Leg structure for robot and robot

Abstract

The invention relates to a leg structure for a robot and the robot, and belongs to the technical field of robotics.The leg structure for the robot comprises a leg supporting assembly and an ankle joint assembly, and the ankle joint assembly is arranged at the tail end of the leg supporting assembly; the ankle joint assembly comprises a power source, a mounting frame and a walking wheel rotationally arranged on the mounting frame, the walking wheel is provided with a tire tread, a mounting surface and a supporting surface, the mounting surface and the supporting surface are adjacent to the tire tread, the mounting surface is connected with the mounting frame, and an output shaft of the power source is connected with the mounting frame to drive the mounting frame to swing. When the walking wheel is located at the first supporting position, the tire tread is used for abutting against the contact face, and the supporting face is used for abutting against the contact face. According to the leg structure for the robot, the power source can directly drive the walking wheels to be located at the first supporting position or the second supporting position, namely, the walking wheels are switched between the wheel type state and the leg type state, the structure is simple and compact, and the structural complexity and the overall cost are reduced.

Description

Technical Field

[0001] This application relates to the field of robot technology, and in particular, to a leg structure for a robot and a robot. Background Art

[0002] In the current rapid development of robot technology, the movement mode of a robot plays a crucial role in its adaptability and working efficiency in complex environments. Existing mobile robots are mainly divided into two categories: wheeled-foot robots and legged robots. Wheeled-foot robots achieve movement through the rotation of walking wheels, with the advantages of fast movement speed and high energy efficiency. They can move quickly on flat roads and are suitable for scenarios such as logistics transportation and cleaning, but they are not very adaptable to complex terrains such as steps, muddy roads, and gravel areas.

[0003] Legged robots imitate the leg movement mode of organisms, have good terrain adaptability, can cross obstacles and climb steps, and show unique advantages in complex terrain environments. They have important applications in fields such as rescue and exploration. However, legged robots have relatively slow movement speed, high energy consumption, and high movement control difficulty, and their efficiency is much lower than that of wheeled-foot robots when moving on flat roads.

[0004] To solve the above problems, some research attempts to combine wheels and legs, but the existing switching structure of the wheel-foot composite leg structure for robots is complex. Therefore, there is an urgent need to design a robot leg structure with a reasonable structure. Summary of the Invention

[0005] This application provides a leg structure for a robot and a robot to solve the problem that the switching structure of the leg structure for a robot is relatively complex when switching the position of the walking wheel.

[0006] In a first aspect, this application provides a leg structure for a robot, including a leg support assembly and an ankle joint assembly. The ankle joint assembly is arranged at the end of the leg support assembly. The ankle joint assembly includes a power source, a mounting bracket, and a walking wheel rotatably arranged on the mounting bracket. The walking wheel has a tire surface, as well as a mounting surface and a support surface adjacent to the tire surface. The mounting surface is connected to the mounting bracket, and the output shaft of the power source is connected to the mounting bracket to drive the mounting bracket to swing. The rotation axis of the walking wheel has a first support position forming a first angle with the extension axis of the leg support assembly and a second support position forming a second angle. The walking wheel can swing with the mounting bracket between the first support position and the second support position. When the walking wheel is in the first support position, the tire surface is used to abut against the contact surface. When the walking wheel is in the second support position, the support surface is used to abut against the contact surface.

[0007] In a second aspect, this application proposes a robot including the above-mentioned leg structure for a robot.

[0008] The above technical solution provided by the embodiments of the present application has the following advantages compared with the prior art:

[0009] The leg structure for a robot provided by the embodiments of the present application, the upper end of the leg support assembly is used to connect to the fuselage of the robot, and the end is connected to the ankle joint assembly. The ankle joint assembly includes a power source, a mounting bracket, and a walking wheel. The power source is provided at the end of the leg support assembly, and its output shaft is directly or indirectly connected to the mounting bracket, and is used to output a driving force to drive the mounting bracket to swing relative to the leg support assembly, and synchronously drive the walking wheel to swing between a first support position and a second support position through the mounting bracket, thereby changing the relative position between the walking wheel and the leg support assembly. The power source can directly drive the walking wheel to be in the first support position or in the second support position, that is, switch between a wheeled state and a legged state. Full-degree-of-freedom movement spaces are achieved in both the first support position and the second support position. Without relying on complex multi-joint linkages, it can adapt to various terrains, which not only increases the adaptability of the robot's movement, but also makes the overall leg structure compact, reduces the overall complexity and overall cost, and at the same time ensures the rapidity and accuracy of the walking wheel position adjustment. Description of the Drawings

[0010] The drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present invention, and are used together with the specification to explain the principles of the present invention.

[0011] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0012] One or more embodiments are exemplarily illustrated by the pictures in the corresponding drawings. These exemplary illustrations do not constitute limitations on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements. Unless otherwise stated, the drawings in the figures do not constitute a scale limitation.

