Driving device and legged robot

Abstract

The present application provides a driving device and a legged robot. The driving device includes a first frame body, a second frame body, and a first driving mechanism. The first frame body includes a first main body, a first extension member, and a second extension member. Both the first extension member and the second extension member protrude from the first main body. The first frame body is used to connect the head or body of the robot. The second frame body is rotatably connected to the first extension member. A first end of the second frame body is spaced apart from the second extension member, and a second end of the second frame body is connected to the second extension member through a first rotating shaft. The first driving mechanism includes a first driving member and a first transmission assembly. The first driving member is installed on one side of the second frame body. The first driving member is a rotating driving member having a driving shaft. The first transmission assembly includes a first transmission belt, a first transmission pulley, and a second transmission pulley. The first transmission pulley is fixed on the driving shaft of the first driving member. The second transmission pulley is fixedly connected to the first rotating shaft. The first transmission belt is wound around the first transmission pulley and the second transmission pulley.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and particularly relates to a driving device and a legged robot. Background Art

[0002] In the field of bionic robots, a robot may include a head and a body, and a driving device may be provided on the body. The driving device is connected to the head and can drive the head to move in one or more directions. The driving device may include a push rod motor, and the push rod motor can drive the rotation of the head by the extension and contraction of the push rod.

[0003] When the robot is impacted during travel, the components of the push rod motor and the connection part between the push rod motor and the robot head are prone to plastic deformation under the action of the impact force, which affects the working life of the driving device. Therefore, improving the impact resistance of the driving device to increase the working life of the driving device remains an important issue to be solved in the technical field of robots. Summary of the Invention

[0004] In view of the above, it is necessary to provide a driving device and a legged robot. A synchronous belt is used as a transmission part to drive the frame to rotate. When the robot is impacted, the elastic synchronous belt can undergo elastic deformation under the impact force to achieve buffering, reduce the probability of damage to the driving device and the robot, and increase the working life of the driving device and the robot.

[0005] In a first aspect, an embodiment of the present application provides a driving device applied to a robot. The driving device includes a first frame body, a second frame body, and a first driving mechanism. The first frame body includes a first main body, a first extension member, and a second extension member. The first extension member and the second extension member both protrude from the first main body. The first extension member and the second extension member are spaced apart, and a first gap is formed between the first extension member and the second extension member. The first frame body is used to connect the head or body of the robot. The second frame body is located in the first gap and is rotatably connected to the first extension member. A first end of the second frame body is spaced apart from the second extension member. A second end of the second frame body is connected to the second extension member through a first rotating shaft and forms a second gap. The first driving mechanism includes a first driving member and a first transmission assembly. The first driving member is installed on a side of the second frame body facing away from the first main body. The first driving member is a rotating driving member having a driving shaft. The first transmission assembly includes a first transmission belt, a first transmission pulley, and a second transmission pulley. The first transmission pulley is fixed on the driving shaft of the first driving member. The second transmission pulley is located in the second gap and is fixedly connected to the first rotating shaft. The first transmission belt is wound around the first transmission pulley and the second transmission pulley. The first driving member is used to drive the first frame body to rotate, so that the first frame body and the second frame body rotate relative to each other.

[0006] Optionally, the second frame body includes a second main body, a first connecting portion, and a second connecting portion. The first driving member is installed on the second main body. The first connecting portion protrudes from a side of the second main body facing away from the first driving member. The first end of the second frame body is located at the first connecting portion, and the first connecting portion is located in the first gap. The second connecting portion protrudes from a side of the second main body facing away from the first driving member. The second end of the second frame body is located at the second connecting portion. The second connecting portion is located in the first gap and is spaced apart from the first connecting portion.

[0007] Optionally, the driving device further includes a third frame body and a second driving mechanism; the third frame body includes a third main body and two third extension members, the two third extension members are arranged on one side of the third main body, the two third extension members are arranged at intervals and form a third gap, the second frame body is located in the third gap, and the second frame body is rotatably connected to at least one of the third extension members, the first driving member is located in the third gap, and the third frame body is used for connecting with the body of the robot; the second driving mechanism includes a second driving member and a second transmission assembly, the second driving member is installed on the side of the third main body away from the second frame body, the second transmission assembly is connected to the second driving member and the second frame body, and the second driving member is used for driving the second frame body to rotate, so that the second frame body and the third frame body rotate relative to each other.

[0008] Optionally, the second frame body includes a second main body and two third connecting portions; the first driving member is installed on the second main body; the third connecting portions protrude from the side of the second main body facing away from the first driving member, the two third connecting portions are arranged at intervals, and at least one of the third connecting portions is rotatably connected to the third extension member.

[0009] Optionally, the second driving member is a rotational driving member having a driving shaft, and the second transmission assembly includes a second transmission belt, a third transmission wheel, and a fourth transmission wheel; the third transmission wheel is fixed on the driving shaft of the second driving member; the fourth transmission wheel is rotatably connected to one of the third extension members through a second rotating shaft, the second rotating shaft is fixed to the fourth transmission wheel, the second rotating shaft penetrates through the third extension member and is rotatably connected to the third extension member, and at least a part of the second rotating shaft enters the third gap and is fixedly connected to one of the third connecting portions; the second transmission belt is wound around the third transmission wheel and the fourth transmission wheel.

[0010] Optionally, the third frame body further includes a fourth extension member, the fourth extension member protrudes from the third main body, and the extending direction of the fourth extension member intersects with the extending direction of the third extension member, and the second driving member is installed on the side of the fourth extension member facing the second frame body.

