CN116788387A - Modularized robot - Google Patents
Modularized robot Download PDFInfo
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- CN116788387A CN116788387A CN202310776191.XA CN202310776191A CN116788387A CN 116788387 A CN116788387 A CN 116788387A CN 202310776191 A CN202310776191 A CN 202310776191A CN 116788387 A CN116788387 A CN 116788387A
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- framework
- mount
- thigh
- robot
- leg
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- 210000000689 upper leg Anatomy 0.000 claims description 66
- 210000002414 leg Anatomy 0.000 claims description 44
- 238000009434 installation Methods 0.000 claims description 22
- 230000001360 synchronised effect Effects 0.000 claims description 17
- 244000309466 calf Species 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 2
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000007704 transition Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 13
- 238000012423 maintenance Methods 0.000 abstract description 8
- 230000003068 static effect Effects 0.000 abstract description 4
- 230000017525 heat dissipation Effects 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 8
- 238000005192 partition Methods 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000000265 homogenisation Methods 0.000 description 1
- 238000012994 industrial processing Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The application discloses a modularized robot which comprises a robot body, an energy supply structure and a leg structure, wherein the robot body comprises a first framework and a second framework arranged at the end part of the first framework, the energy supply structure is arranged in the first framework, and part of the leg structure is arranged in the second framework. The modularized robot is provided with the first framework for installing the energy supply structure and the second framework for installing the leg structure, so that the main motion module and the static module are mutually separated to form a multi-module structure with obvious distribution limit, the leg structure and the energy supply structure are supported by the first framework and the second framework, the leg structure and the energy supply structure can be disassembled and assembled by disassembling the first framework and the second framework, the replacement and the maintenance are relatively convenient, and the later maintenance of the robot is facilitated.
Description
The application is a divisional application of patent with the application number of 202110154813.6 and the application date of 2021, 02 and 04, and the application creates a patent named 'modularized robot'.
Technical Field
The application relates to the technical field of robots, in particular to a modularized robot.
Background
Robots can intelligently assist humans in performing dangerous, heavy work and have been widely used in the service industry, industrial processing, education and military industries to perform different types of tasks. In the related art, the robot is set to be integral and not detachable, or the robot is combined by different modules, but the installation among the modules combined with each other is complex, so that the components are crossed or interfered with each other, the modules in the robot are not easy to maintain or replace, and the later maintenance and fault investigation are difficult.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the modularized robot is convenient to assemble, disassemble and maintain in the later period.
According to an embodiment of the application, a modular robot comprises:
the machine body comprises a first framework and a second framework arranged at the end part of the first framework;
the energy supply structure is arranged in the first framework;
and a leg structure, a portion of which is mounted within the second framework.
The modularized robot provided by the embodiment of the application has at least the following beneficial effects:
the modularized robot is provided with the first framework for installing the energy supply structure and the second framework for installing the leg structure, so that the main motion module and the static module are mutually separated to form a multi-module structure with obvious distribution limit, the leg structure and the energy supply structure are supported by the first framework and the second framework, the leg structure and the energy supply structure can be disassembled and assembled by disassembling the first framework and the second framework, the replacement and the maintenance are relatively convenient, and the later maintenance of the robot is facilitated.
According to some embodiments of the application, the first skeleton comprises an end cover and a plurality of connecting frames, the connecting frames enclose a mounting space, the mounting space is used for accommodating the energy supply structure, and the end cover is connected to the end part of the connecting frames.
According to the modularized robot in some embodiments of the present application, the second skeleton comprises a support frame and a support plate, the leg structure is mounted on the support frame, and two ends of the support frame are respectively connected with the end cover and the support plate.
According to the modularized robot in some embodiments of the present application, the leg structure comprises a hip, the hip comprises a first mounting seat and a first driving piece, the first driving piece is mounted in the first framework, two ends of the first mounting seat are rotatably connected with the second framework, and the first driving piece is used for driving the first mounting seat to rotate.
