Two-degree-of-freedom robotic traction support system

Abstract

The present application relates to two degrees of freedom robot traction support system, including two degrees of freedom traction system, it includes traction mechanism and pulley, pulley is fixed in the inside of traction mechanism, the inside of traction mechanism and pulley staggered position is equipped with motor;Traction mechanism is slid on the section frame through pulley, control robot Y axis direction's degree of freedom;Leg structure power source support system is connected to the inside of traction mechanism, and is connected with motor power, its through connecting piece and the leg type robot structure of robot are connected, leg structure power source support system can drive robot moves up and down along vertical direction, control robot Z axis direction's degree of freedom.The present application through two degrees of freedom traction system and leg structure power source support system jointly support robot, with simple structure, guarantee the low cost of manufacturing at the same time make structure build more simple and fast, good stability.Based on the robot test bench of this system build is more stable firm, improves the interest rate of energy.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more specifically to a traction support system for a two-degree-of-freedom robot. Background Technology

[0002] Robots have promising applications in scientific exploration, aerospace, transportation, equipment maintenance, social entertainment, and rehabilitation medicine. Walking robots, in particular, possess high mobility and strong adaptability, enabling stable adaptive walking in unstructured environments. They hold immense application potential, significant social and economic benefits, and have become a hot research topic. However, humanoid robots still lag behind in stable walking, walking speed, walking efficiency, and reaction speed, especially in stable walking, where bottlenecks remain to be overcome. Robot traction systems play an indispensable role in ensuring stable walking.

[0003] Although significant progress and breakthroughs have been made in robotic traction support systems, prominent issues remain, including low power efficiency, poor dynamic balance and stability, complex control, difficult assembly, and motion interference. Currently, robotic traction support systems typically require a large energy supply to support movement, yet energy consumption remains high. Research and improvement of robot power systems and energy management are needed to enhance energy efficiency. Secondly, most robotic traction support systems need to maintain good dynamic balance and stability during movement to avoid tipping over or excessive swaying; however, dynamic balance and stability are poor in real-world scenarios, such as uneven terrain or high-speed movement. Traditional lower limb robot experimental platforms with traction support systems suffer from limitations such as complex control, difficult assembly, and motion interference.

[0004] Therefore, how to provide a traction support system that combines stability, lightweight characteristics, low energy consumption, and enables robots to walk stably is a problem that researchers in this field urgently need to solve. Summary of the Invention

[0005] Therefore, the purpose of this invention is to provide a two-degree-of-freedom robot traction support system to solve the problems mentioned in the background art.

[0006] This invention provides a two-degree-of-freedom robot traction support system, comprising:

[0007] A two-degree-of-freedom traction system includes a traction mechanism and a pulley. The pulley is fixed inside the traction mechanism, and a motor is installed inside the traction mechanism at a position offset from the pulley. The traction mechanism slides on the profile frame via the pulley to control the robot's degree of freedom in the Y-axis direction.

[0008] The leg structure power source support system is connected to the inside of the traction mechanism and is powered by the motor. It is connected to the legged robot structure of the robot through a connector. The leg structure power source support system can drive the robot to move up and down in the vertical direction and control the degree of freedom of the robot in the Z-axis direction.

[0009] Furthermore, the traction mechanism includes:

[0010] A motor support plate, wherein the pulley is fixed to the inner side of the motor support plate, and the motor support plate is located on the outer side of the profile frame;

[0011] A double-connecting support plate is located inside the profile frame, with one side fixed to the pulley and the other side having a first sliding part.

[0012] A fixing plate, wherein one side of the fixing plate has a second sliding part that cooperates with the first sliding part, and the connecting member is fixed to the other side of the fixing plate.

[0013] Furthermore, a fixing groove is provided on the upper part of the other side of the fixing plate. The connector includes a Y-axis end stabilizer and a Z-axis end stabilizer. One end of the Y-axis end stabilizer is inserted into the fixing groove and fixed, and the other end has an opening. The Z-axis end stabilizer is L-shaped, with one end inserted into the opening and fixed, and the other end arranged perpendicularly to the Y-axis end stabilizer. The end of the other end forms a first bearing seat that connects to the legged robot structure.

[0014] Furthermore, the first sliding part and the second sliding part are a set of slide rails and sliders that cooperate to slide.

[0015] Furthermore, the fixing plate has threaded holes of 2-4mm on both sides of the slider for mounting the slider.

[0016] Furthermore, the leg structure power source support system includes:

[0017] A pinion gear, which is powered by the motor;

[0018] A large gear, supported by an optical axis, is connected to a flange bearing seat on the fixed plate and a first bearing seat; two legged robot structures are located between the flange bearing seat and the first bearing seat.

