CN212313719U

CN212313719U - Biped wheel leg robot

Info

Publication number: CN212313719U
Application number: CN202020597216.1U
Authority: CN
Inventors: 宋霜; 刘唐有; 张弨; 孟庆虎
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2020-04-21
Filing date: 2020-04-21
Publication date: 2021-01-08
Anticipated expiration: 2030-04-21

Abstract

The utility model provides a biped wheel leg robot, including waist module, left thigh module, right thigh module, left shank module and right shank module, left thigh module, right thigh module are each other and are the mirror image, left shank module, right shank module are each other and are the mirror image. The utility model has the advantages that the utility model has the wheel-foot switching function, can move by adopting the structure of different wheels and feet aiming at different ground, is suitable for the mobile application of long-distance walking, and has more application scenes.

Description

Biped wheel leg robot

Technical Field

The utility model relates to a robot especially relates to a biped wheel leg robot.

Background

Legged or wheeled robots have been widely used in industry or service. However, the foot type robot or the wheel type robot has the disadvantages of the foot type robot or the wheel type robot. For example, the moving speed and the running efficiency of the foot type robot on a flat road surface are far lower than those of the wheel type robot; the adaptability and obstacle-crossing capability of the wheeled robot to the unstructured watch are far lower than those of a biped robot. The biped wheel-leg robot can adapt to a flat road surface and an unstructured road surface simultaneously, the moving speed and the operating efficiency of the biped robot are improved through wheel type movement, and the road surface adaptability and the obstacle crossing capability of the biped robot are improved through foot type movement. And the structure of the double-foot wheel leg has better affinity compared with a multi-foot structure, and can interact with people friendly. Meanwhile, the flexion and extension of the legs are realized through the rotation of the knee joints, the vertical working space of the robot can be increased, and the vertical obstacle avoidance of the robot can be realized through the form changing mode. Compared with wheeled mobile robots and foot mobile robots, the robot is more robust in performance and wider in application scenes.

The tail ends of the existing biped wheel-leg robot are in wheel-to-ground contact, and the robot cannot move by adopting different structures of wheels and feet aiming at different grounds, so that the robot is not suitable for mobile application of long-distance walking and has a very limited application scene.

Disclosure of Invention

In order to solve the problems in the prior art, the utility model provides a biped wheel leg robot.

The utility model provides a biped wheel leg robot, including waist module, left thigh module, right thigh module, left shank module and right shank module, left thigh module, right thigh module are each other the mirror image, left shank module, right shank module are each other the mirror image, waist module includes waist mounting panel, waist connecting plate, left thigh rotation drive assembly, right thigh rotation drive assembly, waist mounting panel with the waist connecting plate is connected, left thigh rotation drive assembly, right thigh rotation drive assembly are each other the mirror image and are connected respectively in the left and right sides of waist connecting plate, left thigh module includes thigh supporting component and installs the knee rotation drive assembly on thigh supporting component, left thigh rotation drive assembly with thigh supporting component is connected, state left thigh rotation drive assembly drive thigh supporting component with waist module carries out relative rotary motion, the left calf module comprises a foot type module, an ankle driving module, a knee joint transmission module, a wheel foot switching module and a wheel type module, the knee is rotated to drive the assembly and connected with the knee joint transmission module, the knee is rotated to drive the assembly and driven the knee joint transmission module and the left calf module carries out relative rotation movement, the knee joint transmission module is connected with the ankle driving module, the ankle driving module is connected with the foot type module, the ankle driving module drives the foot type module and the ankle driving module carries out relative rotation movement, the wheel foot switching module is installed on the ankle driving module, the wheel foot switching module is connected with the wheel type module, the wheel foot switching module drives the wheel type module to carry out up-and-down movement so as to carry out wheel foot switching.