According to the modularized robot in some embodiments of the present application, the leg structure further comprises a thigh part capable of synchronously rotating along with the first mounting seat, the thigh part comprises a second mounting seat and a second driving member, the second mounting seat is connected with the first mounting seat, the second driving member is mounted inside the first mounting seat, and the second driving member is used for driving the second mounting seat to rotate.
According to some embodiments of the application, the thigh comprises a thigh body connected with the second mount and capable of rotating synchronously with the second mount.
According to the modularized robot in some embodiments of the present application, the leg structure further comprises a lower leg part, the lower leg part comprises a third driving piece and a lower leg body, the lower leg body is rotatably connected with the thigh body, the third driving piece is installed in the second installation seat, and the third driving piece is used for driving the lower leg body to rotate relative to the thigh body.
According to the modularized robot in some embodiments of the application, the shank comprises a rotating shaft, the rotating shaft is connected with the thigh body, the shank body is provided with a plug-in groove, and the rotating shaft can enter and exit the plug-in groove from an opening of the plug-in groove.
According to the modularized robot in some embodiments of the application, the thigh body comprises two opposite mounting pieces, two ends of the rotating shaft are respectively connected with the two mounting pieces, and the end of the shank body is accommodated between the two mounting pieces.
According to the modularized robot in some embodiments of the present application, the leg structure further comprises a walking part, the walking part comprises a third mounting seat and a walking wheel, the walking wheel is rotatably connected with the third mounting seat, and the third mounting seat is detachably connected with the calf body.
Additional aspects and advantages of the application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the application.
Drawings
The application is further described with reference to the accompanying drawings and examples, in which:
FIG. 1 is a schematic view of the structure of an embodiment of a modular robot of the present application;
FIG. 2 is a schematic structural diagram of one embodiment of the first and second frames of FIG. 1;
FIG. 3 is a schematic view of one embodiment of the hip of FIG. 1;
FIG. 4 is a schematic view of the thigh and calf portions of FIG. 1;
fig. 5 is an exploded view of the thigh and calf portions of fig. 4.
Reference numerals:
the heat dissipation device comprises a machine body 100, a first framework 110, an end cover 111, a connecting frame 112, a bottom supporting plate 113, a partition plate 114, a heat dissipation element 115, a second framework 120, a supporting frame 121 and a supporting plate 122; an energy supply structure 200; leg structure 300, hip 310, first mount 311, first mount 3111, first drive 312, thigh 320, second mount 321, second mount 3211, first boss 3212, second boss 3213, second drive 322, thigh body 323, mounting plate 3231, end mount 324, mounting cup 325, shank 330, third drive 331, shank body 332, socket 3321, first shaft 333, second shaft 334, synchronizing wheel 335, walking 340, third mount 341, walking wheel 342, fourth drive 343.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
In the description of the present application, the meaning of a number is one or more, the meaning of a number is two or more, and greater than, less than, exceeding, etc. are understood to exclude the present number, and the meaning of a number is understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
In the description of the present application, the descriptions of the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Referring to fig. 1, in one embodiment of the present application, there is provided a modular robot including a body 100, an energy supply structure 200, and a leg structure 300, the body 100 including a first frame 110 and a second frame 120, the second frame 120 being mounted to one end of the first frame 110, the first frame 110 being used to mount the energy supply structure 200, the second frame 120 being used to mount the leg structure 300, the energy supply structure 200 being used to power movement of the leg structure 300 to change a posture or walk of the robot. The energy supply structure 200 does not need active movement, mainly provides electric energy for the leg structure 300, or transmits movement instructions and the like to the leg structure 300, wherein the leg structure 300 is a main movement module, and the movement of the leg structure 300 drives the robot to integrally move; the energy supply structure 200 and the leg structure 300 are fixed on different frameworks, a main motion module and a static module in the robot can be separated, modular installation is achieved, the energy supply structure 200 and the leg structure 300 are supported by the combination of the first framework 110 and the second framework 120, the first framework 110 and the second framework 120 can be detached from each other, the leg structure 300 and the energy supply structure 200 can be detached from each other by assembling and disassembling the first framework 110 and the second framework 120, the operation is convenient, and the maintenance and the replacement of different modules of the robot are facilitated.