[0013] Figure 1 A three-dimensional view of a leg structure for a robot provided by the embodiments of the present application, wherein the walking wheel is in the first support position;

[0014] Figure 2 A front view of a leg structure for a robot provided by the embodiments of the present application, wherein the walking wheel is in the first support position;

[0015] Figure 3 A side view of a leg structure for a robot provided by the embodiments of the present application, wherein the walking wheel is in the first support position;

[0016] Figure 4 This is a perspective view of a partial structure of a leg structure for a robot provided by an embodiment of the present application, showing a walking wheel and a mounting bracket;

[0017] Figure 5 This is a perspective view of another angle of a partial structure of a leg structure for a robot provided by an embodiment of the present application, showing a walking wheel and a mounting bracket;

[0018] Figure 6 This is a perspective view of a partial structure of a leg structure for a robot provided by an embodiment of the present application, showing a mounting bracket and a stopper;

[0019] Figure 7 This is a perspective view of a partial structure of a leg structure for a robot provided by an embodiment of the present application, showing a mounting bracket and a stopper;

[0020] Figure 8 is Figure 7 an enlarged view of area A in

[0021] Figure 9 This is a perspective view of a leg structure for a robot provided by an embodiment of the present application, wherein part of the housing is removed at the first joint;

[0022] Figure 10 This is a perspective view of a leg structure for a robot provided by an embodiment of the present application, wherein the walking wheel is in the second support position;

[0023] Figure 11 This is a perspective view of a robot provided by an embodiment of the present application, wherein the walking wheel is in the second support position.

[0024] Explanation of reference numerals:

[0025] Leg support assembly 10, first limit group 11, stopper 111, limit boss 113, abutting portion 114, first joint 12, housing 121, support arm 122,

[0026] Ankle joint assembly 20, mounting bracket 22, limiting member 221, limiting groove 2211, walking wheel 23, mounting surface 231, tire surface 232, support surface 233, annular support flange 234, power source 24,

[0027] Drive assembly 30, first drive part 31, crank 32, drive rod 33, second reduction gear set 34,

[0028] Robot 100, fuselage 101. Detailed implementation manners

[0029] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the following will clearly and completely describe the technical solutions in the embodiments of this application with reference to the accompanying drawings in the embodiments of this application. Apparently, the described embodiments are some but not all of the embodiments of this application. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of this application without creative efforts shall fall within the scope of protection of this application.

[0030] The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. To simplify the disclosure of the present invention, components and settings of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. In addition, the present invention may repeat reference numerals and / or letters in different examples. This repetition is for the purpose of simplification and clarity and does not in itself indicate the relationship between the various embodiments and / or settings discussed.

[0031] For ease of description, spatially relative relationship terms may be used in the text to describe the relative position relationship or movement of one element or feature shown in the figure relative to another element or feature. These relative relationship terms such as "inside", "outside", "inner side", "outer side", "below", "beneath", "above", "upper", "front", "rear", etc. The intention of these spatially relative relationship terms is to include different orientations of the device in use or operation in addition to the orientation depicted in the figure. For example, if the device in the figure undergoes a position flip, attitude change, or motion state change, then these directional indications will change accordingly. For example, an element described as "below" or "beneath" other elements or features will subsequently be oriented as "above" or "upper" other elements or features. Therefore, the exemplary term "below" can include both upper and lower orientations. The device may be oriented otherwise (rotated 90 degrees or in other directions) and the spatially relative relationship descriptors used in the text are interpreted accordingly.

[0032] To solve the problem in the prior art that when the leg structure of the robot 100 walks on different terrains, the attitude of the walking wheel 23 is fixed, resulting in poor adaptability to complex terrains, it is necessary to adjust the attitude of the walking wheel 23. To solve this problem, this application provides a leg structure for the robot 100, which is concise and compact, reduces the structural complexity and overall cost, and at the same time ensures the rapidity and accuracy of the position adjustment of the walking wheel 23.

[0033] As Figures 1-3As shown, the leg structure for the robot 100 according to an embodiment of the present application includes a leg support assembly 10 and an ankle joint assembly 20. The ankle joint assembly 20 is disposed at the end of the leg support assembly 10. The ankle joint assembly 20 includes a power source 24, a mounting bracket 22, and a walking wheel 23 rotatably disposed on the mounting bracket 22. The walking wheel 23 has a tread surface 232, a mounting surface 231 adjacent to the tread surface 232, and a support surface 233. The mounting surface 231 is connected to the mounting bracket 22. The output shaft of the power source 24 is connected to the mounting bracket 22 to drive the mounting bracket 22 to swing. The rotation axis of the walking wheel 23 has a first support position forming a first angle with the extension axis of the leg support assembly 10 and a second support position forming a second angle. The walking wheel 23 can swing synchronously with the mounting bracket 22 between the first support position and the second support position. When the walking wheel 23 is in the first support position, the tread surface 232 is used to abut against the contact surface. When the walking wheel 23 is in the second support position, the support surface 233 is used to abut against the contact surface.