As a further improvement of the utility model, the wheel foot switching module mainly comprises a wheel foot switching drive motor, a wheel foot switching motor mounting part, a wheel foot switching motor coupling, a lead screw input end mounting part, a lead screw slider, a lead screw sliding shaft, a lead screw fixed end mounting part, a wheel foot switching module connecting part and a wheel type module mounting part, wherein the wheel foot switching motor mounting part, the lead screw input end mounting part and the lead screw fixed end mounting part are respectively fixed on the ankle driving module, the wheel foot switching drive motor is mounted on the wheel foot switching motor mounting part, the lead screw and the lead screw sliding shaft are respectively erected on the lead screw input end mounting part and the lead screw fixed end mounting part in parallel, the wheel foot switching drive motor is connected with the lead screw through the wheel foot switching motor coupling, the lead screw slider is connected with the lead screw through a lead screw, the lead screw sliding block is in sliding fit with the lead screw sliding shaft, the lead screw sliding block is connected with the wheel foot switching module connecting piece, the wheel foot switching module connecting piece is connected with the wheel type module mounting piece, and the wheel type module mounting piece is connected with the wheel type module.

As a further improvement, the screw slider is located between the screw input end fixing part and the screw fixed end fixing part.

As a further improvement of the utility model, wheeled module mainly comprises rim support piece, wheeled removal motor power, rubber coating, rim support piece fixes on the wheeled module installed part, wheeled removal motor power is installed rim support piece's inside, the rubber coating with rim support piece is normal running fit, wheeled removal motor power with the rubber coating is connected, wheeled removal motor power drive the rubber coating rotates.

As a further improvement of the present invention, the foot module mainly comprises a front sole, a front sole rotating shaft, a front sole torsion spring baffle, a foot right side plate, an ankle transmission shaft, an ankle input bevel gear, an ankle output bevel gear, a rear heel torsion spring baffle, a foot left side plate, a rear heel torsion spring, a rear heel rotating shaft and a rear heel, the ankle input bevel gear and the ankle output bevel gear are engaged with each other, the ankle input bevel gear is connected with the ankle driving module, the ankle output bevel gear is fixed on the ankle transmission shaft, two ends of the ankle transmission shaft are respectively fixedly connected with the foot left side plate and the foot right side plate, the rear heel is respectively connected with the foot left side plate and the foot right side plate through the rear heel rotating shaft, the rear heel torsion spring is installed in the rear heel rotating shaft, the rear heel torsion spring baffle is respectively connected with the foot left side plate, The foot right side board fixed connection, the tensioning of back heel torsional spring is in between back heel torsional spring baffle, the back heel, preceding sole through preceding sole pivot respectively with foot left side board, foot right side board rotate to be connected, preceding sole torsional spring is installed in the preceding sole pivot, preceding sole torsional spring baffle respectively with foot left side board, foot right side board fixed connection, preceding sole torsional spring tensioning is in between preceding sole torsional spring baffle, the preceding sole.

As a further improvement of the present invention, the left thigh rotation driving assembly includes a left thigh driving motor, the left thigh driving motor is disposed on the relative rotation axis between the left thigh module and the left calf module.

As a further improvement of the utility model, the knee rotates drive assembly and includes knee joint driving motor, knee joint driving motor arranges in relative axis of rotation between left thigh module, the left shank module, greatly reduce the inertia of shank when rotating for the waist.

As a further improvement, the knee rotation driving assembly further comprises a belt transmission mechanism, the knee joint driving motor is connected with the driving wheel of the belt transmission mechanism, and the driven wheel of the belt transmission mechanism is connected with the knee joint transmission module.

As a further improvement of the present invention, the motion of the wheel-foot switching module can realize the switching of the leg module with respect to the foot-type module and the wheel-type module of the farthest end of the knee joint transmission module.

As a further improvement of the utility model, the front sole and the rear heel of the foot module can rotate relatively relative to the left and right side plates of the foot to make the foot module always keep surface contact with the ground.

