A wheel-leg structure and robot

Abstract

The application provides a wheel-foot structure and a robot, which are used for being installed on one side of a thoracic cavity main body structure, the thoracic cavity main body structure comprising a first driving member; the wheel-foot structure comprising a thigh, a rocker, a connecting rod, a shank and a wheel assembly; one end of the thigh is fixedly connected with a fixed part of the first driving member, and the other end of the thigh is hingedly connected with a non-end part of the shank; one end of the rocker is fixedly connected with a rotating part of the first driving member, and the other end of the rocker is hingedly connected with one end of the connecting rod; one end of the shank is hingedly connected with the other end of the connecting rod, and the other end of the shank is rotatably connected with the wheel assembly. The robot comprises the thoracic cavity main body structure and the wheel-foot structure, and the thoracic cavity main body structure is movably connected with the wheel-foot structure. In the application, the knee joint rotating pair of the robot is moved upward by using the equivalent structure of the parallel four-bar mechanism, the inertia of the wheel-foot structure relative to the knee joint is reduced, and the volume of the overall structure of the robot is compressed.

Description

Technical Field

[0001] This application belongs to the field of robotics technology, and more specifically, relates to a wheel-foot structure and a robot. Background Technology

[0002] Bipedal robots are an iteration of bipedal robots. They abandon the less frequently used ability to adapt to complex terrain, but increase movement speed and stability. The platform mounted on the bipedal legs can achieve different functions depending on different accessories.

[0003] Most robots in the current technology have motors installed at the joints, which increases the overall inertia and makes them larger in size. Summary of the Invention

[0004] The purpose of this application is to provide a wheel-foot structure and a robot to solve the technical problem in the prior art where installing motors at the robot joints increases the overall inertia.

[0005] To achieve the above objectives, the technical solution adopted in this application is as follows: a wheel-foot structure is provided for installation on one side of a thoracic cavity main structure, the thoracic cavity main structure including a first driving member; the wheel-foot structure includes a thigh, a rocker arm, a connecting rod, a lower leg, and a wheel assembly; one end of the thigh is fixedly connected to the fixed part of the first driving member, and the other end of the thigh is hinged to the non-end of the lower leg; one end of the rocker arm is fixedly connected to the rotating part of the first driving member, and the other end of the rocker arm is hinged to one end of the connecting rod; one end of the lower leg is hinged to the other end of the connecting rod, and the other end of the lower leg is rotatably connected to the wheel assembly.

[0006] Optionally, the connecting rod includes a first straight portion and a second straight portion connected in sequence; the first straight portion and the second straight portion are set at an obtuse angle; the first straight portion is hinged to the rocker arm, and the second straight portion is hinged to the lower leg.

[0007] Optionally, the thigh includes a skeleton and a shell; one end of the skeleton is connected to the first drive member fixing part, and the other end of the skeleton is hinged to the non-end of the lower leg; the shell covers the skeleton, forming a receiving cavity between the shell and the skeleton, and the rocker arm and the connecting rod are located in the receiving cavity.

[0008] Optionally, a wire harness groove is provided on the lower leg, and the wire harness groove extends from one end of the lower leg to the other end of the lower leg.

[0009] Optionally, the cable of the wheel assembly passes through the lower leg into the cable tray, then through the cable tray into the receiving cavity, and then through the skeleton into the main thoracic cavity structure.

[0010] Optionally, the wheel foot structure further includes a wire clamping member disposed in the wire harness groove and / or the receiving cavity, the wire clamping member being used to clamp the cable.

[0011] Optionally, the wheel assembly includes a wheel, a second drive member, and a wheel foot adapter; the second drive member includes a second drive member fixing part and a second drive member rotating part, the second drive member rotating part being connected to the wheel; the wheel foot adapter is used to connect the fixing part of the second drive member and the lower leg.

[0012] Optionally, the wheel adapter includes a fixing member and a mounting member; the fixing member has a mating hole, the fixing part of the second drive member is connected to the fixing member, and the rotating part of the second drive member is placed in the mating hole; the mounting member is wrapped around the fixing part of the second drive member, one end of the mounting member is connected to the fixing member, and the other end of the mounting member is fixedly connected to the lower leg.

[0013] Optionally, the wheel structure further includes a wire cover, which is detachably connected to the lower leg at the opening of the wire harness groove to close the wire harness groove.

[0014] This application also provides a robot, including the aforementioned wheel-foot structure and thoracic cavity main body structure; the thoracic cavity main body structure is rotatably connected to the wheel-foot structure.

[0015] Optionally, the main thoracic cavity structure further includes a third driving member; the third driving member is connected in series with the first driving member; the rotating part of the third driving member is connected to the fixed part of the first driving member.

