Bionic robot for all terrains

{
  "publication_number": "US11958552B2",
  "country": "US",
  "kind": "B2",
  "title": "Bionic robot for all terrains",
  "abstract": "A bionic robot is provided, which includes a body; a plurality of sets of wheeled leg devices arranged at intervals in a front-rear direction, each comprising two wheeled leg devices arranged symmetrically in a left-right direction, each comprising a leg assembly and a travel wheel, and a power output shaft connected to the travel wheel; and a suspension device disposed in the body and connected to at least two sets from the plurality of sets of wheeled leg devices. The at least two sets of wheeled leg devices are located at the foremost end and the backmost end respectively. The suspension device comprises a plurality of drive assemblies, each connected to a corresponding leg assembly, which each comprise: an electric cylinder being configured to drive a telescopic rod to extend or retract; a damper connected between the body and the leg assembly; and an elastic member fitted over the damper.",
  "claims": [
    "1. A bionic robot for all terrains, comprising: a body; a plurality of sets of wheeled leg devices arranged at intervals in a front-rear direction, each set of wheeled leg devices comprising two wheeled leg devices arranged symmetrically in a left-right direction, the two wheeled leg devices being arranged on left and right sides of the body, respectively, each wheeled leg device comprising a leg assembly and a travel wheel, and a power output shaft of the leg assembly being connected to the travel wheel to drive the travel wheel to run; and a suspension device disposed in the body and connected to at least two sets from the plurality of sets of wheeled leg devices, wherein the at least two sets of wheeled leg devices are located at the foremost end and the backmost end respectively, the suspension device comprises a plurality of drive assemblies, and each drive assembly is connected to a corresponding leg assembly to drive the corresponding leg assembly to be lifted or pressed down, wherein each drive assembly comprises: an electric cylinder and a telescopic rod arranged on the electric cylinder, the electric cylinder being configured to drive the telescopic rod to extend or retract; a damper connected between the body and the leg assembly; and an elastic member fitted over the damper, wherein each leg assembly comprises: a motor provided with a power input shaft; a transmission shaft connected to the power input shaft to drive the transmission shaft to rotate; a power output shaft connected to the travel wheel to drive the travel wheel to rotate; a leg transmission assembly connected between the transmission shaft and the power output shaft, and comprising: a first connection casing and a second connection casing connected and cooperating with each other, and defining a mounting cavity; and a transmission wheel set arranged in the mounting cavity to drive the power output shaft to rotate, wherein the plurality of sets of wheeled leg device comprise a first wheeled leg device, a second wheeled leg device, and a third wheeled leg device in sequence from front to rear; a leg assembly of the first wheeled leg device is inclined forward and arranged at a first angle with respect to a vertical direction; a leg assembly of the second wheeled leg device and a leg assembly of the third wheeled leg device are inclined backward and arranged at a second angle with respect to the vertical direction, wherein the first angle is a1 and the second angle is a2, wherein 30°≤a1≤90°, and 90°≤a2≤150°, wherein the transmission wheel set comprises a first pulley, a second pulley, and a drive belt; a radial size of the first pulley is smaller than a radial size of the second pulley; and the drive belt is connected between the first pulley and the second pulley, the first pulley is connected with the transmission shaft, and the second pulley is connected with the power output shaft, and wherein the body comprises: a housing defining a receiving cavity; a main controller arranged in the receiving cavity; an image collector and an image processor, wherein the image collector is connected to the image processor, and the image processor is connected to the main controller; the image collector collects environmental information and transmits the environmental information to the image processor for analysis and processing to convert the environmental information into corresponding instructions; and the image processor sends the instructions to the main controller; a wireless transceiver, wherein the main controller receives the instructions by the wireless transceiver; a waterproof sonar sensor, wherein the main controller collects a distance between the housing and obstacles around the housing by the waterproof sonar sensor; a gesture sensor, wherein the main controller collects gesture information by the gesture sensor, and analyzes and judges the gesture information to cross the obstacles actively; and a motor driving module and an execution motor module, wherein the main controller calculates the received instructions and sends a driving instruction to at least one of the drive assemblies to cause the electric cylinder to drive the telescopic rod to extend or retract or to at least one of the leg assemblies to cause the motor to drive the travel wheel to rotate.",
    "2. The bionic robot for all terrains according to claim 1, wherein the extension of the telescopic rod can drive the leg assembly to be lifted, and the retraction of the telescopic rod can drive the leg assembly to be pressed down.",
    "3. The bionic robot for all terrains according to claim 1, wherein the travel wheel is provided with a coupler, and the power output shaft is connected to the travel wheel through the coupler.",
    "4. The bionic robot for all terrains according to claim 1, wherein the housing is provided with a plurality of through-holes to mount the waterproof sonar sensor.",
    "5. The bionic robot for all terrains according to claim 1, wherein baffles extending obliquely are provided at a front side and a rear side of the housing."
  ],
  "description_excerpt": "The present disclosure relates to the field of robots, and more particularly to a bionic robot for all terrains.\n\nAt present, all-terrain robots mainly include wheeled robots, tracked robots, legged robots, compounding robots (such as including wheels and tracks, etc.) and bionic robots (such as snake-like robots, etc.). In the related art, the wheeled robots are not suitable for walking on complex terrains and have poor obstacle-crossing ability and poor adaptability; the legged robots have complex structure and control, poor stability, and low walking speed and efficiency; the tracked robots have large frictional resistance and losses and are prone to abrasion by soil; and the bionic robots have poor motion stability and loading capacity.\n\nThe present disclosure aims to solve at least one of the technical problems in the related art.\n\nTo this end, the present disclosure provides a bionic robot for all terrains, which has a strong obstacle-crossing ability and good motion stability.",
  "cpc": [
    "B62D 57/028",
    "B25J 13/006",
    "B25J 13/089",
    "B25J 19/0091",
    "B25J 9/104",
    "B25J 9/123",
    "B25J 9/1697"
  ],
  "ipc": [
    "B25J 13/00",
    "B25J 13/08",
    "B25J 19/00",
    "B25J 9/10",
    "B25J 9/12",
    "B25J 9/16",
    "B62D 57/028"
  ],
  "assignees": [
    "Inner Mongolia Su Meng Technology Power Equipment Co Ltd",
    "China University of Mining and Technology Beijing CUMTB"
  ],
  "inventors": [
    "Jianwei Zhao",
    "Hai Zhang",
    "Zhikang CHI",
    "Haichao Zhang",
    "Chaoyi LIU",
    "Xiaofei MA"
  ],
  "filing_date": "2020-10-29",
  "publication_date": "2024-04-16",
  "grant_date": "2024-04-16",
  "priority_date": "2019-10-29",
  "application_number": "US-202017084167-A",
  "family_id": "69084689",
  "cited_by_count": 1,
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  ]
}