CN220842752U - Multi-scene applicable wheel foot robot - Google Patents
Multi-scene applicable wheel foot robot Download PDFInfo
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- CN220842752U CN220842752U CN202322393887.2U CN202322393887U CN220842752U CN 220842752 U CN220842752 U CN 220842752U CN 202322393887 U CN202322393887 U CN 202322393887U CN 220842752 U CN220842752 U CN 220842752U
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- 230000007246 mechanism Effects 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims abstract description 21
- 230000006698 induction Effects 0.000 claims abstract description 20
- 230000000712 assembly Effects 0.000 claims abstract description 10
- 238000000429 assembly Methods 0.000 claims abstract description 10
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000005096 rolling process Methods 0.000 claims description 8
- 230000003044 adaptive effect Effects 0.000 claims description 4
- 230000005484 gravity Effects 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 5
- 238000005265 energy consumption Methods 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000001939 inductive effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
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Abstract
The utility model discloses a multi-scene applicable wheel foot robot which can rapidly advance by utilizing a driving wheel assembly and has multi-dimensional obstacle crossing capability, so that the wheel foot robot has extremely strong use field Jing Shi capability, reasonable overall structure layout, proper gravity center position, good stability in the working process, lower relative energy consumption and ensured cruising capability. The utility model mainly comprises a host, an induction communication assembly, a battery assembly and a pair of leg assemblies, wherein the induction communication assembly is arranged on the front side of a machine body, the battery assembly is arranged on the rear side of the machine body, a middle section space is arranged below the machine body, the leg assemblies comprise a connecting rod mechanism, a driving assembly and a driving wheel assembly, a lateral rotating joint is used for driving the leg assemblies to rotate laterally, a part of the driving assembly is positioned in the middle section space, a part of the lateral rotating joint is positioned in the middle section space, and a rotation center line of the driving wheel assembly, the lateral rotating joint and the induction communication assembly are sequentially arranged along the advancing direction of the driving wheel assembly.
Description
Technical Field
The utility model belongs to the technical field of robots, and particularly relates to a multi-scene applicable wheel foot robot.
Background
The wheel foot robot (namely the wheel leg robot) combines the advantages of the wheel robot and the leg foot robot, and comprises a host machine and a pair of leg foot structures (also called wheel legs, wheel feet and leg assemblies) with driving wheel assemblies, wherein the wheel foot robot can quickly move by using driving wheels and can perform actions such as obstacle crossing (crossing) by using the leg foot structures, and the functions are flexible and comprehensive. The wheel-legged robot includes a relatively large number of structures, and generally includes: the leg foot structure formed by the link mechanism, a driving component for driving the link mechanism to act, a battery component for supplying power, an induction communication component for detecting and feeding back information and the like. The connecting rod mechanism is at least required to be matched with two sets of driving structures (the driving assembly comprises at least two sets of driving structures), one set of driving structure is used for enabling the connecting rod mechanism to be unfolded and folded, so that lifting of the host can be achieved, the other set of driving structure is used for enabling the connecting rod mechanism to rotate back and forth, in this way, the two sets of driving structures are matched, the connecting rod mechanism can be enabled to do forward crossing actions, the two leg foot structures continuously and alternately cross forward, and forward movement of the host can be achieved.
Besides the leg-foot structure formed by the connecting rod mechanism, other structures more or less occupy the installation space on the host, so that reasonable arrangement of structural arrangement and gravity center arrangement is needed to ensure the stability and the cruising ability of the wheel-leg type robot during working. The method is particularly aimed at guaranteeing the stability of the wheel leg type robot during working: if the whole gravity center of the wheel leg type robot is too far forward or too far backward, the front and back of the wheel leg type robot is unstable, so that the whole robot is easy to overturn in the working process; aiming at guaranteeing the endurance: the size of the host is relatively not suitable to be too large, because the larger the host is, the heavier the weight of the host and the structure mounted on the host is, and the other corresponding structures also need to be matched in size, so that the whole machine is heavier, and the larger the energy consumption is, so that the good cruising ability is not guaranteed. On the premise that the size of the host is relatively limited, the installation space on the host is naturally limited, and each structure needs to be reasonably arranged and installed.