Therefore, the first framework 110 for installing the energy supply structure 200 and the second framework 120 for installing the leg structure 300 are arranged in the modularized robot in the embodiment of the application, so that the main motion module and the static module are mutually separated to form a multi-module structure with obvious distribution limit, the leg structure 300 and the energy supply structure 200 are supported by combining the first framework 110 with the second framework 120, the disassembly and assembly between the leg structure 300 and the energy supply structure 200 can be realized by disassembling and assembling the first framework 110 and the second framework 120, the replacement and the maintenance are more convenient, and the later maintenance of the robot is facilitated.
It should be noted that, the plurality of leg structures 300 and the plurality of second frameworks 120 may be provided, the plurality of second frameworks 120 may be respectively installed at two ends of the first framework 110, the leg structures 300 are symmetrically distributed at sides of the second framework 120, in one embodiment of the present application, the second frameworks 120 are installed at two ends of the first framework 110, and the leg structures 300 are installed at two sides of the first framework 110, so that the machine body 100, the energy supply structure 200, and the leg structures 300 are combined to form the quadruped robot.
Referring to fig. 2, the first frame 110 includes an end cover 111 and a plurality of connection frames 112, the end cover 111 is mounted at an end of the connection frames 112, and the plurality of connection frames 112 are spaced apart and bound into a mounting space in which the energy supply structure 200 can be mounted, such that the energy supply structure 200 is fixed in the first frame 110. The connecting frames 112 are arranged at intervals, so that the first framework 110 is in a frame type structure, the weight of the first framework 110 is reduced on the basis of realizing the installation of the energy supply structure 200 by the first framework 110, and the energy supply structure 200 can enter an installation space from the adjacent connecting frames 112, so that the installation is more convenient; the size of the gap between adjacent connectors 112 may be selected based on the particular installation requirements of the energizing structure 200.
Specifically, the connection frame 112 is wound around the outer surface of the end cover 111 along a circle, so that the connection frame 112 is combined into a cylindrical cavity or a prismatic cavity to fit the energy supply structure 200. The end cover 111 supports the tip of link 112 to guarantee the structural strength of first skeleton 110, and make first skeleton 110 form a complete atress system, energy supply structure 200 mountable is on link 112, energy supply structure 200 accessible screw thread fastening's mode realization is fixed with the installation of link 112, energy supply structure 200 is to the load accessible link 112 that first skeleton 110 applyed transmits to end cover 111, messenger's first skeleton 110 atress homogenization, avoid first skeleton 110 stress concentration, optimize the atress performance of first skeleton 110.
In order to improve the stability of the installation of the energy supply structure 200 in the first framework 110, the first framework 110 further comprises a bottom supporting plate 113, the bottom supporting plate 113 is located at the bottom of the first framework 110, the two sides of the bottom supporting plate 113 are connected with connecting frames 112, the energy supply structure 200 is installed on the bottom supporting plate 113, the bottom supporting plate 113 supports the energy supply structure 200, and the bottom supporting plate 113 is provided with a relatively flat installation plane, so that the energy supply structure 200 can be stably installed in the first framework 110. In addition, the bottom plate 113 bears the load applied by the energy supply structure 200, and transmits the stress to other connecting frames 112 or end covers 111 through the connecting frames 112 connected with the bottom plate, so that the stress of the first framework 110 is more uniform.
