CN220483450U - Wheel foot structure and robot - Google Patents

Abstract

The application provides a wheel foot structure and a robot, which are used for being arranged on one side of a main chest structure, wherein the main chest structure comprises a first driving piece; the wheel foot structure comprises thighs, rockers, connecting rods, lower legs and wheel part components; one end of the thigh is fixedly connected with the fixed part of the first driving piece, and the other end of the thigh is hinged with the non-end part of the shank; one end of the rocker is fixedly connected with the rotating part of the first driving piece, and the other end of the rocker is hinged with one end of the connecting rod; one end of the lower leg is hinged with the other end of the connecting rod, and the other end of the lower leg is rotationally connected with the wheel part component. The robot comprises a chest cavity main body structure and the wheel foot structure, and the chest cavity main body structure is movably connected with the wheel foot structure. In the application, the equivalent structure of the parallel four-bar mechanism is utilized to realize upward movement of the knee joint revolute pair of the robot, the inertia of the wheel foot structure relative to the knee joint is reduced, and the volume of the whole structure of the robot is compressed.

Description

Wheel foot structure and robot

Technical Field

The application belongs to the technical field of robots, and more specifically relates to a wheel foot structure and a robot.

Background

The double-wheel-foot robot is an iteration of the double-foot robot, the capability of adapting to complex ground which is not commonly used is abandoned, the movement speed and stability are increased, and the double-wheel-foot carrying platform can realize different functions according to different accessories.

Most of robots in the prior art are provided with motors at joints, so that the inertia of the whole robot is increased, and the robot is large in size.

Disclosure of Invention

An object of the embodiment of the application is to provide a wheel foot structure and robot to there is the technical problem that increases the complete machine inertia with the motor installation in robot joint department in solving prior art.

In order to achieve the above purpose, the technical scheme adopted in the application is as follows: providing a wheel foot structure for mounting to one side of a chest body structure, the chest body structure comprising a first drive member; the wheel foot structure comprises thighs, rockers, connecting rods, lower legs and wheel part components; one end of the thigh is fixedly connected with the fixed part of the first driving piece, and the other end of the thigh is hinged with the non-end part of the shank; one end of the rocker is fixedly connected with the rotating part of the first driving piece, and the other end of the rocker is hinged with one end of the connecting rod; one end of the lower leg is hinged with the other end of the connecting rod, and the other end of the lower leg is rotatably connected with the wheel part assembly.

Optionally, the connecting rod comprises a first straight part and a second straight part which are connected in sequence; the first straight part and the second straight part are arranged at an obtuse angle; the first straight portion is hinged to the rocker, and the second straight portion is hinged to the lower leg.

Optionally, the thigh comprises a skeleton and a shell; one end of the framework is connected with the first driving piece fixing part, and the other end of the framework is hinged with the non-end part of the lower leg; the shell covers the framework, so that a containing cavity is formed between the shell and the framework, and the rocker and the connecting rod are located in the containing cavity.

Optionally, a wire harness groove is formed in the lower leg, and the wire harness groove penetrates from one end of the lower leg to the other end of the lower leg.

Optionally, the cable of the wheel assembly passes through the lower leg into the wire harness slot, and passes through the wire harness slot into the receiving cavity, and then passes through the skeleton into the chest body structure.

Optionally, the wheel foot structure further comprises a wire pressing piece, wherein the wire pressing piece is arranged in the wire harness groove or the accommodating cavity, and the wire pressing piece is used for pressing the cable.

Optionally, the wheel assembly comprises a wheel, a second drive member and a wheel foot adapter; the second driving piece comprises a second driving piece fixing part and a second driving piece rotating part, and the second driving piece rotating part is connected with the wheel; the wheel foot adapter is used for connecting the fixed part of the second driving piece and the lower leg.

Optionally, the wheel foot adapter comprises a fixing piece and a mounting piece; the fixing piece is provided with a matching hole, and the fixing part of the second driving piece is connected with the fixing piece, and the rotating part of the second driving piece is arranged in the matching hole; the mounting piece wraps the second driving piece fixing part, one end of the mounting piece is connected with the fixing piece, and the other end of the mounting piece is fixedly connected with the lower leg.

Optionally, the wheel foot structure further comprises a wire covering piece, wherein the wire covering piece is detachably connected with the lower leg at the opening of the wire harness groove and used for sealing the wire harness groove.

The application also provides a robot which comprises the wheel foot structure and the chest cavity main body structure; the chest cavity main body structure is rotationally connected with the wheel foot structure.

Optionally, the chest body structure further comprises a third driver; the third driving piece is connected with the first driving piece in series; the rotating part of the third driving piece is connected with the fixing part of the first driving piece.