[0011] Optionally, the driving device further includes a connecting shaft, a connecting frame, and a third driving mechanism; the connecting frame is located on a side of the third main body away from the second frame body and is spaced apart from the third main body, and the connecting frame is used for connecting to the head or body of the robot; the connecting shaft is fixed to the third main body and is rotatably connected to the connecting frame; the third driving mechanism includes a third driving member and a third transmission assembly, the third driving member is installed on the connecting frame and is located between the connecting frame and the third main body, the third transmission assembly is connected to the third driving member and the third main body, and the third driving member is used for driving the third frame body to rotate, so that the third frame body rotates relative to the connecting frame.

[0012] Optionally, the rotation center axes of the first frame body, the second frame body, and the third frame body intersect at one point.

[0013] Optionally, a positioning shaft protrudes from the connecting frame, the positioning shaft is located between the third main body and the connecting frame, a seat body is arranged on a side of the positioning shaft away from the connecting frame, the connecting shaft penetrates through the seat body, and the connecting shaft is rotatably connected to the seat body.

[0014] In a second aspect, an embodiment of the present application provides a legged robot, including: a body; the driving device as described in any one of the above, the driving device is installed on the body; a head, connected to the driving device, and the head is used for generating relative movement with the body in response to the driving of the driving device.

[0015] Through the driving device and the legged robot provided by the present application, a synchronous belt can be used as a transmission member to drive the frame body to rotate. When the robot is impacted, the elastic synchronous belt can undergo elastic deformation under the impact force to achieve buffering, reduce the probability of damage to the driving device and the robot, and improve the working life of the driving device and the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a system schematic diagram of the legged robot in an embodiment of the present application.

[0017] Figure 2 is a structural schematic diagram of the legged robot in an embodiment of the present application.

[0018] Figure 3 is a structural schematic diagram of the driving device in an embodiment of the present application.

[0019] Figure 4 is a partial structural schematic diagram of the driving device in an embodiment of the present application.

[0020] Figure 5 is another partial structural schematic diagram of the driving device in an embodiment of the present application.

[0021] Figure 6 It is another partial structural schematic diagram of the driving device in the embodiment of the present application.

[0022] Description of main component symbols

[0023] Legged robot 100

[0024] Mechanical unit 101

[0025] Drive board 1011

[0026] Motor 1012

[0027] Mechanical structure 1013

[0028] Body 1014

[0029] Head 1015

[0030] Driving device 1016

[0031] Leg 1017

[0032] Foot 1018

[0033] Tail structure 1019

[0034] Load-carrying structure 1020

[0035] Saddle structure 1021

[0036] Communication unit 102

[0037] Sensing unit 103

[0038] Interface unit 104

[0039] Storage unit 105

[0040] Display unit 106

[0041] Display panel 1061

[0042] Input unit 107

[0043] Touch panel 1071

[0044] Input device 1072

[0045] Touch inspection device 1073

[0046] Touch controller 1074

[0047] Control module 110

[0048] Power supply 111

[0049] The first frame body 10

[0050] The first main body 11

[0051] The first extension member 12

[0052] The second extension member 13

[0053] The first gap 14

[0054] The second frame body 20

[0055] The second main body 21

[0056] The first connecting portion 22

[0057] The second connecting portion 23

[0058] The third connecting portion 24

[0059] The second gap 25

[0060] The first driving mechanism 30

[0061] The first driving member 31

[0062] The first transmission belt 32

[0063] The first transmission wheel 33

[0064] The second transmission wheel 34

[0065] The first rotating shaft 40

[0066] The third frame body 50

[0067] The third main body 51

[0068] The third extension member 52

[0069] The fourth extension member 53

[0070] The third gap 54

[0071] The fifth extension member 55

[0072] The second driving mechanism 60

[0073] The second driving member 61

[0074] The second transmission belt 62

[0075] The third transmission wheel 63

[0076] The fourth transmission wheel 64

[0077] The second rotating shaft 70

[0078] The connecting frame 80

[0079] Positioning shaft 81

[0080] Base body 82

[0081] Connecting shaft 90

[0082] Third driving mechanism 120

[0083] Third driving part 121

[0084] Third transmission belt 122

[0085] Fifth transmission wheel 123

[0086] Sixth transmission wheel 124 Detailed implementation manners

[0087] The following will clearly and completely describe the technical solutions in the implementation manners of the present application in conjunction with the accompanying drawings in the implementation manners of the present application. Obviously, the described implementation manners are only a part of the implementation manners of the present application, rather than all the implementation manners.

[0088] In subsequent descriptions, the suffixes such as "module", "component" or "unit" used to represent components are only for the convenience of description of the present application, and they have no specific meaning themselves. Therefore, "module", "component" or "unit" can be used interchangeably.

[0089] Please refer to Figure 1 , Figure 1 , which is a schematic diagram of the hardware structure of the legged robot 100 according to one implementation manner of the present application. In Figure 1 the shown implementation manner, the legged robot 100 may include a mechanical unit 101, a communication unit 102, a sensing unit 103, an interface unit 104, a storage unit 105, a display unit 106, an input unit 107, a control module 110, and a power supply 111. The various components of the legged robot 100 can be connected in any way, including wired or wireless connections, etc. Those skilled in the art can understand that Figure 1 the specific structure of the legged robot 100 shown in

[0090] does not constitute a limitation on the legged robot 100. The legged robot 100 may include more or fewer components than those shown, and some components are not essential components of the legged robot 100 and can be omitted completely or combined with some components as needed without changing the essence of the application. Figure 2 Please refer to it together with Figure 2 below, and the following will specifically introduce the various components of the legged robot 100:

[0091] The mechanical unit 101 is the hardware of the legged robot 100. AsFigure 1 As shown, the mechanical unit 101 may include a drive board 1011, a motor 1012, and a mechanical structure 1013, such as Figure 2 As shown, the mechanical structure 1013 may include a body 1014, a head 1015, and a drive device 1016 connected between the body 1014 and the head 1015. In other embodiments, the mechanical structure 1013 may further include extendable legs 1017, feet 1018, an extendable robotic arm (not shown in the figure), a wagging tail structure 1019, a load-carrying structure 1020, a saddle structure 1021, etc. It should be noted that each component module of the mechanical unit 101 may be one or multiple, and can be set according to specific circumstances. For example, there may be four legs 1017, and each leg 1017 may be configured with three motors 1012, corresponding to twelve motors 1012.

