阅读说明：本技术 一种可轮式运动的双足机器人及其工作方法 (Biped robot capable of wheeled movement and working method thereof ) 是由 王雄 张恒钰 高海艳 封琦 于 2019-11-18 设计创作，主要内容包括：本发明公开了一种可轮式运动的双足机器人及其工作方法,包括顶部安装板,顶部安装板底部的左右两侧分别通过三个舵机连接用于行走的第一脚底板和第二脚底板,顶部安装板的左前侧和右前侧分别通过第一舵机和第八舵机对应连接第一轮和第二轮。本发明具有结构简单、轮径尺寸大的特点,能够在平坦地形上快速滚动,并且地形适应能力较强；机器人也可以切换为双足形式的足式机器人,可以实现类似人体下肢的行走方式,可以适应崎岖复杂的地形环境,整个结构简单合理,易于实现变形,能够广泛应用于生产生活的场合。(The invention discloses a biped robot capable of wheeled movement and a working method thereof. The invention has the characteristics of simple structure and large wheel diameter size, can quickly roll on flat terrain, and has stronger terrain adaptability; the robot also can be switched into a foot type robot in a double-foot form, can realize a walking mode similar to lower limbs of a human body, can adapt to rugged and complex terrain environments, has a simple and reasonable whole structure, is easy to realize deformation, and can be widely applied to occasions of production and life.)

1. The utility model provides a biped robot that can wheeled motion, its characterized in that includes top mounting panel (1), and the left and right sides of top mounting panel (1) bottom is connected first foot bottom plate (11) and second foot bottom plate (27) that are used for the walking through three steering wheel respectively, and the left front side and the right front side of top mounting panel (1) are respectively through first steering wheel (4) and eighth steering wheel (24) correspondence connection first wheel (3) and second wheel (25).

2. The biped robot capable of wheeled movement according to claim 1, wherein a first U-shaped steering engine connecting piece (14) is arranged on the left side of the bottom of the top mounting plate (1), the first U-shaped steering engine connecting piece (14) is connected with a second steering engine (5), the second steering engine (5) is sequentially connected with a third steering engine (8) and a fourth steering engine (13), and the fourth steering engine (13) is fixed with the first foot bottom plate (11) through a second steering engine support (12) arranged on the lower side.

3. The biped robot capable of wheeled movement according to claim 2, wherein two sides of the second steering engine (5) and the third steering engine (8) are connected through a first rectangular steering engine connecting piece (6) and a second rectangular steering engine connecting piece (7), the third steering engine (8) and the fourth steering engine (13) are connected through a second U-shaped steering engine connecting piece (9) and a third U-shaped steering engine connecting piece (10) in sequence, and the second U-shaped steering engine connecting piece (9) and the third U-shaped steering engine connecting piece (10) are arranged perpendicular to each other.

4. The biped robot capable of wheeled movement according to claim 1, wherein a sixth U-shaped steering engine connecting piece (15) is arranged on the right side of the bottom of the top mounting plate (1), the sixth U-shaped steering engine connecting piece (15) is connected with a seventh steering engine (23), the seventh steering engine (23) is sequentially connected with a sixth steering engine (20) and a fifth steering engine (17), and the fifth steering engine (17) is fixed with the second foot bottom plate (27) through a third steering engine support (16) arranged on the lower side.

5. The biped robot capable of wheeled movement according to claim 4, wherein the two sides of the seventh steering engine (23) and the sixth steering engine (20) are connected through a third rectangular steering engine connecting piece (22) and a fourth rectangular steering engine connecting piece (21), the sixth steering engine (20) and the fifth steering engine (17) are connected with the fourth U-shaped steering engine connecting piece (18) sequentially through a fifth U-shaped steering engine connecting piece (19), and the fifth U-shaped steering engine connecting piece (19) and the fourth U-shaped steering engine connecting piece (18) are arranged perpendicular to each other.