As a further improvement, the wheel foot switching driving motor of the wheel foot switching module drives the lead screw to rotate continuously to drive the lead screw slider to move continuously through rotating continuously, so that the wheel foot switching is realized by continuous optional positions.

As a further improvement of the present invention, the rim support of the wheel module is encapsulated to form a rubber wheel, and the wheel-type mobile power motor is embedded inside the rim support.

The utility model has the advantages that: through the scheme, the wheel-foot switching function is achieved, the wheels and the feet can be respectively adopted to move according to different ground surfaces, the wheel-foot switching device is suitable for mobile application of long-distance walking, and application scenes are multiple.

Drawings

Fig. 1 is an overall structure diagram of the bipedal wheel-leg robot of the present invention.

Fig. 2 is an exploded view of the components of a bipedal wheel-legged robot according to the present invention.

Fig. 3 is a waist module structure diagram of the bipedal wheel-legged robot of the present invention.

Fig. 4 is an exploded view of a thigh module of the bipedal wheel-leg robot of the present invention.

Fig. 5 is an exploded view of a shank module of the bipedal wheel-legged robot of the present invention.

Fig. 6 is a structure diagram of a foot type module of the bipedal wheel-leg robot of the present invention.

Fig. 7 is a structural diagram of an ankle driving module of the bipedal wheel-leg robot of the present invention.

Fig. 8 is a structure diagram of a knee joint transmission module of the bipedal wheel-leg robot of the present invention.

Fig. 9 is a wheel foot switching module structure diagram of the biped wheel-leg robot of the present invention.

Fig. 10 is a wheel module structure diagram of a bipedal wheel-leg robot according to the present invention.

Fig. 11 is a wheel foot switching schematic diagram of the biped wheel-leg robot of the present invention.

Fig. 12 is a schematic view of the bipedal legged robot in wheel mode operation.

Fig. 13 is a schematic view of the robot height change achieved by the relative rotation of the knee joint of the bipedal leg robot according to the present invention.

Fig. 14 is a configuration diagram of a foot module of a bipedal wheel-legged robot in an out-of-robot state according to the present invention.

Detailed Description

The present invention will be further described with reference to the following description and embodiments.

The utility model provides a not enough to prior art, the utility model provides a biped wheel leg robot can carry out the biped wheel leg robot that the wheel is sufficient to be switched to the road surface of difference, has solved the advantage that biped robot or wheeled robot in current stage can not combine two kinds of robots and has realized the problem of robot high efficiency, high adaptability.

The fast movement on level and smooth road surface can be realized to the double round of biped wheel leg robot, and the initiative suspension can be regarded as to both legs for adaptation unevenness road surface can also be used for realizing crossing type keeps away the barrier, and keeps away the barrier perpendicularly through the initiative squat that realizes the robot. Double wheels and double feet are added to the robot, and the wheel-foot switching is carried out, so that the robot can realize continuous and stable movement on long-step road surfaces. The combination of the wheel legs can greatly improve the comprehensive performance of the mobile robot, and the application scene is wider.

In order to achieve the above object, the utility model adopts the following technical scheme:

as shown in fig. 1 to 14, a biped robot includes a waist module 1, a left thigh module 2, a right thigh module 5, a left shank module 3, and a right shank module 4, where the left thigh module 2 and the right thigh module 5 are mirror images of each other, the left thigh module 2 is exemplified as the present embodiment, the left shank module 3 and the right shank module 4 are mirror images of each other, the present embodiment is exemplified as the left shank module 3, the waist module 1 includes a waist mounting plate 101, a waist connecting plate 102, a left thigh rotation driving assembly, and a right thigh rotation driving assembly, the waist mounting plate 101 is connected to the waist connecting plate 102, the left thigh rotation driving assembly and the right thigh rotation driving assembly are mirror images of each other and are respectively connected to the left side and the right side of the waist connecting plate 102, the left thigh module 2 includes a thigh supporting assembly and a knee rotation driving assembly installed on the thigh supporting assembly, the left thigh rotation driving assembly is connected with the thigh supporting assembly, the left thigh rotation driving assembly drives the thigh supporting assembly and the waist module to perform relative rotation movement, the left calf module 3 comprises a foot type module 301, an ankle driving module 302, a knee joint transmission module 303, a wheel foot switching module 304 and a wheel type module 302, the knee rotation driving assembly is connected with the knee joint transmission module 303, the knee rotation driving assembly drives the knee joint transmission module 303 and the left thigh module 2 to perform relative rotation movement, the knee joint transmission module 303 is connected with the ankle driving module 302, the ankle driving module 302 is connected with the foot type module 301, the ankle driving module 302 drives the foot type module 301 and the ankle driving module 302 to perform relative rotation movement, the wheel foot switching module 304 is installed on the ankle driving module 302, the wheel-foot switching module 304 is connected with the wheel module 305, and the wheel-foot switching module 304 drives the wheel module 305 to move up and down so as to switch wheel feet.

As shown in fig. 3, the waist mounting plate 101 is an acrylic plate for mounting electrical components such as a robot controller; the waist connecting plate 102 is used for mounting end effectors such as a mechanical arm, a humanoid upper limb and the like; the motor mounting plate 103 is used for mounting a motor 104, and the motor mounting plate 103 and the motor 104 form a left thigh rotation driving assembly; the

motors

104 and 105 are waist driving motors of the same type and are used for driving the waist and the thighs to rotate relatively; the motor mounting plate 106 is a mirror image of the motor mounting plate 103.

As shown in fig. 4, the left thigh module 2 includes a synchronous belt tension pulley 201 for adjusting the tightness of the synchronous belt; a bearing 202 for supporting the drive shaft; the thigh inner side plate 203 is connected with the motor 104, so that the thigh can rotate relative to the waist; a thigh support 204 for supporting the thigh inner side plate 203 and the thigh outer side plate 207; the synchronous belt 205 is used for transmitting the power of the driving wheel 206 to the knee rotation joint; a thigh outer plate 207 for mounting a knee joint drive motor 209; a knee joint driving motor output shaft 208 for outputting the power of a knee joint driving motor 209 to the driving wheel 206; a knee joint driving motor 209 for providing power to realize the relative rotation of the lower leg and the thigh; a thigh structure reinforcing part 2010 for reinforcing the thigh structure strength, the knee joint driving motor 209 and the motor 104 are coaxially installed.

As shown in fig. 5, the left lower leg module 3 is mainly composed of a foot type module 301, an ankle driving module 302, a knee joint transmission module 303, a wheel-foot switching module 304, and a wheel type module 305, and the lower leg module is also the most important module for the bipedal wheel-leg robot to realize the wheel-foot switching function. The foot type module 301 is used for obstacle crossing and gait movement of the robot on the structured road surface; the ankle driving module 302 is used for inputting power for ankle rotation and is also used for installing the wheel-foot switching module 304; the knee joint transmission module 303 is used for realizing the relative rotation between the shank and the thigh; the wheel-foot switching module 304 is used for switching the wheel module and the foot module of the robot aiming at different road surfaces; the wheeled module 305 is used for rapid movement of the robot over a flat surface.