[0092] In the embodiment of the present application, the head 1015 can respond to the drive of the drive device 1016 to achieve relative movement with the body 1014.

[0093] The communication unit 102 can be used for signal reception and transmission, and can also communicate with the network and other devices. For example, after receiving instruction information sent by a remote controller or other legged robots 100 to move in a specific gait at a specific speed value in a specific direction, it is transmitted to the control module 110 for processing. The communication unit 102 may include, for example, a WiFi module, a 4G module, a 5G module, a Bluetooth module, an infrared module, etc.

[0094] The sensing unit 103 is used to obtain information data on the surrounding environment of the legged robot 100 and monitor parameter data of each component inside the legged robot 100, and send them to the control module 110. The sensing unit 103 may include a variety of sensors, such as sensors for obtaining surrounding environment information: lidar (for remote object detection, distance determination, and / or speed value determination), millimeter-wave radar (for short-range object detection, distance determination, and / or speed value determination), cameras, infrared cameras, Global Navigation Satellite System (GNSS), etc. Such as sensors for monitoring each component inside the legged robot 100: Inertial Measurement Unit (IMU) (for measuring speed values, acceleration values, and angular velocity values), sole sensors (for monitoring the position of the sole contact point, sole posture, contact force magnitude and direction), temperature sensors (for detecting component temperature). As for other sensors that the legged robot 100 may also be configured with, such as load sensors, touch sensors, motor angle sensors, torque sensors, etc., they will not be elaborated here.

[0095] The interface unit 104 can be used to receive inputs from external devices (such as data information, power, etc.) and transmit the received inputs to one or more components within the legged robot 100, or can be used to output to external devices (such as data information, power, etc.). The interface unit 104 may include a power port, a data port (such as a USB port), a memory card port, a port for connecting a device with an identification module, an audio input / output (I / O) port, a video I / O port, etc.

[0096] The storage unit 105 is used to store software programs and various data. The storage unit 105 may mainly include a program storage area and a data storage area. Among them, the program storage area may store an operating system program, a motion control program, application programs (such as a text editor), etc.; the data storage area may store the data generated during the use of the legged robot 100 (such as various sensing data obtained by the sensing unit 103, log file data), etc. In addition, the storage unit 105 may include a high-speed random access memory, and may also include a non-volatile memory, such as a disk memory, a flash memory, or other non-volatile solid-state memories.

[0097] The display unit 106 is used to display information input by the user or information provided to the user. The display unit 106 may include a display panel 1061, and the display panel 1061 can be configured in the form of a liquid crystal display (LCD), an organic light-emitting diode (OLED), etc.

[0098] The input unit 107 can be used to receive input digital or character information. Specifically, the input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also known as a touch screen, can collect the user's touch operations (such as the user's operations on or near the touch panel 1071 using the palm, finger, or a suitable accessory), and drive the corresponding connected device according to a preset program. The touch panel 1071 may include a touch detection device 1073 and a touch controller 1074. Among them, the touch detection device 1073 detects the user's touch orientation and the signal brought by the touch operation, and transmits the signal to the touch controller 1074; the touch controller 1074 receives the touch information from the touch detection device 1073, converts it into contact coordinates, and then sends it to the control module 110, and can receive and execute the commands sent by the control module 110. In addition to the touch panel 1071, the input unit 107 may also include other input devices 1072. Specifically, the other input devices 1072 may include, but are not limited to, one or more of a remote control operation handle, etc., and are not specifically limited here.

[0099] Further, the touch panel 1071 can cover the display panel 1061. After the touch panel 1071 detects a touch operation on or near it, it transmits the operation to the control module 110 to determine the type of touch event. Subsequently, the control module 110 provides a corresponding visual output on the display panel 1061 according to the type of touch event. Although in Figure 1 the touch panel 1071 and the display panel 1061 are implemented as two independent components to separately achieve the input and output functions, in some embodiments, the touch panel 1071 and the display panel 1061 can be integrated to achieve the input and output functions, and specific implementation details are not limited here.

[0100] The control module 110 is the control center of the legged robot 100. It uses various interfaces and circuits to connect all components of the entire legged robot 100. By running or executing software programs stored in the storage unit 105 and calling data stored in the storage unit 105, the control module 110 can overall control the legged robot 100.

[0101] The power supply 111 is used to supply power to each component. The power supply 111 may include a battery (not shown in the figure) and a power control board (not shown in the figure). The power control board is used to control functions such as battery charging, discharging, and power consumption management. In Figure 1 the shown embodiment, the power supply 111 is electrically connected to the control module 110. In other embodiments, the power supply 111 can also be electrically connected to the sensing unit 103 (such as cameras, radars, speakers, etc.) and the motor 1012 respectively. It should be noted that each component can be connected to different power supplies 111 or powered by the same power supply 111.