[0019] A timing belt is used to drive the large gear via the small gear.

[0020] Furthermore, both the first bearing housing and the flange bearing housing are equipped with deep groove ball bearings.

[0021] Furthermore, a bearing support flange that mates with the optical axis is connected between the two legged robot structures.

[0022] Furthermore, the pinion and the large gear are connected together by a pulley synchronizing rod, and both ends of the pulley synchronizing rod are equipped with thrust ball bearings at the connection points with the pinion and the large gear.

[0023] As can be seen from the above technical solution, compared with the prior art, the present invention has the following beneficial effects:

[0024] This invention supports the robot through a two-degree-of-freedom traction system and a leg structure power source support system, giving it degrees of freedom in the Y and Z axes. The structure is simple and makes the construction of the structure simpler and faster while ensuring low manufacturing costs. Since the profile frame is a cuboid frame structure, the robot walking test platform built based on this system can ensure the stability of the robot during the walking process.

[0025] The two-degree-of-freedom traction support system provided by this invention has a simple structure, enabling the robot to walk smoothly with only a single motor. Furthermore, the robot experimental platform built based on this system is more stable and robust. This invention ensures the balance and stability of the robot's movement. Through single-motor drive, pulleys and a profile frame work together, and slide rails and sliders work together, improving energy efficiency. During operation, the motor drives a small gear, which then drives a large gear via a gear belt. Finally, the legged robot is driven by an optical shaft connected to the large gear.

[0026] This system is not limited by robot size requirements, and the robot can extend and move along the z-axis, allowing for better flexion and extension of the robot's legs. This traction support system helps improve the performance optimization and design level of emerging fields such as industrial robots, load-bearing robots, and bipedal robots, and has broad application prospects. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0028] Figure 1 The attached figure is a structural schematic diagram of the two-free robot traction support system provided by the present invention;

[0029] Figure 2 The attached diagram shows an exploded front view of the two-degree-of-freedom traction system;

[0030] Figure 3The attached figure shows an exploded isometric view of the leg structure power source support system;

[0031] Figure 4 The attached diagram shows the structural schematics of the components on the motor support plate;

[0032] Figure 5 The attached diagram illustrates the structure of the motor support plate and the double-connection support plate.

[0033] Figure 6 The attached diagram illustrates the connection between the double connecting support plate and the motor support plate;

[0034] Figure 7 The attached figure is a front view of the two-degree-of-freedom robot traction support system provided by the present invention (profile frame not shown);

[0035] Figure 8 The attached figure is an isometric view of the two-degree-of-freedom robot traction support system (profile frame not shown) provided by the present invention;

[0036] Figure 9 The attached figure is a right view of the two-degree-of-freedom robot traction support system provided by the present invention (the profile frame is not shown).

[0037] Figure 10 The attached figure is an isometric view of the two-degree-of-freedom robot traction support system with double-sided profile frames provided by the present invention;

[0038] Among them, 1-two-degree-of-freedom traction system; 101-motor support plate; 102-pulley; 103-profile frame; 104-double connection support plate; 105-second sliding part; 106-first sliding part; 107-fixed plate; 108-Z-axis end stabilizer; 109-Y-axis end stabilizer; 2-leg structure power source support system; 201-pinion; 202-pinion cover plate; 203-flange; 204-large gear; 205-large gear cover plate; 206-synchronous belt; 207-motor; 208-flange bearing seat; 209-bearing support flange; 210-deep groove ball bearing; 211-legged robot structure; 212-pulley synchronous rod; 213-optical axis; 214-thrust ball bearing; 3-robot. Detailed Implementation

[0039] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0040] In the description of this invention, it should be understood that the terms "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 invention 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 invention.

[0041] 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 invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0042] Due to the low power efficiency, poor dynamic balance and stability of existing robot traction support systems, traditional lower limb robot experimental platforms with traction support systems suffer from shortcomings such as complex control, difficult assembly, and motion interference.

[0043] Therefore, embodiments of the present invention disclose a two-degree-of-freedom robot traction support system, see appendix. Figure 1-10 The system includes: a two-degree-of-freedom traction system 1, which includes a traction mechanism and a pulley 102. The pulley 102 is fixed inside the traction mechanism, and a motor 207 is installed inside the traction mechanism at a position offset from the pulley 102. The traction mechanism slides on the profile frame 103 via the pulley 102, controlling the degree of freedom of the robot 3 in the Y-axis direction. A leg structure power source support system 2 is connected to the inside of the traction mechanism and is powered by the motor 207. It is connected to the legged robot structure 211 of the robot 3 via a connector. The leg structure power source support system 2 can drive the robot 3 to move up and down in the vertical direction, controlling the degree of freedom of the robot 3 in the Z-axis direction.

