CN216401577U - Robot running gear and have its robot - Google Patents

Abstract

The utility model provides a robot walking mechanism and a robot with the same, comprising: the thigh part comprises a first end and a second end which are oppositely arranged; the first transmission assembly comprises a first belt wheel, a second belt wheel and a first synchronous belt, the first belt wheel is rotatably connected to the first end of the thigh part, the second belt wheel is rotatably connected to the second end of the thigh part, and the first synchronous belt is sleeved on the first belt wheel and the second belt wheel; the lower leg part comprises a first end and a second end which are arranged oppositely, the first end of the lower leg part is fixedly connected with the second belt wheel, the lower leg part can rotate relative to the thigh part, and the lower leg part has a retraction state and a support state relative to the thigh part; the first driving motor is in driving connection with the first belt wheel and drives the shank part to rotate through the first transmission assembly, so that the shank part is switched between a withdrawing state and a supporting state. By adopting the technical scheme, the problem that the stability of the robot in the prior art is poor is solved.

Description

Robot running gear and have its robot

Technical Field

The utility model relates to the technical field of robots, in particular to a robot walking mechanism and a robot with the same.

Background

With the rapid development of science and technology, more and more wheel-legged robots are used in dangerous and complex working environments. In the prior art, a driving component for switching wheel legs of a common wheel leg robot is arranged at a joint, so that the overall rotational inertia of the robot is large, high requirements on the real-time performance and the reliability of a gait motion control algorithm of the robot are required for making up for the defects caused by the large rotational inertia, the design cost of the robot is improved, and the overall stability of the robot is poor due to the structure.

SUMMERY OF THE UTILITY MODEL

The utility model provides a robot walking mechanism and a robot with the same, and aims to solve the problem that the stability of the robot in the prior art is poor.

According to an aspect of the present invention, there is provided a robot traveling mechanism including: the thigh part comprises a first end and a second end which are oppositely arranged; the first transmission assembly comprises a first belt wheel, a second belt wheel and a first synchronous belt, the first belt wheel is rotatably connected to the first end of the thigh part, the second belt wheel is rotatably connected to the second end of the thigh part, and the first synchronous belt is sleeved on the first belt wheel and the second belt wheel; the lower leg part comprises a first end and a second end which are arranged oppositely, the first end of the lower leg part is fixedly connected with the second belt wheel, the lower leg part can rotate relative to the thigh part, and the lower leg part has a retraction state and a support state relative to the thigh part; the first driving motor is arranged at the first end of the thigh part and is in driving connection with the first belt wheel, and the first driving motor drives the shank part to rotate through the first transmission assembly, so that the shank part is switched between a withdrawing state and a supporting state.

Further, the robot traveling mechanism further includes: a second drive motor; the walking wheel is rotatably arranged at the second end of the thigh part, the second driving motor is in driving connection with the walking wheel, and the second driving motor can drive the walking wheel to rotate under the condition that the shank part is in a withdrawing state, so that the robot walking mechanism can walk through the walking wheel.

Further, the robot walking mechanism further comprises a second transmission assembly, the second transmission assembly comprises a third belt wheel, a fourth belt wheel and a second synchronous belt, the third belt wheel is connected to the thigh portion in a rotating mode, the fourth belt wheel is connected to the second end of the thigh portion in a rotating mode, the second synchronous belt is sleeved on the third belt wheel and the fourth belt wheel, a second driving motor is arranged on the side wall of the thigh portion and is in driving connection with the third belt wheel, and the fourth belt wheel is fixedly connected with the walking wheels.

Furthermore, the second end of thigh part rotates and is connected with the pivot, and the second band pulley rotates with the pivot to be connected, and walking wheel and fourth band pulley fixed connection are in the pivot.

Further, the end of the second end of the lower leg portion is a bulbous structure.

Further, the robot walking mechanism further comprises a crotch component, the crotch component comprises a cross shaft, the cross shaft is provided with a first connecting shaft and a second connecting shaft which are perpendicular to each other, two ends of the first connecting shaft are connected with a first bevel gear and a second bevel gear, one end of the second connecting shaft is connected with a third bevel gear, the third bevel gear is meshed with the first bevel gear and the second bevel gear respectively, the third bevel gear rotates around the first connecting shaft when the first bevel gear and the second bevel gear rotate around the same direction, the third bevel gear rotates around the second connecting shaft when the first bevel gear and the second bevel gear rotate around the opposite direction, and the thigh part is fixedly connected with the third bevel gear.

