CN216464564U - Wheel-foot robot - Google Patents
Wheel-foot robot Download PDFInfo
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- CN216464564U CN216464564U CN202123186899.5U CN202123186899U CN216464564U CN 216464564 U CN216464564 U CN 216464564U CN 202123186899 U CN202123186899 U CN 202123186899U CN 216464564 U CN216464564 U CN 216464564U
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Abstract
The utility model discloses a sufficient robot of wheel, include: robot body and a plurality of round are sufficient, and the round is sufficient to include: the walking support frame, the driving connecting part and the movable supporting leg are arranged on the walking support frame; the walking support frame comprises a first U-shaped connecting part, a middle connecting part and a second U-shaped connecting part; the first U-shaped connecting part is connected to the second U-shaped connecting part through the middle connecting part; the second U-shaped connecting part is positioned below the first U-shaped connecting part; the driving connecting part is at least partially positioned in the second U-shaped connecting part; the first U-shaped connecting part is provided with a first extending surface; the second U-shaped connecting part is provided with a second extending surface; the first extending surface is vertical to the second extending surface; the first U-shaped connecting part extends along a first direction; the second U-shaped connecting part extends along a second direction; the range of the included angle between the first direction and the second direction is 120 ° or more and 150 ° or less. The utility model discloses a sufficient robot of wheel, the walking support frame's of its wheel simple structure, and the support is stable.
Description
Technical Field
The utility model relates to a sufficient robot of wheel.
Background
The existing wheel-foot type robot has the advantages that wheels and legs and feet are separated, the wheels are installed on a chassis of the robot, and the legs and feet are installed on two sides of the chassis of the robot. The existing wheel-foot robot has the following two problems:
1. the length of the legs and feet is limited, if the legs and feet are too long, the wheels are too high to be smoothly switched due to the defect of the switching mode of the wheel feet.
2. Effectively lowering the chassis. The hexapod capability to traverse rough terrain is dependent on its taller chassis, effectively losing mobility in complex terrain if the wheels nearly touch the ground.
Meanwhile, the structure of the wheel foot of the existing wheel foot robot is not stable enough, and the supporting performance is poor.
SUMMERY OF THE UTILITY MODEL
The utility model provides a sufficient robot of wheel solves the technical problem that prior art exists, adopts following technical scheme:
a wheeled foot robot comprising: a robot body and a plurality of wheel feet,
the wheel foot includes: the walking support frame, the driving connecting part and the movable supporting leg are arranged on the walking support frame;
one end of the walking support frame is rotatably connected to the robot body;
the driving connecting part is rotatably connected to the other end of the walking support frame;
the movable supporting leg is rotatably connected to the driving connecting part;
the walking support frame comprises a first U-shaped connecting part, a middle connecting part and a second U-shaped connecting part;
the first U-shaped connecting part is connected to the second U-shaped connecting part through the middle connecting part;
the second U-shaped connecting part is positioned below the first U-shaped connecting part;
the driving connecting part is at least partially positioned in the second U-shaped connecting part;
the first U-shaped connecting part is provided with a first extending surface;
the second U-shaped connecting part is provided with a second extending surface;
the first extending surface is vertical to the second extending surface;
the first U-shaped connecting part extends along a first direction;
the second U-shaped connecting part extends along a second direction;
the range of the included angle between the first direction and the second direction is 120 ° or more and 150 ° or less.
Furthermore, the robot body is provided with a plurality of accommodating grooves for accommodating the walking support frame;
the first U-shaped connecting portion is arranged in the accommodating groove.
Further, the walking support frame is connected to the robot body in a rotating mode around the vertical direction;
the driving connecting part rotates around the horizontal direction and is connected to the other end of the walking support frame;
the movable supporting leg is rotatably connected to the driving connecting part around the horizontal direction;
the rotation axis of the driving connecting part is parallel to the rotation axis of the movable supporting foot.
Further, the wheel foot also comprises a first motor, a second motor and a third motor;
the first motor is arranged in the accommodating groove and positioned between the first U-shaped connecting parts;
the first motor is connected to the first U-shaped connecting part to drive the walking supporting frame to rotate around the vertical direction;
the second motor is arranged on the driving connecting part and is positioned between the second U-shaped connecting parts;
the second motor is connected to the second U-shaped connecting part to drive the driving connecting part to rotate around the horizontal direction;
the third motor is arranged on the driving connecting part and is connected to the movable supporting leg to drive the movable supporting leg to rotate around the horizontal direction.
