A robot wheel-leg mechanism with large magnetic nonlinear stiffness and large damping and high isolation and damping

Abstract

The application discloses a magnetic nonlinear stiffness large-damping high-isolation and damping robot wheel-leg mechanism, which comprises a thigh, a shank, a wheel, a crank rod, a connecting rod, a magnetic device one, a magnetic device two, a damping device, a first joint motor and a second joint motor. The first joint motor and the second joint motor are located in a box body, the first joint motor is connected with the upper end of the thigh of the robot and drives the rotation of the thigh, the shank connecting point is rotationally connected with the lower end of the thigh, and the wheel is connected with the lower end of the shank. The upper end of the crank rod of the crank rod is connected with the second joint motor, the lower end of the crank rod is rotationally connected with the upper end of the connecting rod of the connecting rod, and the lower end of the connecting rod is rotationally connected with the upper end of the shank. The damping device, the magnetic device one and the magnetic device two are connected with the shank and the connecting rod respectively, and isolation and damping are realized. When the robot passes through a bumpy road surface or walks in a foot mode, the isolation and damping performance of the robot is improved, the fuselage is more stable, and the impact on the motor is reduced.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a high-damping, high-isolation, vibration-reducing robot wheel-leg mechanism with high magnetic nonlinear stiffness. Background Technology

[0002] Wheeled-legged robots are hybrid mobile robots that combine the high mobility of wheeled robots with the strong terrain adaptability of legged robots. Through flexible switching between wheeled and legged locomotion modes, they achieve both high-speed travel and obstacle-crossing capabilities in complex terrains, making them core equipment for unstructured environment operations. Compared to traditional wheeled robots, they can overcome terrain limitations such as steps, trenches, and steep slopes; compared to purely legged robots, they offer higher mobility and lower energy consumption on flat surfaces, effectively balancing mobility, passability, and endurance. Currently, wheeled-legged robots are showing broad application prospects in emergency rescue, industrial inspection, military and field operations, smart cities, and agricultural and forestry plant protection.

[0003] While wheeled robots offer significant advantages in terrain adaptability and mobility, the shortcomings of their vibration damping systems have become a key bottleneck restricting performance improvement and application expansion. Existing wheeled robots mostly employ rigid linkage structures, lacking the mature independent suspension and vibration damping systems found in wheeled robots. Ground impacts and vibrations are easily transmitted directly to the body through the rigid leg structure, causing severe vibrations throughout the machine. During high-speed wheeled travel, the instantaneous impact of bumpy roads or obstacle crossings can cause significant fluctuations in the robot's posture, affecting not only the measurement accuracy of onboard sensors but also potentially causing fatigue damage to precision components such as joint motors and reducers. Furthermore, current vibration damping designs often rely on real-time adjustment of motor stiffness and damping, requiring continuous torque output to counteract vibrations, significantly shortening range.

[0004] Therefore, it is necessary to develop new vibration reduction structures to overcome the above problems. Summary of the Invention

[0005] Purpose of the invention: To address the shortcomings and defects of existing technologies, this invention provides a high-damping, high-isolation and vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness. When traversing bumpy roads or walking on legs, it improves the robot's vibration isolation and damping performance, making the robot body more stable and reducing the impact on the motor.

[0006] Technical Solution: The present invention discloses a high-damping, magnetically nonlinear stiffness, high-vibration-isolation robot wheel-leg mechanism, characterized in that it includes a thigh, a lower leg, a wheel, a crank, a connecting rod, a magnetic device one, a magnetic device two, a damping device, a first joint motor, and a second joint motor; the first and second joint motors are located inside a housing, the first joint motor is connected to the upper end of the robot's thigh and drives its rotation, the lower leg connection point is rotatably connected to the lower end of the thigh, and the wheel is connected to the lower end of the lower leg; the upper end of the crank is connected to the second joint motor, the lower end of the crank is rotatably connected to the upper end of the connecting rod, and the lower end of the connecting rod is rotatably connected to the upper end of the lower leg; the damping device, magnetic device one, and magnetic device two are respectively connected to the lower leg and the connecting rod to achieve vibration isolation and reduction.