The energy supply structure 200 comprises a power supply element, a power distributor, a control unit and other components, the power supply element is electrically connected with the power distributor, the control unit and the leg structure 300 through cables, the power supply element is used for providing power support for the leg structure 300, the control unit and other components and maintaining the normal operation of the components, and the power supply element can be a battery; the control unit is used for receiving detection information of different detection elements in the robot, motion parameters of the driving element and the like, and sending instructions to the driving element and the detection elements through processing so as to enable the robot to execute corresponding actions, and the control unit can be a PLC control system and the like.
In order to balance the energy supply structure 200 in the first framework 110, the components in the energy supply structure 200 may be symmetrically installed in the first framework 110, in addition, the first framework 110 further includes a plurality of partitions 114, the partitions 114 may be connected with the connecting frame 112 and located between the two end covers 111, and the partitions 114 may assist the end covers 111 to support the connecting frame 112, so as to further improve the structural strength of the first framework 110; the partition 114 is located in the installation space, the partition 114 divides the installation space into a plurality of areas, and different types of energy supply structures 200 can be installed in different areas in the installation space, so that different components in the energy supply structures 200 are reasonably distributed. In one embodiment of the present application, since the power supply element has a larger weight than other components, the power supply element may be disposed in the middle region of the installation space, and other components in the power supply structure 200 are installed at both sides of the power supply element, so that the power supply structure is balanced within the first frame 110.
The energy supply structure 200 generates heat during operation, so as to facilitate heat dissipation of the energy supply structure 200, the first framework 110 is mounted on the plurality of heat dissipation elements 115, and is configured to dissipate heat of the energy supply structure 200. In one embodiment of the present application, the heat dissipation elements 115 are installed on both sides and the bottom of the first framework 110, so that the heat dissipation elements 115 dissipate heat from different areas of the energy supply structure 200, and optimize the heat dissipation effect. The heat dissipation element 115 may be a fan, a wind wheel, or the like.
Referring to fig. 1 (in order to facilitate the observation of the internal structure of the first skeleton 110, a part of the casing is hidden in fig. 1), the outer surface of the first skeleton 110 is further covered with a casing, which can protect the functional structure from being damaged by the external environment. The housing is provided with a plurality of heat dissipation holes corresponding to the corresponding positions of the heat dissipation elements 115 so that heat inside the housing is discharged from the heat dissipation holes.
The second framework 120 comprises a support frame 121 and a support plate 122, two ends of the support frame 121 are respectively connected with the end cover 111 and the support plate 122, and the end cover 111 and the support plate 122 are combined to support the support frame 121, so that the second framework 120 has enough structural strength; through the connection of the support frame 121 and the end cover 111, the second framework 120 and the first framework 110 are combined to form a complete stress system, the leg structure 300 is arranged on the support frame 121, and the load applied to the support frame 121 by the leg structure 300 can be transferred to the first framework 110 through the end cover 111, so that the whole stress of the first framework 110 and the second framework 120 is uniform.
The two ends of the first frame 110 may be respectively provided with a plurality of supporting frames 121 to be matched with the thigh structure, and the plurality of supporting frames 121 may share the same supporting plate 122, so that the adjacent supporting frames 121 are connected to each other and can mutually transmit stress, so that two sides of the machine body 100 are balanced.
It should be noted that, the first skeleton 110 and the second skeleton 120 may be made of an aluminum alloy, which has the advantages of corrosion resistance, low density and high strength, and can meet the requirements of light weight and high structural strength of the first skeleton 110 and the second skeleton 120.
Referring to fig. 3, the leg structure 300 includes a hip 310, the hip 310 includes a first mounting seat 311 and a first driving member 312, the first driving member 312 is mounted inside the first framework 110, the first mounting seat 311 is rotatably connected in the second framework 120, and the first driving member 312 is used for driving the first mounting seat 311 to rotate. The first frame 110 can be used for installing and fixing the first driving piece 312, and the second frame 120 can support the first installation seat 311, so that the first installation seat 311 rotates stably.