As shown in fig. 6, the foot module 301 mainly comprises a front sole 3011, a front sole rotation shaft 3012, a front sole torsion spring 3013, a front sole torsion spring baffle 3014, a foot right side plate 3015, an ankle transmission shaft 3016, an ankle input bevel gear 3017, an ankle output bevel gear 3018, a heel torsion spring baffle 3019, a foot left side plate 30110, a heel torsion spring 30111, a heel rotation shaft 30112 and a heel 30113, wherein the ankle input bevel gear 3017 and the ankle output bevel gear 3018 are engaged with each other, the ankle input bevel gear 3017 is connected to the ankle driving module, the ankle output bevel gear 3018 is fixed to the ankle transmission shaft 3016, both ends of the ankle transmission shaft 3016 are respectively fixedly connected to the foot left side plate 30110 and the foot right side plate 3015, the heel 30113 is respectively connected to the foot left side plate 30110 and the foot right side plate 3015 through the heel rotation shaft 30112, the heel torsion spring 30111 is installed on the heel rotation shaft 30112, the heel torsion spring baffle 3019 respectively with heel left side board 30110, foot right side board 3015 fixed connection, heel torsion spring 30111 tensioning is in between heel torsion spring baffle 3019, heel 30113, preceding sole 3011 respectively with foot left side board 30110, foot right side board 3015 rotate and are connected through preceding sole pivot 3012, preceding sole torsion spring 3013 installs on preceding sole pivot 3012, preceding sole torsion spring baffle 3014 respectively with foot left side board 30110, foot right side board 3015 fixed connection, preceding sole torsion spring 3013 tensioning is in between preceding sole torsion spring baffle 3014, preceding sole 3011.

As shown in fig. 7, the ankle driving module 302 mainly includes a right lower leg connecting plate 3021, a left lower leg connecting plate 3022, a lower leg supporting reinforcement 3023, an ankle driving motor support 3024, an ankle driving motor 3025, an ankle driving motor mount 3026, an ankle driving coupling 3027, an ankle driving rotation shaft 3028, a wheel foot switching module mounting plate 3029, and an ankle connecting member 30210, wherein the ankle driving motor 3025 is connected to the ankle driving rotation shaft 3028 through the ankle driving coupling 3027, the ankle driving rotation shaft 3028 is connected to the ankle input bevel gear 3017, and the ankle driving motor 3025 can drive the ankle input bevel gear 3017 to rotate through the ankle driving rotation shaft 3028, thereby driving the foot module 301 to rotate.

As shown in fig. 8, the knee joint transmission module 303 mainly comprises a knee joint power input synchronizing wheel 3031, a supporting synchronizing wheel bearing 3032, a knee joint rotating shaft 3033, a knee joint transmission connector 3034 and a knee joint reinforcement 3035, wherein the driving wheel 206, the knee joint power input synchronizing wheel 3031 and the synchronous belt 205 form a belt transmission mechanism, the knee joint driving motor 209 drives the knee joint power input synchronizing wheel 3031 to rotate through the driving wheel 206 and the synchronous belt 205, so as to drive the knee joint transmission module 303 to rotate, the knee joint transmission connector 3034 has two parallel arrangements, and the knee joint transmission connector 3034 is respectively connected with a right shank connecting plate 3021 and a left shank connecting plate 3022.

As shown in fig. 9, the wheel-foot switching module 304 mainly comprises a wheel-foot switching driving motor 3041, a wheel-foot switching motor mounting part 3042, a wheel-foot switching motor coupling 3043, a lead screw input end fixing part 3044, a lead screw slider 3045, a lead screw 3046, a lead screw sliding shaft 3047, a lead screw fixing end fixing part 3048, a wheel-foot switching module connecting part 3049 and a wheel-foot module mounting part 30410, wherein the wheel-foot switching motor mounting part 3042, the lead screw input end fixing part 3044 and the lead screw fixing end fixing part 3048 are respectively fixed on the ankle driving module 302, the wheel-foot switching driving motor 3041 is mounted on the wheel-foot switching motor mounting part 3042, the lead screw 3046 and the lead screw sliding shaft 3047 are respectively erected on the lead screw input end fixing part 3044 and the lead screw fixing end fixing part 3048 in parallel, the wheel-foot switching driving motor 3041 is connected with the lead screw 3046 through the wheel, the lead screw slider 3045 is connected to the lead screw 3046 through a lead screw nut, the lead screw slider 3045 is in sliding fit with the lead screw sliding shaft 3047, the lead screw slider 3045 is connected to the wheel-foot switching module connecting part 3049, the wheel-foot switching module connecting part 3049 is connected to the wheel-type module mounting part 30410, and the wheel-type module mounting part 30410 is connected to the wheel-type module 305.