[0016] The beneficial effects of the wheel-foot structure and robot provided in this application are as follows: Compared with the prior art, in this application, the thigh, rocker arm, connecting rod, and lower leg constitute an equivalent structure of a parallel four-bar linkage. At the same time, the first end of the thigh is connected to the fixed part of the first driving member; the first end of the rocker arm is connected to the rotating part of the first driving member, and the first driving member is located in the main structure of the thoracic cavity. Combined with the equivalent structure of the parallel four-bar linkage, the upward movement of the knee joint rotation joint of the robot is realized, the inertia of the wheel-foot structure relative to the knee joint is reduced, the volume of the overall structure of the robot is compressed, and it is conducive to the miniaturization design of the robot. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A three-dimensional structural diagram of the wheel foot structure (excluding the outer shell) provided in the embodiments of this application;

[0019] Figure 2 A three-dimensional structural diagram of the wheel foot structure (excluding the cover line member) provided in the embodiments of this application;

[0020] Figure 3 A schematic diagram of the equivalent structure of the four-bar linkage in the wheel-foot structure provided in the embodiments of this application;

[0021] Figure 4 A three-dimensional structural diagram of the wheel foot structure provided in the embodiments of this application. Figure 1 ;

[0022] Figure 5 An exploded structural diagram of the wheel foot adapter and the second drive component in the wheel foot structure provided in the embodiments of this application;

[0023] Figure 6 A three-dimensional structural diagram of the wheel foot structure provided in the embodiments of this application. Figure 2 ;

[0024] Figure 7 A three-dimensional structural diagram of the robot provided in the embodiments of this application;

[0025] Figure 8 This is an exploded structural diagram of the main thoracic cavity structure in a robot provided in an embodiment of this application;

[0026] Figure 9 This is a partial schematic diagram of the main thoracic cavity structure in a robot provided in an embodiment of this application;

[0027] The following are the labeling elements in the figure:

[0028] 1-Main structure of the thoracic cavity; 2-Wheel foot structure;

[0029] 10-Thoracic cavity front panel; 11-Thoracic cavity top cover plate; 12-Image sensing component; 13-Positioning and navigation component; 14-Thoracic cavity left main shell; 15-Thoracic cavity right main shell; 16-Thoracic cavity left side cover; 17-Thoracic cavity right side cover; 18-Third drive component; 19-First mounting component; 191-Limiting component; 192-First zeroing hole; 20-Connecting bracket; 21-Connector; 211-Protruding structure; 212-Second zeroing hole; 22-Zeroing auxiliary pin;

[0030] 100 - First driving component;

[0031] 200 - Thigh; 201 - Skeleton; 202 - Outer shell; 203 - First pressure plate;

[0032] 300-joystick;

[0033] 400 - Connecting rod; 401 - First straight section; 402 - Second straight section;

[0034] 500 - Lower leg; 501 - Cable tray; 502 - Second cable clamping plate; 503 - Cable cover;

[0035] 600-Wheel assembly; 601-Wheel; 602-Second drive component; 603-Wheel foot adapter; 631-Fixing component; 632-Mounting component; 633-Wire guide hole;

[0036] 700-Cable. Detailed Implementation

[0037] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0038] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0039] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0040] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0041] Bipedal robots are an iteration of bipedal robots. They abandon the less frequently used ability to adapt to complex terrain, but increase movement speed and stability. The platform mounted on the bipedal legs can achieve different functions depending on different accessories.

[0042] Most robots in the current technology have motors installed at the joints, which increases the overall inertia and makes them larger in size. On the other hand, the wires of their foot drive wheels are often exposed outside the body, which can easily interfere with the robot's movements under complex motion.

[0043] Please refer to the following: Figure 1 and Figure 2 This application provides a wheel-foot structure for mounting on one side of a thoracic cavity main structure 1. Two wheel-foot structures are mounted on opposite sides of the thoracic cavity main structure 1, and the wheel-foot structures cooperate with the thoracic cavity main structure 1 to realize the robot's forward, jumping, and backward movements. The thoracic cavity main structure 1 includes a first drive member 100; the wheel-foot structure includes a thigh 200, a rocker arm 300, a connecting rod 400, a lower leg 500, and a wheel assembly 600; one end of the thigh 200 is fixedly connected to the fixed part of the first drive member 100, and the other end of the thigh 200 is hinged to the non-end of the lower leg 500; one end of the rocker arm 300 is fixedly connected to the rotating part of the first drive member 100, and the other end of the rocker arm 300 is hinged to one end of the connecting rod 400; one end of the lower leg 500 is hinged to the other end of the connecting rod 400, and the other end of the lower leg 500 is rotatably connected to the wheel assembly 600.