Specifically, the two ends of the first mounting seat 311 are respectively connected with the end cover 111 and the support plate 122 in a rotating way, and the end cover 111 and the support plate 122 are combined to support the first mounting seat 311, so that one end of the first mounting seat 311 is prevented from being suspended, and the first mounting seat 311 is prevented from swinging in the rotating process. In addition, after the first mounting seat 311 is detached from the first driving element 312 and the support 121 is detached from the end cover 111, the hip 310 and the machine body 100 can be detached, and the operation is convenient.
In addition, it should be noted that the second frame 120 bears the load of the first mounting seat 311 and slight vibration during rotation, and is transferred to the first frame 110 through the end cover 111, so that the stress of the fuselage 100 is more uniform. Referring to fig. 4 and 5, the leg structure 300 further includes a thigh 320, and the thigh 320 is connected with the hip 310 and can rotate synchronously with the rotation of the first mounting seat 311, so that the thigh 320 is opened to the outside by a certain angle to adjust the overall walking height of the robot. Thigh 320 includes second mount 321 and second driver 322, and second driver 322 is installed in the inside of first mount 311, makes hip 310 and thigh 320 realize being connected to can improve the compactness of hip 310 and thigh 320 structural connection, in addition, second skeleton 120 can support the structure of second driver 322 and first mount 311 after the combination to guarantee the stability of second driver 322, first mount 311 motion.
The second driving piece 322 is connected with the second mounting seat 321 and is used for driving the second mounting seat 321 to rotate, in the rotating process of the second mounting seat 321, the whole thigh 320 can rotate a certain angle relative to the hip 310, and the robot can integrally move forward through the reciprocating rotation of the second mounting seat 321 and the cooperation of the plurality of leg structures 300. In addition, since the second driving part 322 is coupled to the first mounting seat 311 to couple the hip 310 to the thigh 320, the hip 310 and the thigh 320 can move simultaneously, so that the robot can adjust the travel height simultaneously during the forward travel.
Thigh 320 includes detachable thigh body 323 and end seat 324, and end seat 324 is connected with second mount 321, and end seat 324 can rotate along with the rotation of second mount 321 to drive thigh body 323 and rotate relative to hip 310, thigh body 323 swings relative to hip 310 in order to make the robot forward. Specifically, the end of the thigh body 323 is abutted with the end of the end seat 324 and locked by threads, so that the thigh body 323 and the end seat are convenient to disassemble and assemble.
The leg structure 300 further includes a shank portion 330, where the shank portion 330 includes a third driving member 331 and a shank body 332, the shank body 332 is rotatably connected with one end of the thigh body 323 far away from the end seat 324, the third driving member 331 is used for driving the shank body 332 to rotate relative to the thigh body 323, realizing swinging of the shank body 332, and adjusting an included angle between the thigh body 323 and the shank body 332, and the shank body 332 and the thigh body 323 move simultaneously to assist each other to make the robot advance. The third driving part 331 is installed in the second installation seat 321, so that the lower leg part 330 and the thigh part 320 form connection, and therefore the lower leg part 330 is compatible with the swinging of the lower leg part 330 and the movement of the following thigh part 320 and the following hip part 310, so that the robot has higher walking flexibility, the compactness of the connection of the thigh part 320 and the lower leg part 330 is improved, and the second installation seat 321 protects the third driving part 331, and the third driving part 331 is prevented from being influenced by the external environment. In order to improve the convenience of assembling and disassembling the second driving member 322 and the third driving member 331, in an embodiment of the application, the first mounting seat 311 includes two first mounting members 3111, the two first mounting members 3111 are both in a shell-shaped structure, the two first mounting members 3111 are mutually abutted to form the first mounting seat 311, and the second driving member 322 can be separated from or mounted on the first mounting seat 311 by assembling and disassembling the first mounting members 3111; the second mounting seat 321 comprises two second mounting pieces 3211, the two second mounting pieces 3211 are in butt joint to form the second mounting seat 321, and the third driving piece 331 can be separated from or mounted on the second mounting seat 321 by dismounting the second mounting pieces 3211. Since the rotation axes of the hip 310 and the thigh 320 are not parallel, the first attachment 3111 is attached and detached in the rotation axis direction of the first driver 312, and the second attachment 3211 is attached and detached in the rotation axis direction of the second driver 322.