As shown in fig. 10, the wheel module 305 is mainly composed of a rim support 3051, a wheel-type moving power motor 3052 and a rubber coating 3053, wherein the rubber coating 3053 is coated outside the rim support 3051 to form a rubber coated wheel, so that the friction force of the wheel is increased, and the wheel has good flexibility to prevent the robot from being in rigid contact with the ground, and the rim support 3051 is connected with a wheel module mounting 30410.

The main operation posture of the robot with the double-foot wheel legs of the utility model is the walking posture of the double feet embodied in figure 1 and the moving posture of the double wheels shown in figure 12, figure 1 is the double-foot state, and figure 12 is the double-wheel state.

The bipedal walking posture, i.e., the left calf module 3 of the bipedal wheeled leg robot, takes the form shown in fig. 11(a), and combines the motor 104 and the ankle driving motor 3025 to enable the bipedal wheeled leg robot to realize a human-like gait walking motion.

The two-wheel movement posture, that is, the left calf module 3 of the bipedal leg robot adopts the shape shown in fig. 11(b), and the combination of the motor 104 and the ankle driving motor 3025 enables the bipedal leg robot to realize rapid movement of the bipedal leg robot through two-wheel rotation, as shown in fig. 12. The two-wheel moving posture requires dynamic balance control of the two-legged robot by means of a control board mounted on the waist mounting plate 101. Meanwhile, the bipedal robot can realize two operation postures of standing and squatting in fig. 13(a) and 13(b) through the cooperative operation of the motor 104 and the ankle driving motor 3025, so that the robot can realize the active change of the height of the robot in a wheel type motion state, and vertical obstacle avoidance of the bipedal robot in the wheel type motion mode can also be realized.

The switching from the bipedal walking posture to the two-wheel movement posture is realized by the operation of the wheel-foot switching module 304 of the left calf module 3, as shown in (a) and (b) of fig. 11. In the two forms, the wheel-foot switching driving motor 3041 rotates to drive the screw 3046 to rotate so as to drive the screw slider 3045 to move, so that the wheel-foot switching module connecting part 3049, the wheel-type module mounting part 30410 and the wheel-type module 305 mounted on the screw slider 3045 realize the integral up-and-down movement. When the screw slider 3045 is located at the starting end and the wheel-foot switching driving motor 3041 is locked, the shank module achieves the configuration shown in fig. 11(a), thereby achieving the foot-type moving configuration shown in fig. 1. When the screw slider 3045 is located at the end and the wheel-foot switching drive motor 3041 is locked, the lower leg module achieves the configuration shown in fig. 11(b), thereby achieving the wheel-type moving configuration shown in fig. 12.

When the bipedal walking posture operation is performed, the foot module 301 of the bipedal wheeled leg robot can realize the one-surface contact of the bipedal wheeled leg robot with the ground by changing the shape as shown in fig. 14. Fig. 14(a) shows an initial state of the foot module 301, which corresponds to an upright state of the bipedal wheel-legged robot or a state in which the foot module 301 is separated from the inside; fig. 14(b) shows the bipedal wheeled-leg robot in the bipedal walking position with the foot module 301 heel-landed only; fig. 14(c) shows a state in which the foot module 301 is sole-landed in the bipedal walking posture. When the biped wheel-leg robot operates in the biped walking posture, the foot type module 301 drives the front sole 3011 and the rear heel 30113 to realize three forms in fig. 14 through the front sole torsion spring 3013 and the rear heel torsion spring 30111 according to the operation posture. The structural design can enable the double-foot-wheel-leg robot to always keep a good surface contact with the ground under the condition of realizing the natural walking posture like a human, so that the double-foot-wheel-leg robot is more stable and efficient compared with the traditional human walking robot.

