WO2024077757A1 - 机械腿及机器人 - Google Patents

机械腿及机器人 Download PDF

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Publication number
WO2024077757A1
WO2024077757A1 PCT/CN2022/137976 CN2022137976W WO2024077757A1 WO 2024077757 A1 WO2024077757 A1 WO 2024077757A1 CN 2022137976 W CN2022137976 W CN 2022137976W WO 2024077757 A1 WO2024077757 A1 WO 2024077757A1
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WIPO (PCT)
Prior art keywords
direct drive
connecting rod
drive component
robot
shaft
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PCT/CN2022/137976
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English (en)
French (fr)
Inventor
郁亚南
廖铉泓
于金旭
吴建波
梁智乐
Original Assignee
东莞市本末科技有限公司
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Publication of WO2024077757A1 publication Critical patent/WO2024077757A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/12—Roller-type wheels
    • 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
    • B62D57/028—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 having wheels and mechanical legs

Definitions

  • the present invention relates to the technical field of intelligent robots, and in particular to a mechanical leg and a robot.
  • a robot is an intelligent machine that can work semi-autonomously or fully autonomously. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.
  • the present invention provides a mechanical leg and robot which are respectively connected to a first connecting rod and a second connecting rod on both sides of a walking wheel group, and the two connecting rods are also respectively connected to a direct drive assembly.
  • the leg structure of the robot As the leg structure of the robot, the balance of the robot body can be ensured, thereby solving the problems of poor balance and poor movement stability of existing robots.
  • a mechanical leg includes a walking wheel group, a first connecting rod and a second connecting rod respectively connected to both sides of the walking wheel group, a first direct drive component connected to the first connecting rod, a second direct drive component connected to the second connecting rod, and a fixing frame for mounting the first direct drive component and the second direct drive component, wherein the walking wheel group includes a fixed shaft and a rotor hub rotatably mounted on the fixed shaft, and both ends of the fixed shaft are respectively connected to the first connecting rod and the second connecting rod.
  • the present invention has a reliable structure.
  • the first connecting rod and the second connecting rod are respectively connected on both sides of the walking wheel group.
  • the two connecting rods are also respectively connected to the direct drive assembly.
  • Connecting rods are set at both ends of the walking wheel group and connected to the direct drive assembly for driving. While ensuring that various actions can be performed, the balance of the body is also guaranteed, and the structure is stable.
  • a walking wheel group a first connecting rod and a second connecting rod respectively connected to both sides of the walking wheel group, a first direct drive assembly connected to the first connecting rod, a second direct drive assembly connected to the second connecting rod, and a fixed frame for installing the first direct drive assembly and the second direct drive assembly are set.
  • the walking wheel group includes a fixed shaft and a rotor hub rotatably mounted on the fixed shaft. The two ends of the fixed shaft are respectively connected to the first connecting rod and the second connecting rod.
  • the walking wheel group adopts a direct drive motor with an outer rotor.
  • the walking wheel group structure formed by the fixed shaft and the rotor hub has good stability when the robot walks.
  • the present invention sets a walking wheel hub on the robot, and connects the first connecting rod and the second connecting rod on both sides of the walking wheel group respectively.
  • the two connecting rods are also connected to the direct drive assembly respectively.
  • Connecting rods are set at both ends of the walking wheel group and connected to the direct drive assembly for driving, which ensures that the balance of the body can be performed while ensuring various actions.
  • two groups of mechanical legs are set to ensure that the robot maintains balance when walking, standing, etc., and a different axis design is adopted, so that the two legs are installed side by side more compactly, and the lateral width area is smaller, which reduces the overall weight.
  • FIG. 1 is a perspective schematic diagram of a mechanical leg of the present invention.
  • FIG. 2 is a three-dimensional schematic diagram of the mechanical leg in FIG. 1 from another viewing angle.
  • FIG. 3 is a three-dimensional schematic diagram of the mechanical leg in FIG. 1 in another state.
  • FIG. 4 is a three-dimensional schematic diagram of the mechanical leg in FIG. 1 in another state.
  • FIG. 5 is a three-dimensional schematic diagram of the robot of the present invention.
  • FIG. 6 is a schematic diagram of the control connection of the robot in FIG. 5 .
  • a mechanical leg 10 includes a walking wheel group 1, a first connecting rod 2 and a second connecting rod 3 respectively connected to both sides of the walking wheel group 1, a first direct drive component 4 connected to the first connecting rod 2, a second direct drive component 5 connected to the second connecting rod 3, and a fixing frame 6 for mounting the first direct drive component 4 and the second direct drive component 5.
  • the walking wheel group 1 includes a fixed shaft 11 and a rotor hub 12 rotatably mounted on the fixed shaft 11, and the two ends of the fixed shaft 11 are respectively connected to the first connecting rod 2 and the second connecting rod 3.