Furthermore, a first driving hole part matched with the first motor is arranged on the first U-shaped connecting part;
and a second driving hole part matched with the second motor is arranged on the second U-shaped connecting part.
Further, at least part of the wheel feet of the plurality of wheel feet also comprise driving wheels;
the driving wheel is arranged in the movable supporting leg;
the movable supporting legs can be switched between a folded state and a supporting state;
when the movable supporting legs are in a folded state, the driving wheels are in contact with the ground.
Furthermore, an installation groove is formed on the movable supporting leg;
the driving wheel is arranged in the mounting groove.
Further, the rest of the wheel feet also comprise a manipulator for grabbing the article;
the manipulator is arranged in the mounting groove.
Further, the wheel-foot robot comprises six wheel feet;
four of the six wheel feet are provided with driving wheels;
the remaining two of the six wheel feet are provided with manipulators.
Further, the robot body is spherical;
the accommodating groove is positioned on the lower hemispherical part of the robot body;
the accommodating grooves are uniformly distributed along the circumferential direction of the robot body;
the two wheel feet provided with the manipulator are symmetrically arranged about the spherical robot body.
The utility model discloses an useful part lies in the sufficient robot of wheel that provides, the simple structure of the sufficient walking support frame of its wheel, and supports stably.
Drawings
Fig. 1 is a schematic view of a wheeled-foot robot in a crawling mode;
fig. 2 is a schematic view of a walking support frame of the wheeled-foot robot of the present invention;
fig. 3 is a schematic view of the wheel foot of the wheel-foot robot of the present invention being folded;
fig. 4 is a schematic view of a wheeled-foot robot according to the present invention in a wheeled mode;
the robot includes a robot body 100, a robot body 10, a receiving groove 11, wheel legs 20, a traveling support frame 21, a first U-shaped connecting portion 211, an intermediate connecting portion 212, a second U-shaped connecting portion 213, a first driving hole portion 214, a second driving hole portion 215, a driving connecting portion 22, a movable supporting leg 23, a mounting groove 231, and a driving wheel 24.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 4, a wheeled foot robot 100 of the present application comprises: a robot body 10 and a plurality of wheel feet 20. A number of wheel feet 20 are each connected to the robot body 10. Specifically, the wheel foot 20 includes: a walking support frame 21, a driving connecting part 22 and a movable supporting leg 23. One end of the walking support frame 21 is rotatably connected to the robot body 10. The driving connection part 22 is rotatably connected to the other end of the walking support frame 21. The movement support foot 23 is rotatably connected to the drive connection 22.
As shown in fig. 2, the walking support frame 21 includes a first U-shaped connecting portion 211, an intermediate connecting portion 212, and a second U-shaped connecting portion 213. The first U-shaped connection portion 211 is connected to the second U-shaped connection portion 213 through an intermediate connection portion 212. As shown in fig. 1, the second U-shaped connection portion 213 is located below the first U-shaped connection portion 211. The drive connection 22 is at least partially located within the second U-shaped connection 213. The first U-shaped connection portion 211 has a first extension surface. In this application, the first extending surface means that the central axes of the two connecting arms of the first U-shaped connecting portion 211 are both located in the first extending surface, so that the first extending surface intersects with both the connecting arms of the entire first U-shaped connecting portion 211. The second U-shaped connection portion 213 has a second extension surface. The definition of the second extension plane refers to the first extension plane. The first extension surface is perpendicular to the second extension surface. The first U-shaped connection portion 211 extends in a first direction. The second U-shaped connection portion 213 extends in the second direction. An angle a between the first direction and the second direction is in a range of 120 ° or more and 150 ° or less. In the present application, the value of the angle a is 135 °. Through setting up as above, the simple structure of walking support frame, and the support is stable.
As a preferred embodiment, the robot body 10 is provided with a plurality of receiving grooves 11 for receiving the walking support frames 21. The first U-shaped connecting portion 211 is disposed in the receiving cavity 11. The walking support frame 21 is rotatably connected to the robot body 10 about a vertical direction. The driving connection part 22 is rotatably connected to the other end of the walking support frame 21 about a horizontal direction. The movement support leg 23 is rotatably connected to the drive connection portion 22 about the horizontal direction. Wherein the rotation axis of the drive connection portion 22 and the rotation axis of the movement supporting foot 23 are parallel.