[0102] Based on the above - mentioned embodiments, specifically, in some embodiments, a terminal device can be used to communicate with the legged robot 100. When the terminal device communicates with the legged robot 100, the terminal device can send command information to the legged robot 100. The legged robot 100 can receive the command information through the communication unit 102 and, in the case of receiving the command information, transmit the command information to the control module 110, so that the control module 110 can process the command information to obtain a target speed value. The terminal device includes but is not limited to: mobile phones with image - taking functions, tablet computers, servers, personal computers, wearable intelligent devices, and other electrical devices.

[0103] Instruction information can be determined according to preset conditions. In one embodiment, the legged robot 100 may include a sensing unit 103, and the sensing unit 103 can generate instruction information according to the current environment where the legged robot 100 is located. The control module 110 can judge whether the current speed value of the legged robot 100 meets the corresponding preset conditions according to the instruction information. If it is satisfied, the current speed value and the current gait of the legged robot 100 will be maintained for movement; if it is not satisfied, the target speed value and the corresponding target gait will be determined according to the corresponding preset conditions, so as to control the legged robot 100 to move at the target speed value and the corresponding target gait. The environmental sensor may include a temperature sensor, a barometric pressure sensor, a vision sensor, and a sound sensor. The instruction information may include temperature information, barometric pressure information, image information, and sound information. The communication method between the environmental sensor and the control module 110 may be wired communication or wireless communication. The wireless communication methods include but are not limited to: wireless network, mobile communication network (3G, 4G, 5G, etc.), Bluetooth, and infrared.

[0104] Please refer to Figure 3 , Figure 3 which shows a driving device 1016 provided in an embodiment of the present application. The driving device 1016 may include a first frame 10, a second frame 20, and a first driving mechanism 30.

[0105] The first frame 10 may include a first main body 11, a first extension 12, and a second extension 13. Among them, the first extension 12 and the second extension 13 protrude from the first side of the first main body 11, the first extension 12 and the second extension 13 are arranged at intervals, and the interval direction between the first extension 12 and the second extension 13 is the first direction. A first gap 14 is formed between the first extension 12 and the second extension 13. The first main body 11 is used for fixedly connecting with the body 1014 or the head 1015.

[0106] In the embodiments of the present application, the first direction is not specifically limited. For example, the first direction may be the X direction as shown in Figure 3 and its reverse direction.

[0107] The second frame body 20 is disposed at an interval from the first main body 11. The second frame body 20 can be connected to the head 1015 or the body 1014. The second frame body 20 can be disposed within the first gap 14, and the first end of the second frame body 20 is rotatably connected to the first extension member 12. The second end of the second frame body 20 is disposed at an interval from the second extension member 13, and a second gap 25 is formed between the second section of the second frame body 20 and the second extension member 13. The second extension member 13 can be provided with a first rotating shaft 40, the first rotating shaft 40 is coaxially and fixedly connected to the second extension member 13, and the first rotating shaft 40 is rotatably connected to the second frame body 20. The second extension member 13 can be rotatably connected to the second end of the second frame body 20 through the first rotating shaft 40.

[0108] In the embodiments of the present application, no specific limitation is imposed on the fixing methods of fixed installation and fixed connection. For example, the fixing methods can include, but are not limited to, screw fixing, welding fixing, integral molding fixing, key connection fixing, etc.

[0109] It can be understood that the rotational connection can be a connection method achieved through a rotational connection member, and relative rotation can occur between the two parties of the rotational connection. In the embodiments of the present application, no specific limitation is imposed on the type of the rotational connection member. For example, the rotational connection member can include, but is not limited to, a rotating shaft, a bearing, a hinge, a hinge, etc.

[0110] It can be understood that the first end and the second end can be opposite ends. In the embodiments of the present application, no specific limitation is imposed on the relative direction of the first end and the second end. For example, the relative direction of the first end and the second end can be the first direction, that is, the X direction as shown in Figure 3 and its reverse direction.

[0111] It can be understood that among the first frame body 10 and the second frame body 20, one of the frame bodies is connected to the body 1014, and the other frame body is connected to the head 1015. The connection method can be a direct connection or an indirect connection.

[0112] In the embodiments of the present application, no specific limitation is imposed on the shape of the first frame body 10. For example, as shown in Figure 3 the first main body 11, the first extension member 12, and the second extension member 13 can all be plate bodies with a rectangular cross-section. The first extension member 12 and the second extension member 13 can be respectively located on two short side edges of the first main body 11, and the interval direction between the first extension member 12 and the second extension member 13 is the length direction of the first main body 11. The first extension member 12 and the second extension member 13 can be components with the same shape.

[0113] In this embodiment, the first driving mechanism 30 may include a first driving member 31 and a first transmission assembly. Among them, the first driving member 31 is fixedly installed on one side of the second frame body 20. The first driving member 31 is a rotational driving member having a driving shaft. The first transmission assembly may be a component that realizes the linkage of object movement through belt transmission. The first transmission assembly may include a first transmission belt 32, a first transmission wheel 33, and a second transmission wheel 34. The first transmission wheel 33 is coaxially and fixedly connected to the driving shaft of the first driving member 31. The second transmission wheel 34 is located in the second gap 25, and the second transmission wheel 34 is coaxially and fixedly connected to the first rotating shaft 40. The first transmission belt 32 is wound around the first driving wheel and the second transmission wheel 34.