Further, the crotch assembly further comprises two third drive motors, one third drive motor being drivingly connected to the first bevel gear and the other third drive motor being drivingly connected to the second bevel gear.

Furthermore, a reset structure is arranged between the thigh part and the shank part.

Furthermore, the reset structure is a torsion spring, two ends of the torsion spring are respectively connected with the thigh part and the shank part, and when the shank part is in a retraction state, the torsion spring is in a compression state.

According to another aspect of the present invention, there is provided a robot including a robot body and the robot running mechanism described in the above technical solution.

By applying the technical scheme of the utility model, the first belt wheel is arranged at the first end of the thigh part, the second belt wheel is arranged at the second end of the thigh part, the first synchronous belt is sleeved on the first belt wheel and the second belt wheel, the first end of the shank part is fixedly connected with the second belt wheel, the first driving motor is in driving connection with the first belt wheel, and the first driving motor drives the shank part to rotate through the first belt wheel, the second belt wheel and the first synchronous belt. By adopting the technical scheme, the first belt wheel, the second belt wheel and the first synchronous belt are arranged to serve as the first transmission assembly, so that the first driving motor is arranged at one end, far away from the lower leg, of the thigh, even if most of weight is concentrated at the upper end of the thigh, the motion inertia of the lower leg of the robot walking mechanism is reduced, the stability of the robot walking mechanism is improved, and the motion performance of the robot is improved.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the utility model and, together with the description, serve to explain the utility model and not to limit the utility model. In the drawings:

FIG. 1 is a schematic structural diagram of a robot walking mechanism provided by the utility model;

FIG. 2 shows a schematic structural view of portion A of FIG. 1;

FIG. 3 is another schematic structural diagram of the walking mechanism of the robot provided by the utility model;

FIG. 4 is a schematic structural diagram of a portion D of FIG. 3;

FIG. 5 shows a schematic of the construction of the crotch assembly of the robotic chassis provided by the present invention;

FIG. 6 is a schematic diagram of a robot provided by the present invention;

FIG. 7 is a schematic diagram of another aspect of the robot provided by the present invention;

fig. 8 shows a schematic structural diagram of a robot according to another embodiment of the present invention.

Wherein the figures include the following reference numerals:

10. a thigh section; 11. a first end of a thigh; 12. a second end of the thigh; 21. a second pulley; 22. a first synchronization belt; 30. a lower leg portion; 31. a first end of a lower leg portion; 32. a second end of the lower leg portion; 40. a first drive motor; 50. a traveling wheel; 61. a fourth pulley; 62. a second synchronous belt; 63. a third belt pulley; 80. a crotch component; 81. a cross shaft; 811. a first connecting shaft; 812. a second connecting shaft; 82. a first bevel gear; 83. a second bevel gear; 84. a third bevel gear; 85. a fourth bevel gear; 86. a third drive motor; 90. a second drive motor; 100. a robot body; 110. a torsion spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the utility model, its application, or uses. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 4, an embodiment of the present invention provides a robot walking mechanism including a thigh portion 10, a first transmission assembly, a shank portion 30, and a first driving motor 40. Thigh portion 10 includes first and second oppositely disposed ends; the first transmission assembly comprises a first belt wheel, a second belt wheel 21 and a first synchronous belt 22, the first belt wheel is rotatably connected to the first end 11 of the thigh portion, the second belt wheel 21 is rotatably connected to the second end 12 of the thigh portion, and the first synchronous belt 22 is sleeved on the first belt wheel and the second belt wheel 21. Optionally, the thigh portion 10 has an accommodating chamber in which the first pulley, the second pulley 21 and the first timing belt 22 are disposed to make the entire structure compact. The lower leg portion 30 comprises a first end and a second end which are oppositely arranged, the first end 31 of the lower leg portion is fixedly connected with the second belt wheel 21, the lower leg portion 30 can rotate relative to the thigh portion 10, and the lower leg portion 30 has a retracting state and a supporting state relative to the thigh portion 10. The first pulley and the first timing belt 22 rotate the second pulley 21, thereby rotating the lower leg portion 30 with respect to the upper leg portion 10. The first driving motor 40 is disposed at the first end 11 of the thigh and is in driving connection with the first belt wheel, and the first driving motor 40 drives the calf portion 30 to rotate through the first transmission assembly, so that the calf portion 30 is switched between the retracted state and the supporting state. Optionally, a protective housing is provided on the outer wall of the first end 11 of the thigh portion, and the first drive motor 40 is provided within the protective housing.