[0034] Refer to Figure 11 , the upper end of the leg support assembly 10 is used to connect to the fuselage 101 of the robot 100, and the end is connected to the ankle joint assembly 20. The ankle joint assembly 20 includes a power source 24, a mounting bracket 22, and a walking wheel 23. The output shaft of the power source 24 is directly or indirectly connected to the mounting bracket 22 for outputting driving force. The power source 24 can drive the mounting bracket 22 to swing relative to the leg support assembly 10. By changing the steering, the power source 24 can move the walking wheel 23 from the first support position to the second support position, or from the second support position to the first support position. When the walking wheel 23 is in the first support position, the walking wheel 23 can rotate on its own and can move by relying on the rotation of the walking wheel 23 itself. When the walking wheel 23 is in the second support position, the support surface 233 can abut against the contact surface, and the position of the walking wheel 23 can be changed synchronously with the gait of the leg support assembly 10 to achieve movement. Figure 1 and Figure 2 show the walking wheel 23 in the first support position, Figure 10 and Figure 11 show the walking wheel 23 in the second support position.

[0035] In this embodiment, as Figure 1 and Figure 2As shown, when the walking wheel 23 is in the first support position, it can rotate by integrating an independent drive motor itself or acting as a driven wheel. The rotation axis of the walking wheel 23 forms a first angle with the extension axis of the leg support assembly 10. Among them, the first angle can be 90°, 89°, 88°, 85°, 80°, 75°, 70°, 65°, 60°, 55°, 50°, etc. When the walking wheel 23 is in the second support position, the rotation axis of the walking wheel 23 forms a second angle with the extension axis of the leg support assembly 10. Among them, the second angle can be 0° or close to 0°, such as 1°, 2°, 3°, 4°, and 5°, etc.

[0036] The walking wheel 23 has an axle, and the axle is connected to the mounting bracket 22. The walking wheel 23 includes three functional surfaces, a tire surface 232 and an installation surface 231 and a support surface 233 adjacent to the tire surface 232. The tire surface 232 is usually covered with an elastic rubber material, and anti-slip patterns (such as transverse serrated patterns or block-shaped protrusions, etc.) are provided on the surface. The installation surface 231 is arranged at one end of the axial direction of the walking wheel 23, and the installation surface 231 is fixed to the mounting bracket 22 by key connection or bolt connection to ensure that the walking wheel 23 can rotate freely along the axle. The support surface 233 is arranged at the other end of the axial direction of the walking wheel 23. The support surface 233 can be made of hard metal or other materials, and a ring-shaped support flange 234 (as Figure 1 shown) can be provided on the surface, and anti-slip patterns are provided on the surface to enhance the grip when the support surface 233 contacts the contact surface. The ring-shaped support flange 234 protrudes from the tire surface 232 in the axial direction of the axle, so that when the support surface 233 supports the contact surface, the tire surface 232 can be prevented from contacting and rubbing against the contact surface.

[0037] The power source 24 includes a joint motor, and the joint motor can be a servo motor or a stepper motor, etc. This application only makes a list without limitation, as long as it can provide driving force for the mounting bracket 22. The output shaft of the power source 24 can be directly connected to the mounting bracket 22, or can be indirectly connected to the mounting bracket 22 through a coupling after connecting a speed reducer to increase the torque.

[0038] In some embodiments, the power source 24 further includes a joint motor and a first reduction gear set. The input end of the first reduction gear set is connected to the output shaft of the joint motor, and the output end of the first reduction gear set is connected to the mounting bracket 22.

[0039] The mounting bracket 22 can be in an L shape, a T shape or a U shape. When the mounting bracket 22 is in an L shape, one end can be connected to the power source 24 by key connection or coupling, and the other end is connected to the axle of the walking wheel 23. When the mounting bracket 22 is in a T shape, it includes a horizontal part and a vertical part, and the vertical part is connected to the horizontal part at about the middle position. As Figures 4-6As shown, when the mounting bracket 22 is U-shaped, the mounting bracket 22 includes two side arms. The closer ends of the two side arms are connected to each other and connected to the axle of the traveling wheel 23. The farther ends of the two side arms are respectively rotatably connected to both ends of the power source 24. A bearing can be provided between the mounting bracket 22 and the traveling wheel 23, so that the friction resistance can be reduced when the traveling wheel 23 rotates.

[0040] As Figure 2 and Figure 3 shown, the traveling wheel 23 can be a universal wheel or an ordinary driving wheel. The axle of the traveling wheel 23 is perpendicular to the rotation axis of the mounting bracket 22. When the traveling wheel 23 is a driving wheel, a motor can be integrated in the axle of the traveling wheel 23 to achieve self-rotation. If the traveling wheel 23 is a driven wheel, it rolls passively as the position of the mounting bracket 22 changes and does not require a motor to achieve self-rotation.

[0041] The following examples illustrate how the leg structure installed in the robot 100 operates in different scenarios:

[0042] As Figures 1-3 shown, when the robot 100 is walking on a flat ground, if the traveling wheel 23 is in the first support position at the initial position of the robot 100, the mounting bracket 22 keeps the traveling wheel 23 in the first support position, and keeps the tread surface 232 of the traveling wheel 23 in contact with the contact surface to achieve stable rolling; As Figure 10 shown, if the traveling wheel 23 is in the second support position at the initial position of the robot 100, the power source 24 of the leg structure can drive the mounting bracket 22 to drive the traveling wheel 23 to swing synchronously so that the traveling wheel 23 is in the second support position, making the tread surface 232 of the traveling wheel 23 in contact with the contact surface to achieve stable rolling.