The end face of one second mounting piece 3211 is provided with a first boss 3212, the end face of the other second mounting piece 3211 is provided with a second boss 3213, the first boss 3212 is used for being connected with the second driving piece 322, and the second boss 3213 is used for being connected with the end seat 324, so that the second mounting seat 321 is used as a transition part between the hip 310 and the thigh 320, connection between the hip 310 and the thigh 320 is achieved, mounting space is provided for the third driving piece 331 of the thigh 330, integration degree of the hip 310, the thigh 320 and the thigh 330 is improved, and connection compactness of the hip 310, the thigh 320 and the thigh 330 is optimized. Specifically, the first boss 3212 and the second boss 3213 are annular or semi-annular, and a plurality of mounting holes are uniformly distributed on the first boss 3212 and the second boss 3213 along the profile extending direction of the first boss 3212 and the second boss 3213, and locking of the first boss 3212 and the second driving piece 322 and locking of the second boss 3213 and the end seat 324 can be achieved by arranging threaded fasteners in the mounting holes.
The third driving member 331 is integrated in the second mounting seat 321, so that the driving member is prevented from being disposed outside the leg portion of the robot, so that the robot is tidier, a certain transmission distance is provided between the third driving member 331 and the lower leg body 332, and in one embodiment of the present application, the lower leg 330 includes a first rotating shaft 333 and a second rotating shaft 334, and the first rotating shaft 333 is connected with the third driving member 331 and is driven by the third driving member 331 to rotate. The second rotating shaft 334 is fixed at the end of the thigh body 323, the shank body 332 is rotationally connected with the second rotating shaft 334, and the first rotating shaft 333 and the second rotating shaft 334 realize power transmission through a transmission structure such as a conveyor belt, so that the second rotating shaft 334 synchronously rotates along with the first rotating shaft 333, and swing of the shank body 332 relative to the thigh body 323 is realized.
Specifically, the lower leg 330 may further include a synchronous belt (not shown) and two synchronous wheels 335, where the two synchronous wheels 335 are fixedly connected with the first rotating shaft 333 and the second rotating shaft 334, the synchronous belt is wound on the two synchronous wheels 335, and the two synchronous wheels 335 synchronously rotate through power transmission of the synchronous belt, so as to realize synchronous rotation of the first rotating shaft 333 and the second rotating shaft 334, and improve power transmission efficiency of the lower leg 330. The synchronous belt and the synchronous wheel 335 are adopted for power transmission, so that the rotation stability of the first rotating shaft 333 and the second rotating shaft 334 can be improved; in addition, the thigh body 323 can be provided with a tensioning wheel, and the tensioning wheel can tension the synchronous belt, so that the power transmission efficiency of the synchronous belt is further improved.
The power transmission mode is provided by the conveyor belt, the conveyor belt can pass through the thigh body 323, the conveyor belt is prevented from being exposed, and the compactness of the structural connection can be improved. In addition, the third driving member 331 and the synchronizing wheel 335 are installed between the end base 324 and the second installation member 3211, and the end base 324 is wrapped outside the third driving member 331 and the end base 324, so as to prevent the third driving member 331 and the synchronous belt from being affected by external environment. Thigh 320 further includes a mounting cover 325, and mounting cover 325 covers the outside of end piece 324, protecting end piece 324 and third driver 331.
