An energy storage leg structure and robot

Abstract

This invention relates to the field of robotics, specifically to an energy-storing leg structure and robot, comprising a first drive unit, a first drive frame connected to the first drive unit, a second drive unit connected to the first drive frame, a second drive frame and a power storage device connected to the second drive unit, a linkage device connected to the power storage device and the second drive frame, and a third drive unit connected to the linkage device. The second drive unit is provided with a second fixed base. The power storage device includes a power storage disk connected to the second fixed base and a power storage torsion spring disposed within the power storage disk and drivingly connecting the power storage disk to the second drive unit. This invention, by incorporating a power storage torsion spring on the second fixed base and the second drive unit, allows the drive unit to perform a compressive power storage function when driving the linkage device. When resetting is required, the torsion spring's rebound action enables rapid resetting, reducing the load on the drive unit.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to an energy storage leg structure and robot. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots possess basic characteristics such as perception, decision-making, and execution, and can assist or even replace humans in completing dangerous, arduous, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities.

[0003] With the advancement of technology, the application of robots is becoming increasingly widespread, such as cleaning robots, freight robots, and inspection robots. These robots can achieve intelligent control. Existing robots generally consist of a frame and a set of wheels. Some robots incorporate leg structures that work in conjunction with the wheels to perform various movements. During these movements, the leg structure and drive components work together to execute the actions. Currently, the drive structure and joints of existing robots are directly driven by motors during various movements. When lying down, the motor load is relatively small due to the robot's gravity. However, when standing, the entire robot body needs to be lifted, resulting in a larger motor load. Therefore, further improvements can be made to the existing robot structure. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides an energy-storing leg structure and robot that incorporates a storage torsion spring on a second fixed base and a second driving device. The torsion spring allows the driving device to perform a compressive energy storage function when driving the linkage device. When resetting is required, the torsion spring's rebound action enables rapid resetting, thus reducing the load on the driving device.

[0005] The technical solution adopted in this invention is: an energy storage leg structure, including a first driving device, a first driving frame connected to the first driving device, a second driving device connected to the first driving frame, a second driving frame connected to the second driving device and an energy storage device, a linkage device connected to the energy storage device and the second driving frame, and a third driving device connected to the linkage device; the second driving device is provided with a second fixed base, and the energy storage device includes an energy storage disk connected to the second fixed base and an energy storage torsion spring disposed in the energy storage disk and drivingly connecting the energy storage disk to the second driving device.

[0006] A further improvement to the above solution is that the first driving device is provided with a first fixed base, and the first driving frame includes a first fixed connecting plate connected to the first fixed base, a connecting column connected to the first fixed connecting plate, and a first movable connecting plate connected to the connecting column. The first movable connecting plate is connected to the second driving device.

[0007] A further improvement to the above scheme is that the first driving device includes a first rotating shaft assembly mounted on a first fixed base, a first stator assembly disposed on the first rotating shaft assembly, a first rotor housing connected to the first rotating shaft assembly, and a first rotor assembly disposed inside the first rotor housing and cooperating with the first stator assembly.

[0008] A further improvement to the above scheme is that the second drive device includes a second rotating shaft assembly mounted on a second fixed base, a second stator assembly disposed on the second rotating shaft assembly, a second rotor housing connected to the second rotating shaft assembly, and a second rotor assembly disposed inside the second rotor housing and cooperating with the second stator assembly; the second drive frame is mounted on the second rotor housing, and the first movable connecting plate is mounted on the second rotor housing.

[0009] A further improvement to the above scheme is that the third drive device includes a third fixed base, a third rotating shaft assembly mounted on the third fixed base, a third stator assembly disposed on the third rotating shaft assembly, a third rotor housing connected to the third rotating shaft assembly, and a third rotor assembly disposed inside the third rotor housing and cooperating with the third stator assembly; the third fixed base is connected to the connecting rod device, and a hub ring is connected to the outer diameter of the third rotor housing.

[0010] A further improvement to the above solution is that the second drive frame includes a second fixed connecting plate and a second movable connecting plate connected to the second fixed connecting plate. The second fixed connecting plate is connected to the third drive device, and the second movable connecting plate is used to support one side of the second drive device.

[0011] A further improvement to the above scheme is that the second drive device is equipped with a limit block, the limit block is provided with a limit groove, the accumulator is provided with a limit post, the limit groove is used for limiting the limit post, and the limit post is provided with a first rotating shaft element, which is connected to the connecting rod device.

[0012] A further improvement to the above scheme is that the energy storage plate includes a connecting inner plate, a connecting outer plate, and an energy storage groove disposed between the connecting inner plate and the connecting outer plate, and the energy storage torsion spring is disposed in the energy storage groove, and the energy storage torsion spring has at least one torsion spring coil.