[0043] As Figures 1-3 shown, when encountering a step or an obstacle, if the traveling wheel 23 is in the first support position at the initial position of the robot 100, the traveling wheel 23 rolls to near the step. At this time, the tread surface 232 is in contact with the contact surface, and the power source 24 can control the mounting bracket 22 to swing to change the position of the traveling wheel 23 so that the traveling wheel 23 swings from the first support position to the second support position, enabling the traveling wheel 23 to cooperate with the movement of the leg support assembly 10 to cross the obstacle; As Figure 10 shown, if the traveling wheel 23 is in the second support position at the initial position of the robot 100, then the traveling wheel 23 continues to be kept in the second support position, enabling the traveling wheel 23 to cooperate with the movement of the leg support assembly 10 to cross the obstacle.

[0044] When the road surface is uneven, for example, there are many gravel obstacles, the traveling wheel 23 can be in the first support position when walking, and the traveling wheel 23 can be in the second support position when stationary. If climbing a slope, the traveling wheel 23 can be in the second support position.

[0045] According to the leg structure for the robot 100 according to the embodiments of the present application, by directly controlling the movement of the mounting bracket 22 through the power source 24, it is possible to adjust the relative position between the walking wheel 23 and the leg support assembly 10, so that the leg structure can adapt to various terrains without relying on complex multi-joint linkages. At the same time, it can change the contact position between the walking wheel 23 and the contact surface, enhancing the stability and safety of the robot 100. The leg structure is simple and compact, reducing the structural complexity and overall cost, while ensuring the rapidity and accuracy of the position adjustment of the walking wheel 23.

[0046] It should be noted that when a self-driving motor is integrated inside the walking wheel 23, the self-driving motor is connected to the mounting bracket 22, and the output shaft of the self-driving motor is connected to the walking wheel 23. When the walking wheel 23 is in the second support position, the operation of the self-driving motor will drive the mounting bracket 22, the power source 24, and the leg support assembly 10 as a whole to rotate towards the left or right in the yaw angle. At this time, the mounting bracket 22, the power source 24, and the leg support assembly 10 rotate within a small range with the extension axis of the wheel axle of the walking wheel 23 as the rotation axis.

[0047] During the process of controlling the robot to perform different actions, the robot can be rotated towards the left and right directions through the self-driving motor, expanding the operation space. Further, the leg support assemblies 10 on both the left and right sides rotate synchronously towards the inside to form a posture similar to an "inward eight", or the leg support assemblies 10 on both the left and right sides rotate synchronously towards the outside to form a posture similar to an "outward eight". Additionally, by controlling the rotational speed difference between the two self-driving motors, the rotational angles of the two leg support assemblies 10 can be differentially controlled.

[0048] In this embodiment, the attitude adjustment of the leg support assembly 10 is achieved by using the reaction torque generated by the driving force of the self-driving motor of the walking wheel 23, without the need to additionally set up driving components, which can simplify the mechanical structure setting and reduce the weight.

[0049] In some embodiments, the first angle is 90° and the second angle is 0°. Among them, Figure 1 and Figure 4 shows that the walking wheel 23 is in the first support position and the first angle is 90°.

[0050] In this embodiment, as Figure 2As shown, when the robot 100 adopts a conventional walking mode, when the walking wheel 23 is in the first support position, the axle of the walking wheel 23 is perpendicular to the leg support assembly 10, the tire surface 232 is completely in contact with the contact surface, and the support surface 233 is suspended. The walking wheel 23 can rotate around the axle and can be driven by a motor integrated in the axle to roll forward or follow the overall movement of the robot 100. If the robot 100 needs to turn, it can achieve turning by controlling the differential speed of the walking wheels 23 on both sides.

[0051] When the robot 100 needs to stand still, carry heavy loads, pass through steps or cross obstacles, etc., the power source 24 controls the swing of the mounting bracket 22. The swing of the mounting bracket 22 drives the swing of the walking wheel 23 so that the support surface 233 abuts against the contact surface, forming a rigid support for the leg structure. At this time, the walking wheel 23 stops rotating and forms a rigid whole with the mounting bracket 22 to assist the leg support assembly 10 in stabilizing the fuselage 101 of the robot 100.

[0052] Wherein, the axis of the output shaft of the power source 24 is perpendicular to the swing plane of the mounting bracket 22, thereby ensuring that the mounting bracket 22 swings in this plane and ensuring the effectiveness and stability of power transmission.

[0053] Further, in order to ensure the accuracy and stability of the swing of the mounting bracket 22, the axis of the output shaft is aligned with the swing central axis of the mounting bracket 22 to avoid deviation during power transmission.

[0054] In some embodiments, the leg support assembly 10 includes a first limiting group 11, and the first limiting group 11 is used to lock the mounting bracket 22 when the walking wheel 23 is in the first support position or the second support position.