The synchronizing wheel 335 is embedded in the shank, a plurality of mounting holes are formed in the surface of the synchronizing wheel 335 and the surface of the shank body 332 along the circumferential direction of the synchronizing wheel 335, and locking of the synchronizing wheel 335 and the shank body 332 can be achieved by arranging threaded fasteners in the mounting holes, so that the shank body 332 rotates synchronously along with the synchronizing wheel 335. The second rotating shaft 334 is arranged in the synchronizing wheel 335 in a penetrating way and is fixedly connected with the thigh body 323, the end part of the shank body 332 is provided with a plug groove 3321, the plug groove 3321 is provided with an opening, the second rotating shaft 334 can enter and exit the plug groove 3321 from the opening, so that the shank body 332 is separated from the thigh body 323 or assembled with the thigh body 323, and the disassembly and assembly are convenient.
In addition, the thigh body 323 includes two mounting plates 3231, a space between the two mounting plates 3231 forms a mounting space, a synchronous belt, a tensioning wheel and the like can be mounted in the mounting space, the end portion of the shank body 332 and the synchronous wheel 335 are located between the two mounting plates 3231, and two ends of the second rotating shaft 334 are fixedly connected with the two mounting plates respectively, so that the thigh body 323 and the shank body 332 can be assembled conveniently.
The leg structure 300 further comprises a walking part 340, the walking part 340 comprises a third mounting seat 341 and a walking wheel 342, the third mounting seat 341 is detachably connected with the lower leg body 332, the walking part 340 can be detached or installed according to the movement requirement of the robot, the third mounting seat 341 is rotationally connected with the walking wheel 342, and the robot is assisted to move forward through the rotation of the walking wheel 342. In addition, in order to meet the requirement of the height of the robot in the corresponding application scenario, when the angle of the thigh body 323 and the shank body 332 folding with each other is smaller, the thigh 320 needs to provide a larger torque to support the robot to advance, in one embodiment of the present application, a fourth driving member 343 is disposed in the walking portion 340, and the fourth driving member 343 is connected with the walking wheel 342 and drives the walking wheel 342 to rotate, so as to assist the thigh 320 to provide power for the advancing of the robot.
The first driving member 312, the second driving member 322, the third driving member 331 and the fourth driving member 343 may be driving members such as motors and motors.
The embodiments of the present application have been described in detail with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present application. Furthermore, embodiments of the application and features of the embodiments may be combined with each other without conflict.
Claims (10)
1. The modularized robot is characterized by comprising:
the machine body comprises a first framework and a second framework arranged at the end part of the first framework;
the energy supply structure is arranged in the first framework;
a leg structure, a portion of the leg structure being mounted within the second framework;
the first framework and the second framework can be mutually detached, and the leg structure and the energy supply structure can be detached by assembling and detaching the first framework and the second framework;
the first framework comprises an end cover and a plurality of connecting frames, the end cover is arranged at the end part of the connecting frames, the connecting frames are distributed at intervals and are wound around the outer surface of the end cover to form an installation space, the first framework forms a complete stress system, and the installation space is used for accommodating the energy supply structure;
the second framework comprises a support frame and a support plate, two ends of the support frame are respectively connected with the end cover and the support plate, and the leg structure is arranged on the support frame, so that the second framework is combined with the first framework to form a complete stress system.
2. The modular robot of claim 1, wherein the leg structure comprises a hip comprising a first mount and a first drive, the first mount rotatably coupled to the second frame at both ends, the first drive mounted within the first frame, the first drive configured to drive the first mount to rotate; the first mounting seat is detached from the first driving piece, and the support frame is detached from the end cover, so that the hip can be detached from the machine body.
3. The modular robot of claim 2, wherein the leg structure further comprises a thigh portion that follows the first mount for synchronous rotation, the thigh portion comprising a second mount, a second drive member coupled to the first mount, the second drive member mounted within the first mount, the second drive member configured to drive the second mount for rotation, and a thigh body coupled to the second mount and configured to follow the second mount for synchronous rotation.