[0114] For example, the first rotating shaft 40 may be key-connected to the second extension member 13 through a connection key (not shown in the figure), and then a set screw (not shown in the figure) passing through the second extension member 13, the connection key, and the first rotating shaft 40 is used to realize the fixed connection of the first rotating shaft 40, the connection key, and the second extension member 13, that is, the fixed connection of the first rotating shaft 40 and the second extension member 13 is realized. Similarly, the first rotating shaft 40 can be fixedly connected to the second transmission wheel 34 through a connection key and a set screw.

[0115] It can be understood that in the embodiment of the present application, no specific limitation is made on the position where the first driving member 31 is fixedly installed on the second frame body 20. For example, as Figure 3 shown, the first driving member 31 may be fixedly installed on the side of the second frame body 20 facing away from the first main body 11.

[0116] It can be understood that when the first driving member 31 drives the first transmission wheel 33 to rotate, it can drive the first transmission belt 32, the second transmission wheel 34, and the first frame body 10 to rotate, so as to realize the relative rotation of the first frame body 10 and the second frame body 20. Among them, the axial direction of the rotation center axis when the first frame body 10 and the second frame body 20 rotate relative to each other may be the same as the interval direction of the first extension member 12 and the second extension member 13. For example, the axial direction of the rotation center axis when the first frame body 10 and the second frame body 20 rotate relative to each other may be the same as the X direction shown in Figure 3 and its opposite direction.

[0117] It can be understood that the relative rotation of the first frame body 10 and the second frame body 20 can realize the relative rotation of the head 1015 and the body 1014 of the legged robot 100. Through the drive of the rotating driving member and the belt transmission mechanism, the relative rotation of the head 1015 and the body 1014 of the legged robot 100 can be realized, improving the flexibility of the legged robot 100; when the legged robot 100 is impacted, the elastic synchronous belt can undergo elastic deformation under the impact force to achieve buffering, reducing the probability of damage to the driving device 1016 and the legged robot 100, and improving the working life of the driving device 1016 and the legged robot 100.

[0118] Please refer to Figure 4 In one embodiment, the second frame 20 may include a second main body 21, a first connecting portion 22, and a second connecting portion 23. Among them, the second main body 21 is disposed at an interval from the first main body 11, and the first driving member 31 is fixedly installed on one side of the second main body 21. The first connecting portion 22 and the second connecting portion 23 both protrude from the side of the second main body facing away from the first driving member 31, and the first connecting portion 22 and the second connecting portion 23 are disposed at an interval. The first connecting portion 22 may be located at the first end of the second main body 21, that is, at the first end of the second frame 20. The second connecting portion 23 may be located at the second end of the second main body 21, that is, at the second end of the second frame 20. Both the first connecting portion 22 and the second connecting portion 23 are located within the first gap 14, and the second connecting portion 23 and the second extension 13 form a second gap 25.

[0119] It can be understood that the second connecting portion 23 can be rotatably connected to the first rotating shaft 40, so as to realize the rotational connection between the first rotating shaft 40 and the second frame 20. The settings of the first connecting portion 22 and the second connecting portion 23 can provide connection positions for the connecting member connecting the second frame 20 and the first frame 10, and can reduce the thickness of the second main frame, thereby realizing the lightweight of the second frame 20, that is, realizing the lightweight of the legged robot 100.

[0120] In some embodiments, the second frame 20 may further include two third connecting portions 24. The two third connecting portions 24 protrude from the side of the second main body 21 facing away from the first driving member 31, and the two third connecting portions 24 are disposed at an interval. The two third connecting portions 24 may be respectively located at the third end and the fourth end of the second main body 21.

[0121] It can be understood that the third end and the fourth end may be two ends opposite in the second direction. In the embodiments of the present application, the second direction is not specifically limited. For example, the second direction may be the Y direction as shown in Figure 3 and its opposite direction.

[0122] In the embodiments of the present application, the shape of the second frame 20 is not specifically limited. For example, the second main body 21 may be a plate body with a rectangular cross-section, and the first connecting portion 22, the second connecting portion 23, and the third connecting portion 24 may all be convex blocks with a rectangular cross-section. The first connecting portion 22, the second connecting portion 23, and the third connecting portion 24 have the same shape. The first connecting portion 22, the second connecting portion 23, and the two third connecting portions 24 are respectively located on the four sides of the second main body 21.

[0123] Please refer to Figure 5, in some embodiments, the driving device 1016 may further include a third frame body 50 and a second driving mechanism 60. Among them, the third frame body 50 may be connected to the head 1015 or the body 1014 of the legged robot 100. The third frame body 50 may include a third main body 51, two third extension members 52, and a fourth extension member 53. Among them, the third main body 51 may be disposed at an interval from the second main body 21, and the third main body 51 and the first main body 11 are respectively located on both sides of the second main body 21. Two third extension members 52 protrude from one side of the third main body 51 facing the second main body 21, and the two third extension members 52 are spaced apart in the second direction. A third gap 54 is formed between the two third extension members 52. The second frame body 20 and the first driving member 31 may be located in the third gap 54.

[0124] The fourth extension member 53 protrudes from one side of the third main body 51, and the extending direction of the fourth extension member 53 is perpendicular to the extending direction of the third extension member 52.

[0125] In the embodiments of the present application, the extending direction of the fourth extension member 53 is not specifically limited. For example, the extending direction of the fourth extension member 53 may be the Figure 3 X direction as shown.

[0126] In the embodiments of the present application, the shape of the third frame body 50 is not specifically limited. For example, the third main body 51 and the two third extension members 52 may both be plate bodies with a rectangular cross-section. The two third extension members 52 are respectively located at the two short sides of the third main body 51. The length direction of the third extension member 52 is the interval direction between the second main body 21 and the third main body 51.