[0013] A further improvement to the above scheme is that the linkage device includes a first linkage connected to the accumulator plate and a second linkage connected to the first linkage and the second drive frame. The first linkage is an arc-shaped linkage with an arc radius of 60mm to 100mm. The first linkage is provided with a second rotating shaft element, which is connected to the second linkage.

[0014] A further improvement to the above scheme is that the second connecting rod is provided with a third rotating shaft element, the third rotating shaft element is connected to the second drive frame, and the second connecting rod is provided with a connecting platform, the connecting platform is connected to the third drive device.

[0015] A robot including the aforementioned energy-storing leg structure.

[0016] The beneficial effects of this invention are:

[0017] Compared to existing robot leg structures, this invention features three sets of drive devices. These three sets work together to power the robot's leg structure. The first drive device, in conjunction with the second drive device, provides power to the leg joints, enabling standing and lying-down movements. Simultaneously, a power storage device and a linkage device work together, allowing the linkage device to store power during drive and provide assistance when returning to its original state. Specifically, a power storage torsion spring is installed on the second fixed base and the second drive device. The torsion spring causes the drive device to compress and store power when driving the linkage device. When resetting is required, the torsion spring's rebound action allows for rapid resetting, reducing the load on the drive device. Specifically, the system comprises a first driving device, a first driving frame connected to the first driving device, a second driving device connected to the first driving frame, a second driving frame and a power storage device connected to the second driving device, a linkage device connected to the power storage device and the second driving frame, and a third driving device connected to the linkage device. The second driving device has a second fixed base. The power storage device includes a power storage disk connected to the second fixed base and a power storage torsion spring disposed within the power storage disk and drivingly connecting the power storage disk to the second driving device. During the driving process, the power storage torsion spring, in conjunction with the power storage disk, enables the driving structure of the driving device to have a power storage function. When returning to the original state, it plays an auxiliary role, reducing the load on the motor body. When driving the linkage device, the robot can perform actions such as standing and lying down under the action of the first and second linkages. When moving from lying down to standing, the power storage torsion spring acts as a rebound force, reducing the load on the deceleration motor. Attached Figure Description

[0018] Figure 1 This is a three-dimensional structural diagram of the energy storage leg structure of the present invention;

[0019] Figure 2 for Figure 1 A three-dimensional structural diagram of the energy storage leg structure from another perspective;

[0020] Figure 3 for Figure 1 Exploded structural diagram of the energy storage leg structure;

[0021] Figure 4 for Figure 1 Another perspective of the exploded structure of the energy storage leg structure;

[0022] Figure 5 for Figure 1 A schematic diagram of the main drive motor of the energy storage leg structure;

[0023] Figure 6 for Figure 5 Sectional view of AA.

[0024] Explanation of reference numerals in the attached drawings: First drive device 1, First fixed base 11, First rotating shaft assembly 12, First stator assembly 13, First rotor housing 14, First rotor assembly 15, First drive frame 2, First fixed connecting plate 21, Connecting column 22, First movable connecting plate 23, Second drive device 3, Second fixed base 31, Second rotating shaft assembly 32, Second stator assembly 33, Second rotor housing 34, Second rotor assembly 35, Limiting block 36, Limiting groove 361, Second drive frame 4, Second fixed connection 41. Second movable connecting plate 42. Energy storage device 5. Energy storage plate 51. Limiting post 511. First rotating shaft element 512. Connecting inner plate 513. Connecting outer plate 514. Energy storage groove 515. Energy storage torsion spring 52. Linkage device 6. First connecting rod 61. Second rotating shaft element 611. Second connecting rod 62. Third rotating shaft element 621. Connecting platform 622. Third drive device 7. Third fixed base 71. Third rotating shaft assembly 72. Third stator assembly 73. Third rotor housing 74. Third rotor assembly 75. Detailed Implementation

[0025] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0026] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0027] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0028] like Figures 1-6As shown, an energy storage leg structure includes a first drive device 1, a first drive frame 2 connected to the first drive device 1, a second drive device 3 connected to the first drive frame 2, a second drive frame 4 connected to the second drive device 3, a power storage device 5, a linkage device 6 connected to the power storage device 5 and the second drive frame 4, and a third drive device 7 connected to the linkage device 6; the second drive device 3 is provided with a second fixed base 31, and the power storage device 5 includes a power storage disk 51 connected to the second fixed base 31 and a power storage torsion spring 52 disposed in the power storage disk 51 and drivingly connecting the power storage disk 51 to the second drive device 3.