[0055] In this embodiment, the first limiting group 11 locks the mounting bracket 22 when the walking wheel 23 is in the first support position, ensuring that the robot 100 maintains a stable posture when carrying heavy loads and standing still or moving on complex terrains. In the locked state, the power source 24 can be powered off, which can significantly improve the stability of the leg structure in different states, enabling the leg structure to accurately position the state without complex control and significantly improving its endurance.

[0056] As Figure 1 、 Figure 7 and Figure 8 shown, in some embodiments, the leg support assembly 10 includes a first joint 12. The first joint 12 includes a housing 121. The first limiting group 11 includes a stop member 111. The stop member 111 is disposed on the housing 121. A limiting member 221 is provided on the mounting bracket 22. When the walking wheel 23 is in the second support position, the limiting member 221 abuts against the second stop member 112. When the walking wheel 23 is in the first support position, the limiting member 221 abuts against the stop member 111.

[0057] The stopper 111 can be connected to the housing 121 by bolts, welding or integral molding. The stopper 221 is arranged on the side of the mounting frame 22, and can be a raised columnar or block-shaped structure. The surface of the stopper 221 can be set relatively smooth, so as to reduce the friction between the stopper 111 or the second stopper 112.

[0058] The power source 24 drives the mounting frame 22 to swing. When the walking wheel 23 is in the first supporting position (i.e., the tire surface 232 touches the ground), the mounting frame 22 swings to the corresponding angle, and the limit member 221 abuts against the stop member 111. The stop member 111 limits the mounting frame 22 from swinging further, so that the tire surface 232 accurately fits the contact surface, ensuring that the leg structure can roll and walk normally.

[0059] In some embodiments, the lower end of the shell 121 defines a support arm 122, the support arm 122 is connected to the mounting frame 22, and the stopper is disposed on the support arm 122 close to the side of the running wheel 23 when the running wheel 23 is in the first supporting position.

[0060] In some other embodiments, the first limit group 11 includes an electromagnetic locking pin and a locking slot, the locking slot is arranged on the mounting base, and the electromagnetic locking pin is arranged on the support arm 122 or on a base connected to the support arm 122. A sensor is also arranged in the leg support assembly 10. After the sensor detects that the mounting frame 22 is swung into place, the sensor controls the electromagnetic locking pin to move into the locking slot through the control system of the leg structure or the control system of the robot 100 according to the detected signal.

[0061] According to the leg structure of the robot 100 of the embodiment of the present application, the second limit group limits the rotation range angle of the walking wheel 23 through a mechanical structure to avoid a rigid collision between the walking wheel 23 and the leg support assembly 10 due to excessive swinging.

[0062] In some embodiments, the ankle joint assembly 20 further includes a second limiting group, which is used to limit the rotation angle of the walking wheel 23 relative to the leg supporting assembly 10.

[0063] In some embodiments, the second limit group includes an input gear and an output gear in transmission connection, the teeth of the output gear are engaged with the teeth of the input gear, and the input gear is connected to the output shaft of the power source 24. When the power source 24 only includes the joint motor, the input gear and the output gear can simultaneously act as reduction gears.

[0064] When the power source 24 is activated, the output shaft drives the input gear to rotate, and the power is transmitted to the output gear through gear meshing, thereby driving the mounting bracket 22 to swing. Since the number of teeth and the transmission ratio of the gears are fixed, the swing angle of the mounting bracket 22 is precisely limited. For example, when the input gear rotates a specific number of turns, the output gear can only drive the mounting bracket 22 to swing to the limit angle corresponding to the first support position or the second support position, thereby achieving precise control of the rotation angle of the traveling wheel 23. At the same time, the smoothness of gear transmission can reduce vibrations and impacts during the swinging process.

[0065] In some other embodiments, the second limiting group includes an elastic clamping member, a return spring, and a cooperating member. The movable end of the elastic clamping member can be provided with a clamping post, and a clamping groove cooperating with the clamping post is provided on the surface of the cooperating member. When the mounting bracket 22 swings to make the traveling wheel 23 in the first support position, the clamping post of the elastic clamping member is elastically deformed under extrusion during the approaching process of the mounting bracket 22 until the clamping post aligns with the clamping groove on the cooperating member. Under the elastic force of the return spring and its own elastic restoring force, the clamping post snaps into the clamping groove. At this time, the elastic clamping member generates elastic deformation to provide a pre-tightening force, restricting the mounting bracket 22 from continuing to swing, thereby precisely limiting the traveling wheel 23 in the first support position and ensuring that the tire surface 232 accurately abuts against the contact surface. When it is necessary to switch back to the second support position, the power source 24 drives the mounting bracket 22 to swing in the reverse direction. The mounting bracket 22 drives the cooperating member to apply a thrust to the clamping post, causing the clamping post to overcome the elastic force of the return spring and its own elastic deformation force and disengage from the clamping groove. The mounting bracket 22 continues to swing until the traveling wheel 23 reaches the second support position, and the limit is achieved again through the cooperation of the clamping post and another clamping groove.