Disclosure of utility model
The utility model provides a multi-scene applicable wheel foot robot which can rapidly advance by utilizing a driving wheel assembly and has multi-dimensional obstacle crossing capability, so that the wheel foot robot has extremely strong use field Jing Shi capability, reasonable overall structure layout, proper gravity center position, good stability in the working process, lower relative energy consumption and ensured cruising capability.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
A multi-scene applicable wheel foot robot comprises a host, an induction communication assembly, a battery assembly and a pair of leg assemblies arranged on two sides of the host;
The host comprises a machine body, the induction communication component is arranged on the front side of the machine body, the battery component is arranged on the rear side of the machine body, the battery component comprises a battery body and a battery management system arranged on the battery body, and a middle section space between the induction communication component and the battery component is arranged below the machine body;
The leg assembly comprises a connecting rod mechanism, a driving assembly for driving the connecting rod mechanism to act and a driving wheel assembly arranged on the connecting rod mechanism, two lateral rotating joints corresponding to the leg assembly one by one are arranged on the machine body, and the corresponding leg assembly and the corresponding lateral rotating joint are arranged on the machine body: the lateral rotating joint is used for driving the leg assembly to rotate laterally, one part of the driving assembly is located in the middle section space, one part of the lateral rotating joint is located in the middle section space, and the rotation center line of the driving wheel assembly, the lateral rotating joint and the induction communication assembly are sequentially arranged along the advancing direction of the driving wheel assembly.
Preferably, the host further comprises a computing unit, the computing unit comprises a NUC upper host and a Orin operation control host, the battery management system is electrically connected with the computing unit, and the induction communication assembly comprises a 3D laser radar electrically connected with the computing unit, a wide-angle camera electrically connected with the computing unit and a depth camera electrically connected with the computing unit.
Preferably, the driving wheel assembly comprises a driving wheel body and driving wheel motors, a switch jack is arranged at the top of the battery body, an inner emergency switch for stopping all driving wheel motors is arranged on the host, an outer emergency switch for controlling the inner emergency switch is inserted on the switch jack, the outer emergency switch is electrically connected with the inner emergency switch through a wire harness with a length of L, the top of the outer emergency switch is positioned above the top end of the switch jack, L is smaller than or equal to 5m, L is larger than or equal to 0.3 m, and the wire harness is positioned in the switch jack.
Preferably, the rear side of the host is provided with a rolling support structure, the rolling support structure comprises a left rear universal wheel and a right rear universal wheel, the lower end of the left rear universal wheel is lower than the lower end of the battery body, the lower end of the right rear universal wheel is lower than the lower end of the battery body, and the left rear universal wheel and the right rear universal wheel are symmetrically arranged.
Preferably, the battery body is detachably connected with the machine body, a clamping groove which can be clamped with the battery body is formed in the machine body, and a battery lifting handle is arranged at the top of the battery body.
Preferably, the main machine is provided with a handle structure, the handle structure comprises a pair of main lifting handles, the main lifting handles are respectively positioned at two sides of the machine body, and the highest point of the main lifting handles is higher than the top of the machine body.
The beneficial effects of the utility model are as follows: the driving wheel assembly can be utilized to rapidly advance, and the multi-dimensional obstacle crossing capability is realized, so that the driving wheel assembly has extremely strong using field Jing Shi capability, the overall structure layout is reasonable, the gravity center position is proper, the stability in the working process is good, the relative energy consumption is low, and the cruising capability is ensured; the emergency brake device has the protective structures such as the outer emergency switch and the wire harness, when the emergency stop is needed, the outer emergency switch can be pulled out to brake, the wire harness can leave a certain forward allowance, the host is prevented from being overturned due to dragging as much as possible, and if the host cannot be prevented from being overturned, the rolling support structure can be used for protection.