[0044] In this embodiment, after the first driving member 100 is powered on, the rotating part of the first driving member 100 rotates, driving the rocker arm 300 to rotate, which in turn drives the connecting rod 400 to swing; the connecting rod 400 is hinged to the lower leg 500, driving the lower leg 500 to swing, so that it can cooperate with the main chest cavity structure 1 to realize the robot's jumping action.

[0045] Compared with the prior art, the wheel-foot structure provided in this application, in which the thigh 200, rocker arm 300, connecting rod 400 and lower leg 500 constitute an equivalent structure of a parallel four-bar linkage, and the first end of the thigh 200 is connected to the fixed part of the first drive member 100; the first end of the rocker arm 300 is connected to the rotating part of the first drive member 100, and the first drive member 100 is located in the main chest cavity structure 1. Combined with the equivalent structure of the parallel four-bar linkage, the upward movement of the robot's knee joint rotation joint is realized, the inertia of the wheel-foot structure relative to the knee joint is reduced, the volume of the overall robot structure is compressed, and it is beneficial to the miniaturization design of the robot.

[0046] In one embodiment of this application, please refer to Figure 3 The connecting rod 400 includes a first straight part 401 and a second straight part 402 connected in sequence; the first straight part 401 and the second straight part 402 are set at an obtuse angle; the first straight part 401 is hinged to the rocker arm 300, and the second straight part 402 is hinged to the lower leg 500.

[0047] In one embodiment of this application, please refer to the following: Figure 1 and Figure 3The first straight portion 401 and the second straight portion 402 of the link 400 are set at obtuse angles, making the link 400 as a whole a bent rod. In contrast, existing links 400 typically use straight rods. This embodiment uses a bent rod as the link 400, forming an equivalent structure of a parallel four-bar linkage with the thigh 200, rocker arm 300, and lower leg 500. Compared to a straight rod, the bent rod allows for a further reduction in the angle between the rocker arm 300 and the link 400, increasing the original motion space limited by the mechanical structure and further improving the robot's squatting and standing range of motion. Figure 3 As shown in the figure, A represents the angle between the rocker arm 300 and the connecting rod 400 in this embodiment, and B represents the angle between the rocker arm 300 and the connecting rod 400 in the prior art. It can be seen from the figure that A is less than B.

[0048] In one embodiment of this application, the first end of the rocker arm 300 is provided with a plurality of through holes, and the rotating part of the first drive member 100 is provided with a plurality of threaded holes corresponding to the through holes. By screwing bolts into the through holes and threaded holes, the connection between the rocker arm 300 and the rotating part of the first drive member 100 is realized.

[0049] In one embodiment of this application, the second end of the rocker arm 300 is provided with a pin hole, and the first end of the connecting rod 400 is provided with a mounting hole. A bushing is provided in the mounting hole. By inserting a pin into the pin hole and the bushing, the connecting rod 400 and the rocker arm 300 are hinged. The pin hole and the pin are interference-fitted, and the pin and the bushing can rotate relative to each other. An E-type snap ring can be used with the pin to limit the axial movement of the pin.

[0050] In one embodiment of this application, the first end of the lower leg 500 is provided with a pin hole, and the second end of the connecting rod 400 is provided with a mounting hole. A bushing is provided in the mounting hole. By inserting a pin into the pin hole and the bushing, the connecting rod 400 and the lower leg 500 are hinged. The pin hole and the pin are interference-fitted, and the pin and the bushing can rotate relative to each other. An E-type snap ring can be used with the pin to limit the axial movement of the pin.

[0051] In one embodiment of this application, please refer to Figure 4 The thigh 200 includes a frame 201 and a shell 202; one end of the frame 201 is connected to the fixing part of the first drive member 100, and the other end of the frame 201 is hinged to the non-end of the lower leg 500; the shell 202 covers the frame 201, so that a receiving cavity is formed between the shell 202 and the frame 201, and the rocker arm 300 and the connecting rod 400 are located in the receiving cavity.

[0052] Specifically, the frame 201 has multiple threaded holes along its edge, and the outer shell 202 has multiple countersunk holes corresponding to these threaded holes along its edge. Bolts are screwed into the countersunk holes and threaded holes to connect the outer shell 202 to the frame 201. The first end of the frame 201 has multiple through holes, and the fixing part of the first drive member 100 has multiple threaded holes corresponding to these through holes. Bolts are screwed into the through holes and threaded holes to connect the frame 201 to the fixing part of the first drive member 100.