The wheel foot structure and the robot that this application provided have the beneficial effect: compared with the prior art, in the application, the thigh, the rocker, the connecting rod and the shank form an equivalent structure of a parallel four-bar mechanism, and meanwhile, the first end of the thigh is connected with the fixed part of the first driving piece; the first end of rocker is connected with the rotation portion of first driving piece, and first driving piece is arranged in thorax major structure, combines the equivalent structure of parallel four-bar linkage to realize the upward movement of the knee joint revolute pair of robot, reduces the inertia of the relative knee joint of wheel foot structure, has compressed the volume of robot overall structure, is favorable to the miniaturized design of robot.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic perspective view of a wheel foot structure (without a housing) according to an embodiment of the present disclosure;

fig. 2 is a schematic perspective view of a wheel foot structure (without a cover wire) according to an embodiment of the present disclosure;

fig. 3 is an equivalent structural schematic diagram of a four-bar mechanism in a wheel foot structure according to an embodiment of the present disclosure;

fig. 4 is a schematic perspective view of a wheel foot structure according to an embodiment of the present disclosure;

fig. 5 is an exploded view of the wheel foot adapter and the second driving member in the wheel foot structure according to the embodiment of the present application;

fig. 6 is a schematic three-dimensional view of a wheel foot structure according to an embodiment of the present disclosure;

fig. 7 is a schematic perspective view of a robot according to an embodiment of the present disclosure;

fig. 8 is an exploded view of a main chest structure of a robot according to an embodiment of the present disclosure;

FIG. 9 is a schematic view of a portion of a chest body structure of a robot according to an embodiment of the present disclosure;

wherein, each reference sign in the figure:

1-thoracic cavity body structure; 2-wheel foot structure;

10-chest anterior panel; 11-chest top cover plate; 12-an image sensing assembly; 13-positioning a navigation component; 14-left main chest; 15-right main chest; 16-left thoracic cover; 17-thoracic right cap; 18-a third drive member; 19-a first mount; 191-limiting piece; 192-first zero-marking hole; 20-connecting a bracket; 21-a connector; 211-a protruding structure; 212-second zero-marking holes; 22-marking an auxiliary pin with zero;

100-a first driving member;

200-thigh; 201-a skeleton; 202-a housing; 203-a first line pressing plate;

300-rocker;

400-connecting rod; 401-a first straight portion; 402-a second straight portion;

500-lower leg; 501-a wire harness slot; 502-a second line pressing plate; 503-cover wire;

600-wheel assembly; 601-wheels; 602-a second driver; 603-wheel foot adapter; 631-a fixing member; 632-mounting; 633-wire vias;

700-cable.

Detailed Description

In order to make the technical problems, technical schemes and beneficial effects to be solved by the present application more clear, the present application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present application and simplify description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be configured and operated in a particular orientation, and therefore should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

The double-wheel-foot robot is an iteration of the double-foot robot, the capability of adapting to complex ground which is not commonly used is abandoned, the movement speed and stability are increased, and the double-wheel-foot carrying platform can realize different functions according to different accessories.

In the prior art, most of robots are provided with motors at joints, so that the inertia of the whole robot is increased, the whole robot is large in size, and on the other hand, wires of plantar driving wheels of the robot are often exposed outside a robot body and easily interfere the movement of the robot body under complex movement.

Referring to fig. 1 and 2, the embodiment of the application provides a wheel foot structure, which is used for being installed on one side of a main thoracic cavity structure 1, two wheel foot structures are installed on two opposite sides of the main thoracic cavity structure 1, and the wheel foot structures and the main thoracic cavity structure 1 cooperate to realize the actions of advancing, jumping, retreating and the like of a robot. The chest body structure 1 comprises a first driver 100; the wheel foot structure comprises a thigh 200, a rocker 300, a connecting rod 400, a shank 500 and a wheel assembly 600; one end of the thigh 200 is fixedly connected with the fixed part of the first driving part 100, and the other end of the thigh 200 is hinged with the non-end part of the shank 500; one end of the rocker 300 is fixedly connected with the rotating part of the first driving piece 100, and the other end of the rocker 300 is hinged with one end of the connecting rod 400; one end of the lower leg 500 is hinged to the other end of the link 400, and the other end of the lower leg 500 is rotatably connected to the wheel assembly 600.

In this embodiment, after the first driving member 100 is powered on, the rotating portion of the first driving member 100 rotates to drive the rocker 300 to rotate, so as to drive the connecting rod 400 to swing; the connecting rod 400 is hinged with the shank 500 to drive the shank 500 to swing, so that the jumping motion of the robot can be realized by matching with the chest cavity main body structure 1.