6. A biped robot with wheeled motion according to claim 1, characterized in that the first steering engine bracket (2) is arranged on the left front side of the top mounting plate (1), and the first steering engine (4) is arranged on the first steering engine bracket (2).

7. The biped robot capable of wheeled movement according to claim 1, characterized in that a fourth steering engine bracket (26) is provided on the right front side of the top mounting plate (1), and an eighth steering engine (24) is provided on the fourth steering engine bracket (26).

8. A working method of a biped robot capable of moving in a wheeled mode is characterized in that the biped robot comprises a top mounting plate, the left side of the bottom of the top mounting plate is connected with a first foot bottom plate sequentially through a second steering engine, a third steering engine and a fourth steering engine, and the third steering engine and the fourth steering engine are fixedly connected through a second U-shaped steering engine connecting piece and a third U-shaped steering engine connecting piece which are vertically arranged; the right side of the bottom of the top mounting plate is connected with a second foot bottom plate through a seventh steering engine, a sixth steering engine and a fifth steering engine in sequence, and the sixth steering engine and the fifth steering engine are fixedly connected with a fourth U-shaped steering engine connecting piece through a vertically arranged fifth U-shaped steering engine connecting piece; the left front side of the top mounting plate is connected with a first wheel through a first steering engine, and the right front side of the top mounting plate is connected with a second wheel through an eighth steering engine;

when the terrain is uneven or an obstacle exists, foot type movement is adopted, the left side forward and backward swinging is realized by clockwise or anticlockwise rotation of a second steering engine and a third steering engine of a left mechanical foot, the first foot bottom plate is controlled by a fourth steering engine, the right side forward and backward swinging is realized by clockwise or anticlockwise rotation of a fifth steering engine and a sixth steering engine of a right mechanical foot, the forward and backward movement of the right mechanical foot is controlled, the second foot bottom plate is controlled by the fifth steering engine, a deflection angle is formed between the first foot bottom plate and the ground when the second foot bottom plate falls down, the left and right steering is realized, and the two mechanical legs are mutually matched to alternately work to finish the forward stepping movement;

when the topography is flat, adopt wheeled motion, two mechanical legs crouch and contract on the center pin of first wheel and second wheel, first steering wheel and eighth steering wheel control first wheel and second wheel respectively and rotate simultaneously and realize wheeled motion, when needs turn to, the first wheel is clockwise to be changeed, the second wheel anticlockwise is changeed and can be realized turning to the right, the first wheel is anticlockwise to be changeed, the second wheel is clockwise to be changeed and can be realized turning to the left.

9. The method according to claim 8, wherein when the foot type motion is switched to wheel type motion, the third steering engine and the sixth steering engine simultaneously rotate anticlockwise to move the center of gravity of the robot downwards, the second steering engine and the seventh steering engine simultaneously rotate anticlockwise to drive the top mounting plate to move downwards so that the first wheel and the second wheel are in contact with the ground, and the third steering engine and the sixth steering engine further rotate anticlockwise to enable the foot structures to be completely folded around the central shafts of the first wheel and the second wheel.

10. The method according to claim 8, wherein when the wheeled motion is switched to the foot-type motion, the third steering engine and the sixth steering engine simultaneously rotate clockwise by a certain angle to enable the first foot bottom plate and the second foot bottom plate to be parallel to the ground, the second steering engine and the seventh steering engine rotate clockwise to enable the first wheel and the second wheel to be lifted from the ground, the first foot bottom plate and the second foot bottom plate are in contact with the ground, and the third steering engine and the sixth steering engine continue to rotate clockwise to enable the robot to stand upright.

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a biped robot capable of wheeled motion and a working method thereof.

Background

Nowadays, robots have been widely studied and applied to many fields of daily life, and their motion characteristics are the main research contents. If the robot adopts a wheel type movement mode, the robot cannot adapt to rugged terrains such as mountains, gullies and the like; by adopting a foot type motion mode, the movement is slow, so that the wheel-leg type robot appears. However, the existing wheel-leg robot has the defects of high production cost, complex structure, difficult transformation and switching of motion modes and the like. Therefore, in the field of robot technology, a technical problem to be solved urgently at present is to design a wheel-leg type deformation robot which is simple in structure, good in stability and capable of being switched flexibly.