[0007] The thigh is powered by a first joint motor to complete the stepping motion. The thigh is connected to both sides of the box body, and the lower end of the thigh is rotatably connected to the lower leg, together forming the robot's leg structure.

[0008] The lower leg is rotatably connected to a connecting rod, and the lower leg is rotated by a crank and a connecting rod to complete the robot's leg-raising action. The lower leg has a connecting hole one and a connecting hole two on its side.

[0009] The upper end of the crank rod is connected to the second joint motor and rotates with the motor as a power rod, while the lower end of the crank rod is connected to the connecting rod.

[0010] The connecting rod connects the lower leg and the crank arm, serving as an intermediate rod for power transmission. A fourth connecting hole is provided on the side of the connecting rod, and the lower end of the connecting rod is extended to a third connecting hole.

[0011] The magnetic device one is connected to the connecting hole one, and the magnetic device two is connected to the connecting hole three. The opposite poles of the two magnetic devices generate an attractive force. When the leg is bent, the force of the opposite poles attracting each other provides a pulling force between the lower leg and the connecting rod, giving it a tendency to recover.

[0012] The damping device is located on the inside of the leg, with its lower end connected to connection hole four and its upper end connected to connection hole two, and is compressed when the leg is bent.

[0013] The magnetic device one and magnetic device two are used together as a magnetic device combination.

[0014] The magnetic device assembly includes an upper magnetic device end and a lower magnetic device end.

[0015] The upper and lower ends of the magnetic device are connected to the lower leg and the connecting rod, respectively.

[0016] Beneficial Effects: Compared with existing technologies, this invention has the following significant advantages: By arranging damping and magnetic devices in the legs, this invention effectively isolates vibrations generated by the road surface during movement. During high-speed wheeled movement, road bumps are transmitted upwards. The damping devices installed on the inner side of the legs and the magnetic devices installed on the outer side work together to buffer the vibrations, effectively suppressing them. In legged riding, although the instantaneous acceleration at the moment of lifting and landing is constrained to zero in gait planning, this only eliminates rigid impacts at the ideal trajectory level. Impact disturbances still occur during actual robot movement and cannot be completely avoided. This structure can also mitigate the impact generated at the moment of lifting and landing. The geometrically nonlinear arrangement of the damping and magnetic devices in the legs improves the static stiffness and damping of the overall structure, effectively isolating vibration transmission when encountering bumps during movement, thereby protecting the robot body and electronic components from vibration. Attached Figure Description

[0017] Figure 1 This is a top view of the structure of the present invention;

[0018] Figure 2 This is an exploded view of the single-leg structure of the present invention;

[0019] Figure 3 This is a schematic diagram showing the connection of the components behind the single-leg concealed thigh in this invention;

[0020] Figure 4 This is a schematic diagram of the components of the present invention that conceal the thigh when the leg is bent.

[0021] In the diagram, 1 represents the housing; 2 represents the thigh; 3 represents the lower leg; 4 represents the wheel; 5 represents the crank; 6 represents the connecting rod; 7 represents magnetic device one; 8 represents magnetic device two; 9 represents the damping device; 10 represents the upper end of the thigh; 11 represents the lower end of the thigh; 12 represents the lower end of the lower leg; 13 represents connecting hole one; 14 represents connecting hole two; 15 represents the lower leg connection point; 16 represents the upper end of the lower leg; 17 represents connecting hole three; 18 represents the lower end of the connecting rod; 19 represents connecting hole four; 20 represents the upper end of the connecting rod; 21 represents the lower end of the crank; 22 represents the upper end of the crank; 23 represents the upper end of the magnetic device; 24 represents the lower end of the magnetic device; 25 represents the upper end of the damping device; and 26 represents the lower end of the damping device. Detailed Implementation

[0022] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0023] like Figures 1-4The present invention comprises a high-damping, magnetically nonlinear stiffness, high-vibration-isolation robot wheel-leg mechanism, including a thigh 2, a lower leg 3, a wheel 4, a crank 5, a connecting rod 6, a magnetic device 1 7, a magnetic device 2 8, a damping device 9, a first joint motor, and a second joint motor. The first joint motor and the second joint motor are located inside the housing 1. The first joint motor is connected to the upper end 10 of the thigh of the robot and drives it to rotate. The lower leg connection point 15 is rotatably connected to the lower end 11 of the thigh. The wheel 4 is connected to the lower end 12 of the lower leg. The upper end 22 of the crank 5 is connected to the second joint motor. The lower end 21 of the crank 5 is rotatably connected to the upper end 20 of the connecting rod 6. The lower end 18 of the connecting rod is rotatably connected to the upper end 16 of the lower leg. The damping device 9, the magnetic device 1 7, and the magnetic device 2 8 are respectively connected to the lower leg (3) and the connecting rod 6 to achieve vibration isolation.

