving units 200 are provided at both sides of the body 100, and if the single first movable frame 210 is rotated at an angle exceeding 90 ° and is easily rotated from one side of the body 100 to the opposite side, a collision may occur.

Specifically, as another embodiment of this embodiment, it is disclosed that the rotatable angle of the second movable frame 220 is 0 to 60 °. The first movable frame 210 and the second movable frame 220 disclosed in this embodiment are not only connected to the driving wheels 250 and the machine body 100, but also have a function of transmitting supporting force, when the rotation angle of the second movable frame 220 is 0 °, the second movable frame 220 is perpendicular to the machine body 100, and is also perpendicular to the ground, so that the machine body 100 can be stably supported in the moving process; if the rotation angle of the second movable frame 220 is too large, which is greater than 60 °, i.e., the inclined support state is formed, stable support cannot be formed due to too large pressure of the body 100 on the second movable frame 220 and the driving wheels 250, and even the second movable frame 220 may be broken, so that the rotation range of the second movable frame 220 is set to 0-60 °.

As shown in fig. 5, as another embodiment of the present embodiment, it is disclosed that the first adjusting member 230 includes a first rotating motor 231 and a first rotating link 232, the first rotating motor 231 is fixed on the surface of the machine body 100, and the first rotating link 232 is in transmission connection with the output end of the first rotating motor 231; the second adjusting part 240 comprises a second rotating motor 241 and a second rotating link 242, the second rotating motor 241 is fixedly arranged on the first rotating link 232 and is in transmission connection with the second rotating link 242; one end of the second rotating link 242 is hinged to the first rotating link 232, and the other end is hinged to the second movable frame 220. Both the first rotating motor 231 and the second rotating motor 241 in this embodiment may be provided as stepping motors, and the first movable frame 210 and the second movable frame 220 are controlled to rotate in the forward direction or in the reverse direction on the respective rotation planes by forward rotation and reverse rotation.

The first rotating link 232 in this embodiment is fixed to the output end of the first rotating electrical machine 231, and rotates synchronously with the rotation of the output end of the first rotating electrical machine 231; the second rotating link 242 is fixed to an output end of the second rotating motor 241 and rotates synchronously with the rotation of the output end of the second rotating motor 241; particularly, the second rotating motor 241 is fixed on the first rotating link 232, and when the first rotating link 232 rotates, the second rotating motor 241 and the second rotating link 242 connected to the second rotating motor 241 are driven to synchronously rotate, so that the movement track of the second rotating link 242 not only includes the rotation control of the second rotating motor 241, but also is influenced by the rotation stroke of the first rotating motor 231, and the end of the second rotating link 242 is hinged to the second movable frame 220, so that the driving forces of the first rotating motor 231 and the second rotating motor 241 can be transmitted to the second movable frame 220, the position of the driving wheel 250 connected to the second movable frame 220 is changed, and the adjustment action of the wheel-leg type moving unit 200 is realized.

Specifically, in the adjusting process of this embodiment, the first rotating motor 231 and the second rotating motor 241 have simple structures, and both transmit the driving force to the second movable frame 220 through the second rotating link 242 to control the position of the driving wheel 250, thereby simplifying the structure of the sensitive omnidirectional moving wheel-leg robot for switching the multi-mode active motion, reducing the dead weight, facilitating the reduction of the driving energy consumption, and being capable of working simultaneously without mutual influence, which is beneficial to improving the adjusting speed under the condition of ensuring the control accuracy of the first movable frame 210 and the second movable frame 220, rapidly completing the adjusting process of the wheel-leg moving unit 200, and improving the mobility of the sensitive omnidirectional moving wheel-leg robot for switching the multi-mode active motion.

As shown in fig. 1, fig. 2 and fig. 4, as another embodiment of this embodiment, it is disclosed that the sensitive omnidirectional moving wheel legged robot with multi-mode active motion switching further includes an environment sensing unit 300, where the environment sensing unit 300 is disposed on the body 100; the environment sensing unit 300 includes one or more of an infrared sensor, an image sensor, a heat sensor, and a navigation module. The environment sensing unit 300 disclosed in this embodiment monitors the surrounding environment of the robot body 100 in real time, so as to send out an alarm signal in time, so that the sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching can regulate and control the wheel-leg motion unit 200 in time, and adapt to various terrains. Specifically, the environmental sensing unit 300 may perform monitoring through infrared sensor sensing, image sensor sensing, thermal sensor sensing, navigation module sensing, and the like, and these sensing modules may be integrated together in this embodiment to form the integrated environmental sensing unit 300, so as to efficiently monitor the surrounding environment of the body 100.