  • the first direct-drive component 4 includes a first connecting shaft 41, a first rotating disk 42 rotatably mounted on the first connecting shaft 41, and a first driving frame 43 connected to the first rotating disk 42.
  • the first driving frame 43 is provided with a first connecting arm 44, and the first connecting arm 44 is hinged to the first connecting rod 2.
  • the first connecting arm 44 and the first connecting rod 2 are hinged to form a first joint of the robot leg structure, and the first joint can assist the robot to perform actions such as squatting and lying down.
  • the first direct-drive component 4 also uses an outer rotor direct-drive motor for driving, and the driving is stable and the structure is reliable.
  • a first auxiliary wheel 441 is provided at the connection position between the first connecting arm 44 and the first connecting rod 2, and a first auxiliary wheel 441 is provided at the first joint position.
  • the first auxiliary wheel 441 can serve as an auxiliary when the robot is in a horizontal state to ensure that the robot can walk stably.
  • the fixed frame 6 is provided with a first shaft 61, the first connecting shaft 41 is connected to the first shaft 61 and is coaxial with the second direct-drive component 5, and then the first connecting shaft 41 is coaxial with the second direct-drive component 5, which is actually the first direct-drive component 4 and the second direct-drive component 5 are coaxial, and the two direct-drive components cooperate with two connecting rods and the walking wheel group 1 to form a movable diamond leg structure, which can achieve balanced support in terms of structural activity, and at the same time, the robot can stand and lie down under the action of the joints.
  • the second direct-drive component 5 includes a second connecting shaft 51, a second rotating disk 52 rotatably mounted on the second connecting shaft 51, and a second driving frame 53 connected to the second rotating disk 52.
  • the second driving frame 53 is provided with a second connecting arm 54, and the second connecting arm 54 is hinged to the second connecting rod 3.
  • the structure of the second direct-drive component 5 is similar to that of the first direct-drive component 4.
  • the second connecting arm 54 is hinged to the second connecting rod 3 to form a second joint.
  • the movable second joint is used to cooperate with the first joint for the robot's standing and lying movements.
  • the fixing frame 6 is provided with a first shaft 61, one end of the second connecting shaft 51 is connected to the first shaft 61 and is coaxial with the first direct drive component 4.
  • the first direct drive component 4 and the second direct drive component 5 also form a diamond-shaped movable leg structure.
  • the present invention has a reliable structure.
  • the first connecting rod 2 and the second connecting rod 3 are respectively connected on both sides of the walking wheel group 1.
  • the two connecting rods are also respectively connected to the direct drive assembly.
  • Connecting rods are set at both ends of the walking wheel group 1 and connected to the direct drive assembly for driving. While ensuring that various actions can be performed, the balance of the body is also ensured, and the structure is stable.
  • a walking wheel group 1 a first connecting rod 2 and a second connecting rod 3 respectively connected to both sides of the walking wheel group 1, a first direct drive assembly 4 connected to the first connecting rod 2, a second direct drive assembly 5 connected to the second connecting rod 3, and a fixing frame 6 for installing the first direct drive assembly 4 and the second direct drive assembly 5 are set.
  • the walking wheel group 1 includes a fixed shaft 11 and a rotor hub 12 rotatably mounted on the fixed shaft 11. The two ends of the fixed shaft 11 are respectively connected to the first connecting rod 2 and the second connecting rod 3.
  • the walking wheel group 1 adopts a direct drive motor with an outer rotor.
  • the walking wheel group 1 structure formed by the fixed shaft 11 and the rotor hub 12 has good stability when the robot walks.
  • a robot includes a robot body 20 and a mechanical leg 10, the mechanical leg 10 includes a walking wheel group 1, a first connecting rod 2 and a second connecting rod 3 respectively connected to both sides of the walking wheel group 1, a first direct drive component 4 connected to the first connecting rod 2, a second direct drive component 5 connected to the second connecting rod 3, and a fixing frame 6 for mounting the first direct drive component 4 and the second direct drive component 5,
  • the walking wheel group 1 includes a fixed shaft 11, and a rotor hub 12 rotatably mounted on the fixed shaft 11, and both ends of the fixed shaft 11 are respectively connected to the first connecting rod 2 and the second connecting rod 3;
  • a power supply module 7 and a control module 8 are installed in the robot body 20, the power supply module 7 is used to supply power to the walking wheel group 1, the first direct drive component 4, and the second direct drive component 5, and the control module is used to control the walking wheel group 1, the first direct drive component 4 and the second direct drive component 5.
  • two groups of mechanical legs are provided, the two groups of mechanical legs are fixedly connected by a fixing frame 6 and are distributed on both sides of the robot, and the two groups of mechanical legs maintain balance when the robot walks, stands, lies down, etc.
  • the first and second direct drive components of the two sets of mechanical legs are not coaxial on the fixed frame 6, and adopt a coaxial design.
  • the side-by-side installation is more compact and occupies a smaller lateral width, thereby making the robot itself smaller in size and lighter in weight.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