[0044] The above-described scheme results in a simple overall system structure, ensuring low manufacturing costs while simplifying and accelerating assembly. Because the profile frame is a cuboid structure, the robot walking test platform built upon this system guarantees the robot's stability during movement. The two-degree-of-freedom traction support system has a simple structure, requiring only a single motor to enable the robot to walk smoothly. Furthermore, the robot test platform built upon this system is more stable and robust.

[0045] See appendix Figure 2The traction mechanism includes: a motor support plate 101, four pulleys 102 fixed to the inner side of the motor support plate 101 by bolts, the motor support plate 101 being located on the outer side of the profile frame 103; a double connecting support plate 104 located on the inner side of the profile frame 103, one side of which is fixed to the pulley 102, providing a degree of freedom in the Y-axis direction; the other side of which has a first sliding part 106, providing a degree of freedom in the Z-axis direction; and a fixing plate 107, one side of which has a second sliding part 105 that cooperates with the first sliding part 106, providing a degree of freedom in the Z-axis direction. The connecting member is fixed to the other side of the fixing plate 107.

[0046] Advantageously, see appendix. Figure 6 The upper part of the other side of the fixing plate 107 is provided with a fixing groove. The connecting member includes a Y-axis end effector 109 and a Z-axis end effector 108. One end of the Y-axis end effector 109 is inserted into the fixing groove and fixed, while the other end has an opening. The Z-axis end effector 108 is L-shaped, with one end inserted into the opening and fixed, and the other end arranged perpendicularly to the Y-axis end effector 109. The other end of the Z-axis end effector 108 forms a first bearing seat that connects to the legged robot structure 211. This ensures that the robot 3 maintains stable movement during walking and is not constrained in the Z-axis direction.

[0047] In a specific embodiment of the present invention, the first sliding part 106 and the second sliding part 105 are a set of sliding rails and sliders that cooperate to slide.

[0048] In this invention, the slider is always parallel to the slide rail and slides on it, effectively reducing the energy loss of internal friction in the mechanism.

[0049] To facilitate the installation of the slider, the fixing plate 107 has threaded holes of 2-4mm on both sides of the slider to ensure the degree of freedom of the robot 3 in the Z-axis.

[0050] See appendix Figure 3 7-9, The leg structure power source support system 2 includes: a small gear 201, which is poweredly connected to the motor 207; a large gear 204, which is supported by an optical shaft 213, which is connected to the flange bearing seat 208 on the fixed plate 107 and the first bearing seat; two legged robot structures 211 located between the flange bearing seat 208 and the first bearing seat; and a synchronous belt 206, through which the small gear 201 drives the large gear 204.

[0051] The pinion 201 is synchronously connected to the gear 204 via a timing belt 206. A pinion cover plate 202 is located on both sides of the pinion 201, restricting the horizontal displacement of the timing belt 206. A gear cover plate 205 is located on both sides of the gear 204, restricting the horizontal displacement of the timing belt 206. Flanges 203 are divided into two groups, respectively located at the connection point between the gear 204 and the optical shaft 213, and at the connecting shaft of the pinion 201.

[0052] A flange bearing seat 208 is connected to the outside of the fixed plate 107, which can restrict the degrees of freedom in other directions while ensuring that the optical axis 213 can rotate axially.

[0053] Advantageously, both the first bearing housing and the flange bearing housing 208 are fitted with deep groove ball bearings 210. See Appendix Figure 8 The two legged robot structures 211 are connected by a bearing support flange 209 that mates with the optical axis 213.

[0054] The optical axis 213 connects the large gear 204, the flange bearing housing 208, the bearing support flange 209, the deep groove ball bearing 210, the Z-axis end effector, and the legged robot structure 211 together.

[0055] The bearing support flange 209 is embedded inside the legged robot structure 211 and connected to the flange bearing seat 208 via the optical axis 213. Deep groove ball bearings 210 are added in the first bearing seat and the flange bearing seat 208 to ensure that the system can withstand large loads in both radial and axial directions, reduce friction during transmission, and thus improve the transmission efficiency of the two-degree-of-freedom robot traction support system.