[0066] As Figure 4 and Figure 6 shown, in some embodiments, the limiting member 221 includes a limiting groove 2211, and the stopping member 111 includes a limiting boss 113. When the traveling wheel 23 is in the first support position, the limiting boss 113 is embedded in the limiting groove 2211.

[0067] The width of the limiting boss 113 matches the width of the limiting groove 2211, and the height of the limiting boss 113 matches the depth of the limiting groove 2211. When the mounting bracket 22 swings to make the traveling wheel 23 in the first support position, the limiting groove 2211 moves with the mounting bracket 22 and aligns with the limiting boss 113 of the stopping member 111, and the limiting boss 113 is completely embedded in the limiting groove 2211.

[0068] In some embodiments, the limiting groove 2211 is integrally formed with the mounting bracket 22, can be made of aluminum alloy, and can be surface-hardened to improve the surface hardness of the limiting groove 2211.

[0069] In a specific embodiment, the limiting boss 113 is in the shape of a cuboid, and the shape of the limiting groove 2211 is adapted to that of the limiting boss 113, so as to ensure that the limiting boss 113 and the limiting groove 2211 have sufficient contact area and can withstand a greater lateral moment.

[0070] As Figure 6 shown, in some embodiments, one side of the limiting groove 2211 close to the housing 121 has an open side. The stop member 111 further includes a stopping portion 114, which is disposed adjacent to the limiting boss 113 and protrudes from the limiting boss 113. When the limiting boss 113 is embedded in the limiting groove 2211, the stopping portion 114 abuts against the outer wall surface of the limiting member 221 on the same side as the open side.

[0071] One side of the limiting groove 2211 close to the housing 121 has an open side, that is, the limiting groove 2211 forms a semi-open structure surrounded by three sides on the side of the mounting bracket 22 facing the housing 121, and there is no closed wall surface on the side close to the housing 121. The side away from the housing 121 and close to the mounting surface 231 of the traveling wheel 23 has a closed side wall. The free ends of the side walls in three directions of the limiting groove 2211 can be provided with guiding inclined surfaces to guide the smooth insertion of the limiting boss 113.

[0072] The stopping portion 114 is in the shape of a flat plate, which is vertically fixed at the end of the limiting boss 113 and close to the housing 121 side. Its height is higher than that of the limiting boss 113, so as to form a lateral stopping surface protruding from the boss. The width of the stopping portion 114 covers the entire width of the limiting boss 113 and is perpendicular to the swinging plane of the mounting bracket 22.

[0073] When the mounting bracket 22 drives the traveling wheel 23 to gradually swing to the first support position, when the limiting boss 113 is inserted into the limiting groove 2211 through the open side, the stopping portion 114 synchronously approaches the outer wall surface of the limiting member 221. This outer wall surface is between the traveling wheel 23 and the housing 121 and finally abuts against this outer wall surface. When the limiting boss 113 is completely embedded in the limiting groove 2211, the flat surface of the stopping portion 114 is closely attached to the outer wall surface of the limiting member 221, forming a lateral rigid stop, increasing the contact area with the mounting bracket 22, especially when the robot 100 crosses a gully or is impacted laterally, thereby further improving the lateral stability of the mounting bracket 22.

[0074] As Figure 4 and Figure 6As shown, in some embodiments, the limiting groove 2211 includes a bottom wall and three side walls that are sequentially surrounded. The bottom wall of the limiting groove 2211 is closer to the rotation axis of the walking wheel 23 than each side wall of the limiting groove 2211. The bottom wall of the limiting groove 2211 and the bottom wall of the limiting boss 113 form curved surfaces with the same curvature. When the limiting boss 113 is embedded in the limiting groove 2211, the bottom wall of the limiting groove 2211 and the bottom wall of the limiting boss 113 are completely fitted together.

[0075] Since the bottom wall of the limiting groove 2211 and the bottom wall of the limiting boss 113 are formed into curved surfaces with the same curvature, when the running wheel 23 swings from the second supporting position to the first supporting position, even if the mounting frame 22 has a certain angle deviation during the swinging process, adaptive adjustment can be achieved through the cooperation of the curved surface, and the limiting boss 113 can gradually align with the limiting groove 2211. As the mounting frame 22 continues to swing, the limiting boss 113 is completely embedded in the limiting groove 2211, and the bottom wall of the limiting groove 2211 and the bottom wall of the limiting boss 113 are completely fitted. The fitting of the two curved surfaces increases the contact area between the limiting boss 113 and the limiting groove 2211. Compared with the flat fitting, it can withstand a larger vertical load. When the robot 100 carries heavy objects, it can effectively reduce the sinking and shaking of the mounting frame 22, ensuring that the ground contact posture of the running wheel 23 is more stable.

[0076] In the above-mentioned embodiments, the curved surface may be a strip-shaped circular arc surface, a strip-shaped elliptical arc surface, or a continuous strip-shaped curved surface with undulating waves.