Compared with the prior art, in the wheel foot structure provided by the application, the thigh 200, the rocker 300, the connecting rod 400 and the shank 500 form an equivalent structure of a parallel four-bar mechanism, and meanwhile, the first end of the thigh 200 is connected with the fixed part of the first driving piece 100; the first end of the rocker 300 is connected with the rotating part of the first driving piece 100, and the first driving piece 100 is located in the chest main structure 1, and the equivalent structure of the parallel four-bar mechanism is combined to realize the upward movement of the knee joint rotating pair of the robot, so that the inertia of the wheel foot structure relative to the knee joint is reduced, the volume of the whole structure of the robot is compressed, and the miniature design of the robot is facilitated.

In one embodiment of the present application, referring to fig. 3, a connecting rod 400 includes a first straight portion 401 and a second straight portion 402 connected in sequence; the first straight portion 401 and the second straight portion 402 are disposed at an obtuse angle; the first straight portion 401 is hinged with the rocker 300 and the second straight portion 402 is hinged with the calf 500.

In one embodiment of the present application, referring to fig. 1 and 3, the first straight portion 401 and the second straight portion 402 of the connecting rod 400 are disposed at an obtuse angle, so that the connecting rod 400 is a bending rod as a whole. In the prior art, the connecting rod 400 generally adopts a straight rod, the bending rod is adopted as the connecting rod 400, and the bending rod and the thigh 200, the rocker 300 and the shank 500 form an equivalent structure of a parallel four-bar mechanism. As shown in fig. 3, a in the drawing shows the angle between the rocker 300 and the link 400 in the present embodiment, B in the drawing shows the angle between the rocker 300 and the link 400 in the prior art, and it can be intuitively seen that a is smaller than B.

In one embodiment of the present application, the first end of the rocker 300 is provided with a plurality of through holes, the rotating portion of the first driving member 100 is provided with a plurality of threaded holes corresponding to the through holes, and the connection of the rocker 300 and the rotating portion of the first driving member 100 is achieved by screwing bolts into the through holes and the threaded holes.

In one embodiment of the present application, the second end of the rocker 300 is provided with a pin hole, the first end of the connecting rod 400 is provided with an assembly hole, a bushing is arranged in the assembly hole, and the hinge connection of the connecting rod 400 and the rocker 300 is realized by inserting a pin shaft into the pin hole and the bushing, wherein the pin hole is in interference fit with the pin shaft, the pin shaft and the bushing can rotate relatively, and the pin shaft can be matched with an E-shaped clamp spring to limit the axial movement of the pin shaft.

In one embodiment of the present application, the first end of the shank 500 is provided with a pin hole, the second end of the connecting rod 400 is provided with an assembly hole, a bushing is provided in the assembly hole, and the hinge connection of the connecting rod 400 and the shank 500 is realized by inserting a pin shaft into the pin hole and the bushing, wherein the pin hole is in interference fit with the pin shaft, the pin shaft and the bushing can rotate relatively, and the pin shaft can be matched with an E-shaped clamp spring to limit the axial movement of the pin shaft.

In one embodiment of the present application, referring to fig. 4, thigh 200 includes armature 201 and shell 202; one end of the skeleton 201 is connected with the fixed part of the first driving piece 100, and the other end of the skeleton 201 is hinged with the non-end part of the lower leg 500; the housing 202 is covered on the skeleton 201, so that a containing cavity is formed between the housing 202 and the skeleton 201, and the rocker 300 and the connecting rod 400 are located in the containing cavity.

Specifically, the edge of the frame 201 is provided with a plurality of screw holes, the edge of the housing 202 is provided with a plurality of countersunk holes corresponding to the screw holes, and bolts are screwed into the countersunk holes and the screw holes to connect the housing 202 and the frame 201. The first end of the skeleton 201 is provided with a plurality of through holes, the fixing portion of the first driving element 100 is provided with a plurality of screw holes corresponding to the through holes, and bolts are screwed into the through holes and the screw holes to connect the skeleton 201 and the fixing portion of the first driving element 100.

Further, after the shell 202 is connected with the framework 201 through bolts, a hole plug can be placed in the countersunk hole, so that the upper surface of the hole plug is flush with the outer surface of the shell 202, on one hand, the problems of bolt corrosion and the like caused by dust accumulation in the countersunk hole can be avoided, and on the other hand, the attractiveness of the shell 202 can be improved.