Disclosure of Invention

The technical problem to be solved by the present invention is to provide a biped robot capable of wheeled movement and a working method thereof, aiming at the defects in the prior art, according to the requirements of terrain and road conditions, the robot can autonomously perform wheeled and foot type deformation; when the walking stick moves on a flat ground, the feet can be curled, a wheel type moving mode is adopted, the moving speed is improved, and the energy consumption is reduced. When the robot moves on uneven ground or complex terrain, the feet can be stretched out, and a foot type moving mode is adopted, so that the robot is flexible and stable. The deformation process of the whole switching movement mode of the invention does not need manual operation, solves the defect of single movement mode of the existing robot, and has simple structure and stable operation.

The invention adopts the following technical scheme:

the utility model provides a biped robot that can wheeled motion, includes the top mounting panel, and the left and right sides of top mounting panel bottom is connected first foot bottom plate and the second foot bottom plate that is used for the walking through three steering wheel respectively, and the left front side and the right front side of top mounting panel correspond first wheel and the second wheel of connecting through first steering wheel and eighth steering wheel respectively.

Specifically, a first U-shaped steering engine connecting piece is arranged on the left side of the bottom of the top mounting plate and connected with a second steering engine, the second steering engine is sequentially connected with a third steering engine and a fourth steering engine, and the fourth steering engine is fixed with a first foot bottom plate through a second steering engine support arranged on the lower side.

Furthermore, the two sides of a second steering engine and the two sides of a third steering engine are connected through a first rectangular steering engine connecting piece and a second rectangular steering engine connecting piece, the third steering engine and the fourth steering engine are connected through a second U-shaped steering engine connecting piece and a third U-shaped steering engine connecting piece in sequence, and the second U-shaped steering engine connecting piece and the third U-shaped steering engine connecting piece are perpendicular to each other.

Specifically, a sixth U-shaped steering engine connecting piece is arranged on the right side of the bottom of the top mounting plate and connected with a seventh steering engine, the seventh steering engine is sequentially connected with a sixth steering engine and a fifth steering engine, and the fifth steering engine is fixed with the second foot bottom plate through a third steering engine support arranged on the lower side.

Furthermore, the two sides of the seventh steering engine and the sixth steering engine are connected through a third rectangular steering engine connecting piece and a fourth rectangular steering engine connecting piece, the sixth steering engine and the fifth steering engine are connected with the fourth U-shaped steering engine connecting piece through a fifth U-shaped steering engine connecting piece in sequence, and the fifth U-shaped steering engine connecting piece and the fourth U-shaped steering engine connecting piece are perpendicular to each other.

Specifically, the left front side of top mounting panel sets up first steering wheel support, and first steering wheel setting is on first steering wheel support.

Specifically, the fourth steering wheel support is arranged on the right front side of the top mounting plate, and the eighth steering wheel is arranged on the fourth steering wheel support.

The invention also provides a working method of the biped robot capable of wheeled movement, the biped robot comprises a top mounting plate, the left side of the bottom of the top mounting plate is connected with a first foot bottom plate through a second steering engine, a third steering engine and a fourth steering engine in sequence, and the third steering engine and the fourth steering engine are fixedly connected through a second U-shaped steering engine connecting piece and a third U-shaped steering engine connecting piece which are vertically arranged; the right side of the bottom of the top mounting plate is connected with a second foot bottom plate through a seventh steering engine, a sixth steering engine and a fifth steering engine in sequence, and the sixth steering engine and the fifth steering engine are fixedly connected with a fourth U-shaped steering engine connecting piece through a vertically arranged fifth U-shaped steering engine connecting piece; the left front side of the top mounting plate is connected with a first wheel through a first steering engine, and the right front side of the top mounting plate is connected with a second wheel through an eighth steering engine;

