Patent ID: 11958552
Assignee: CHINA UNIVERSITY OF MINING AND TECHNOLOGY, BEIJING
Field: Handling (Mechanical engineering)
Classification: CPC B | IPC B

Claim 0:
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.