In one embodiment of the present application, the second end of the skeleton 201 is provided with a pin hole, the middle part of the shank 500 is provided with an assembly hole, a bearing is arranged in the assembly hole, and the hinge joint of the thigh 200 and the shank 500 is realized by inserting a pin shaft into the pin hole and the bearing, wherein the pin hole is in interference fit with the pin shaft, the pin shaft is in interference fit with the hole of the bearing inner ring, the bearing outer ring is in interference fit with the assembly hole, and the pin shaft can be matched with a locking bolt to limit the axial movement of the pin shaft.

In one embodiment of the present application, referring to fig. 2, a wire harness slot 501 is formed in the lower leg 500, and the wire harness slot 501 extends from a first end of the lower leg 500 to a second end of the lower leg 500.

In this embodiment, the shank 500 is provided with the wire harness groove 501, and the cable 700 can be buried in the wire harness groove 501, so that the cable 700 is protected, and meanwhile, the cable 700 is prevented from interfering with the movement of the wheel foot structure.

In one embodiment of the present application, referring to fig. 2, the cable of the wheel assembly 600 is passed through the lower leg 500 into the wire harness slot 501, through the wire harness slot 501 into the receiving cavity, and then through the backbone 201 into the chest body structure 1.

In one embodiment of the present application, the wheel foot structure further includes a wire pressing member disposed in the wire harness slot 501 and/or the receiving cavity, the wire pressing plate being used to press the wire.

In this embodiment, referring to fig. 1 and fig. 2, the wire pressing member includes a first wire pressing plate 203 and a second wire pressing plate 502; the first wire pressing plate 203 is disposed in the accommodating cavity, and the first wire pressing plate 203 is connected with the skeleton 201, so that the cable 700 is crimped between the first wire pressing plate 203 and the skeleton 201.

Specifically, the position of the first wire pressing plate 203 may be determined according to the routing position of the cable 700, and the cable 700 enters the accommodating cavity from the lower leg 500, and then enters the inner part of the chest cavity main structure 1 from the accommodating cavity, and is generally routed in the shortest path. It is to be understood that the number of the first pressing plates 203 may be plural, so as to ensure that the cable 700 can completely fit the skeleton 201 in the accommodating cavity.

In this embodiment, by setting the first wire pressing plate 203, the cable 700 passing through the accommodating cavity can be fixed, so that interference caused by the cable 700 to the movement of the connecting rod 400, the rocker 300 and other components is avoided when the wheel foot structure moves.

The second wire pressing plate 502 is disposed in the wire-pressing groove 501, and the second wire pressing plate 502 is connected with the lower leg 500 such that the cable 700 is crimped between the second wire pressing plate 502 and the lower leg 500.

According to the embodiment, the cable 700 passing through the wire harness groove 501 can be fixed by arranging the second wire pressing plate 502, so that the cable 700 is prevented from swinging in the wire harness groove 501 when the wheel foot structure moves, and the interference of the cable 700 to the movement of the wheel foot structure is reduced.

In one embodiment of the present application, referring to fig. 2, a wheel assembly 600 includes a wheel 601, a second drive 602, and a wheel foot adapter 603; the rotating part of the second driving member 602 is connected to the wheel 601; the wheel foot adapter 603 is used to connect the fixed part of the second driving member 602 and the lower leg 500.

In one embodiment of the present application, referring to FIG. 5, the wheel foot adapter 603 includes a securing member 631 and a mounting member 632; the fixing member 631 has a fitting hole, and the fixing portion of the second driving member 602 is connected to the fixing member 631, and the rotating portion of the second driving member 602 is placed in the fitting hole; the mounting member 632 is wrapped on the fixing portion of the second driving member 602, one end of the mounting member 632 is connected with the fixing member 631, and the other end of the mounting member 632 is fixedly connected with the lower leg 500.

The wheel foot adapter 603 of this embodiment is not only beneficial to the connection of the wheel assembly 600 and the calf 500, but also protects the second driving member 602 from exposure of the second driving member 602.

In one embodiment of the present application, referring to fig. 5, a wire through hole 633 is provided at an end of the mounting member 632 connected to the lower leg 500, and the wire through hole 633 communicates with the wire harness groove 501.

In this embodiment, the cable 700 can directly enter the wire harness groove 501 of the lower leg 500 by providing the wire through hole 633, so that the cable 700 is prevented from being exposed.

In one embodiment of the present application, referring to fig. 6, the wheel foot structure further includes a cover wire 503, where the cover wire 503 is connected to the lower leg 500 at the opening of the wire harness slot 501, so as to close the wire harness slot 501.

In this embodiment, the cover wire member 503 may have a plate-shaped structure, and by providing the cover wire member 503, the wire harness groove 501 may be closed, so that dust accumulation in the wire harness groove 501 may be avoided, and the aesthetic property of the lower leg 500 may be improved.