Drawings
FIG. 1 is a front view of the present utility model;
FIG. 2 is a side view of the present utility model;
FIG. 3 is a top view of the present utility model;
FIG. 4 is a schematic view of the structure of the external emergency switch of the present utility model;
FIG. 5 is a schematic view of the structure of the linkage of the present utility model;
Fig. 6 is a functional block diagram of a computing unit and associated components of the present utility model.
Reference numerals: 1. a body; 101. a main lifting handle; 11. a calculation unit; 11.1, NUC upper host; 11.2, orin operation control host; 12.1, 3D lidar; 12.2, wide angle camera; 12.3, depth camera; 2. a battery body; 2.1, a battery management system; 201. an external emergency switch; 202. a wire harness; 203. a battery lifting handle; 3. a link mechanism; 301. a first link; 302. a second link; 303. a third link; 304. a fourth link; 4. a drive assembly; 401. unfolding and folding the rotary joint; 402. front and rear rotational joints; 5. a drive wheel assembly; 501. a driving wheel body; 502. a drive wheel motor; 6. lateral rotation joint; 7. a rolling support structure; 701. left rear universal wheel; 702. right rear universal wheel.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to fall within the scope of the utility model.
Example 1:
As shown in fig. 1, 2, 3, 5 and 6, a multi-scenario adaptive wheel-foot robot includes a main unit, an inductive communication assembly, a battery assembly and a pair of leg assemblies disposed on two sides of the main unit;
The host comprises a machine body 1, the induction communication component is arranged at the front side of the machine body 1, the battery component is arranged at the rear side of the machine body 1, the battery component comprises a battery body 2 and a battery management system 2.1 arranged on the battery body 2, and a middle section space between the induction communication component and the battery component is arranged below the machine body 1;
The leg assembly comprises a connecting rod mechanism 3, a driving assembly 4 for driving the connecting rod mechanism 3 to act and a driving wheel assembly 5 arranged on the connecting rod mechanism 3, two lateral rotating joints 6 corresponding to the leg assembly one by one are arranged on the machine body 1, and the corresponding leg assembly and the corresponding lateral rotating joints 6 are arranged in the following manner: the lateral rotary joint 6 is used for driving the leg assembly to laterally rotate, a part of the driving assembly 4 is located in the middle section space, a part of the lateral rotary joint 6 is located in the middle section space, and a rotation center line of the driving wheel assembly 5, the lateral rotary joint 6 and the induction communication assembly are sequentially arranged along the advancing direction of the driving wheel assembly 5.
The link mechanism 3 and the driving component 4 in the leg component belong to the prior art, the driving component 4 comprises two sets of driving structures, one set of driving structure is used for enabling the link mechanism 3 to be unfolded and folded, so that lifting of a host can be realized, the other set of driving structure is used for enabling the link mechanism 3 to rotate back and forth, and therefore, the two sets of driving structures are matched, the link mechanism 3 can be enabled to make forward crossing motions, the two leg components continuously span forward, and forward movement of the host can be realized. In addition, in the utility model, a lateral rotation joint 6 is additionally arranged, so that the leg assembly can also rotate laterally, and therefore, the leg assembly can also laterally surmount obstacles. The lateral revolute joint 6 may be a motor. When the driving wheel assemblies 5 work, the utility model can rapidly advance, and when a turn is needed, the two driving wheel assemblies 5 work at different speeds.
The direction of travel of the drive wheel assembly is the direction of travel of the present utility model when traveling straight. The rotation center line of the driving wheel assembly 5 is located at a substantially middle position in the forward and backward directions of the present utility model, and because the present utility model is that the driving wheel assembly 5 is "touched to the ground", the entire center of gravity is located substantially in or near the vertical plane where the rotation center line of the driving wheel assembly 5 is located, and the rotation center line of the driving wheel assembly 5, the lateral rotation joint 6, and the induction communication assembly are sequentially arranged in the forward direction of the driving wheel assembly 5, it is known that the lateral rotation joint 6 is located at a position that is forward of the entire body.