[0029] The first drive device 1 is provided with a first fixed base 11. The first drive frame 2 includes a first fixed connecting plate 21 connected to the first fixed base 11, a connecting column 22 connected to the first fixed connecting plate 21, and a first movable connecting plate 23 connected to the connecting column 22. The first movable connecting plate 23 is connected to the second drive device 3. The first fixed connecting plate 21 cooperates with the first movable connecting plate 23 to cooperate with the connection of the second drive device 3, so as to realize multi-action drive, reliable structure and stable drive.

[0030] See Figures 5-6 As shown, the first drive device 1 includes a first rotating shaft assembly 12 mounted on the first fixed base 11, a first stator assembly 13 disposed on the first rotating shaft assembly 12, a first rotor housing 14 connected to the first rotating shaft assembly 12, and a first rotor assembly 15 disposed within the first rotor housing 14 and cooperating with the first stator assembly 13; the second drive device 3 includes a second rotating shaft assembly 32 mounted on the second fixed base 31, a second stator assembly 33 disposed on the second rotating shaft assembly 32, a second rotor housing 34 connected to the second rotating shaft assembly 32, and a second rotor assembly 35 disposed within the second rotor housing 34 and cooperating with the second stator assembly 33; the second drive frame 4 is mounted on the second rotor housing 34, and the first movable connecting plate 23 is mounted on the second rotor housing 34; in terms of structure, external rotor direct drive motors are used to cooperate with the robot's leg joint drive, and the structure drive is stable and reliable.

[0031] The third drive device 7 includes a third fixed base 71, a third rotating shaft assembly 72 mounted on the third fixed base 71, a third stator assembly 73 disposed on the third rotating shaft assembly 72, a third rotor housing 74 connected to the third rotating shaft assembly 72, and a third rotor assembly 75 disposed inside the third rotor housing 74 and cooperating with the third stator assembly 73; the third fixed base 71 is connected to the linkage device 6, and a wheel hub ring is connected to the outer diameter of the third rotor housing 74. Unlike the drive device described above, the third drive device 7 is a hub motor, which serves as the walking drive for the robot.

[0032] The second drive frame 4 includes a second fixed connecting plate 41 and a second movable connecting plate 42 connected to the second fixed connecting plate 41. The second fixed connecting plate 41 is connected to the third drive device 7, and the second movable connecting plate 42 is used to support one side of the second drive device 3. The second fixed connecting plate 41 and the second movable connecting plate 42 are used for structural connection, which is stable. Moreover, the second fixed connecting plate 41 is used to cooperate with the installation and limiting of the power storage plate 51, which is reliable.

[0033] The second drive device 3 is equipped with a limiting block 36, which has a limiting groove 361. The accumulator 51 has a limiting post 511. The limiting groove 361 is used to limit the limiting post 511. The limiting post 511 has a first rotating shaft element 512, which is connected to the connecting rod device 6. The structure of the limiting groove 361 and the limiting post 511 is used for limiting, preventing excessive rotation, and providing good protection for the torsion spring.

[0034] The energy storage plate 51 includes an inner connecting plate 513, an outer connecting plate 514, and an energy storage groove 515 disposed between the inner connecting plate 513 and the outer connecting plate 514. The energy storage torsion spring 52 is disposed in the energy storage groove 515. The energy storage torsion spring 52 has at least one coil of torsion spring. The energy storage groove 515 is used for the torsion spring to store energy inside. The inner connecting plate 513 is used for structural connection, and the outer connecting plate 514 is used to protect the energy storage torsion spring 52.

[0035] The linkage device 6 includes a first link 61 connected to the accumulator plate 51 and a second link 62 connected to the first link 61 and the second drive frame 4. The first link 61 is an arc-shaped link with an arc radius of 60mm to 100mm. The first link 61 is provided with a second rotating shaft element 611, which is connected to the second link 62. The first link 61 and the second link 62 are used for leg movement to ensure the stability of joint movement.

[0036] The second link 62 is provided with a third rotating shaft element 621, which is connected to the second drive frame 4. The second link 62 is provided with a connecting platform 622, which is connected to the third drive device 7. The third rotating shaft element 621 and the second drive frame 4 are connected and cooperated, and the structure is stable, which facilitates the robot's movement.

[0037] A robot with a leg structure as described above has a power storage function, which is especially useful for robots with a relatively bulky size, and can effectively reduce the load on the motor.