Specifically, in another embodiment of the present embodiment, it is disclosed that the sensitive omnidirectional moving wheel-legged robot with multi-modal active motion switching realizes steering of the machine during traveling by the coordination of the driving wheels 250 and the first adjusting component 230; when the obstacle is crossed, the obstacle crossing of the whole robot is realized in cooperation with the deflection of the second adjusting part 240 in the vertical direction.

Specifically, in another embodiment of the present embodiment, it is disclosed that a steel plate is provided at the bottom of the body 100, and the steel plate is connected to a plurality of the wheel-legged mobile units 200. The steel plate with strong mechanical property is connected with the wheel-leg type motion unit 200, so that a large load space and load capacity are provided for the sensitive omnidirectional moving wheel-leg type robot with multi-mode active motion switching.

In summary, the present application discloses a sensitive omnidirectional mobile wheel-legged robot with multi-modal active motion switching, which includes a body 100, and a plurality of wheel-legged motion units 200 connected to the body 100; the wheel-leg type moving unit 200 comprises a first movable frame 210, a second movable frame 220, a first adjusting member 230, a second adjusting member 240 and a driving wheel 250, wherein the first movable frame 210 is rotatably arranged on the body 100, and the rotating plane of the first movable frame 210 is a first plane; the second movable frame 220 is rotatably disposed at an end of the first movable frame 210 away from the machine body 100, and a rotation plane of the second movable frame 220 is a second plane; an included angle is formed between the first plane and the second plane, and the included angle is larger than 0 degree and smaller than 180 degrees; the first adjusting member 230 is disposed on the body 100, and one end of the second adjusting member 240 is connected to the first adjusting member 230, and the other end is connected to the second movable frame 220; the first adjusting part 230 is used for driving the first movable frame 210 to rotate on the first plane; the second adjusting part 240 is configured to drive the second movable frame 220 to rotate on the second plane; the driving wheels 250 are disposed on the second movable frame 220, and are used for driving the body 100 to move. The multi-modal active motion switching sensitive omnidirectional moving wheel-legged robot disclosed in this embodiment is connected with a driving wheel 250 through the arrangement of the rotatable first movable frame 210 and the rotatable second movable frame 220, and is driven through the first adjusting part 230 and the second adjusting part 240, in the moving process, the rotation of the first movable frame 210 and the second movable frame 220 in different planes is synchronously controlled, so that the wheel-legged moving unit 200 can complete the rotation in the horizontal direction and the vertical direction, and further the horizontal position and the vertical height of the driving wheel 250 are adjusted, and the purpose of adjusting the height and the moving direction of the robot is quickly achieved, and the wheel-legged moving unit 200 can be rotated from one side to the other side of the robot body 100, so that the occupied space of the wheel-legged moving unit 200 is reduced, the moving capability of the robot is maintained, and the capability of the robot passing through a narrow space is increased; secondly, wheel type movement and leg type movement can be combined, rolling movement can be achieved through the driving wheels 250 in the running process of the robot, the first adjusting component 230 and the second adjusting component 240 can work cooperatively, the robot can lift up or put down the driving wheels 250 while keeping stable, and the height of the driving wheels 250 is changed, so that the robot adapts to complex terrain, and the adaptability of the sensitive omnidirectional moving wheel leg type robot switched by multi-mode active movement to the environment is improved; in summary, the multi-modal active motion switching sensitive omnidirectional moving wheel leg robot disclosed in this embodiment can rapidly change its own action direction and occupied space of the whole robot according to the landform and space shape of different use occasions by the cooperative control of the first adjusting part 230 and the second adjusting part 240, and can perform actions such as pseudo walking, lifting, rolling, rotating, and the like, thereby improving the moving capability and obstacle crossing capability of the multi-modal active motion switching sensitive omnidirectional moving wheel leg robot, and the multi-modal active motion switching sensitive omnidirectional moving wheel leg robot has a simple structure and is easier to control, and the flexibility of use of the multi-modal active motion switching sensitive omnidirectional moving wheel leg robot is improved.

Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims. It should be noted that, the present invention introduces the specific structure and the operation principle of the present invention by taking the example of the sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching, but the application of the present invention is not limited by the example of the sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching, and can also be applied to the production and use of other similar workpieces.

It will be understood that the invention is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the invention is limited only by the appended claims.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the present invention, which is intended to cover any modifications, equivalents, improvements, etc. within the spirit and scope of the present invention.

Claims

1. A sensitive omnidirectional moving wheel-leg robot with multi-mode active motion switching is characterized by comprising a robot body and a plurality of wheel-leg motion units connected with the robot body; the wheel-legged movement unit includes:

the first movable frame is rotatably arranged on the machine body, and the rotating plane of the first movable frame is a first plane;

the second movable frame is rotatably arranged at the end part, deviating from the machine body, of the first movable frame, and the rotating plane of the second movable frame is a second plane; an included angle is formed between the first plane and the second plane, and the included angle is larger than 0 degree and smaller than 180 degrees;

the first adjusting component is arranged on the machine body, one end of the second adjusting component is connected with the first adjusting component, and the other end of the second adjusting component is connected with the second movable frame; the first adjusting part is used for driving the first movable frame to rotate on the first plane; the second adjusting part is used for driving the second movable frame to rotate on the second plane;

and the driving wheels are arranged on the second movable frame and used for driving the machine body to move.

2. The multi-modal active motion switching sensitive omni-directional mobile wheel legged robot of claim 1, wherein a connection shaft is protruded on the robot body; the first movable frame comprises a rotating part, and the rotating part takes the connecting rotating shaft as a rotating shaft and is rotatably connected with the connecting rotating shaft;

the second movable frame comprises a connecting rod assembly and a bearing support, one end of the connecting rod assembly is hinged with the rotating piece, and the other end of the connecting rod assembly is hinged with the bearing support; the bearing bracket is fixed with the driving wheel.

3. The multi-modal active motion switching sensitive omni-directional mobile wheel legged robot of claim 2, wherein a shaft hole is formed on one end of the rotating member away from the connecting rotating shaft; the connecting rod assembly comprises a first connecting rod which is rotatably arranged in the shaft hole, and a second connecting rod and a third connecting rod which are respectively arranged at two ends of the first connecting rod, wherein the second connecting rod and the third connecting rod are arranged in parallel and are hinged with the bearing support.

4. The multi-modal active motion switching sensitive omni-directional mobile wheel legged robot of claim 2, wherein the second mobile frame further comprises a drive motor, the drive motor is disposed on the support frame and is in transmission connection with the drive wheels.

5. The multi-modal active motion switching sensitive omni-directional mobile wheel legged robot of claim 2, wherein the second movable frame further comprises a shock absorber disposed on the load-bearing support, articulated with the second adjustment component.

6. The multi-modal active motion switching sensitive omni-directional mobile wheel legged robot of claim 1, wherein the first adjusting means comprises a first rotating motor and a first rotating link, the first rotating motor is fixed on the surface of the body, and the first rotating link is in transmission connection with the output end of the first rotating motor;

the second adjusting component comprises a second rotating motor and a second rotating connecting rod, and the second rotating motor is fixedly arranged on the first rotating connecting rod and is in transmission connection with the second rotating connecting rod; one end of the second rotating connecting rod is hinged to the first rotating connecting rod, and the other end of the second rotating connecting rod is hinged to the second movable frame.

7. The sensitive omni-directional mobile wheel-legged robot with multi-modal active motion switching according to claim 1, characterized in that the first movable frame has a rotational angle of 0-90 °.

8. The sensitive omni-directional mobile wheel legged robot with multi-modal active motion switching according to claim 1, characterized in that the second movable frame is rotatable at an angle of 0-60 °.

9. The multi-modal active motion switching sensitive omnidirectional moving wheel legged robot of claim 1, further comprising an environmental sensing unit disposed on the robot body; the environment sensing unit comprises one or more of an infrared sensor, an image sensor, a heat sensor and a navigation module.

10. The sensitive omnidirectional moving wheel-leg robot with multi-modal active motion switching according to any one of claims 1 to 9, wherein there are four wheel-leg motion units, and the four wheel-leg motion units are arranged at the bottom of the body in a trapezoidal shape.