The whole structure on the machine body 1 is arranged, a middle section space for accommodating the driving component 4 and the lateral rotary joint 6 is reserved in the middle part, the layout is reasonable, and the structural interference can be prevented. The battery body 2 with the largest weight is arranged at the rear side of the machine body 1, the lateral rotary joint 6 with the larger weight is arranged at a position close to the front end of the machine body 1 and matched with the induction communication component arranged at the front position, so that the overall balance is realized, and the overall gravity center can be positioned at the middle position of the host.
Fig. 6 is a functional block diagram of a computing unit and associated components of the present utility model. As shown in fig. 6, the host further includes a computing unit 11, the computing unit includes NUC upper-layer hosts 11.1 and Orin operation control hosts 11.2, the battery management system 2.1 is electrically connected with the computing unit, and the induction communication component includes a 3D lidar 12.1 electrically connected with the computing unit, a wide-angle camera 12.2 electrically connected with the computing unit, and a depth camera 12.3 electrically connected with the computing unit.
Both the NUC upper level host and Orin operation control host may be replaced with other conventional processors as needed. The computing unit 11, NUC upper host 11.1, orin operation control host 11.2, battery management system 2.1, 3D lidar 12.1, wide-angle camera 12.2, depth camera 12.3, etc. all adopt commercial products mature and conventional in the prior art, and their functions and principles belong to conventional means in the prior art, and are not described herein.
As shown in fig. 1, fig. 2, fig. 3 and fig. 4, the driving wheel assembly 5 includes a driving wheel body 501 and a driving wheel motor 502, a switch jack is disposed at the top of the battery body 2, an inner emergency switch for turning off all driving wheel motors 502 is disposed on the host, an outer emergency switch 201 for controlling the inner emergency switch is inserted on the switch jack, the outer emergency switch 201 is electrically connected with the inner emergency switch through a wire harness 202 with a length of L, the top of the outer emergency switch 201 is located above the top of the switch jack, L is less than or equal to 5m, L is greater than or equal to 0.3 m, and the wire harness 202 is located in the switch jack.
The drive wheel assembly 5 allows the present utility model to move quickly, and when the present utility model is quickly utilized to move the drive wheel assembly 5, if the drive wheel assembly 5 or related structure is suddenly uncontrolled, the operator can quickly approach the host machine, take the outer emergency switch 201 up, and operate the outer emergency switch 201 to turn off all drive wheel motors 502. Because the outer emergency switch 201 is disposed on the upper side of the battery body 2, the outer emergency switch 201 is relatively easy to get, and the wire harness 202 in the switch jack is pulled out after the outer emergency switch 201 is taken out, in the above case, after the outer emergency switch 201 is taken out by an operator, all driving wheel motors 502 stop, and all driving wheels stop, and the wire harness 202 can be continuously unfolded and lengthened in the stopping process of the utility model, so that the situation that the host is overturned due to the fact that the hands of the operator, the outer emergency switch 201 and the wire harness 202 drag the host is avoided as much as possible. Since the wheel-leg robot mainly moves forward and turns while the user stands behind or sideways behind the wheel-leg robot most of the time (avoid being bumped, avoid affecting the wheel-leg robot to move forward and turn), the arrangement of the outer emergency switch 201, the switch jack at a relatively rear position on the utility model (the battery pack is arranged at the rear side of the machine body 1) is also more advantageous for the operator emergency operation.
As shown in fig. 1, 2 and 3, the rear side of the main machine is provided with a rolling support structure 7, the rolling support structure 7 includes a left rear universal wheel 701 and a right rear universal wheel 702, the lower end of the left rear universal wheel 701 is lower than the lower end of the battery body 2, the lower end of the right rear universal wheel 702 is lower than the lower end of the battery body 2, and the left rear universal wheel 701 and the right rear universal wheel 702 are symmetrically arranged.
