CN-224225180-U - Wheel leg type robot

CN224225180UCN 224225180 UCN224225180 UCN 224225180UCN-224225180-U

Abstract

The utility model discloses a wheel leg type robot, relates to the technical field of robots, and aims to solve the problem that an existing robot is low in operation efficiency in a complex action scene. The wheel leg type robot comprises a mounting platform, two movable wheels, a wheel leg structure and a driving motor, wherein batteries for supplying power are arranged on the mounting platform, the two movable wheels are symmetrically arranged on two sides of the mounting platform and used for driving the mounting platform to move, the plurality of wheel leg structures are arranged between the mounting platform and the movable wheels, the wheel leg structure is arranged to be rotatable relative to the mounting platform so as to drive the wheel leg type robot to realize complex movement, and the driving motor is electrically connected with the movable wheels and the wheel leg structure respectively and provides driving force for the movable wheels and the wheel leg structure. The wheel leg type robot provided by the utility model is used for improving the operation efficiency of the robot in complex operation scenes.

Inventors

ZHU HAIXIA
CHENG YU
FU ZHONGYUN
WANG BO
SHANG LIANG

Assignees

南京航空航天大学金城学院

Dates

Publication Date: 20260512
Application Date: 20250506

Claims (7)

1. A wheeled legged robot, comprising: The mounting platform is provided with a plurality of mounting holes, the mounting platform is provided with a battery for supplying power; The two moving wheels are symmetrically arranged on two sides of the mounting platform and used for driving the mounting platform to move; The four wheel leg structures are arranged on two sides of the mounting platform in a group, first connecting rods of the two wheel leg structures which are positioned on the same side of the mounting platform are coaxially connected with the movable wheels, the wheel leg structures are arranged between the mounting platform and the movable wheels, and the wheel leg structures can rotate relative to the mounting platform so as to drive the wheel leg type robot to realize complex movement; the driving motor is respectively and electrically connected with the movable wheel and the wheel leg structure and provides driving force for the movable wheel and the wheel leg structure, and comprises a joint motor and a hub motor, wherein the joint motor is used for driving the wheel leg structure to rotate, and the hub motor is used for driving the movable wheel to move; The wheel leg structure comprises a first connecting rod, a second connecting rod and a supporting wheel, one end of the first connecting rod is coaxially connected with the movable wheel, the other end of the first connecting rod is coaxially connected with the supporting wheel and one end of the second connecting rod, the other end of the second connecting rod is in transmission connection with a driving motor, and the driving motor drives the second connecting rod to rotate so as to drive the supporting wheel to rotate relative to the mounting platform.
2. The wheel leg robot according to claim 1, wherein the number of the joint motors is four, the four joint motors are arranged on the mounting platform and are respectively in transmission connection with the four wheel leg structures, and the four joint motors are used for respectively driving the four wheel leg structures to rotate.
3. The wheel-legged robot according to claim 1, wherein the number of the hub motors is two, and the two hub motors are respectively arranged on one side of the moving wheel close to the mounting platform and used for driving the two moving wheels to move.
4. The wheeled-legged robot according to claim 1, further comprising a gesture sensor for monitoring gesture data of the wheeled-legged robot.
5. The wheeled leg robot of claim 4, further comprising a control module disposed on the mounting platform and including a main control module and a remote control module, the main control module electrically connected to the attitude sensor and the drive motor for receiving attitude data and controlling the drive motor to drive the wheeled leg robot.
6. The legged robot according to claim 5, wherein the remote control module is configured to receive a control command issued by an external control device, and transmit the control command to the main control module.
7. The wheeled legged robot according to claim 1, further comprising a data display screen disposed on the mounting platform for displaying real-time data of the wheeled legged robot.

Description

Wheel leg type robot Technical Field The utility model relates to the technical field of robots, in particular to a wheel leg type robot. Background At present, mobile robots are widely applied in various fields of industry, agriculture, rescue, detection and the like. The traditional wheeled robot has the advantages of high moving speed and high efficiency on a flat road surface, but has poor passing capability in environments of complex terrains such as steps, ravines, soft ground and the like, and the foot-type robot has strong adaptability to the complex terrains, but has relatively low moving speed and high energy consumption. The wheel-leg type robot combines the advantages of the wheel type robot and the leg type robot, can move rapidly on a flat road surface, and can realize the actions of crossing, climbing and the like through leg movement on complex terrains. However, the existing wheel-leg robot still has a plurality of defects in structural design, motion control, energy utilization and the like, and further application and development of the wheel-leg robot are limited. Therefore, there is a need for a wheel-legged robot with better performance. Disclosure of utility model The utility model aims to provide a wheel leg type robot which is used for improving the working efficiency of the robot in complex working scenes. The wheel leg type robot comprises a mounting platform, two moving wheels, a wheel leg structure and a driving motor, wherein a battery for supplying power is arranged on the mounting platform, the two moving wheels are symmetrically arranged on two sides of the mounting platform and used for driving the mounting platform to move, the wheel leg structure is arranged between the mounting platform and the moving wheels and can rotate relative to the mounting platform to drive the wheel leg type robot to realize complex movement, and the driving motor is electrically connected with the moving wheels and the wheel leg structure respectively and used for providing driving force for the moving wheels and the wheel leg structure. Optionally, the wheel leg structure includes first connecting rod, second connecting rod and supporting wheel, the one end of first connecting rod with movable wheel coaxial coupling, the other end with the supporting wheel reaches the one end coaxial coupling of second connecting rod, the other end of second connecting rod with driving motor transmission is connected, driving motor drive the second connecting rod rotates, drives the supporting wheel for the mounting platform rotates. Optionally, the wheel leg structure sets up to four, four wheel leg structure two by two a set of setting are in the both sides of mounting platform, and be located two of mounting platform homonymy the first connecting rod of wheel leg structure all with remove wheel coaxial coupling. Optionally, the driving motor includes an articulation motor for driving the wheel leg structure to rotate and a hub motor for driving the moving wheel to move. Optionally, the joint motor sets up to four, four the joint motor sets up on the mounting platform, and respectively with four the wheel leg structure transmission is connected, four the joint motor is used for driving respectively four the wheel leg structure rotates. Optionally, the wheel hub motors are two, and the two wheel hub motors are respectively arranged on one side of the movable wheel close to the mounting platform and used for driving the two movable wheels to move. Optionally, the wheel-legged robot further comprises a gesture sensor for monitoring gesture data of the wheel-legged robot. Optionally, the wheel leg type robot further comprises a control module, wherein the control module is arranged on the mounting platform and comprises a main control module and a remote control module, and the main control module is electrically connected with the gesture sensor and the driving motor and is used for receiving gesture data and controlling the driving motor to drive the wheel leg type robot. Optionally, the remote control module is configured to receive a control command sent by an external control device, and transmit the control command to the main control module. Optionally, the wheel-legged robot further comprises a data display screen, wherein the data display screen is arranged on the mounting platform and is used for displaying real-time data of the wheel-legged robot. Compared with the prior art, the wheeled leg type robot has strong terrain adaptability, the wheeled leg type robot can move rapidly on a flat road surface through the design of the wheeled leg structure, the movement efficiency is improved, the movement of the wheeled leg type robot can be realized through the expansion of the wheeled leg structure in environments such as steps, ravines and sand, the movement of the wheeled leg type robot can be realized through the leg type movement, the adaptability to different terrains is greatly improved, the movement