[0053] Furthermore, after the outer shell 202 and the frame 201 are connected by bolts, a plug can be placed in the countersunk hole so that the upper surface of the plug is flush with the outer surface of the outer shell 202. This can prevent dust accumulation in the countersunk hole from causing bolt corrosion and other problems, and can also improve the aesthetics of the outer shell 202.

[0054] In one embodiment of this application, the second end of the frame 201 is provided with a pin hole, and the middle part of the lower leg 500 is provided with an assembly hole. A bearing is provided in the assembly hole. By inserting a pin into the pin hole and the bearing, the thigh 200 and the lower leg 500 are hinged. The pin hole and the pin are interference-fitted, the pin is interference-fitted with the hole of the inner ring of the bearing, and the outer ring of the bearing is interference-fitted with the assembly hole. The pin can be used with a locking bolt to restrict the axial movement of the pin.

[0055] In one embodiment of this application, please refer to Figure 2 A cable tray 501 is provided on the lower leg 500, and the cable tray 501 extends from the first end of the lower leg 500 to the second end of the lower leg 500.

[0056] In this embodiment, a cable tray 501 is provided on the lower leg 500, and the cable 700 can be buried in the cable tray 501, which protects the cable 700 and avoids the cable 700 interfering with the movement of the wheel foot structure.

[0057] In one embodiment of this application, please refer to Figure 2 The cable of the wheel assembly 600 passes through the lower leg 500 into the cable tray 501, and then through the cable tray 501 into the receiving cavity, and then through the skeleton 201 into the main thoracic structure 1.

[0058] In one embodiment of this application, the wheel foot structure further includes a wire pressing member disposed in the wire harness groove 501 and / or the receiving cavity, and the wire pressing plate is used to crimp the cable.

[0059] Please refer to the following in this embodiment: Figure 1 and Figure 2 The wire pressing component includes a first wire pressing plate 203 and a second wire pressing plate 502; the first wire pressing plate 203 is disposed in the accommodating cavity and is connected to the frame 201 so that the cable 700 is pressed between the first wire pressing plate 203 and the frame 201.

[0060] Specifically, the position of the first pressure plate 203 can be determined according to the routing of the cable 700. The cable 700 enters the accommodating cavity from the calf 500, and then enters the interior of the main thoracic structure 1 from the accommodating cavity, usually following the shortest path. It is understandable that multiple first pressure plates 203 can be set to ensure that the cable 700 can completely fit the skeleton 201 inside the accommodating cavity.

[0061] In this embodiment, by setting the first pressure plate 203, the cable 700 passing through the accommodating cavity can be fixed, so as to avoid the cable 700 interfering with the movement of components such as the connecting rod 400 and the rocker arm 300 when the wheel structure moves.

[0062] The second wire clamping plate 502 is disposed in the wire harness groove 501. The second wire clamping plate 502 is connected to the lower leg 500 so that the cable 700 is clamped between the second wire clamping plate 502 and the lower leg 500.

[0063] In this embodiment, by setting a second wire clamping plate 502, the cable 700 passing through the cable tray 501 can be fixed, preventing the cable 700 from shaking in the cable tray 501 when the wheel foot structure moves, and reducing the interference of the cable 700 on the movement of the wheel foot structure.

[0064] In one embodiment of this application, please refer to Figure 2 The wheel assembly 600 includes a wheel 601, a second drive member 602, and a wheel foot adapter 603; the rotating part of the second drive member 602 is connected to the wheel 601; the wheel foot adapter 603 is used to connect the fixed part of the second drive member 602 and the lower leg 500.

[0065] In one embodiment of this application, please refer to Figure 5 The wheel adapter 603 includes a fixing member 631 and a mounting member 632; the fixing member 631 has a mating hole, the fixing part of the second drive member 602 is connected to the fixing member 631, and the rotating part of the second drive member 602 is placed in the mating hole; the mounting member 632 is wrapped around the fixing part of the second drive member 602, one end of the mounting member 632 is connected to the fixing member 631, and the other end of the mounting member 632 is fixedly connected to the lower leg 500.

[0066] In this embodiment, the wheel-foot adapter 603 not only facilitates the connection between the wheel assembly 600 and the lower leg 500, but also protects the second drive component 602 and prevents it from being exposed.

[0067] In one embodiment of this application, please refer to Figure 5 The end of the mounting component 632 that is connected to the lower leg 500 is provided with a wire passage hole 633, which is connected to the wire harness groove 501.

[0068] In this embodiment, by providing a wire through hole 633, the cable 700 can be directly inserted into the wire harness groove 501 of the lower leg 500, thus avoiding the cable 700 being exposed.

[0069] In one embodiment of this application, please refer to Figure 6 The wheel structure also includes a cable cover 503, which is connected to the lower leg 500 at the opening of the cable tray 501 to close the cable tray 501.