To sum up the utility model discloses a biped wheel leg robot can realize carrying out the switching of sufficient formula motion and wheeled motion according to the application scene of difference, can improve the operating efficiency and the stability of robot greatly through selecting wheeled motion and sufficient formula motion. And the double-leg wheel-leg robot of the present invention is called a universal mobile robot platform by installing an additional mechanical arm or an end effector such as a human-like artificial limb on the waist connecting plate 102.

The utility model relates to a biped wheel leg robot especially relates to a biped wheel leg robot who is fit for being used for people's residence environment and density crowd's environment. The mobile robot can be widely applied to mobile platforms of mobile robots aiming at the dense crowd environments such as home service, routing inspection, airports, stations and the like. This kind of biped wheel leg robot that possesses sufficient switching function of wheel, the double round can be used for the fast movement on level and smooth road surface, and the initiative suspension can be regarded as to the biped for adaptation unevenness road surface can also be used for realizing crossing type keeps away the barrier, and keeps away the barrier perpendicularly through the initiative squat that realizes the robot. Double wheels and double feet are added to the robot, and the wheel-foot switching is carried out, so that the robot can realize continuous and stable movement on long-step road surfaces. The combination of the wheel legs can greatly improve the comprehensive performance of the mobile robot, and the application scene is wider.

A bipedal wheel-leg robot has the following advantages:

(1) the utility model discloses a biped wheel leg robot compares with traditional wheeled or sufficient robot, has advantages such as high speed, high efficiency, high obstacle-surmounting ability, high robustness. Especially, the method has great significance for improving the comprehensive performance and the operation efficiency of the robot.

(2) The utility model discloses a sufficient module of biped wheel leg robot remains the face contact throughout with ground, greatly promotes the stability of underactuated mobile robot.

(3) The utility model discloses a motor is as power input, and power source structures such as hydraulic pressure are simpler, the quality is lighter, is convenient for realize the robot in the application of indoor waiting people in the environment.

(4) The utility model relates to a general moving platform that has imitative human meaning can have the commonality at end effector such as waist installation arm, bionical human body.

(5) The utility model discloses a human-simulated meaning makes the robot can adapt to the people environment better, can have better affinity with the people simultaneously, easily realizes more friendly interaction with the people.

The foregoing is a more detailed description of the present invention, taken in conjunction with the specific preferred embodiments thereof, and it is not intended that the invention be limited to the specific embodiments shown and described. To the utility model belongs to the technical field of ordinary technical personnel, do not deviate from the utility model discloses under the prerequisite of design, can also make a plurality of simple deductions or replacement, all should regard as belonging to the utility model discloses a protection scope.

Claims

1. A biped wheel-leg robot, characterized in that: the waist module comprises a waist mounting plate, a waist connecting plate, a left thigh rotation driving component and a right thigh rotation driving component, the waist mounting plate is connected with the waist connecting plate, the left thigh rotation driving component and the right thigh rotation driving component are mirror images and are respectively connected with the left side and the right side of the waist connecting plate, the left thigh module comprises a thigh supporting component and a knee rotation driving component arranged on the thigh supporting component, the left thigh rotation driving component is connected with the thigh supporting component, and the left thigh rotation driving component drives the thigh supporting component and the waist module to perform relative rotation movement, the left calf module comprises a foot type module, an ankle driving module, a knee joint transmission module, a wheel foot switching module and a wheel type module, the knee is rotated to drive the assembly and connected with the knee joint transmission module, the knee is rotated to drive the assembly and driven the knee joint transmission module and the left calf module carries out relative rotation movement, the knee joint transmission module is connected with the ankle driving module, the ankle driving module is connected with the foot type module, the ankle driving module drives the foot type module and the ankle driving module carries out relative rotation movement, the wheel foot switching module is installed on the ankle driving module, the wheel foot switching module is connected with the wheel type module, the wheel foot switching module drives the wheel type module to carry out up-and-down movement so as to carry out wheel foot switching.