when the terrain is uneven or an obstacle exists, foot type movement is adopted, the left side forward and backward swinging is realized by clockwise or anticlockwise rotation of a second steering engine and a third steering engine of a left mechanical foot, the first foot bottom plate is controlled by a fourth steering engine, the right side forward and backward swinging is realized by clockwise or anticlockwise rotation of a fifth steering engine and a sixth steering engine of a right mechanical foot, the forward and backward movement of the right mechanical foot is controlled, the second foot bottom plate is controlled by the fifth steering engine, a deflection angle is formed between the first foot bottom plate and the ground when the second foot bottom plate falls down, the left and right steering is realized, and the two mechanical legs are mutually matched to alternately work to finish the forward stepping movement;

when the topography is flat, adopt wheeled motion, two mechanical legs crouch and contract on the center pin of first wheel and second wheel, first steering wheel and eighth steering wheel control first wheel and second wheel respectively and rotate simultaneously and realize wheeled motion, when needs turn to, the first wheel is clockwise to be changeed, the second wheel anticlockwise is changeed and can be realized turning to the right, the first wheel is anticlockwise to be changeed, the second wheel is clockwise to be changeed and can be realized turning to the left.

Specifically, when the foot type motion is switched to be wheel type motion, the third steering engine and the sixth steering engine simultaneously rotate the center of gravity of the robot anticlockwise and move downwards, the second steering engine and the seventh steering engine simultaneously rotate anticlockwise and drive the top mounting plate to move downwards so that the first wheel and the second wheel are in contact with the ground, and the third steering engine and the sixth steering engine further rotate anticlockwise and enable the foot structures to be completely folded around the central shafts of the first wheel and the second wheel.

Specifically, when the wheel type motion is switched to foot type motion, the third steering engine and the sixth steering engine rotate clockwise at the same time by a certain angle to enable the first foot bottom plate and the second foot bottom plate to be parallel to the ground, the second steering engine and the seventh steering engine rotate clockwise to enable the first wheel and the second wheel to be lifted up from the ground, meanwhile, the first foot bottom plate and the second foot bottom plate are in contact with the ground, and the third steering engine and the sixth steering engine continue to rotate clockwise to enable the robot to be upright.

Compared with the prior art, the invention has at least the following beneficial effects:

the biped robot capable of wheeled movement has a double-movement mode, the robot steering engine is closely matched with various steering engine supports and connecting pieces, the movement efficiency is improved reasonably and optimally, basic requirements of structural science are met, and the biped robot capable of wheeled movement has a simple and reasonable integral structure and is stable in operation on the premise of realizing basic functions of the robot steering engine.

Furthermore, the double-foot structure has the advantages that the foot type motion is similar to the walking form of a person, the balance is guaranteed, the motion aesthetic characteristics are met, and compared with a multi-foot robot, the energy consumption is lower, and the action speed is higher. The motion efficiency can be improved by the motion of the feet, and when the ground environment is more complex, the motion mode is switched to a foot type motion mode, so that the obstacle can be crossed, and the pit can be crossed.

Furthermore, the wheel type structure has the advantages that the large-radius wheel type structure has stronger movement capability, and two legs are folded around the central shafts of the first wheel and the second wheel during wheel type movement, so that the weight distribution of the invention is uniform, the energy consumption can be reduced, and the wheel type movement efficiency can be improved. Compared with four-wheel structures and the like, the double-wheel structure has stronger operation capability in narrow environment.

The utility model provides a biped robot working method that can wheeled motion, whole robot working method sets up the advantage that sufficient formula motion almost can adapt to various complicated topography, can stride across the obstacle, has good degree of freedom, moves nimble, freely, stable. When the wheel type movement moves on a flat ground, the energy consumption is smaller and the maneuvering capability is stronger. The motion modes of foot type motion and wheel type motion can be autonomously switched for different types of the robot without human intervention. When the foot type movement and the wheel type movement are switched, the device has the advantages of easy switching, good stability and high efficiency.