4. A modular robot as claimed in claim 3, wherein the leg structure further comprises a lower leg including a third drive member and a lower leg body, the lower leg body being rotatably coupled to the thigh body, the third drive member being mounted in the second mount, the third drive member being configured to drive rotation of the lower leg body relative to the thigh body.
5. The modular robot of claim 4, wherein the two ends of the first mount are rotatably coupled to the end cap and the support plate, respectively; the second mount serves as a transition member between the hip and thigh, both to effect connection between the hip and thigh, and to provide mounting space for the third driver of the calf.
6. The modular robot of claim 5, wherein the first mounting base comprises two first mounting members, the two first mounting members are of a shell-like structure, the two first mounting members are in butt joint with each other to form the first mounting base, and the second driving member can be detached from or mounted on the first mounting base by dismounting the two first mounting members.
7. The modular robot of claim 6, wherein the second mount comprises two second mounts, the two second mounts being mated to form the second mount, and wherein disassembly and assembly of the two second mounts allows the third drive member to be disengaged from or mounted to the second mount.
8. The modular robot of claim 7, wherein the two first mounting members are mounted and dismounted along the rotational axis of the first drive member, and the two second mounting members are mounted and dismounted along the rotational axis of the second drive member.
9. The modular robot of any of claims 4-8, wherein the lower leg comprises a first shaft, a second shaft, a timing belt and two timing wheels, the first shaft and the second shaft are respectively disposed in the two timing wheels in a penetrating manner, the timing belt is wound around the timing wheels, the timing wheels are disposed in the thigh body, the first shaft is connected with the third driving member, the second shaft is connected to an end of the thigh body, the lower leg body has a socket slot, the socket slot has an opening, and the second shaft can pass in and out the socket slot from the opening.
10. The modular robot of claim 9, wherein the thigh body includes two opposite mounting members, two ends of the shaft being connected to the two mounting members, respectively, and an end of the shank body being received between the two mounting members.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310776191.XA CN116788387A (en) | 2021-02-04 | 2021-02-04 | Modularized robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110154813.6A CN113002657A (en) | 2021-02-04 | 2021-02-04 | Modular robot |
| CN202310776191.XA CN116788387A (en) | 2021-02-04 | 2021-02-04 | Modularized robot |
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| CN202110154813.6A Division CN113002657A (en) | 2021-02-04 | 2021-02-04 | Modular robot |
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| CN116788387A true CN116788387A (en) | 2023-09-22 |
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| CN202310776191.XA Pending CN116788387A (en) | 2021-02-04 | 2021-02-04 | Modularized robot |
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| CN113525547B (en) * | 2021-07-25 | 2023-04-28 | 青岛工发智能科技有限公司 | Four-foot robot with combined wheel legs |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106240669B (en) * | 2016-07-27 | 2018-06-26 | 江苏安格尔机器人有限公司 | Robot walking device |
| CN108791561A (en) * | 2018-06-11 | 2018-11-13 | 前沿驱动（北京）技术有限公司 | A kind of novel quadruped robot |
| CN109501881B (en) * | 2019-01-14 | 2024-01-12 | 浙江大学 | Four-foot robot walking mechanism |
| CN110304170A (en) * | 2019-07-16 | 2019-10-08 | 深圳市爱因派科技有限公司 | Quadruped robot leg structure and robot |
| CN110588832B (en) * | 2019-10-15 | 2022-04-15 | 中南大学 | Multi-foot type all-terrain robot |
| CN110884588B (en) * | 2019-12-23 | 2022-03-18 | 中国科学院空间应用工程与技术中心 | Quadruped robot platform based on serial mechanical legs |
| CN111391937A (en) * | 2020-04-13 | 2020-07-10 | 高路平 | Four-footed bionic robot with flexible spine |
| CN111846011A (en) * | 2020-08-24 | 2020-10-30 | 航天科工智能机器人有限责任公司 | Electrically-driven bionic quadruped robot |
| CN111891253B (en) * | 2020-09-02 | 2023-12-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Four-foot robot |
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