[0024] The thigh 2 of the present invention is powered by the first joint motor to complete the stepping action. The thigh 2 is connected to both sides of the box 1, and the lower end 11 of the thigh is rotatably connected to the lower leg 3, together forming the leg structure of the robot.

[0025] The upper end 16 of the lower leg of the present invention is rotatably connected to the connecting rod 6. The lower leg 3 is rotated by the crank 5 and the connecting rod 6 to complete the robot's leg lifting action. The lower leg 3 has a first connecting hole 13 and a second connecting hole 14 on its side.

[0026] The upper end 22 of the crank arm of the present invention is connected to the second joint motor and rotates with the motor as a power rod, while the lower end 21 of the crank arm is connected to the connecting rod 6.

[0027] The connecting rod 6 of the present invention connects the lower leg 3 and the crank 5, serving as an intermediate rod for power transmission. The connecting rod 6 has a connecting hole 19 on its side, and the lower end 18 of the connecting rod is extended by a section, with a connecting hole 17 at its end.

[0028] The magnetic device 7 of the present invention is connected to the connecting hole 13, and the magnetic device 8 is connected to the connecting hole 17. The opposite poles of the two magnetic devices generate an attractive force. When the leg is bent, the force of the opposite poles attracting each other provides a pulling force between the lower leg 3 and the connecting rod 6, so that it has a tendency to recover.

[0029] The damping device 9 of the present invention is disposed on the inner side of the leg. The lower end 26 of the damping device is connected to the fourth connection hole 19, and the upper end 25 of the damping device is connected to the second connection hole 14. It is compressed when the leg is bent.

[0030] The magnetic device 7 and magnetic device 8 of this invention are used together as a magnetic device assembly. The magnetic device assembly has an upper magnetic device 23 and a lower magnetic device 24. The upper magnetic device 23 and the lower magnetic device 24 are respectively connected to the lower leg 3 and the connecting rod 6.

[0031] The magnetic nonlinear stiffness, high damping, and vibration isolation robot wheel-leg mechanism of the present invention exhibits excellent geometric nonlinear stiffness and high damping characteristics due to the damping device 9 and a pair of magnetic devices 7 and 8 connected to the leg structure. When passing over uneven surfaces or landing on the foot, the force is transmitted from the wheel 4 to the lower leg 3 and then to the link 6. At this time, due to their characteristics, the damping device 9 and the pair of magnetic devices 7 and 8 connecting the lower leg 3 and the link 6 can effectively isolate the transmission of vibration at the knee joint. The amplitude of the force transmitted upward to the link 6 and the thigh 2 is greatly reduced, thereby mitigating the vibration of the robot body and the damage to the motor.

[0032] The robot leg mechanism of this invention can be considered as a four-bar linkage. The joint motor is housed within a housing and connected to the upper end of the robot's thigh linkage, enabling its rotation. The lower leg linkage is rotatably connected to the lower end of the thigh linkage. Wheels are connected to the lower end of the lower leg linkage. A hydraulic damping device and a pair of magnetic devices connect the linkage and the lower leg linkage, giving the mechanism nonlinear stiffness and high damping characteristics, thus achieving vibration isolation and reduction performance. This mechanism exhibits excellent vibration isolation and reduction performance during robot movement. When the foot is subjected to excitation force, it effectively reduces the force transmitted to the motor, thereby protecting the motor and improving the robot's stability.