[0038] This invention features three sets of drive devices. These three sets work together to drive the robot's leg structure. The first drive device 1, in conjunction with the second drive device 3, provides power to the leg joints, enabling standing and lying-down movements. Simultaneously, a power storage device 5 and a linkage device 6 work together, allowing the linkage device 6 to store power during driving and provide assistance when returning to its original state. Specifically, a power storage torsion spring 52 is installed on the second fixed base 31 and the second drive device 3. The torsion spring causes the drive device to compress and store power when driving the linkage device 6. When resetting is required, the torsion spring's rebound action allows for rapid resetting, reducing the load on the drive device. Specifically, the system comprises a first drive unit 1, a first drive frame 2 connected to the first drive unit 1, a second drive unit 3 connected to the first drive frame 2, a second drive frame 4 connected to the second drive unit 3, a power storage device 5, a linkage device 6 connected to the power storage device 5 and the second drive frame 4, and a third drive unit 7 connected to the linkage device 6. The second drive unit 3 is provided with a second fixed base 31. The power storage device 5 includes a power storage disk 51 connected to the second fixed base 31 and a power storage torsion spring 52 disposed within the power storage disk 51 and drivingly connecting the power storage disk 51 to the second drive unit 3. During the driving process, the power storage torsion spring 52, in conjunction with the power storage disk 51, enables the drive structure of the drive unit to have a power storage function. When returning to the original state, it plays an auxiliary role, reducing the load on the motor body. When driving the linkage device 6, the robot can perform actions such as standing and lying down under the action of the first linkage 61 and the second linkage 62. When moving from lying down to standing, the power storage torsion spring 52 acts as a rebound force, reducing the load on the motor.

[0039] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. An energy storage leg structure, characterized in that: The device includes a first drive unit, a first drive frame connected to the first drive unit, a second drive unit connected to the first drive frame, a second drive frame connected to the second drive unit and a power storage device, a linkage device connected to the power storage device and the second drive frame, and a third drive unit connected to the linkage device; the second drive unit is provided with a second fixed base, and the power storage device includes a power storage disk connected to the second fixed base and a power storage torsion spring disposed in the power storage disk and drivingly connecting the power storage disk to the second drive unit; The second drive frame includes a second fixed connecting plate and a second movable connecting plate connected to the second fixed connecting plate. The second fixed connecting plate is connected to the third drive device, and the second movable connecting plate is used to support one side of the second drive device. The second drive device is equipped with a limit block, the limit block is provided with a limit groove, the power storage plate is provided with a limit post, the limit groove is used for limiting the limit post, and the limit post is provided with a first rotating shaft element, the first rotating shaft element is connected to the connecting rod device; The linkage device includes a first linkage connected to the energy storage plate and a second linkage connected to the first linkage and the second drive frame. The first linkage is an arc-shaped linkage. The first linkage is provided with a second rotating shaft element, and the second rotating shaft element is connected to the second linkage. The second connecting rod is provided with a third rotating shaft element, which is connected to the second drive frame. The second connecting rod is provided with a connecting platform, which is connected to the third drive device.

2. The energy storage leg structure according to claim 1, characterized in that: The first driving device is provided with a first fixed base. The first driving frame includes a first fixed connecting plate connected to the first fixed base, a connecting column connected to the first fixed connecting plate, and a first movable connecting plate connected to the connecting column. The first movable connecting plate is connected to the second driving device.

3. The energy storage leg structure according to claim 2, characterized in that: The first drive device includes a first rotating shaft assembly mounted on a first fixed base, a first stator assembly disposed on the first rotating shaft assembly, a first rotor housing connected to the first rotating shaft assembly, and a first rotor assembly disposed inside the first rotor housing and cooperating with the first stator assembly. The second drive device includes a second rotating shaft assembly mounted on a second fixed base, a second stator assembly disposed on the second rotating shaft assembly, a second rotor housing connected to the second rotating shaft assembly, and a second rotor assembly disposed inside the second rotor housing and cooperating with the second stator assembly; the second drive frame is mounted on the second rotor housing, and the first movable connecting plate is mounted on the second rotor housing.

4. The energy storage leg structure according to claim 3, characterized in that: The third drive device includes a third fixed base, a third rotating shaft assembly mounted on the third fixed base, a third stator assembly disposed on the third rotating shaft assembly, a third rotor housing connected to the third rotating shaft assembly, and a third rotor assembly disposed inside the third rotor housing and cooperating with the third stator assembly; the third fixed base is connected to a connecting rod device, and a hub ring is connected to the outer diameter of the third rotor housing.

5. The energy storage leg structure according to claim 1, characterized in that: The energy storage plate includes an inner connecting plate, an outer connecting plate, and an energy storage groove disposed between the inner connecting plate and the outer connecting plate. The energy storage torsion spring is disposed in the energy storage groove, and the energy storage torsion spring has at least one torsion spring coil.

6. The energy storage leg structure according to claim 1, characterized in that: The radius of the arc of the first connecting rod is 60mm~100mm.

7. A robot, characterized in that: Includes the energy storage leg structure as described in any one of claims 1 to 6.

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