By applying the technical scheme of the utility model, the first belt wheel is arranged at the first end 11 of the thigh part, the second belt wheel 21 is arranged at the second end 12 of the thigh part, the first synchronous belt 22 is sleeved on the first belt wheel and the second belt wheel 21, the first end 31 of the shank part is fixedly connected with the second belt wheel 21, the first driving motor 40 is in driving connection with the first belt wheel, and the first driving motor 40 drives the shank part 30 to rotate through the first belt wheel, the second belt wheel 21 and the first synchronous belt 22, so that the shank part 30 is switched between the retraction state and the support state. By adopting the technical scheme, the first belt wheel, the second belt wheel 21 and the first synchronous belt 22 are arranged to serve as the first transmission component, so that the first driving motor 40 is arranged at one end, far away from the lower leg part 30, of the thigh part 10, even if most of weight is concentrated at the upper end of the thigh part 10, the motion inertia of the lower leg part 30 of the robot walking mechanism is reduced, the stability of the robot walking mechanism is improved, and the motion performance of the robot is improved.

In this embodiment, the robot traveling mechanism further includes a second driving motor 90 and traveling wheels 50. The walking wheels 50 are rotatably arranged at the second ends 12 of the thighs, the second driving motor 90 is in driving connection with the walking wheels 50, and under the condition that the shank portion 30 is in a retraction state, the second driving motor 90 can drive the walking wheels 50 to rotate, so that the robot walking mechanism can walk through the walking wheels 50. When the road surface is flat, the robot running mechanism can be moved by the travelling wheels 50, so that the moving speed of the robot running mechanism can be increased.

Wherein, robot running gear still includes second drive assembly, second drive assembly includes third band pulley 63, fourth band pulley 61, second hold-in range 62, third band pulley 63 rotates to be connected on thigh portion 10, fourth band pulley 61 rotates to be connected on thigh portion's second end 12, second hold-in range 62 cover is established on third band pulley 63 and fourth band pulley 61, second driving motor 90 sets up on thigh portion 10's lateral wall and with third band pulley 63 drive connection, fourth band pulley 61 and walking wheel 50 fixed connection. The second driving assembly is provided to set the second driving motor 90 to the second end 12 far away from the thigh, so that most of the weight is concentrated on the upper end of the thigh 10, thereby reducing the motion inertia of the lower part of the robot walking mechanism and further enhancing the stability of the robot walking mechanism. Alternatively, the third pulley 63 and the fourth pulley 61 are both disposed in the accommodation cavity of the thigh portion 10, the second drive motor 90 is disposed on the outer side wall of the thigh portion 10, and the second drive motor 90 is disposed in the protective case. Optionally, a third pulley 63 is provided in the middle of the thigh section 10 or at the second end 12 of the thigh section. The walking wheels 50 are arranged at the second end 12 of the thigh part, and the second driving motor 90 is arranged on the thigh part 10, so that the parts of the second transmission component are reduced, the transmission distance is shortened, the rotational inertia of the robot walking mechanism can be effectively reduced, and the gait control of the robot walking mechanism is convenient.

In this embodiment, the second end 12 of the thigh is rotatably connected with a rotating shaft, the second pulley 21 is rotatably connected with the rotating shaft, and the traveling wheel 50 and the fourth pulley 61 are fixedly connected with the rotating shaft. Therefore, the travelling wheels 50, the fourth belt wheel 61 and the second belt wheel 21 are arranged on the rotating shaft side by side, so that the second end 12 of the thigh part is compact in structure and small in size, and the size of the robot travelling mechanism is reduced.

Specifically, the end of the second end 32 of the calf portion is a bulbous structure. The arrangement enables the robot walking mechanism to adapt to the road surface of various terrains when walking.