2. The bipedal wheel-legged robot according to claim 1, characterized in that: the wheel foot switching module mainly comprises a wheel foot switching driving motor, a wheel foot switching motor mounting part, a wheel foot switching motor coupler, a lead screw input end mounting part, a lead screw sliding block, a lead screw sliding shaft, a lead screw fixed end mounting part, a wheel foot switching module connecting part and a wheel type module mounting part, wherein the wheel foot switching motor mounting part, the lead screw input end mounting part and the lead screw fixed end mounting part are respectively fixed on the ankle driving module, the wheel foot switching driving motor is mounted on the wheel foot switching motor mounting part, the lead screw and the lead screw sliding shaft are respectively erected on the lead screw input end mounting part and the lead screw fixed end mounting part in parallel, the wheel foot switching driving motor is connected with the lead screw through the wheel foot switching motor coupler, the lead screw sliding block is connected with the lead screw through a lead screw nut, and the lead screw sliding block is in, the lead screw slider is connected with the wheel foot switching module connecting piece, the wheel foot switching module connecting piece is connected with the wheel type module mounting piece, and the wheel type module mounting piece is connected with the wheel type module.

3. The bipedal wheel-legged robot according to claim 2, characterized in that: the screw rod sliding block is positioned between the screw rod input end fixing part and the screw rod fixing end fixing part.

4. The bipedal wheel-legged robot according to claim 2, characterized in that: the wheel type module mainly comprises a wheel rim supporting piece, a wheel type mobile power motor and rubber coating, wherein the wheel rim supporting piece is fixed on the wheel type module mounting piece, the wheel type mobile power motor is installed inside the wheel rim supporting piece, the rubber coating is in running fit with the wheel rim supporting piece, the wheel type mobile power motor is connected with the rubber coating, and the wheel type mobile power motor drives the rubber coating to rotate.

5. The bipedal wheel-legged robot according to claim 1, characterized in that: the foot type module mainly comprises a front sole, a front sole rotating shaft, a front sole torsional spring baffle, a foot right side plate, an ankle transmission shaft, an ankle input bevel gear, an ankle output bevel gear, a rear heel torsional spring baffle, a foot left side plate, a rear heel torsional spring, a rear heel rotating shaft and a rear heel, wherein the ankle input bevel gear and the ankle output bevel gear are meshed with each other, the ankle input bevel gear is connected with the ankle driving module, the ankle output bevel gear is fixed on the ankle transmission shaft, two ends of the ankle transmission shaft are respectively fixedly connected with the foot left side plate and the foot right side plate, the rear heel is respectively rotatably connected with the foot left side plate and the foot right side plate through the rear heel rotating shaft, the rear heel torsional spring is installed on the rear heel rotating shaft, the rear heel torsional spring baffle is respectively connected with the foot left side plate, The foot right side board fixed connection, the tensioning of back heel torsional spring is in between back heel torsional spring baffle, the back heel, preceding sole through preceding sole pivot respectively with foot left side board, foot right side board rotate to be connected, preceding sole torsional spring is installed in the preceding sole pivot, preceding sole torsional spring baffle respectively with foot left side board, foot right side board fixed connection, preceding sole torsional spring tensioning is in between preceding sole torsional spring baffle, the preceding sole.

6. The bipedal wheel-legged robot according to claim 1, characterized in that: the left thigh rotation driving assembly comprises a left thigh driving motor, and the left thigh driving motor is arranged on a relative rotation shaft between the left thigh module and the left shank module.

7. The bipedal wheel-legged robot according to claim 6, characterized in that: the knee rotation driving component comprises a knee joint driving motor, and the knee joint driving motor is arranged on a relative rotation shaft between the left thigh module and the left shank module.

8. The bipedal wheel-legged robot according to claim 7, characterized in that: the knee rotation driving assembly further comprises a belt transmission mechanism, the knee joint driving motor is connected with a driving wheel of the belt transmission mechanism, and a driven wheel of the belt transmission mechanism is connected with the knee joint transmission module.