[0127] In some embodiments, the third frame body may further include a fifth extension member 55. The fifth extension member 55 protrudes from the side of the fourth extension member 53 close to the third main body 51, and the fifth extension member 55 extends along the direction in which the third main body 51 is close to the second main body 21.

[0128] In some embodiments, the second driving mechanism 60 may include a second driving member 61 and a second transmission assembly. Among them, the second driving member 61 is fixedly located on the side of the fourth extension member 53 facing the second frame body 20 and on the side of the fifth extension member 55 close to the second main body 21. The second driving member 61 may be fixedly connected to the fourth extension member 53 and the fifth extension member 55. The second driving member 61 is a rotational driving member having a driving shaft. The second transmission assembly may be a component that realizes the linkage of object movement through belt transmission. The second transmission assembly may include a second transmission belt 62, a third transmission wheel 63, and a fourth transmission wheel 64. The third transmission wheel 63 is coaxially and fixedly connected to the driving shaft of the second driving member 61. The fourth transmission wheel 64 is coaxially and fixedly connected to a second rotating shaft 70. The second rotating shaft 70 passes through a third extension member 52 and is fixedly connected to a third connecting portion 24. The second transmission belt 62 is wound around the fourth transmission wheel 64 and the second transmission wheel 34.

[0129] It can be understood that when the second driving member 61 drives the third transmission wheel 63 to rotate, it can drive the second transmission belt 62, the fourth transmission wheel 64, and the second frame body 20 to rotate, so as to realize the relative rotation of the second frame body 20 and the third frame body 50. Among them, when the second frame body 20 and the third frame body 50 rotate relatively, the axial direction of the rotation center axis may be the same as the interval direction of the two third extension members 52. For example, when the second frame body 20 and the third frame body 50 rotate relatively, the axial direction of the rotation center axis may be the same as the Figure 3 Y direction shown and its opposite direction.

[0130] In the embodiments of the present application, the beneficial effects of the third connecting portion 24 are similar to those of the second connecting portion 23 and the first connecting portion 22, and will not be elaborated here.

[0131] For example, the second rotating shaft 70 may be key-connected to a third connecting portion 24 through a connection key (not shown in the figure), and then through a set screw (not shown in the figure) passing through the third connecting portion 24, the connection key, and the second rotating shaft 70, the fixed connection of the third connecting portion 24, the connection key, and the second rotating shaft 70 is realized, that is, the fixed connection of the second rotating shaft 70 and the third connecting portion 24 is realized. Similarly, the second rotating shaft 70 may be fixedly connected to the fourth transmission wheel 64 through a connection key and a set screw.

[0132] It can be understood that among the two third extension members 52, one of the third extension members 52 is rotationally connected to a third connecting portion 24 through the second rotating shaft 70, and the other third extension member 52 may be rotationally connected to the other third connecting portion 24 through other rotating connectors to improve the connection stability between the third frame body 50 and the second frame body 20.

[0133] It can be understood that the relative rotation of the second frame 20 and the third frame 50 can realize the relative rotation of the head 1015 and the body 1014 of the legged robot 100 in the second direction. By driving the rotating drive member and the belt transmission mechanism, the relative rotation of the head 1015 and the body 1014 of the legged robot 100 can be realized, thereby improving the flexibility of the legged robot 100; when the legged robot 100 is hit, the elastic synchronous belt can be elastically deformed under the impact force to achieve buffering, reduce the probability of damage to the driving device 1016 and the legged robot 100, and improve the working life of the driving device 1016 and the legged robot 100.

[0134] It can be understood that the rotation center axis when the first frame 10 rotates relative to the second frame 20 intersects with the rotation center axis when the second frame 20 rotates relative to the third frame 50 .

[0135] It can be understood that the second frame 20 is accommodated in the third gap 54, and the first driving member 31 installed on the second frame 20 can be accommodated in the third gap 54. In this way, the installation space of the mechanism in the driving device 1016 can be saved, more space can be provided for the staff to wire, the convenience of the staff to wire the driving device 1016 is improved, and the convenience of the staff to produce and manufacture the driving device 1016 and the legged robot 100 is improved.

[0136] Please also read Figure 6 In some embodiments, the driving device 1016 may further include a connecting frame 80, a connecting shaft 90 and a third driving mechanism 120. The connecting frame 80 may be fixedly connected to the head 1015 or the body 1014 of the footed robot 100. The connecting frame 80 and the third body 51 are on a side away from the second frame 20, and the connecting frame 80 and the third body 51 are spaced apart. The connecting shaft 90 is rotatably connected to the connecting frame 80 and is fixedly connected to the third body 51. The third driving mechanism 120 may include a third driving member 121 and a third transmission assembly. The third driving member 121 is fixedly mounted on a side of the connecting frame 80 facing the third frame 50. The third driving member 121 is a rotating driving member with a driving shaft. The third transmission assembly may be an assembly that realizes the linkage of object movement by belt transmission. The third slave transmission assembly may be located between the connecting frame 80 and the third frame 50, and located on a side of the third driving member 121 away from the connecting frame 80. The third transmission assembly may include a third transmission belt 122, a fifth transmission wheel 123 and a sixth transmission wheel 124. The fifth transmission wheel 123 is coaxially fixedly connected to the driving shaft of the third driving member 121. The sixth transmission wheel 124 is coaxially fixedly connected to the connecting shaft 90, and the connecting shaft 90 is penetrated by the sixth transmission wheel 124. The third synchronous belt is wound around the fifth transmission wheel 123 and the sixth transmission wheel 124.