[0070] In this embodiment, the cover wire member 503 can be a plate-shaped structure. By setting the cover wire member 503, the wire harness groove 501 can be closed. On the one hand, it can prevent dust from accumulating in the wire harness groove 501, and on the other hand, it can improve the aesthetics of the lower leg 500.

[0071] In this embodiment, the wiring scheme of the wheel and foot structure is as follows: the cable 700 enters the receiving cavity of the thigh 200 through the through hole of the frame 201, and is fixed by the first wire pressing plate 203 to avoid interfering with the movement space of the connecting rod 400; a wire harness groove 501 is opened inside the lower leg 500, and the cable 700 is buried in the wire harness groove 501 of the lower leg 500 in conjunction with the wire cover 503, and is connected to the second drive member 602 through the wire through hole 633 at the end of the lower leg 500 and the wheel and foot adapter 603 to complete the wiring.

[0072] In this embodiment, the transmission process of the wheel-foot structure is as follows: the frame 201 is installed on the fixed part of the first drive member 100, and the rocker arm 300 is installed on the rotating part of the first drive member 100. After the first drive member 100 is powered on, the thigh 200 and the rocker arm 300 rotate relative to each other. The parallel four-bar linkage, as a telecentric mechanism, transmits the above-mentioned rotational motion to the hinge of the lower leg 500 and the frame 201 through the connecting rod 400, thereby realizing the rotation of the knee joint.

[0073] This application also provides a robot, please refer to... Figure 7 It includes the aforementioned wheel-foot structure 2 and the main thoracic cavity structure 1; the main thoracic cavity structure 1 and the wheel-foot structure 2 are rotatably connected.

[0074] In one embodiment of this application, please refer to Figure 8 The main thoracic cavity structure 1 also includes a third driving member 18; the third driving member 18 is connected in series with the first driving member 100; the rotating part of the third driving member 18 is connected to the fixed part of the first driving member 100.

[0075] The main thoracic cavity structure 1 includes a thoracic cavity shell assembly, a drive assembly located within the thoracic cavity shell assembly, and a mounting assembly that spans across the opposite sides of the thoracic cavity shell assembly. The drive assembly includes a third drive member 18 and a first drive member 100 connected in series, with the rotating part of the third drive member 18 fixedly connected to the fixed part of the first drive member 100. The mounting assembly includes a connecting bracket 20, two first mounting members 19 and a second mounting member mounted on the connecting bracket 20, with the two first mounting members 19 fixedly connected to the opposite sides of the thoracic cavity shell assembly, the fixed part of the third drive member 18 fixedly connected to the second mounting member, the rotating part of the first drive member 100 passing through one of the first mounting members 19, and the connecting bracket 20 spanning across the opposite sides of the thoracic cavity shell assembly via the first mounting member 19.

[0076] In this embodiment, the connecting bracket 20 is mounted transversely between the opposite sides of the thoracic cavity shell assembly via the first mounting member 19. The fixed part of the third driving member 18 of the driving assembly is connected to the connecting bracket 20 via the second mounting member. The fixed part of the third driving member 18 is relatively fixedly connected to the thoracic cavity shell assembly via the second mounting member, the connecting bracket 20, and the second mounting member. Since the first driving member 100 and the third driving member 18 are connected in series, the position of the first driving member 100 and the thoracic cavity shell assembly is also relatively fixed. Thus, this application achieves transverse mounting of the driving assembly within the thoracic cavity shell assembly through the mounting assembly, with the driving assembly suspended within the thoracic cavity shell assembly. There is no need to set an additional support for the driving assembly, nor is it necessary to set an additional bearing between the third driving member 18 and the first driving member 100. At the same time, the driving assembly is suspended within the thoracic cavity shell assembly, forming the core weight of the thoracic cavity main structure 1. Other components that need to be set within the thoracic cavity shell assembly can be set around this core, making the structural layout reasonable and effectively achieving miniaturization through layout design.

[0077] Specifically, the first mounting member 19 has mounting connection holes, and the first mounting member 19 is connected to the thoracic cavity shell assembly by inserting bolts into the mounting connection holes. The second mounting member is annular. The second mounting member is perpendicular to each connecting bracket 20. The direction of the rotation axis of the third drive member 18 coincides with the annular center of the second mounting member. The connecting member 21 is annular and perpendicular to each connecting bracket 20. The direction of the rotation axis of the first drive member 100 coincides with the annular center of the connecting member 21.