In conclusion, the invention has the characteristics of simple structure and large wheel diameter size, can quickly roll on flat terrain, and has stronger terrain adaptability; the robot also can be switched into a foot type robot in a double-foot form, can realize a walking mode similar to lower limbs of a human body, can adapt to rugged and complex terrain environments, has a simple and reasonable whole structure, is easy to realize deformation, and can be widely applied to occasions of production and life.

The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of the foot motion of the present invention;

FIG. 3 is a schematic view of the wheeled motion of the present invention;

FIG. 4 is a schematic diagram of a process for switching from a foot-type motion to a wheel-type motion according to the present invention;

FIG. 5 is a schematic view of another switching process from foot-type motion to wheel-type motion according to the present invention;

FIG. 6 is a schematic diagram illustrating a process of switching from wheeled movement to foot movement according to the present invention;

FIG. 7 is a schematic view of another process for switching from wheeled motion to foot motion according to the present invention;

FIG. 8 shows a U-shaped steering engine connection piece;

FIG. 9 is a rectangular steering engine attachment;

FIG. 10 is a second steering engine bracket and a third steering engine bracket;

FIG. 11 shows a first steering engine bracket and a fourth steering engine bracket.

Wherein: 1. a top mounting plate; 2. a first steering engine bracket; 3. a first wheel; 4. a first steering engine; 5. a second steering engine; 6. a first rectangular steering engine connecting piece; 7. a second rectangular steering engine connecting piece; 8. a third steering engine; 9. a second U-shaped steering engine connecting piece; 10. a third U-shaped steering engine connecting piece; 11. a first footer plate; 12. a second steering engine bracket; 13. a fourth steering engine; 14. a first U-shaped steering engine connecting piece; 15. a sixth U-shaped steering engine connecting piece; 16. a third steering engine bracket; 17. a fifth steering engine; 18. a fourth U-shaped steering engine connecting piece; 19. a fifth U-shaped steering engine connecting piece; 20. a sixth steering engine; 21. a fourth rectangular steering engine connecting piece; 22. a third rectangular steering engine connecting piece; 23. a seventh steering engine; 24. an eighth steering engine; 25. a second wheel; 26. a fourth steering engine bracket; 27. and a second sole plate.

Detailed Description

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "one side", "one end", "one side", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Referring to fig. 1, the biped robot capable of wheeled movement comprises a top mounting plate 1 with a rectangular structure, wherein a first U-shaped steering engine connecting piece 14 is arranged on the left side of the bottom of the top mounting plate 1, a sixth U-shaped steering engine connecting piece 15 is arranged on the right side of the bottom of the top mounting plate 1, a first steering engine bracket 2 is arranged on the left side in front of the top mounting plate 1, and a fourth steering engine bracket 26 is arranged on the right side in front of the top mounting plate 1; the first steering engine bracket 2 is used for fixing the first steering engine 4, and the fourth steering engine bracket 26 is used for fixing the eighth steering engine 24; when the wheels move, the first steering engine 4 drives the first wheel 3, and the eighth steering engine 24 drives the second wheel 25.

The first U-shaped steering engine connecting piece 14 is connected with the second steering engine 5, and the sixth U-shaped steering engine connecting piece 15 is connected with the seventh steering engine 23.

The first rectangular steering engine connecting piece 6 and the second rectangular steering engine connecting piece 7 are used for connecting the second steering engine 5 and the third steering engine 8, and the third rectangular steering engine connecting piece 22 and the fourth rectangular steering engine connecting piece 21 are used for connecting the sixth steering engine 20 and the seventh steering engine 23.

The lower side of the third steering engine 8 is connected with a second U-shaped steering engine connecting piece 9, and the lower side of the sixth steering engine 20 is connected with a fifth U-shaped steering engine connecting piece 19.