In the above description, after the outer emergency switch 201 is taken out from the operator, the wire harness 202 can be continuously stretched and lengthened until all driving wheel motors 502 are stopped and all driving wheels are stopped, so that the hand of the operator, the outer emergency switch 201 and the wire harness 202 are prevented from dragging the host as much as possible. However, if the host is actually dragged, the host suddenly stops, the upper end of the host falls down backward, so that each valuable structure on the host is easy to be damaged by impact, and in this regard, the left rear universal wheel 701 and the right rear universal wheel 702 are arranged at the rear side, and in case that the upper end of the host falls down backward, the left rear universal wheel 701 and the right rear universal wheel 702 touch the ground preferentially, so that each structure mounted on the host can be protected.
As shown in fig. 1, 2 and 3, the battery body 2 is detachably connected with the machine body 1, a clamping groove capable of being clamped with the battery body 2 is formed in the machine body 1, and a battery lifting handle 203 is arranged at the top of the battery body 2. The battery lifting handle 203 is convenient to grasp, and the battery body 2 can be detached to be convenient to charge, replace, store and the like.
As shown in fig. 1, 2 and 3, the main machine is provided with a handle structure, the handle structure includes a pair of main lifting handles 101, the pair of main lifting handles 101 are respectively located at two sides of the machine body 1, and the highest point of the main lifting handles 101 is higher than the top of the machine body 1. At ordinary times, the main lifting handle 101 is beneficial to grabbing and moving the utility model, and in emergency (usually, the driving wheel assembly 5 or related structures are suddenly not controlled), the whole machine body 1 can be grabbed by the main lifting handle 101, so that the driving wheel assembly 5 is lifted off the ground, and is not 'jumped' any more, and damage caused by collision and turnover is avoided.
Example 2:
Based on embodiment 1, as shown in fig. 1, 2, 3 and 5, the driving assembly 4 includes a folding rotary joint 401 for driving the link mechanism 3 to fold and unfold, and a front-rear rotary joint 402 for driving the folding rotary joint 401 and the link mechanism 3 to rotate back and forth as a whole.
The folding rotary joint 401 comprises a folding joint body and a folding rotary output shaft, the link mechanism 3 comprises a first link 301 connected with the folding joint body, a second link 302 connected with the folding rotary output shaft, a third link 303 and a fourth link 304, one end of the third link 303 is hinged with the first link 301, the other end of the third link 303 is hinged with the middle of the fourth link 304, one end of the fourth link 304 is hinged with the second link 302, and the driving wheel assembly 5 is arranged at the other end of the fourth link 304.
The unfolding and folding rotary joint 401 and the front and back rotary joint 402 can be motors, the unfolding and folding rotary joint 401 rotates, the connecting rod mechanism 3 can be unfolded and folded, and accordingly lifting of a host can be achieved, the front and back rotary joint 402 is used for enabling the unfolding and folding rotary joint 401 and the connecting rod mechanism 3 to integrally rotate back and forth, in this way, the unfolding and folding rotary joint 401 and the front and back rotary joint 402 are matched to work, the connecting rod mechanism 3 can make forward crossing actions, namely leg structures are crossed forward, the two leg structures are continuously and alternately crossed forward, and forward movement of the host can be achieved.
The foregoing has outlined rather broadly the more detailed description of embodiments of the utility model, wherein the principles and embodiments of the utility model are explained in detail using specific examples, the above examples being provided solely to facilitate the understanding of the method and core concepts of the utility model; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in light of the ideas of the present utility model, the present description should not be construed as limiting the present utility model.