[0078] In one embodiment of this application, the rotating part of the third driving member 18 and the fixed part of the first driving member 100 are fixedly connected by a connector 21. The connector 21 includes a first mounting part mounted on the rotating part of the third driving member 18 and a second mounting part extending from the outer periphery of the first mounting part toward the fixed part of the first driving member 100 and wrapping around one end of the fixed part of the first driving member 100. One end of the rotating part of the first driving member 100 extends into the second mounting part.

[0079] In this embodiment, the connector 21 is designed to connect the third drive member 18 to the first drive member 100. Simultaneously, the second mounting portion wraps around one end of the fixed portion of the first drive member 100, allowing one end of the rotating portion of the first drive member 100 to extend into it. This reduces the axial space occupied by the core drive structure of the thoracic cavity main structure 1, resulting in a smaller and more compact main structure 1. Furthermore, the second mounting portion also positions the first drive member 100, ensuring that the rotation axis of the third drive member 18 and the rotation axis of the first drive member 100 are on the same straight line.

[0080] In one embodiment of this application, please refer to Figure 8 There are two drive components, which are arranged on the same axis. The third drive component 18 in the two drive components is close to each other, and the first drive component 100 in the two drive components is opposite to each other. The rotating parts of the two first drive components 100 pass through the two first mounting components 19 respectively. There are two second mounting components, and the fixed parts of the two third drive components 18 are fixedly connected to the two second mounting components respectively.

[0081] In this embodiment, by setting two annular second mounting members and connectors 21, the third driving member 18 and the first driving member 100 are installed within the installation space formed by the connecting bracket 20, which is beneficial for lightweight design. The two first mounting members 19, the multiple connecting brackets 20 spanning between the two first mounting members 19, and the second mounting members and connectors 21 set between the two first mounting members 19 together form the core mounting components of the thoracic cavity main structure 1. Each connecting bracket 20 is designed with a hollow and lightweight principle, reducing weight while meeting structural mechanical performance requirements.

[0082] Specifically, the fixing part of the third drive member 18 is assembled with the second mounting part by screws; one side of the connecting part 21 is connected to the rotating part of the third drive member 18 by screws, and the other side of the connecting part 21 is connected to the threaded hole of the fixing part of the first drive member 100 by screws. Through the above connection, the power of the third drive member 18 can be transmitted to the fixing part of the first drive member 100, thereby realizing the movement of the thigh part in the leg-shaped structure driven by the inner third drive member 18. The power distribution of the entire thoracic cavity main structure 1 is symmetrical from left to right, and all related parts are also symmetrical and interchangeable. The power connection and fixation on the left and right sides are completed by four connecting brackets 20 and the second mounting parts on the left and right sides by screws. Then, the first mounting parts 19 on both sides are respectively assembled into the corresponding holes of the four connecting brackets 20 by screws, realizing the core structural support of the thoracic cavity main structure 1.

[0083] Specifically, the connecting bracket 20 is a hollow long frame structure with multiple weight-reduction ports. The size and number of weight-reduction ports can be set based on the structural mechanical strength of the connecting bracket 20. The hollow long frame structure of the connecting bracket 20 is conducive to meeting the design requirements of lightweight overall structure.

[0084] For example, the connecting bracket 20 has a weight-reducing opening between the first mounting member 19 and its adjacent second mounting member, and the connecting bracket 20 has two weight-reducing openings between the two second mounting members. The frame structure of the connecting bracket 20 can have uniform or inconsistent widths. Understandably, while meeting the structural mechanical strength requirements, the width of the frame can be as narrow as possible; the narrower the frame, the lighter the weight of the connecting bracket 20.

[0085] In one embodiment of this application, the connecting bracket 20 includes a first portion connected between two second mounting members and a second portion connected between a first mounting member 19 and a second mounting member, the first portion being closer to the rotation axis of the drive assembly relative to the second portion.

[0086] In this embodiment, the first part of the connecting bracket 20 is closer to the rotation axis of the drive component than the second part, which makes the connecting bracket 20 and the drive component more compact, saves space, and is conducive to the miniaturization design of the overall structure.

[0087] Specifically, the first and second parts of the connecting bracket 20 are arranged in a stepped manner, that is, the first part of the connecting bracket 20 is lower than the second part, and other components are installed in the lowered part, which can effectively free up more installation space.

[0088] Multiple connecting brackets 20 are provided, and the multiple connecting brackets 20 surround the outer periphery of the drive assembly. In one embodiment of this application, the functional components include a battery assembly, a motherboard assembly, a computing board assembly, and a power board assembly; the battery assembly, motherboard assembly, computing board assembly, and power board assembly are respectively mounted on each connecting bracket 20 and located outside the space; wherein, the battery assembly and the power board assembly are arranged opposite to each other, and the computing board assembly and the motherboard assembly are arranged opposite to each other.