Specifically, the wheel foot 20 further includes a first motor, a second motor, and a third motor. The first motor is disposed in the accommodating groove 11 and located between the first U-shaped connecting portions 211. The first motor is connected to the first U-shaped connecting portion 211 to drive the walking support frame 21 to rotate around the vertical direction. The second motor is disposed between the second U-shaped connecting portions 213 and the driving connecting portion 22. The second motor is connected to the second U-shaped connecting portion 213 to drive the driving connecting portion 22 to rotate about the horizontal direction. The third motor is disposed on the driving connection portion 22 and connected to the movable supporting leg 23 to drive the movable supporting leg 23 to rotate around the horizontal direction. In this way, the first motor can drive the wheel foot 20 in a lateral motion, and the second and third motors can drive the wheel foot 20 in a longitudinal motion, thereby enabling the wheel foot 20 to move to different positions.
In a preferred embodiment, the first U-shaped connecting portion 211 is provided with a first driving hole portion 214 for engaging with the first motor. The second U-shaped connecting portion 213 is provided with a second driving hole portion 215 for cooperating with a second motor.
Specifically, the first driving hole portion 214 is engaged with the first motor, and a motor shaft of the first motor is engaged with the first driving hole portion 214 through an intermediate coupling member, thereby transmitting the driving force of the first motor to the traveling support frame 21. The second driving hole portion 215 is engaged with a second motor, and a motor shaft of the second motor is also engaged with the second driving hole portion 215 through an intermediate coupling member.
In a preferred embodiment, at least some of the plurality of wheel feet 20 further comprise a drive wheel 24. The driving wheel 24 is disposed in the movable supporting foot 23. The movable supporting legs 23 can be switched between a folded state and a supporting state. When the mobile support foot 23 is in the folded position, the drive wheel 24 is in contact with the ground.
Specifically, the movable supporting legs 23 can be switched between a folded state as shown in fig. 3 and a supporting state as shown in fig. 1. When the mobile support foot 23 is in the folded position, the drive wheel 24 is in contact with the ground. With the above structure, the wheeled robot 100 can rapidly switch between the wheeled mode and the crawling mode.
In a preferred embodiment, the movable support leg 23 is formed with an installation groove 231. The driving wheel 24 is mounted in the mounting groove 231.
Specifically, the driving wheel 24 is installed in the installation groove 231 provided on the movement supporting leg 23, and only a part of the driving wheel 24 is protruded from the installation groove 231 to be driven in contact with the bottom surface. This arrangement enables the structure of the movable supporting foot 23 to be more compact. It will be appreciated that the drive wheel 24 may be driven by a motor. Preferably, the motor driving the driving wheel 24 may be a hub motor. This further makes the construction of the mobile support foot 23 more compact.
As a preferred embodiment, the remaining wheel feet 20 of the plurality of wheel feet 20 further comprise a robot (not shown) for grasping the item. The robot is installed in the installation groove 231. By providing the manipulator, the robot 100 can perform a grasping action, and thus can perform more complicated tasks.
As a preferred embodiment, the wheel-foot robot 100 comprises six wheel feet 20. Four of the six wheel feet 20 are provided with drive wheels 24. The remaining two of the six wheel feet 20 are provided with manipulators. The hexapod robot has great advantages in stability and passing ability.
In a preferred embodiment, the robot body 10 is spherical. The receiving groove 11 is located in the lower hemispherical portion of the robot body 10. The accommodating grooves 11 are evenly distributed along the circumferential direction of the robot body 10.
Specifically, the accommodation groove 11 is provided in the lower hemisphere of the robot body 10, so that the distance from the bottom surface to the movable support leg 23 is closer, thereby improving the passability of the robot 100.
The two wheel feet 20 provided with the robot arms are arranged symmetrically with respect to the spherical robot body 10. In this way, two wheel feet 20 provided with manipulators are removed, and the other four wheel feet 20 are grouped in pairs and are symmetrical to each other.
As shown in fig. 1, the wheeled foot robot 100 is in a crawling mode, and each of the wheeled feet 20 is in a supporting state. As shown in fig. 4, which is a schematic view of the robot 100 in a wheel type mode, the wheel feet 20 provided with the driving wheels 24 are all in a folded state, and the wheel feet 20 provided with the robot arm are folded upward to prevent contact with the bottom surface. As a preferred embodiment, the mounting groove 231 is located at one end of the movement supporting leg 23 away from the driving connection part 22. In this way, the drive wheel 24 is closer to the ground and can more quickly come into contact with the ground during the switching process. The efficiency of conversion is improved. In the present application, the folding process takes about 1.5 seconds, while the return to the legged state after folding takes only 0.4 seconds.
In a preferred embodiment, the drive connection 22 is substantially cylindrical. The cylindrical sides of the drive connection 22 are convex and form a curve.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It should be understood by those skilled in the art that the above embodiments do not limit the present invention in any way, and all technical solutions obtained by adopting equivalent replacement or equivalent transformation fall within the protection scope of the present invention.