一种机械腿（10），包括行走轮组（1）、分别连接于行走轮组（1）两侧的第一连杆（2）和第二连杆（3）、连接于第一连杆（2）的第一直驱组件（4）、连接于第二连杆（3）的第二直驱组件（5）、以及用于安装第一直驱组件（4）和第二直驱组件（5）的固定架（6），行走轮组（1）包括固定轴（11）、以及可旋转安装于固定轴（11）的转子轮毂（12），固定轴（11）的两端分别连接第一连杆（2）和第二连杆（3）。通过在行走轮组的两端均设置连杆并连接直驱组件进行驱动，在保证可以做出各种动作的同时保持机身平衡性，解决了现有机器人平衡性差，移动稳定性不好的问题。

Description

机械腿及机器人
相关申请的交叉引用。
本申请要求于2022年10月09日提交中国专利局，申请号为202211227308.0，发明名称为“机械腿及机器人”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及智能机器人技术领域，特别是涉及一种机械腿及机器人。
 背景技术
机器人是一种能够半自主或全自主工作的智能机器，机器人具有感知、决策、执行等基本特征，可以辅助甚至替代人类完成危险、繁重、复杂的工作，提高工作效率与质量,服务人类生活，扩大或延伸人的活动及能力范围。
 技术问题
随着科技的进步，机器人的应用越来越普遍化，比如清洁机器人、货运机器人、巡检机器人等等，可实现智能控制。现有的机器人都离不开行走机构、支撑机构，行走机构中，一般用直驱电机作为主动轮，另外数组直驱电机配合形成腿部关节；一边腿部关节是两个直驱电机同轴并列形成，一个电机控制着一边支撑，此种结构在对机器人结构支撑中在对机器人的机身支撑平衡度较差，影响结构稳定性，而且占用空间大，导致机器人本身结构笨重，因此可针对现有机器人的腿部结构进行改进。
 技术解决方案
为解决上述问题，本发明提供一种通过行走轮组两侧分别连接第一连杆和第二连杆，两个连杆还分别连接了直驱组件，作为机器人的腿部结构，可以保证机器人机身的平衡度，解决了现有机器人平衡性差，在移动稳定性不好等问题的机械腿及机器人。
上述目的可采用下列技术方案来实现。
一种机械腿，包括行走轮组、分别连接于行走轮组两侧的第一连杆和第二连杆、连接于第一连杆的第一直驱组件、连接于第二连杆的第二直驱组件、以及用于安装第一直驱组件和第二直驱组件的固定架，所述行走轮组包括固定轴、以及可旋转安装于固定轴的转子轮毂，所述固定轴的两端分别连接第一连杆和第二连杆。
本发明的一个或多个实施例的细节在下面的附图和描述中提出。本发明的其它特征、目的和优点将从说明书、附图以及权利要求书变得明显。
 有益效果
相比现有的机械腿，本发明结构可靠，通过行走轮组两侧分别连接第一连杆和第二连杆，两个连杆还分别连接了直驱组件，作为机器人的腿部结构，可以保证机器人机身的平衡度，解决了现有机器人平衡性差，在移动稳定性不好等问题，行走轮组的两端均设置连杆并连接直驱组件进行驱动，在保证可以做出各种动作的同时也保证了机身的平衡性，结构稳定。具体是，设置了行走轮组、分别连接于行走轮组两侧的第一连杆和第二连杆、连接于第一连杆的第一直驱组件、连接于第二连杆的第二直驱组件、以及用于安装第一直驱组件和第二直驱组件的固定架，行走轮组包括固定轴、以及可旋转安装于固定轴的转子轮毂，固定轴的两端分别连接第一连杆和第二连杆。行走轮组采用了外转子的直驱电机，通过固定轴配合转子轮毂形成的行走轮组结构，在机器人行走时稳定性好。
本发明在机器人上设置了行走轮毂，通过行走轮组两侧分别连接第一连杆和第二连杆，两个连杆还分别连接了直驱组件，作为机器人的腿部结构，可以保证机器人机身的平衡度，解决了现有机器人平衡性差，在移动稳定性不好等问题，行走轮组的两端均设置连杆并连接直驱组件进行驱动，在保证可以做出各种动作的同时也保证了机身的平衡性。在优选的实施例中，机械腿设置两组，以保证机器人在行走、站立等状态时保持平衡，并且采用不同轴设计，双腿并排安装更加紧凑，横向占宽面积更小，减轻整体重量。
 附图说明
图1 为本发明机械腿的立体示意图。
图2 为图1中机械腿的另一视角的立体示意图。
图3 为图1中机械腿的另一状态的立体示意图。
图4 为图1中机械腿的另一状态的立体示意图。
图5 为本发明机器人的立体示意图。
图6 为图5中机器人的控制连接示意图。
附图标记说明：机械腿10、行走轮组1、固定轴11、转子轮毂12、第一连杆2、第二连杆3、第一直驱组件4、第一连接轴41、第一旋转盘42、第一驱动架43、第一连接臂44、第一辅助轮441、第二直驱组件5、第二连接轴51、第二旋转盘52、第二驱动架53、第二连接臂54、固定架6、第一轴61、电源模块7、控制模块8、机器人本体20。