The routing scheme of the wheel foot structure in this embodiment is as follows: the cable 700 enters the accommodating cavity of the thigh 200 from the through hole of the framework 201, and the cable 700 is fixed through the first line pressing plate 203, so that the movement space of the connecting rod 400 is prevented from being interfered; the wiring groove 501 is formed in the shank 500, the cable 700 is buried in the wiring groove 501 of the shank 500 by matching with the wire covering part 503, and the cable is connected to the second driving part 602 through the tail end of the shank 500 and the wire passing hole 633 of the wheel foot adapter 603, so that wiring is completed.

The transmission process of the wheel foot structure in this embodiment is as follows: the skeleton 201 is mounted on the fixed part of the first driving member 100, the rocker 300 is mounted on the rotating part of the first driving member 100, after the first driving member 100 is powered on, the thigh 200 and the rocker 300 rotate relatively, and the parallel four-bar mechanism acts as a telecentric mechanism to transmit the above-mentioned rotation motion to the hinge joint of the shank 500 and the skeleton 201 through the connecting rod 400, namely, the rotation of the knee joint is realized.

The present application also provides a robot, please refer to fig. 7, including the wheel foot structure 2 and the chest main structure 1; the chest cavity main body structure 1 is rotationally connected with the wheel foot structure 2.

In one embodiment of the present application, referring to fig. 8, the chest body structure 1 further comprises a third driving member 18; the third drive member 18 is arranged in series with the first drive member 100; the rotating portion of the third driving member 18 is connected to the fixed portion of the first driving member 100.

The chest body structure 1 comprises a chest housing assembly, a driving assembly positioned in the chest housing assembly and a mounting assembly for mounting the driving assembly across the chest housing assembly between opposite sides thereof; the driving assembly comprises a third driving piece 18 and a first driving piece 100 which are connected in series, and the rotating part of the third driving piece 18 is fixedly connected with the fixed part of the first driving piece 100; the installation component includes linking bridge 20, installs two first mounting pieces 19 and the second mounting piece on linking bridge 20, and two first mounting pieces 19 are fixed connection respectively in the opposite both sides of chest shell subassembly, and the fixed part and the second mounting piece fixed connection of third driving piece 18, and the rotation portion of first driving piece 100 passes one of them first mounting piece 19, and linking bridge 20 straddles and installs between the opposite both sides of chest shell subassembly through first mounting piece 19.

In this embodiment, the connecting bracket 20 is installed across the first mounting member 19 between two opposite sides of the chest housing assembly, the fixing portion of the third driving member 18 of the driving assembly is connected with the connecting bracket 20 through the second mounting member, the fixing portion of the third driving member 18 forms a relatively fixed connection with the chest housing assembly through the second mounting member and the connecting bracket 20, because the first driving member 100 and the third driving member 18 are connected in series, the positions of the first driving member 100 and the chest housing assembly are relatively fixed, therefore, the driving assembly is installed across the chest housing assembly through the mounting assembly, the driving assembly is suspended in the chest housing assembly, no additional bearing is required to be arranged between the third driving member 18 and the first driving member 100, and meanwhile, the driving assembly is suspended in the chest housing assembly to form the core weight of the chest main body structure 1.

Specifically, the first mounting member 19 is provided with a mounting connection hole, and the first mounting member 19 is connected to the chest housing assembly by inserting a bolt into the mounting connection hole. The second mounting piece is annular. The second mounting member is perpendicular to each of the connecting brackets 20. The direction of the rotational axis of the third drive member 18 coincides with the annular centre of the second mounting member. The connection members 21 are ring-shaped, and the connection members 21 are perpendicular to the respective connection brackets 20. The direction of the rotational axis of the first driving member 100 coincides with the annular center of the connecting member 21.

In one embodiment of the present application, the rotating portion of the third driving member 18 is fixedly connected with the fixed portion of the first driving member 100 through a connecting member 21; the connecting member 21 includes a first mounting portion mounted on the rotating portion of the third driving member 18, and a second mounting portion extending from an outer periphery of the first mounting portion toward the fixing portion of the first driving member 100 and wrapping one end of the fixing portion of the first driving member 100, and one end of the rotating portion of the first driving member 100 extends into the second mounting portion.

In this embodiment, the connection between the third driving member 18 and the first driving member 100 is achieved by the design of the connecting member 21, and one end of the fixing portion of the first driving member 100 is wrapped by the second mounting portion and one end of the rotating portion of the first driving member 100 extends into the second mounting portion, so that the core driving structure serving as the main thoracic structure 1 occupies less space in the axial direction, and the main thoracic structure 1 is smaller in main thickness and more miniaturized. At the same time, the second mounting portion can also play a role in positioning the mounting of the first driving member 100, ensuring that the axis of rotation of the third driving member 18 and the axis of rotation of the first driving member 100 are on the same straight line.