[0077] like Figures 7-9 As shown, in some embodiments, two opposite support arms 122 are provided at the lower end of the leg support assembly 10, and the two support arms 122 are respectively rotatably connected to the two sides of the outer shell of the power source 24, and the two support arms 122 are respectively located on the symmetrical sides of the output shaft of the power source 24, and the rotation axis of the connection between the power source 24 and the support arm 122 is perpendicular to the output shaft of the power source 24. A driving assembly 30 is provided in the leg support assembly 10, and the driving assembly 30 includes a first driving part 31 and a driving rod 33, and the first driving part 31 and the driving rod 33 are transmission-connected, and the other end of the driving rod 33 is connected to the power source 24, and the first driving part 31 is used to drive the power source 24 to swing relative to the leg support assembly 10.

[0078] When the leg structure is applied to the robot 100, by setting a connection mode between the housing 121 of the power source 24 and the support arm 122, it is possible to achieve the overall pitching of the power source 24 and the mounting frame 22 by the driving rod 33. For example, when the robot 100 stands, it can raise its head or lower its head in the up and down directions. When the leg structure is applied to the robot 100, it can flexibly adapt to complex terrains such as slopes, steps and uneven roads, and significantly improve the movement ability of the robot 100. For example, when the robot 100 walks on a slope, the walking wheel 23 is in the second supporting position, such as Figure 3 In the direction indicated by the middle arrow, the power source 24 is driven by the driving rod 33 to lift up the front ends of the mounting frame 22 and the running wheels 23 to reduce slipping. When going downhill, the driving rod 33 can be used to control the power source 24, the mounting frame 22 and the front ends of the running wheels 23 to lower their heads to increase grip.

[0079] In some embodiments, Figure 2 and Figure 3 As shown, the support arm 122 is formed as a cantilever structure at the lower end of the leg support assembly 10. When the leg support assembly 10 includes a shell 121, the support arm 122 is directly connected to the lower end of the shell 121. A rotating shaft seat is provided at the lower end of the support arm 122, and a bearing is provided in the rotating shaft seat. The outer shell of the power source 24 is rotatably connected to the support arm 122 through the bearing. The driving assembly 30 can provide power for the swing of the power source 24 and control the pitch angle of the power source 24 in the up and down directions. The first driving part 31 and the driving rod 33 are connected in transmission, and the other end of the driving rod 33 is connected to the power source 24 to form a connecting rod mechanism, thereby controlling the power source 24 to adjust the pitch angle. For the convenience of explanation, the pitch rotation axis of the power source 24 is defined as the first direction, and the direction of the output shaft of the power source 24 is defined as the second direction, and the second direction is perpendicular to the first direction.

[0080] In one of the scenarios in which the robot 100 is used, when the robot 100 is in an initial state, the axis of the output shaft of the power source 24 is perpendicular to the extension axis of the leg support assembly 10, and the tire surface 232 of the walking wheel 23 touches the ground horizontally. When the robot 100 moves to a sloped terrain, the first driving unit 31 is started (such as the gear motor rotates), and the driving rod 33 is used to push the housing of the power source 24 to swing around its own pitch rotation axis, so that the front end of the walking wheel 23 is tilted up, and the support surface 233 of the walking wheel 23 gradually fits the slope surface.

[0081] In some embodiments, the support arm 122 is formed as a cantilever structure at the end of the leg support assembly 10, and a ball socket is provided at the end. A ball head is provided on the outer shell of the power source 24, and the ball head and the ball socket are hinged. The remaining structure is the same as the structure of implementation one. In this way, when the walking wheel 23 is in the second supporting state, it can drive the walking wheel 23 to tilt to the left or to the right, which will not be repeated here.

[0082] In one of the scenarios in which the robot 100 is used, the driving rod 33 drives the housing of the power source 24 to swing toward the target side (such as tilting to the left when moving to the left), and the walking wheel 23 tilts synchronously with the power source 24, so that the tire surface 232 forms a lateral contact angle with the ground (similar to the side sliding of a snowboard), thereby improving the robot 100's ability to pass through a narrow space.

[0083] like Figure 7 and Figure 8 As shown, in some embodiments, the driving assembly 30 also includes a crank 32, which is transmission-connected to the output shaft of the first driving part 31, and the other end of the crank 32 is rotationally connected to the driving rod 33. The crank 32 is rotatable and its rotation axis is perpendicular to the output shaft of the power source 24.

[0084] When the first drive unit 31 starts to work, its output shaft starts to rotate. Since the crank 32 is connected to the output shaft of the first drive unit 31 by transmission, the crank 32 will rotate with the output shaft. During the rotation of the crank 32, its contour curve will constantly change the position of contact with the drive rod 33. Since the crank 32 is rotatable and the axis of rotation is perpendicular to the output shaft of the power source 24, the rotation of the crank 32 will be converted into a linear or swinging motion of the drive rod 33. For example, when the crank 32 is a disc crank 32, the change of its contour curve will drive the drive rod 33 to perform reciprocating linear motion. The movement of the drive rod 33 is transmitted to the power source 24. Since the drive rod 33 is connected to the power source 24 by rotation, it will drive the power source 24 to rotate relative to the leg support assembly 10. The power source 24 drives the mounting frame 22 and the walking wheel 23 as a whole to pitch synchronously relative to the leg support assembly 10, thereby meeting the working requirements on different terrains.