[0033] This invention effectively isolates vibrations generated by the road surface during movement by arranging damping and magnetic devices in the legs. During high-speed wheeled movement, road bumps are transmitted upwards. The damping devices installed on the inside of the legs and the magnetic devices installed on the outside work together to buffer the vibrations, effectively suppressing them. In legged movement, although the instantaneous acceleration at the moment of lifting and landing is constrained to zero in gait planning, this only eliminates rigid impacts at the ideal trajectory level. Impact disturbances still occur during actual robot movement and cannot be completely avoided. This structure also mitigates the impact generated at the moment of lifting and landing. The geometrically nonlinear arrangement of the damping and magnetic devices in the legs improves the static stiffness and damping of the overall structure, effectively isolating vibration transmission when encountering bumps during movement, thereby protecting the robot body and electronic components from vibration.

Claims

1. A high-damping, magnetically nonlinear stiffness, high-isolation, vibration-damping robot wheel-leg mechanism, characterized in that: The system includes a thigh (2), a calf (3), a wheel (4), a crank (5), a connecting rod (6), a magnetic device one (7), a magnetic device two (8), a damping device (9), a first joint motor, and a second joint motor. The first joint motor and the second joint motor are located inside the housing (1). The first joint motor is connected to the upper end (10) of the thigh of the robot and drives it to rotate. The calf connection point (15) is rotatably connected to the lower end (11) of the thigh. The wheel (4) is connected to the lower end (12) of the calf. The upper end (22) of the crank (5) is connected to the second joint motor. The lower end (21) of the crank is rotatably connected to the upper end (20) of the connecting rod (6). The lower end (18) of the connecting rod is rotatably connected to the upper end (16) of the calf. The damping device (9), the magnetic device one (7), and the magnetic device two (8) are respectively connected to the calf (3) and the connecting rod (6) to achieve vibration isolation and reduction.

2. The high-damping, high-isolation, vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness according to claim 1, characterized in that: The thigh (2) is powered by the first joint motor to complete the stepping action. The thigh (2) is connected to both sides of the box (1). The lower end (11) of the thigh is rotatably connected to the lower leg (3) to form the leg structure of the robot.

3. The high-damping, high-isolation, vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness according to claim 1, characterized in that: The upper end (16) of the lower leg is rotatably connected to the connecting rod (6). The lower leg (3) is rotated by the crank rod (5) and the connecting rod (6) to complete the robot's leg lifting action. The lower leg (3) has a connecting hole one (13) and a connecting hole two (14) on its side.

4. The high-damping, high-isolation, vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness according to claim 1, characterized in that: The upper end (22) of the crank rod is connected to the second joint motor and rotates with the motor as a power rod, while the lower end (21) of the crank rod is connected to the connecting rod (6).

5. The high-damping, high-isolation, vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness according to claim 4, characterized in that: The connecting rod (6) connects the lower leg (3) and the crank rod (5) as an intermediate rod for power transmission. The connecting rod (6) has a connecting hole four (19) on its side and the lower end (18) of the connecting rod is extended by a section, with a connecting hole three (17) at the end.

6. The high-damping, high-isolation, vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness according to claim 5, characterized in that: The magnetic device one (7) is connected to the connecting hole one (13), and the magnetic device two (8) is connected to the connecting hole three (17). The opposite poles of the two magnetic devices generate an attractive force. When the leg is bent, the force of the opposite poles attracting each other provides a pulling force between the lower leg (3) and the connecting rod (6), making it tend to recover.

7. The high-damping, high-isolation, vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness according to claim 5, characterized in that: The damping device (9) is located on the inside of the leg. The lower end (26) of the damping device is connected to the fourth connection hole (19), and the upper end (25) of the damping device is connected to the second connection hole (14). It is compressed when the leg is bent.

8. The high-damping, high-isolation, vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness according to claim 1, characterized in that: The magnetic device one (7) and magnetic device two (8) are used together as a magnetic device combination.

9. The high-damping, high-isolation, vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness according to claim 8, characterized in that: The magnetic device assembly is provided with an upper magnetic device end (23) and a lower magnetic device end (24).

10. The high-damping, high-isolation, vibration-damping robot wheel-leg mechanism with high magnetic nonlinear stiffness according to claim 8, characterized in that: The upper end (23) and lower end (24) of the magnetic device are connected to the lower leg (3) and the connecting rod (6) respectively.

Images