 本发明的实施方式
为了便于理解本发明，下面将参照相关附图对本发明进行更全面的描述。附图中给出了本发明的较佳实施例。但是，本发明可以以许多不同的形式来实现，并不限于本文所描述的实施例。相反地，提供这些实施例的目的是使对本发明的公开内容的理解更加透彻全面。
需要说明的是，当元件被称为“固定于”另一个元件，它可以直接在另一个元件上或者也可以存在居中的元件。当一个元件被认为是“连接”另一个元件，它可以是直接连接到另一个元件或者可能同时存在居中元件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。
如图1~图4所示，一种机械腿10，包括行走轮组1、分别连接于行走轮组1两侧的第一连杆2和第二连杆3、连接于第一连杆2的第一直驱组件4、连接于第二连杆3的第二直驱组件5、以及用于安装第一直驱组件4和第二直驱组件5的固定架6，行走轮组1包括固定轴11、以及可旋转安装于固定轴11的转子轮毂12，固定轴11的两端分别连接第一连杆2和第二连杆3。
第一直驱组件4包括第一连接轴41、可旋转安装在第一连接轴41的第一旋转盘42、以及连接于第一旋转盘42的第一驱动架43，第一驱动架43设有第一连接臂44，第一连接臂44与第一连杆2铰接，第一连接臂44与第一连杆2铰接形成了机器人腿部结构的第一关节，进而第一关节可以辅助机器人做出蹲卧等动作，第一直驱组件4也同样采用的是外转子直驱电机用于驱动，驱动稳定，结构可靠。
对上述实施例的优选为，第一连接臂44与第一连杆2连接位置设有第一辅助轮441，在第一关节位置设置了第一辅助轮441，第一辅助轮441的作用可在机器人卧式状态时作为辅助，以保证机器人可以稳定行走。
固定架6设有第一轴61，第一连接轴41连接于第一轴61、并与第二直驱组件5同轴，进而第一连接轴41与第二直驱组件5同轴，实际为第一直驱组件4与第二直驱组件5同轴，两个直驱组件配合两个连杆和行走轮组1形成了活动式的菱形腿部结构，在结构活动方面可实现平衡支撑，同时在关节作用下可作用机器人站立和卧倒。
第二直驱组件5包括第二连接轴51、可旋转安装在第二连接轴51的第二旋转盘52、以及连接于第二旋转盘52的第二驱动架53，第二驱动架53设有第二连接臂54，第二连接臂54与第二连杆3铰接；第二直驱组件5的结构与第一直驱组件4的结构类似，第二连接臂54与第二连杆3铰接形成了第二关节，可活动的第二关节用于配合第一关节用于机器人的站立和卧倒动作的活动。
固定架6设有第一轴61，第二连接轴51的一端连接于第一轴61、并与第一直驱组件4同轴，根据以上，本实施例中同样是将第一直驱组件4与第二直驱组件5形成了菱形活动腿部结构。
本发明结构可靠，通过行走轮组1两侧分别连接第一连杆2和第二连杆3，两个连杆还分别连接了直驱组件，作为机器人的腿部结构，可以保证机器人机身的平衡度，解决了现有机器人平衡性差，在移动稳定性不好等问题，行走轮组1的两端均设置连杆并连接直驱组件进行驱动，在保证可以做出各种动作的同时也保证了机身的平衡性，结构稳定。具体是，设置了行走轮组1、分别连接于行走轮组1两侧的第一连杆2和第二连杆3、连接于第一连杆2的第一直驱组件4、连接于第二连杆3的第二直驱组件5、以及用于安装第一直驱组件4和第二直驱组件5的固定架6，行走轮组1包括固定轴11、以及可旋转安装于固定轴11的转子轮毂12，固定轴11的两端分别连接第一连杆2和第二连杆3。行走轮组1采用了外转子的直驱电机，通过固定轴11配合转子轮毂12形成的行走轮组1结构，在机器人行走时稳定性好。
如图1~图6所示，一种机器人，包括机器人本体20、以及机械腿10，机械腿10包括行走轮组1、分别连接于行走轮组1两侧的第一连杆2和第二连杆3、连接于第一连杆2的第一直驱组件4、连接于第二连杆3的第二直驱组件5、以及用于安装第一直驱组件4和第二直驱组件5的固定架6，行走轮组1包括固定轴11、以及可旋转安装于固定轴11的转子轮毂12，固定轴11的两端分别连接第一连杆2和第二连杆3；机器人本体20内安装有电源模块7、以及控制模块8，电源模块7用于行走轮组1、第一直驱组件4、以及第二直驱组件5供电，控制模组用于控制行走轮组1、第一直驱组件4和第二直驱组件5。
在优选的实施例中，机械腿设有两组，两组机械腿通过固定架6固定连接、并分布在机器人的两侧，两组机械腿在机器人行走、站立、卧倒等动作时保持平衡。
两组机械腿的第一、二直驱组件在固定架6上不同轴，采用不同轴设计，并排安装更加紧凑，横向占宽更小，进而使得机器人本身的体积更小，重量更轻。
以上实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。