In one embodiment of the present application, referring to fig. 8, two driving assemblies are arranged on one axis, the third driving members 18 of the two driving assemblies are close to each other, the first driving members 100 of the two driving assemblies are away from each other, and the rotation parts of the two first driving members 100 respectively pass through the two first mounting members 19; the number of the second mounting parts is two, and the fixing parts of the two third driving parts 18 are fixedly connected with the two second mounting parts respectively.

In this embodiment, by providing two annular second mounting members and the connecting member 21, the third driving member 18 and the first driving member 100 are mounted in the mounting space formed by the connecting bracket 20, which is beneficial to lightweight design. The two first mounting pieces 19, a plurality of connecting brackets 20 crossing between the two first mounting pieces 19, and the second mounting pieces and the connecting pieces 21 arranged between the two first mounting pieces 19 jointly form a core mounting member of the thoracic cavity main body structure 1, and each connecting bracket 20 is designed in a hollow lightweight manner, so that the weight is reduced on the premise of meeting the structural mechanical property.

Specifically, the fixed portion of the third driving member 18 and the second mounting member are assembled together by screws; one side of the connecting member 21 is connected to the rotating portion of the third driving member 18 by a screw, and the other side of the connecting member 21 is connected to the screw hole of the fixing portion of the first driving member 100 by a screw. The power of the third driving member 18 can be transmitted to the fixing portion of the first driving member 100 through the connection, so that the thigh portion in the leg structure driven and matched by the third driving member 18 on the inner side can move. The power distribution of the whole thoracic cavity main body structure 1 is bilateral symmetry, and related parts are also all symmetrical and universal. The power connection fixing on the left side and the right side is completed through the assembly of the four connecting brackets 20 and the second mounting pieces on the left side and the right side through screws, and then the first mounting pieces 19 on the two sides are assembled on corresponding hole sites of the four connecting brackets 20 through screws respectively, so that the core structural support of the thoracic cavity main structure 1 is realized.

Specifically, the linking bridge 20 is the rectangular frame construction of fretwork, is equipped with a plurality of heavy mouths that subtract on this rectangular frame construction, subtracts the size and the quantity of heavy mouths and can set for on linking bridge 20 satisfies the basis of structural mechanical strength, and linking bridge 20 adopts the rectangular frame construction of fretwork, is favorable to satisfying the design requirement of overall structure lightweight.

For example: the connecting bracket 20 is provided with a weight-reducing opening between the first mounting piece 19 and the adjacent second mounting piece, and the connecting bracket 20 is provided with two weight-reducing openings between the two second mounting pieces. The frame structures of the connecting brackets 20 may or may not form uniform frame strip widths. It will be appreciated that the width of the frame strip may be as narrow as possible, while meeting the mechanical strength requirements of the structure, the narrower the width of the frame strip, the lighter the weight of the connecting bracket 20.

In one embodiment of the present application, the connecting bracket 20 comprises a first portion connected between the two second mounting members and a second portion connected between the first mounting member 19 and the second mounting member, the first portion being closer to the rotational axis of the drive assembly than the second portion.

In this embodiment, the first portion of the connecting bracket 20 is closer to the rotation axis of the driving assembly than the second portion, so that the connecting bracket 20 and the driving assembly can be more compact, thereby saving the occupied space and being beneficial to the miniaturization design of the whole structure.

Specifically, the first portion and the second portion of the connection bracket 20 are arranged in a stepped manner, that is, the first portion of the connection bracket 20 is sunk relative to the second portion, and other parts are arranged at the sunk portion, so that more installation space can be effectively saved.

The connecting bracket 20 is provided with a plurality of connecting brackets 20, and the periphery of the driving assembly is surrounded by the plurality of connecting brackets 20. In one embodiment of the present application, the functional device includes a battery assembly, a motherboard assembly, a power board assembly, and a power board assembly; the battery assembly, the main board assembly, the power board assembly and the power board assembly are respectively correspondingly arranged on each connecting bracket 20 and are positioned outside the space; the battery assembly and the power panel assembly are arranged oppositely, and the power panel assembly and the main panel assembly are arranged oppositely.

Specifically, the mounting assembly includes four connection brackets 20 positioned at the front, rear, upper and lower portions of the mounting assembly, respectively, between the four connections; wherein the power panel assembly and the battery assembly are respectively mounted on the connection brackets 20 at the upper and lower parts of the mounting assembly; the power board assembly and the main board assembly are mounted on the connection brackets 20 at the front and rear of the mounting assembly, respectively.