As shown in fig. 5, in the present embodiment, the robot walking mechanism further includes a crotch assembly 80, the crotch assembly 80 includes a cross 81 having a first connecting shaft 811 and a second connecting shaft 812 perpendicular to each other, a first bevel gear 82 and a second bevel gear 83 are connected to both ends of the first connecting shaft 811, a third bevel gear 84 is connected to one end of the second connecting shaft 812, the third bevel gear 84 is engaged with the first bevel gear 82 and the second bevel gear 83, respectively, the third bevel gear 84 rotates around the first connecting shaft 811 when the first bevel gear 82 and the second bevel gear 83 rotate in the same direction, and the third bevel gear 84 rotates around the second connecting shaft 812 when the first bevel gear 82 and the second bevel gear 83 rotate in opposite directions. The first bevel gear 82 and the second bevel gear 83 both rotate about the axis of the first connecting shaft 811. As shown in FIG. 5, first bevel gear 82 and second bevel gear 83 may rotate in either direction B or direction C, which is opposite to direction C. Optionally, the crotch assembly 80 further comprises a crotch shell, and the cross 81, the first bevel gear 82, the second bevel gear 83 and the third bevel gear 84 are all arranged in the crotch shell, which facilitates the connection of the crotch assembly 80 to the robot body 100 and avoids interference of the outside with the first bevel gear 82, the second bevel gear 83 and the third bevel gear 84. In other embodiments, cross 81 may be replaced by a fixed frame to which first bevel gear 82, second bevel gear 83, and third bevel gear 84 are rotatably coupled. Thigh portion 10 is fixedly connected to third bevel gear 84. Optionally, the thigh part 10 and the third bevel gear 84 are fixedly connected by a flange or a connecting rod.

In this embodiment, the crotch assembly 80 further comprises two third drive motors 86, one third drive motor 86 being in driving connection with the first bevel gear 82 and the other third drive motor 86 being in driving connection with the second bevel gear 83. Two third driving motors 86 drive the first bevel gear 82 and the second bevel gear 83, respectively, so that the third bevel gear 84 rotates the thigh portion 10 about the first connecting shaft 811 or the second connecting shaft 812. Alternatively, the third drive motors 86 are respectively provided on both sides of the crotch shell.

In the embodiment, one end of the second connecting shaft 812 far away from the third bevel gear 84 is connected with a fourth bevel gear 85, and the fourth bevel gear 85 is meshed with the first bevel gear 82 and the second bevel gear 83. The provision of the fourth bevel gear 85 ensures the stability of the connection between the first bevel gear 82, the second bevel gear 83 and the third bevel gear 84, thereby enhancing the structural stability of the crotch assembly 80.

Specifically, the first drive motor 40 and the second drive motor 90 are respectively provided on both sides of the thigh portion 10. This keeps the center of gravity of the thigh 10 balanced, thereby ensuring stability of the thigh 10.

In the present embodiment, a return structure is provided between the thigh portion 10 and the lower leg portion 30. The reset structure is used to assist in switching the lower leg portion 30 from the retracted state to the supporting state. Since the robot running mechanism and the robot have a certain gravity, a large driving force is required when the lower leg portion 30 is switched from the retracted state to the support state, and the load of the first driving motor 40 can be effectively reduced by providing the reset structure.

Specifically, the restoring structure is a torsion spring 110, two ends of the torsion spring 110 are respectively connected with the thigh portion 10 and the lower leg portion 30, and when the lower leg portion 30 is in the retracted state, the torsion spring 110 is in a compressed state. Optionally, the torsion spring 110 may also be in a compressed state when the lower leg portion 30 is in the supporting state, and a part of the torque load applied to the first end 31 of the lower leg portion can be effectively offset by the elastic force of the torsion spring 110, so as to reduce the acting force of the torque load on the first driving motor 40.

As shown in fig. 6 to 8, the present invention further provides a robot, which includes a robot body 100 and the robot walking mechanism described in the above technical solution. By adopting the robot of the robot walking mechanism provided by the above, the first driving motor 40 and the second driving motor 90 are both arranged on the thigh part 10, so that the gravity center of the robot walking mechanism is leaned on, the stability of the robot walking mechanism is increased, and the overall stability of the robot is further improved. Alternatively, the robot has four or six robot traveling mechanisms, and the plurality of robot traveling mechanisms are symmetrically distributed on both sides of the robot body 100.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first", "second", and the like are used to define the components, and are only used for convenience of distinguishing the corresponding components, and the terms have no special meanings unless otherwise stated, and therefore, the scope of the present invention should not be construed as being limited.