[0089] Specifically, the mounting assembly includes four connecting brackets 20, which are located at the front, rear, upper, and lower parts of the mounting assembly, respectively. The power board assembly and the battery assembly are mounted on the connecting brackets 20 located at the upper and lower parts of the mounting assembly, respectively. The computing board assembly and the motherboard assembly are mounted on the connecting brackets 20 located at the front and rear parts of the mounting assembly, respectively.

[0090] The thoracic cavity shell assembly includes two thoracic cavity shells that dock to form a receiving cavity. In this embodiment, please refer to [reference needed]. Figure 8 The two thoracic shells are the left main shell 14 and the right main shell 15; the left main shell 14 is provided with multiple first hollow parts; the right main shell 15 is provided with multiple second hollow parts.

[0091] In one embodiment of this application, the thoracic cavity shell assembly further includes two thoracic cavity side covers, which are detachably connected to two thoracic cavity shells respectively, and the two thoracic cavity side covers cover the hollow portions on the two thoracic cavity shells respectively.

[0092] In this embodiment, the two thoracic cavity side covers are the left thoracic cavity cover 16 and the right thoracic cavity cover 17, respectively. The left thoracic cavity cover 16 is detachably connected to the left main shell 14 of the thoracic cavity so that the left thoracic cavity cover 16 covers the first hollow part. The right thoracic cavity cover 17 is detachably connected to the right main shell 15 of the thoracic cavity so that the right thoracic cavity cover 17 covers the second hollow part.

[0093] In one embodiment of this application, the two thoracic shells are joined together to close the bottom of the thoracic shell assembly, and the front, rear and top of the thoracic shell assembly are hollowed out, with a support column provided at the hollowed-out position between the two thoracic shells.

[0094] The support column can be set in the front hollow part of the thoracic shell assembly, the rear hollow part of the thoracic shell assembly, or the top hollow part of the thoracic shell assembly. It is even possible to set all or part of the support column in these parts.

[0095] In this embodiment, by providing support columns, the assembly structure of the left main shell 14 and the right main shell 15 of the thoracic cavity can be made more stable, reducing the compression deformation of the left main shell 14 or the right main shell 15 caused by external forces. Specifically, the opposite ends of the support columns can be connected to the left main shell 14 and the right main shell 15 of the thoracic cavity respectively by fasteners (screws, bolts, etc.).

[0096] In one embodiment of this application, please refer to Figure 8 The thoracic shell assembly also includes a front thoracic panel 10 and a top thoracic cover 11. The front thoracic panel 10 is detachably mounted between the two thoracic shells and covers the front of the thoracic shell assembly, and the top thoracic cover 11 is detachably mounted between the two thoracic shells and covers the top and rear of the thoracic shell assembly.

[0097] Specifically, at the front end of the receiving cavity, the opposite sides of the front panel 10 of the thoracic cavity are detachably connected to the left main shell 14 and the right main shell 15 of the thoracic cavity, respectively; at the top end of the receiving cavity, the opposite sides of the top cover 11 of the thoracic cavity are detachably connected to the left main shell 14 and the right main shell 15 of the thoracic cavity, respectively. The left main shell 14, the right main shell 15, the left side cover 16, the right side cover 17, the front panel 10, and the top cover 11 together form a closed shell that does not reveal the internal structure.

[0098] Understandably, since the functional components are installed within the receiving cavity, when a functional component near the front panel 10 of the thoracic cavity is damaged, simply removing the front panel 10 opens the front of the receiving cavity, allowing easy access for insertion, removal, or replacement. Similarly, removing the top cover 11 opens the top of the receiving cavity, allowing easy access for insertion, removal, or replacement. Removing the left cover 16 opens the left side of the receiving cavity, allowing access through the first perforation for insertion, removal, or replacement. Removing the right cover 17 opens the right side of the receiving cavity, allowing access through the second perforation for insertion, removal, or replacement. This simplifies the maintenance of functional components within the thoracic cavity, making it easier for both professionals and non-professionals (ordinary consumers) to repair. This enhances the robot's appeal to a wider range of consumers and improves its competitiveness.

[0099] In this embodiment, the left main shell 14 of the thoracic cavity, the right main shell 15 of the thoracic cavity, the left side cover 16 of the thoracic cavity, the right side cover 17 of the thoracic cavity, the front panel 10 of the thoracic cavity, and the top cover 11 of the thoracic cavity can be connected by fasteners (screws, bolts, etc.) to achieve detachable connection between the various components.

[0100] In one embodiment of this application, please refer to Figure 8 The functional components also include an image sensing component 12, a positioning and navigation component 13, and a microphone component; the image sensing component 12 is installed in the inner front part of the thoracic shell component, and the positioning and navigation component 13 and the microphone component are installed in the inner top part of the thoracic shell component.