The second U-shaped steering engine connecting piece 9 and the third U-shaped steering engine connecting piece 10 are fixed and are in a perpendicular relation, and the fifth U-shaped steering engine connecting piece 19 and the fourth U-shaped steering engine connecting piece 18 are fixed and are in a perpendicular relation. The third U-shaped steering engine connecting piece 10 is connected with a fourth steering engine 13, and the fourth U-shaped steering engine connecting piece 18 is connected with a fifth steering engine 17. A second steering engine bracket 12 is arranged at the lower side of the fourth steering engine 13, and a third steering engine bracket 16 is arranged at the lower side of the fifth steering engine 17. The second steering engine support 12 is fixed with the first foot bottom plate 11, and the third steering engine support 16 is fixed with the second foot bottom plate 27.

Referring to fig. 2, when the feet move in a foot type, the structure of the feet is similar to the walking gait of a person, the second steering engine 5 rotates clockwise by 45 degrees to drive the first leg to be lifted, the third steering engine 8 rotates anticlockwise by 45 degrees, and the second U-shaped steering engine connecting piece 10 drives the foot to droop, so that the first foot bottom plate 11 is parallel to the ground; the seventh steering engine 23 rotates anticlockwise by 45 degrees to drive the second leg to retreat, the sixth steering engine 20 rotates clockwise by 45 degrees, and the fourth U-shaped steering engine connecting piece 18 drives the foot to droop, so that the second foot bottom plate 27 is parallel to the ground; this is a specific action of gait.

When needing to turn to, fourth steering wheel 13 drives first foot bottom plate 11 and ground and forms certain angle, and fifth steering wheel 17 drives second foot bottom plate 27 and ground and forms certain angle just can realize turning to.

Referring to fig. 3, when the vehicle moves in a wheeled manner, two legs are folded around the central shafts of the first wheel 3 and the second wheel 25, the first wheel 3 and the second wheel 25 are in contact with the ground, the first steering engine 4 and the eighth steering engine 24 rotate clockwise simultaneously to realize forward rapid movement, the first steering engine 4 and the eighth steering engine 24 rotate counterclockwise simultaneously to realize backward rapid movement, and when the vehicle needs to turn, the first wheel 3 and the second wheel 25 perform differential motion to realize left turning and right turning.

Referring to fig. 4 and 5, the foot type motion is switched to the wheel type motion, the third steering engine 8 and the sixth steering engine 20 rotate counterclockwise at 45 degrees simultaneously to move the center of gravity of the present invention downward, the second steering engine 5 and the seventh steering engine 23 rotate counterclockwise at 90 degrees simultaneously to contact the first wheel 3 and the second wheel 25 with the ground, and the third steering engine 8 and the sixth steering engine 20 further rotate counterclockwise to completely retract the foot structure around the central axis of the first wheel 3 and the central axis of the second wheel 25, so that the switching from the foot type motion to the wheel type motion is completed.

Referring to fig. 6 and 7, the switching from the wheel type movement to the foot type movement is just the reverse of the switching from the foot type movement to the wheel type movement. The third steering engine 8 and the sixth steering engine 20 rotate clockwise at the same time by a certain angle to enable the first foot bottom plate 11 and the second foot bottom plate 27 to be parallel to the ground, the second steering engine 5 and the seventh steering engine 23 rotate clockwise by 90 degrees to enable the first wheel 3 and the second wheel 25 to be lifted from the ground, meanwhile, the first foot bottom plate 11 and the foot bottom plate 27 are in contact with the ground, and the third steering engine 8 and the sixth steering engine 20 further rotate clockwise to enable the vertical steering mechanism to be upright. And completing the switching from the wheel type movement to the foot type movement.

When the terrain is uneven or has obstacles, the walking vehicle adopts a biped structure to walk, and when the terrain is flat, the walking vehicle adopts a double-wheel structure to move, has the advantages of good flexibility and stability, and has wide application prospect.

The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.