Claims (10)
1. A wheeled foot robot comprising: a robot body and a plurality of wheel feet, which is characterized in that,
the wheel foot includes: the walking support frame, the driving connecting part and the movable supporting leg are arranged on the walking support frame;
one end of the walking support frame is rotatably connected to the robot body;
the driving connecting part is rotatably connected to the other end of the walking support frame;
the movable supporting leg is rotatably connected to the driving connecting part;
the walking support frame comprises a first U-shaped connecting part, a middle connecting part and a second U-shaped connecting part;
the first U-shaped connecting part is connected to the second U-shaped connecting part through the intermediate connecting part;
the second U-shaped connecting part is positioned below the first U-shaped connecting part;
the drive connecting part is at least partially positioned in the second U-shaped connecting part;
the first U-shaped connecting part is provided with a first extending surface;
the second U-shaped connecting part is provided with a second extending surface;
the first extension surface is perpendicular to the second extension surface;
the first U-shaped connecting part extends along a first direction;
the second U-shaped connecting part extends along a second direction;
the range of the included angle between the first direction and the second direction is greater than or equal to 120 degrees and less than or equal to 150 degrees.
2. The robot of claim 1, wherein the wheel-foot robot,
the robot body is provided with a plurality of accommodating grooves for accommodating the walking support frame;
the first U-shaped connecting portion is arranged in the accommodating groove.
3. The robot of claim 2, wherein the wheel-foot robot,
the walking support frame is connected to the robot body in a rotating mode around the vertical direction;
the driving connecting part rotates around the horizontal direction and is connected to the other end of the walking support frame;
the movable supporting leg is rotatably connected to the driving connecting part around the horizontal direction;
the rotation axis of the driving connecting part is parallel to the rotation axis of the movable supporting leg.
4. The robot of claim 3, wherein the wheel foot robot,
the wheel foot also comprises a first motor, a second motor and a third motor;
the first motor is arranged in the accommodating groove and is positioned between the first U-shaped connecting parts;
the first motor is connected to the first U-shaped connecting part to drive the walking support frame to rotate around the vertical direction;
the second motor is arranged on the driving connecting part and is positioned between the second U-shaped connecting parts;
the second motor is connected to the second U-shaped connecting part to drive the driving connecting part to rotate around the horizontal direction;
the third motor is arranged on the driving connecting portion and connected to the movable supporting leg to drive the movable supporting leg to rotate around the horizontal direction.
5. The robot of claim 4, wherein the wheel-foot robot,
the first U-shaped connecting part is provided with a first driving hole part which is used for being matched with the first motor;
and a second driving hole part matched with the second motor is arranged on the second U-shaped connecting part.
6. The robot of claim 5, wherein the wheel foot robot,
at least some of the wheel feet also include a drive wheel;
the driving wheel is arranged in the movable supporting leg;
the movable supporting legs can be switched between a folded state and a supporting state;
when the movable supporting leg is in the folded state, the driving wheel is in contact with the ground.
7. The robot of claim 6, wherein the wheel-foot robot,
an installation groove is formed on the movable supporting leg;
the driving wheel is installed in the installation groove.
8. The robot of claim 7, wherein the wheel-foot robot,
the rest of the wheel feet also comprise a manipulator for grabbing articles;
the manipulator is arranged in the mounting groove.
9. The robot of claim 8, wherein the wheel-foot robot,
the wheel-foot robot comprises six wheel feet;
four of the six wheel feet are provided with the driving wheels;
the remaining two of the six wheel feet are provided with the manipulator.
10. The robot of claim 9, wherein the wheel-foot robot,
the robot body is spherical;
the accommodating groove is positioned on the lower hemispherical part of the robot body;
the accommodating grooves are uniformly distributed along the circumferential direction of the robot body;
the two wheel feet provided with the manipulator are symmetrically arranged around the spherical robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123186899.5U CN216464564U (en) | 2021-12-17 | 2021-12-17 | Wheel-foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123186899.5U CN216464564U (en) | 2021-12-17 | 2021-12-17 | Wheel-foot robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216464564U true CN216464564U (en) | 2022-05-10 |
Family
ID=81425590
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123186899.5U Active CN216464564U (en) | 2021-12-17 | 2021-12-17 | Wheel-foot robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216464564U (en) |
-
2021
- 2021-12-17 CN CN202123186899.5U patent/CN216464564U/en active Active
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