The chest housing assembly comprises two chest shells which are butted to form a containing cavity, in this embodiment, referring to fig. 8, the two chest shells are respectively a chest left main shell 14 and a chest right main shell 15; a plurality of first hollowed-out parts are arranged on the left thoracic cavity main shell 14; a plurality of second hollowed-out parts are arranged on the right main chest shell 15.

In one embodiment of the present application, the chest housing assembly further comprises two chest side covers detachably connected to the two chest shells, respectively, the two chest side covers covering the hollowed-out portions of the two chest shells, respectively.

In this embodiment, the two chest side covers are the chest left side cover 16 and the chest right side cover 17, respectively; the left thoracic cover 16 is detachably connected to the left thoracic main housing 14 such that the left thoracic cover 16 covers the first hollowed-out portion; the chest right cap 17 is detachably attached to the chest right main housing 15 such that the chest right cap 17 covers the second hollowed-out portion.

In one embodiment of the application, two chest shells are in butt joint to enable the bottom of the chest shell assembly to be closed, the front part, the rear part and the top of the chest shell assembly are hollowed out, and support columns are arranged at hollowed-out positions between the two chest shells.

The support column can set up at the anterior fretwork position of thorax shell subassembly, also can set up at the rear portion fretwork position of thorax shell subassembly, still can set up at the top fretwork position of thorax shell subassembly, can set up the support column even in all or part at these several positions.

In this embodiment, by arranging the support columns, the assembly structure of the left thoracic cavity main shell 14 and the right thoracic cavity main shell 15 is more stable, and the extrusion deformation of the left thoracic cavity main shell 14 or the right thoracic cavity main shell 15 caused by the external force is reduced. Specifically, opposite ends of the support column may be connected to the left thoracic main shell 14 and the right thoracic main shell 15, respectively, by fasteners (screws, bolts, etc.).

In one embodiment of the present application, referring to fig. 8, the chest housing assembly further comprises a chest front panel 10 and a chest top cover 11, the chest front panel 10 being removably mounted between the two chest shells and covering the front of the chest housing assembly, the chest top cover 11 being removably mounted between the two chest shells and covering the top and back of the chest housing assembly.

Specifically, at the front end of the accommodating chamber, opposite sides of the chest front panel 10 are detachably connected with the chest left main shell 14 and the chest right main shell 15, respectively; at the top of the receiving cavity, opposite sides of the chest top cover 11 are detachably connected to the left chest main shell 14 and the right chest main shell 15, respectively. The left main chest shell 14, right main chest shell 15, left chest cap 16, right chest cap 17, front chest panel 10 and top chest cover 11 together enclose a closed shell with no internal structure visible.

It will be appreciated that the functional device is mounted in the accommodating cavity, and when the functional device close to the chest cavity front panel 10 is damaged, the functional device can be plugged and replaced by extending the hand by only dismantling the chest cavity front panel 10 and opening the front end of the accommodating cavity. When the functional device close to the chest top cover plate 11 is damaged, the chest top cover plate 11 is only required to be removed, the top end of the accommodating cavity is opened, and the functional device can be subjected to operations such as inserting, pulling, replacing and the like by extending hands. When the functional device close to the chest left side cover 16 is damaged, only the chest left side cover 16 needs to be removed, the left side of the accommodating cavity is opened, and the nearby functional device is plugged, pulled, replaced and the like through the first hollowed-out part by stretching hands. When the functional device close to the right thoracic cavity cover 17 is damaged, only the right thoracic cavity cover 17 needs to be removed, the right side of the accommodating cavity is opened, and the nearby functional device is plugged, pulled, replaced and the like through the second hollowed-out part by stretching hands. Therefore, the maintenance of the functional devices in the chest cavity becomes simple, the operation is easy, the maintenance of professionals is convenient, non-professionals (ordinary consumers) are more friendly during the maintenance, the robot is more suitable for the requirements of mass consumers, and the product competitiveness of the robot is improved.

In this embodiment, the left main chest shell 14, the right main chest shell 15, the left chest cover 16, the right chest cover 17, the front chest panel 10 and the top chest cover 11 may be connected by using fixing members (screws, bolts, etc.) to achieve detachable connection between the respective components.

In one embodiment of the present application, referring to fig. 8, the functional device further includes an image sensing component 12, a positioning navigation component 13, and a microphone component; the image sensing assembly 12 is mounted on the inner front of the chest housing assembly and the positioning navigation assembly 13 and microphone assembly are mounted on the inner top of the chest housing assembly.