[0101] In one embodiment of this application, please refer to Figure 9 The connector 21 has a protruding structure 211; the first mounting member 19 is provided with two limiting members 191. When the connector 21 rotates forward and backward, the protruding structure 211 can abut against the two limiting members 191 respectively.

[0102] Specifically, the limiting member 191 can be installed at the corresponding hole of the first mounting member 19 by means of a limiting stud and threaded connection, so as to limit the rotation range of the third driving member 18.

[0103] In one embodiment of this application, please refer to Figure 9 The first mounting component 19 is provided with a first zero-point hole 192, and the protruding structure 211 is provided with a second zero-point hole 212. In the zero-point state, the axis of the first zero-point hole 192 and the axis of the second zero-point hole 212 are on the same straight line.

[0104] This embodiment provides a method for zeroing a servo motor. Zeroing a servo motor means providing an origin point for a rotating coordinate system for each servo motor, facilitating motion reference for subsequent motion control. During installation and debugging, a zeroing auxiliary pin 22 is used to pass through the first zeroing hole 192 and the second zeroing hole 212 to achieve coaxiality between the two holes. This position is used as the zero point of the current servo motor position. Powering on the servo motor and acquiring the current position achieves zeroing. Simultaneously, the protruding structure 211 collides with the limiting member 191 fixed to the first mounting member 19 when the third drive member 18 rotates, thereby limiting the range of motion of the rotating part of the third drive member 18.

[0105] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A wheel-foot structure for mounting to one side of a thoracic body structure, the thoracic body structure including a first drive member; characterised in that, The wheel-foot structure comprises a thigh, a rocker, a connecting rod, a shank and a wheel assembly; one end of the thigh is fixedly connected with the fixed part of the first driving member, and the other end of the thigh is hingedly connected with the non-end part of the shank; one end of the rocker is fixedly connected with the rotating part of the first driving member, and the other end of the rocker is hingedly connected with one end of the connecting rod; one end of the shank is hingedly connected with the other end of the connecting rod, and the other end of the shank is rotatably connected with the wheel assembly. The connecting rod comprises a first flat part and a second flat part connected in sequence; the first flat part and the second flat part are arranged at an obtuse angle; the first flat part is hingedly connected with the rocker, and the second flat part is hingedly connected with the shank.

2. The wheel-foot structure of claim 1, wherein, The thigh comprises a skeleton and an outer shell; one end of the skeleton is connected with the fixed part of the first driving member, and the other end of the skeleton is hingedly connected with the non-end part of the shank; the outer shell covers the skeleton, so that a containing cavity is formed between the outer shell and the skeleton, and the rocker and the connecting rod are located in the containing cavity.

3. The wheel-leg structure of claim 2, wherein, A wire bundling groove is formed in the shank, and the wire bundling groove penetrates from one end of the shank to the other end of the shank.

4. The wheel-leg structure of claim 3, wherein, The cable of the wheel assembly passes through the shank into the wire bundling groove, passes through the wire bundling groove into the containing cavity, and then passes through the skeleton into the thoracic cavity main structure.

5. The wheel-foot structure of claim 4, wherein, The wheel-foot structure further comprises a wire pressing member arranged in the wire bundling groove and / or the containing cavity, and the wire pressing member is used for crimping the cable.

6. The wheel-foot structure according to any one of claims 1 to 5, wherein The wheel assembly comprises a wheel, a second driving member and a wheel-foot adapter; the second driving member comprises a second driving member fixed part and a second driving member rotating part, and the second driving member rotating part is connected with the wheel; the wheel-foot adapter is used for connecting the fixed part of the second driving member and the shank.

7. The wheel-leg structure of claim 6, wherein, The wheel-foot adapter comprises a fixing member and a mounting member; the fixing member has a matching hole, the fixed part of the second driving member is connected with the fixing member, and the rotating part of the second driving member is arranged in the matching hole; the mounting member is wrapped on the fixed part of the second driving member, one end of the mounting member is connected with the fixing member, and the other end of the mounting member is fixedly connected with the shank.

8. The wheel-leg structure of claim 3, wherein, The wheel-foot structure further comprises a wire covering member, which is detachably connected with the shank at the opening of the wire bundling groove, so as to close the wire bundling groove.

9. A robot, characterized in that The thoracic cavity main structure and the wheel-foot structure are rotatably connected.

10. The robot of claim 9, wherein, The thoracic cavity main structure further comprises a third driving member; the third driving member is arranged in series with the first driving member; the rotating part of the third driving member is connected with the fixed part of the first driving member.

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