Claims (10)

  1. 一种机械腿，其特征在于：包括行走轮组、分别连接于行走轮组两侧的第一连杆和第二连杆、连接于第一连杆的第一直驱组件、连接于第二连杆的第二直驱组件、以及用于安装第一直驱组件和第二直驱组件的固定架，所述行走轮组包括固定轴、以及可旋转安装于固定轴的转子轮毂，所述固定轴的两端分别连接第一连杆和第二连杆。
  2. 根据权利要求1所述的机械腿，其特征在于：所述第一直驱组件包括第一连接轴、可旋转安装在第一连接轴的第一旋转盘、以及连接于第一旋转盘的第一驱动架，所述第一驱动架设有第一连接臂，所述第一连接臂与第一连杆铰接。
  3. 根据权利要求2所述的机械腿，其特征在于：所述第一连接臂与第一连杆连接位置设有第一辅助轮。
  4. 根据权利要求2所述的机械腿，其特征在于：所述固定架设有第一轴，所述第一连接轴连接于第一轴、并与第二直驱组件同轴。
  5. 根据权利要求1所述的机械腿，其特征在于：所述第二直驱组件包括第二连接轴、可旋转安装在第二连接轴的第二旋转盘、以及连接于第二旋转盘的第二驱动架，所述第二驱动架设有第二连接臂，所述第二连接臂与第二连杆铰接。
  6. 根据权利要求5所述的机械腿，其特征在于：所述固定架设有第一轴，所述第二连接轴的一端连接于第一轴、并与第一直驱组件同轴。
  7. 一种机器人，其特征在于：包括权利要求1~6任意一项所述的机械腿。
  8. 根据权利要求7所述的机器人，其特征在于：所述机器人包括机器人本体，所述机器人本体内安装有电源模块、以及控制模块，所述电源模块用于行走轮组、第一直驱组件、以及第二直驱组件供电，所述控制模组用于控制行走轮组、第一直驱组件和第二直驱组件。
  9. 根据权利要求7所述的机器人，其特征在于：所述机械腿设有两组，两组所述机械腿通过固定架固定连接、并分布在机器人的两侧。
  10. 根据权利要求9所述的机器人，其特征在于：两组所述机械腿的第一、二直驱组件在固定架上不同轴。
PCT/CN2022/137976 2022-10-09 2022-12-09 机械腿及机器人 WO2024077757A1 (zh)

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