In one embodiment of the present application, referring to fig. 9, the connecting member 21 has a protruding structure 211 thereon; the first mounting member 19 is provided with two limiting members 191, and the protruding structure 211 can be respectively abutted against the two limiting members 191 when the connecting member 21 rotates forward and backward.

Specifically, the limiting member 191 may be mounted to the corresponding hole position of the first mounting member 19 by using a limiting stud through threaded connection, so as to limit the rotation range of the third driving member 18.

In one embodiment of the present application, referring to fig. 9, the first mounting member 19 is provided with a first zero-marking hole 192, the protruding structure 211 is provided with a second zero-marking hole 212, and in the zero-marking state, the axis of the first zero-marking hole 192 and the axis of the second zero-marking hole 212 are on the same straight line.

The embodiment provides a steering engine zero marking method, wherein steering engine zero marking means that a coordinate origin of a rotating coordinate system is provided for each steering engine, and subsequent motion control is facilitated for motion reference. When in installation and debugging, the zero-marking auxiliary pin 22 respectively penetrates through the first zero-marking hole 192 and the second zero-marking hole 212 to achieve coaxiality of the two hole sites, the position is taken as the zero point of the current steering engine position, and the current position is acquired by starting up and electrifying to achieve zero marking of the steering engine. At the same time, the protruding structure 211 collides with the limiting member 191 mounted and fixed on the first mounting member 19 when the third driving member 18 rotates, thereby realizing the limitation of the movement range of the rotating part of the third driving member 18.

The foregoing description of the preferred embodiments of the present application is not intended to be limiting, but is intended to cover any and all modifications, equivalents, and alternatives falling within the spirit and principles of the present application.

Claims (11)

1. A wheel foot structure for mounting to one side of a chest body structure, the chest body structure comprising a first drive member; the wheel foot structure is characterized by comprising thighs, rockers, connecting rods, calves and wheel part components; one end of the thigh is fixedly connected with the fixed part of the first driving piece, and the other end of the thigh is hinged with the non-end part of the shank; one end of the rocker is fixedly connected with the rotating part of the first driving piece, and the other end of the rocker is hinged with one end of the connecting rod; one end of the lower leg is hinged with the other end of the connecting rod, and the other end of the lower leg is rotatably connected with the wheel part assembly.

2. The wheel foot structure of claim 1 wherein the link comprises a first straight portion and a second straight portion connected in sequence; the first straight part and the second straight part are arranged at an obtuse angle; the first straight portion is hinged to the rocker, and the second straight portion is hinged to the lower leg.

3. The wheel foot structure of claim 2 wherein the thigh comprises a skeleton and a shell; one end of the framework is connected with the first driving piece fixing part, and the other end of the framework is hinged with the non-end part of the lower leg; the shell covers the framework, so that a containing cavity is formed between the shell and the framework, and the rocker and the connecting rod are located in the containing cavity.

4. A wheel foot structure as claimed in claim 3 wherein the lower leg is provided with a wire harness slot extending therethrough from one end of the lower leg to the other end of the lower leg.

5. The wheel foot structure of claim 4 wherein the cable of the wheel assembly passes through the lower leg into the cinch slot and through the cinch slot into the receiving cavity and through the armature into the chest body structure.

6. The wheel foot structure of claim 5 further comprising a wire pressing member disposed in the wire harness slot and or the receiving cavity, the wire pressing member for crimping the cable.

7. The wheel foot structure of any one of claims 1-6 wherein the wheel assembly comprises a wheel, a second drive member, and a wheel foot adapter; the second driving piece comprises a second driving piece fixing part and a second driving piece rotating part, and the second driving piece rotating part is connected with the wheel; the wheel foot adapter is used for connecting the fixed part of the second driving piece and the lower leg.

8. The wheel foot structure of claim 7 wherein the wheel foot adapter comprises a securing member and a mounting member; the fixing piece is provided with a matching hole, and the fixing part of the second driving piece is connected with the fixing piece, and the rotating part of the second driving piece is arranged in the matching hole; the mounting piece wraps the second driving piece fixing part, one end of the mounting piece is connected with the fixing piece, and the other end of the mounting piece is fixedly connected with the lower leg.

9. The wheel foot structure of claim 4 further comprising a cover wire removably connected to the lower leg at the opening of the wire harness slot for closing the wire harness slot.

10. A robot comprising a wheel foot structure as claimed in any one of claims 1 to 9 and a chest body structure; the chest cavity main body structure is rotationally connected with the wheel foot structure.

11. The robot of claim 10 wherein said chest body structure further comprises a third drive member; the third driving piece is connected with the first driving piece in series; the rotating part of the third driving piece is connected with the fixing part of the first driving piece.