Claims (6)
1. A multi-scene applicable wheel foot robot comprises a host, an induction communication assembly, a battery assembly and a pair of leg assemblies arranged on two sides of the host; it is characterized in that the method comprises the steps of,
The host comprises a machine body (1), the induction communication component is arranged on the front side of the machine body (1), the battery component is arranged on the rear side of the machine body (1), the battery component comprises a battery body (2) and a battery management system (2.1) arranged on the battery body (2), and a middle section space between the induction communication component and the battery component is arranged below the machine body (1);
The leg assembly comprises a connecting rod mechanism (3), a driving assembly (4) for driving the connecting rod mechanism (3) to act and a driving wheel assembly (5) arranged on the connecting rod mechanism (3), wherein two lateral rotating joints (6) corresponding to the leg assembly one to one are arranged on the machine body (1), and the corresponding leg assembly and the corresponding lateral rotating joints (6) are arranged in the machine body: the lateral rotating joint (6) is used for driving the leg assembly to rotate laterally, one part of the driving assembly (4) is located in the middle section space, one part of the lateral rotating joint (6) is located in the middle section space, and a rotation center line of the driving wheel assembly (5), the lateral rotating joint (6) and the induction communication assembly are sequentially arranged along the advancing direction of the driving wheel assembly (5).
2. The multi-scenario adaptive wheel foot robot of claim 1, wherein the host further comprises a computing unit (11), the computing unit comprises a NUC upper host (11.1) and a Orin operation control host (11.2), the battery management system is electrically connected with the computing unit, and the induction communication assembly comprises a 3D lidar (12.1) electrically connected with the computing unit, a wide-angle camera (12.2) electrically connected with the computing unit, and a depth camera (12.3) electrically connected with the computing unit.
3. The multi-scene applicable wheel foot robot according to claim 1, wherein the driving wheel assembly (5) comprises a driving wheel body (501) and a driving wheel motor (502), a switch jack is arranged at the top of the battery body (2), an inner emergency switch for stopping all the driving wheel motors (502) is arranged on the host, an outer emergency switch (201) for controlling the inner emergency switch is inserted into the switch jack, the outer emergency switch (201) is electrically connected with the inner emergency switch through a wire harness (202) with a length of L, the top of the outer emergency switch (201) is positioned above the top end of the switch jack, L is smaller than or equal to 5m, L is larger than or equal to 0.3 m, and the wire harness (202) is positioned in the switch jack.
4. A multi-scenario adaptive wheel-foot robot according to claim 3, characterized in that the rear side of the host is provided with a rolling support structure (7), the rolling support structure (7) comprises a left rear universal wheel (701) and a right rear universal wheel (702), the lower end of the left rear universal wheel (701) is lower than the lower end of the battery body (2), the lower end of the right rear universal wheel (702) is lower than the lower end of the battery body (2), and the left rear universal wheel (701) and the right rear universal wheel (702) are symmetrically arranged.
5. The multi-scene applicable wheel foot robot according to claim 1, 2, 3 or 4, wherein the battery body (2) is detachably connected with the machine body (1), a clamping groove which can be clamped with the battery body (2) is formed in the machine body (1), and a battery lifting handle (203) is arranged at the top of the battery body (2).
6. The multi-scene adaptive wheel foot robot according to claim 1, 2, 3 or 4, wherein the host machine is provided with a handle structure, the handle structure comprises a pair of main lifting handles (101), the pair of main lifting handles (101) are respectively located at two sides of the machine body (1), and the highest point of the main lifting handles (101) is higher than the top of the machine body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322393887.2U CN220842752U (en) | 2023-09-03 | 2023-09-03 | Multi-scene applicable wheel foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322393887.2U CN220842752U (en) | 2023-09-03 | 2023-09-03 | Multi-scene applicable wheel foot robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220842752U true CN220842752U (en) | 2024-04-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322393887.2U Active CN220842752U (en) | 2023-09-03 | 2023-09-03 | Multi-scene applicable wheel foot robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220842752U (en) |
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2023
- 2023-09-03 CN CN202322393887.2U patent/CN220842752U/en active Active
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