[0085] like Figure 9 As shown, in some embodiments, the driving assembly 30 further includes a second reduction gear set 34 , and the second reduction gear set 34 is drivingly connected to the output shaft of the first driving part 31 and the crank 32 .

[0086] The robot 100 according to the embodiment of the present application includes the above-mentioned leg structure for the robot 100 .

[0087] The robot 100 according to the embodiment of the present application has the characteristics and advantages of the above-mentioned embodiments, which will not be described in detail here.

[0088] It should be understood that the terms used herein are for the purpose of describing particular example embodiments only and are not intended to be limiting. Unless the context clearly dictates otherwise, the singular forms "a", "an", and "the" as used herein may also include the plural forms. The terms "comprising", "including", "containing", and "having" are inclusive and thus specify the presence of the stated features, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or combinations thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring them to be performed in the particular order described or illustrated, unless explicitly indicated as the order of performance. It should also be understood that additional or alternative steps may be used.

[0089] Although the terms first, second, third, etc. may be used herein to describe multiple elements, components, regions, layers, and / or sections, these elements, components, regions, layers, and / or sections should not be limited by these terms. These terms may be used only to distinguish one element, component, region, layer, or section from another. Unless the context clearly indicates otherwise, terms such as "first", "second", and other numerical terms when used herein do not imply an order or sequence. Thus, the first element, component, region, layer, or section discussed below may be referred to as the second element, component, region, layer, or section without departing from the teachings of the example embodiments.

[0090] The above are only specific embodiments of the present invention, enabling those skilled in the art to understand or implement the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown herein, but rather will conform to the broadest scope consistent with the principles and novel features claimed herein.

Claims

1. A leg structure for a robot, characterized in that, It includes a leg support component and an ankle joint component. The ankle joint component is arranged at the end of the leg support component. The ankle joint component includes a power source, a mounting frame, and a walking wheel rotatably arranged on the mounting frame. The walking wheel has a tire surface, a mounting surface adjacent to the tire surface, and a supporting surface. The mounting surface is connected to the mounting frame. The output shaft of the power source is connected to the mounting frame to drive the mounting frame to swing. The rotation axis of the walking wheel has a first support position forming a first angle with the extension axis of the leg support component and a second support position forming a second angle. The walking wheel can swing with the mounting frame between the first support position and the second support position. When the walking wheel is in the first support position, the tire surface is used to abut against the contact surface. When the walking wheel is in the second support position, the supporting surface is used to abut against the contact surface.

2. The leg structure for a robot according to claim 1, characterized in that, The leg support component includes a first limiting group, and the first limiting group is used to lock the mounting frame when the walking wheel is in the first support position.

3. The leg structure for a robot according to claim 2, wherein, The leg support component includes a first joint. The first joint includes a housing. The first limiting group includes a stop member. The stop member is arranged on the housing. A limiting member is arranged on the mounting frame. When the walking wheel is in the first support position, the limiting member abuts against the stop member.

4. The leg structure for a robot according to claim 3, characterized in that, The limiting member includes a limiting groove, and the stop member includes a limiting boss. When the walking wheel is in the first support position, the limiting boss is embedded in the limiting groove.

5. The leg structure for a robot according to claim 4, characterized in that, One side of the limiting groove close to the housing has an open side. The stop member further includes a stopping portion. The stopping portion is arranged adjacent to the limiting boss and protrudes from the limiting boss. When the limiting boss is embedded in the limiting groove, the stopping portion abuts against the outer wall surface of the limiting member on the same side as the open side.

6. The leg structure for a robot according to claim 4 or 5, characterized in that, The limiting groove includes a bottom wall and three sequentially enclosing side walls. The bottom wall of the limiting groove is closer to the rotation axis of the walking wheel than each side wall of the limiting groove. The bottom wall of the limiting groove and the bottom wall of the limiting boss form curved surfaces with the same radian. When the limiting boss is embedded in the limiting groove, the bottom wall of the limiting groove and the bottom wall of the limiting boss are completely fitted.

7. The leg structure for a robot according to claim 1, wherein Two opposite support arms are arranged at the lower end of the leg support component. The two support arms are respectively rotatably connected to both sides of the housing of the power source, and the two support arms are respectively located on the symmetric two sides of the output shaft of the power source. The rotation axis of the connection between the power source and the support arm is perpendicular to the output shaft of the power source. A driving component is arranged in the leg support component. The driving component includes a first driving part and a driving rod. The first driving part and the driving rod are in transmission connection. The other end of the driving rod is connected to the power source. The first driving part is used to drive the power source to swing relative to the leg support component.

8. The leg structure for a robot according to claim 7, wherein, The driving assembly further includes a crank, the crank is in transmission connection with the output shaft of the first driving part, the other end of the crank is rotatably connected to the driving rod, the crank is rotatable and its rotation axis is perpendicular to the output shaft of the power source.

9. The leg structure for a robot according to any one of claims 1-5, characterized in that, The first angle is 90°, and the second angle is 0°.

10. A robot, characterized in that It includes the leg structure for a robot according to any one of claims 1-9.

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