[0137] For example, the connecting shaft 90 can be key-connected to the third main body 51 through a connecting key (not shown in the figure), and then the fixing connection of the connecting shaft 90, the connecting key and the third main body 51 can be realized through a set screw (not shown in the figure) passing through the connecting shaft 90, the connecting key and the third main body 51, that is, the fixing connection of the connecting shaft 90 and the third main body 51 is realized. Similarly, the connecting shaft 90 can be fixedly connected to the sixth transmission wheel 124 through a connecting key and a set screw.

[0138] It can be understood that the spacing direction of the connecting frame 80 and the third frame body 50 is the same as the axial direction of the connecting shaft 90.

[0139] It can be understood that the thickness of the fifth transmission wheel 123 and the thickness of the sixth transmission wheel 124 can both be less than the spacing distance between the third driving member 121 and the third main body 51 in the third direction. In this way, the fifth transmission wheel 123 and the sixth transmission wheel 124 can both be spaced from the third main body 51, reducing the influence of the friction between the third main body 51 and the third transmission mechanism on the rotation of the third frame body 50. Among them, the third direction can be the relative direction between the connecting frame 80 and the third main body 51, for example Figure 3 the Z direction shown and its opposite direction.

[0140] Similarly, the fifth transmission wheel 123 and the sixth transmission wheel 124 can both be spaced from the third driving member 121 in the third direction, and the embodiments of the present application do not limit this.

[0141] It can be understood that the first driving member 31, the second driving member 61 and the third driving member 121 are all electronic devices with a rotational driving function. In the embodiments of the present application, the types of the first driving member 31, the second driving member 61 and the third driving member 121 are not specifically limited. For example, the first driving member 31, the second driving member 61 and the third driving member 121 can all be, but are not limited to, servo motors.

[0142] In the embodiments of the present application, the shape of the connecting frame 80 is not specifically limited. For example, the connecting frame 80 can be a kidney-shaped plate body. Another example is that the connecting frame 80 can be a rectangular plate body.

[0143] It can be understood that when the third driving member 121 drives the fifth transmission wheel 123 to rotate, it can drive the third transmission belt 122, the sixth transmission wheel 124 and the third frame body 50 to rotate, so as to realize the relative rotation of the third frame body 50 and the connecting frame 80. Among them, the axial direction of the rotation center axis when the third frame body 50 and the connecting frame 80 rotate relatively can be the same as the axial direction of the connecting shaft 90. For example, the axial direction of the rotation center axis when the third frame body 50 and the connecting frame 80 rotate relatively can be the same as the Figure 3 Z direction shown and its opposite direction.

[0144] It can be understood that the fixed connection between the connecting frame 80 and the head 1015 or the body 1014 of the legged robot 100 can realize the connection between the third frame body 50, the second frame body 20 and the head 1015 or the body 1014 of the legged robot 100. Among the first frame body 10 and the connecting frame 80, one of them is fixedly connected to the head 1015 of the legged robot 100, and the other is fixedly connected to the body 1014 of the legged robot 100.

[0145] It can be understood that the relative rotation between the third frame body 50 and the connecting frame 80 can realize the relative rotation between the head 1015 and the body 1014 of the legged robot 100 in the third direction. Through the drive of the rotation driving member and the belt transmission mechanism, the relative rotation between the head 1015 and the body 1014 of the legged robot 100 can be realized, improving the flexibility of the legged robot 100; when the legged robot 100 is impacted, the elastic synchronous belt can undergo elastic deformation under the impact force to achieve buffering, reducing the probability of damage to the driving device 1016 and the legged robot 100, and improving the working life of the driving device 1016 and the legged robot 100.

[0146] In the embodiment of the present application, the rotation center axes of the first frame body 10, the second frame body 20, and the third frame body 50 intersect at one point. In this way, the smoothness of the driving device 1016 working to drive the head 1015 of the legged robot 100 to rotate in multiple directions can be improved, and the structural stability of the driving device 1016 can be improved.

[0147] In some embodiments, a positioning shaft 81 protrudes from the side of the connecting frame 80 facing the third frame body 50. The axial direction of the positioning shaft 81 is the same as the axial direction of the connecting shaft 90. The positioning shaft 81 and the connecting shaft 90 are arranged at intervals, and the length of the positioning shaft 81 is less than the length of the connecting shaft 90. A seat body 82 is fixedly connected to the end of the positioning shaft 81 away from the connecting frame 80. The connecting shaft 90 passes through the seat body 82, and the connecting shaft 90 is rotatably connected to the seat body 82. Among them, there is an interval between the end of the positioning shaft 81 away from the connecting frame 80 and the sixth transmission wheel 124, and the seat body 82 is located between the sixth transmission wheel 124 and the positioning shaft 81.

[0148] It can be understood that the seat body 82 and the positioning shaft 81 can support the connecting shaft 90 when the connecting shaft 90 rotates, improving the structural stability of the driving device 1016.

[0149] In the embodiment of the present application, the number of the positioning shafts 81 is not specifically limited. When multiple positioning shafts 81 are provided, multiple positioning shafts 81 are fixedly connected to the seat body 82.

[0150] In the legged robot 100 provided by the embodiments of the present application, under the drive of the drive device 1016, the head 1015 can move relative to the body 1014. When the drive device 1016 drives the head 1015 to move, one or more of the first drive member 31, the second drive member 61, and the third drive member 121 operate, so as to drive the head 1015 to move in a specified direction. The first drive member 31, the second drive member 61, and the third drive member 121 can drive the head 1015 of the legged robot 100 to rotate in three different directions. At the same time, the first drive member 31, the second drive member 61, and the third drive member 121 all drive the head 1015 to rotate through a belt drive mechanism. When the legged robot 100 is impacted, the elastic synchronous belt can undergo elastic deformation under the impact force to achieve buffering, reduce the probability of damage to the drive device 1016 and the legged robot 100, and improve the service life of the drive device 1016 and the legged robot 100.