The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A robot traveling mechanism characterized by comprising:

a thigh portion (10), the thigh portion (10) comprising oppositely disposed first and second ends;

the first transmission assembly comprises a first belt wheel, a second belt wheel (21) and a first synchronous belt (22), the first belt wheel is rotatably connected to the first end (11) of the thigh part, the second belt wheel (21) is rotatably connected to the second end (12) of the thigh part, and the first synchronous belt (22) is sleeved on the first belt wheel and the second belt wheel (21);

the small leg part (30) comprises a first end and a second end which are oppositely arranged, the first end (31) of the small leg part is fixedly connected with the second belt wheel (21), the small leg part (30) can rotate relative to the big leg part (10), and the small leg part (30) has a withdrawing state and a supporting state relative to the big leg part (10);

the first driving motor (40) is arranged at the first end (11) of the thigh part and is in driving connection with the first belt wheel, and the first driving motor (40) drives the small leg part (30) to rotate through the first transmission component so as to enable the small leg part (30) to be switched between the withdrawing state and the supporting state.

2. The robot walking mechanism of claim 1, further comprising:

a second drive motor (90);

the walking wheel (50) is rotatably arranged at the second end (12) of the thigh part, the second driving motor (90) is in driving connection with the walking wheel (50), the small leg part (30) is in the condition of the withdrawing state, the second driving motor (90) can drive the walking wheel (50) to rotate, and therefore the robot walking mechanism can walk through the walking wheel (50).

3. The robot walking mechanism according to claim 2, further comprising a second transmission assembly, wherein the second transmission assembly comprises a third belt wheel (63), a fourth belt wheel (61) and a second synchronous belt (62), the third belt wheel (63) is rotatably connected to the thigh portion (10), the fourth belt wheel (61) is rotatably connected to the second end (12) of the thigh portion, the second synchronous belt (62) is sleeved on the third belt wheel (63) and the fourth belt wheel (61), the second driving motor (90) is arranged on the side wall of the thigh portion (10) and is in driving connection with the third belt wheel (63), and the fourth belt wheel (61) is fixedly connected with the walking wheel (50).

4. The robot walking mechanism according to claim 3, wherein the second end (12) of the thigh portion is rotatably connected with a rotating shaft, the second belt wheel (21) is rotatably connected with the rotating shaft, and the walking wheel (50) and the fourth belt wheel (61) are fixedly connected on the rotating shaft.

5. The robotic walking mechanism of claim 1, wherein an end of the second end (32) of the shank portion is a bulbous structure.

6. The robot walking mechanism according to claim 1, further comprising a crotch member (80), wherein the crotch member (80) comprises a cross (81) having a first connecting shaft (811) and a second connecting shaft (812) perpendicular to each other, a first bevel gear (82) and a second bevel gear (83) are connected to both ends of the first connecting shaft (811), a third bevel gear (84) is connected to one end of the second connecting shaft (812), the third bevel gears (84) are respectively engaged with the first bevel gear (82) and the second bevel gear (83), the third bevel gear (84) rotates around the first connecting shaft (811) when the first bevel gear (82) and the second bevel gear (83) rotate in the same direction, and the third bevel gear (84) rotates around the third bevel gear (84) when the first bevel gear (82) and the second bevel gear (83) rotate in opposite directions Two connecting shafts (812) rotate, and the first ends (11) of the thigh parts are fixedly connected with the third bevel gears (84).

7. The robotic walking mechanism of claim 6, wherein the crotch assembly (80) further comprises two third drive motors (86), one of said third drive motors (86) being in driving connection with the first bevel gear (82) and the other of said third drive motors (86) being in driving connection with the second bevel gear (83).

8. The robot running gear according to claim 1, characterized in that a return structure is provided between the thigh section (10) and the lower leg section (30).

9. The robot walking mechanism according to claim 8, wherein the return structure is a torsion spring (110), both ends of the torsion spring (110) are respectively connected to the thigh portion (10) and the lower leg portion (30), and when the lower leg portion (30) is in the retracted state, the torsion spring (110) is in a compressed state.

10. A robot, characterized by comprising a robot body (100) and a robot walking mechanism according to any one of claims 1 to 9.

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