[0151] At the same time, the settings of the first gap 14, the second gap 25, and the third gap 54 provide a receiving space for some component parts in the drive device 1016, provide more space for the wiring operation in the drive device 1016, and improve the convenience of the staff for wiring work.

[0152] As described above, only the specific embodiments of the present application are provided, but the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A driving device, used in a robot, It is characterized in that The driving device comprises a first frame, a second frame and a first driving mechanism; The first frame includes a first main body, a first extension piece and a second extension piece, the first extension piece and the second extension piece are both convexly arranged on the first main body, the first extension piece and the second extension piece are arranged at an interval, a first gap is formed between the first extension piece and the second extension piece, and the first frame is used to connect the head or body of the robot; The second frame is located in the first gap and is rotatably connected to the first extension member. The first end of the second frame is spaced apart from the second extension member. The second end of the second frame is connected to the second extension member via a first rotation axis to form a second gap. The first driving mechanism includes a first driving member and a first transmission assembly, the first driving member is installed on the side of the second frame away from the first main body, the first driving member is a rotating driving member with a driving shaft, and the first transmission assembly includes a first transmission belt, a first transmission wheel and a second transmission wheel; the first transmission wheel is fixed on the driving shaft of the first driving member, the second transmission wheel is located in the second gap and is fixedly connected to the first rotating shaft, the first transmission belt is wound around the first transmission wheel and the second transmission wheel, and the first driving member is used to drive the first frame to rotate, so that the first frame and the second frame rotate relative to each other.

2. The driving device according to claim 1, It is characterized in that The second frame includes a second main body, a first connecting portion and a second connecting portion; The first driving member is mounted on the second body; The first connection portion is protrudingly disposed on a side of the second main body away from the first driving member, the first end of the second frame is located at the first connection portion, and the first connection portion is located in the first gap; The second connection portion is protruded on a side of the second main body away from the first driving member, the second end of the second frame is located at the second connection portion, and the second connection portion is located in the first gap and spaced apart from the first connection portion.

3. The driving device according to claim 1, It is characterized in that The driving device also includes a third frame and a second driving mechanism; The third frame includes a third main body and two third extension members, the two third extension members are arranged on one side of the third main body, the two third extension members are arranged at intervals to form a third gap, the second frame is located in the third gap, and the second frame is rotatably connected to at least one of the third extension members, the first driving member is located in the third gap, and the third frame is used to connect with the body of the robot; The second driving mechanism includes a second driving member and a second transmission assembly. The second driving member is installed on a side of the third body away from the second frame. The second transmission assembly is connected to the second driving member and the second frame. The second driving member is used to drive the second frame to rotate, thereby causing the second frame and the third frame to rotate relative to each other.

4. The drive device according to claim 3, characterized in that, the second frame body includes a second main body and two third connecting portions; the first driving member is mounted on the second main body; the third connecting portion protrudes from a side of the second main body facing away from the first driving member, the two third connecting portions are spaced apart, and at least one of the third connecting portions is rotatably connected to the third extension member.

5. The drive device according to claim 4, characterized in that, the second driving member is a rotational driving member having a driving shaft, and the second transmission assembly includes a second transmission belt, a third transmission wheel and a fourth transmission wheel; the third transmission wheel is fixed on the driving shaft of the second driving member; the fourth transmission wheel is rotatably connected to one of the third extension members through a second rotating shaft, the second rotating shaft is fixed to the fourth transmission wheel, the second rotating shaft penetrates through the third extension member and is rotatably connected to the third extension member, and at least a part of the second rotating shaft enters the third gap and is fixedly connected to one of the third connecting portions; the second transmission belt is wound around the third transmission wheel and the fourth transmission wheel.

6. The drive device according to claim 3, characterized in that, the third frame body further includes a fourth extension member, the fourth extension member protrudes from the third main body, and the extending direction of the fourth extension member intersects with the extending direction of the third extension member, and the second driving member is mounted on a side of the fourth extension member facing the second frame body.

7. The drive device according to claim 4, characterized in that, the drive device further includes a connecting shaft, a connecting frame and a third driving mechanism; the connecting frame is located on a side of the third main body away from the second frame body and is spaced apart from the third main body, and the connecting frame is used for connecting with the head or body of the robot; the connecting shaft is fixed to the third main body and is rotatably connected to the connecting frame; The third driving mechanism includes a third driving member and a third transmission assembly. The third driving member is mounted on the connecting frame and is located between the connecting frame and the third main body. The third transmission assembly is connected to the third driving member and the third main body. The third driving member is used for driving the third frame body to rotate, so that the third frame body and the connecting frame rotate relative to each other.

8. The drive device according to claim 7, characterized in that, the rotation central axis of the first frame body, the rotation central axis of the second frame body, and the rotation central axis of the third frame body intersect at a point.

9. The drive device according to claim 7, characterized in that, a positioning shaft protrudes from the connecting frame and is located between the third main body and the connecting frame. A seat body is provided on a side of the positioning shaft away from the connecting frame. The connecting shaft penetrates through the seat body, and the connecting shaft is rotatably connected to the seat body.

10. A legged robot, characterized in that, comprising: a body; the drive device according to any one of claims 1 to 9, and the drive device is mounted on the body. A head, connected to the driving device, the head being configured to generate relative movement with the body in response to driving of the driving device.

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