[0056] See appendix Figure 7 and 9 The pinion 201 and the gear 204 are connected together by a pulley synchronizing rod 212, and both ends of the pulley synchronizing rod 212 are equipped with thrust ball bearings 214 at the connection points between the pinion 201 and the gear 204.

[0057] The pulley synchronizing rod 212 axially fixes the pinion 201 and the large gear 204, ensuring that the displacement between the two gears remains unchanged. Furthermore, both ends of the pulley synchronizing rod 212 have thrust ball bearings 214 at their connections to the pinion 201 and the large gear 204, which enhances the load-bearing capacity of the two-free robot traction support system and makes the system more compact in space. Its high rotational speed also improves the smoothness of the transmission system.

[0058] The structure of this invention is symmetrically arranged. There are two sets of the two-degree-of-freedom traction system 1 and the leg structure power source support system 2. The robot is connected by two sets of connectors and supported on the double-sided profile frame.

[0059] Two sets of motor support plates are symmetrically connected to the outer sides of the double-sided profile frame, and are fixedly connected to the motors inside, ensuring the robot's degree of freedom in the Y-axis direction. Each of the two sets of fixed plates 107 has a second sliding part 105 on one side that cooperates with the first sliding part 106, providing a degree of freedom in the Z-axis direction.

[0060] The two-degree-of-freedom robot traction support system provided by this invention has degrees of freedom in the Y and Z axes. The transmission part consists of a motor driving a small gear, which in turn drives a large gear via a synchronous belt. Finally, the legged robot is driven by an optical shaft connected to the large gear. While ensuring low manufacturing costs, the system also simplifies and speeds up construction. Because the profile frame is a cuboid structure, the robot walking test platform built based on this system ensures the stability of the robot during walking. The two-degree-of-freedom traction support system provided by this invention has a simple structure, requiring only a single motor to enable the robot to walk smoothly. Furthermore, the robot test platform built based on this system is more stable and robust. This system is not limited by robot size requirements, and the robot can extend and move along the Z-axis, allowing for better flexion and extension of the robot's legs.

[0061] This invention ensures the balance and stability of robot movement. Driven by a single motor, the pulley and the profile frame work together, and the slide rail and the slider work together, which improves the efficiency of energy use. During operation, the motor drives the small gear, which in turn drives the large gear through the gear belt. Finally, the legged robot is driven by the optical shaft connected to the large gear.

[0062] This system is not limited by robot size requirements, and the robot can extend and move along the z-axis, allowing for better flexion and extension of the robot's legs. This traction support system helps improve the performance optimization and design level of emerging fields such as industrial robots, load-bearing robots, and bipedal robots, and has broad application prospects.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. In addition, those skilled in the art can combine and integrate the different embodiments or examples described in this specification.

[0064] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A two-degree-of-freedom robot traction support system, characterized in that, include: A two-degree-of-freedom traction system (1) includes a traction mechanism and a pulley (102). The pulley (102) is fixed inside the traction mechanism. A motor (207) is installed inside the traction mechanism at a position offset from the pulley (102). The traction mechanism slides on the profile frame (103) through the pulley (102) to control the degree of freedom of the robot (3) in the Y-axis direction. The leg structure power source support system (2) is connected to the inside of the traction mechanism and is powered by the motor (207). It is connected to the leg robot structure (211) of the robot (3) through a connector. The leg structure power source support system (2) can drive the robot (3) to move up and down in the vertical direction and control the degree of freedom of the robot (3) in the Z-axis direction. The traction mechanism includes: Motor support plate (101), the pulley (102) is fixed to the inner side of the motor support plate (101), and the motor support plate (101) is located on the outer side of the profile frame (103); A double connecting support plate (104) is located inside the profile frame (103), with one side fixed to the pulley (102) and the other side having a first sliding part (106). A fixing plate (107) has a second sliding part (105) on one side that cooperates with the first sliding part (106), and the connecting member is fixed to the other side of the fixing plate (107); The upper part of the other side of the fixing plate (107) is provided with a fixing groove. The connector includes a Y-axis end stabilizer (109) and a Z-axis end stabilizer (108). One end of the Y-axis end stabilizer (109) is inserted into the fixing groove and fixed, and the other end is provided with an opening. The Z-axis end stabilizer (108) is L-shaped. One end of it is inserted into the opening and fixed, and the other end is arranged perpendicular to the Y-axis end stabilizer (109). The end of the other end forms a first bearing seat that is connected to the legged robot structure (211). The first sliding part (106) and the second sliding part (105) are a set of sliding rails and sliders that cooperate to slide; The leg structure power source support system (2) includes: A pinion (201) is connected to the motor (207) for power transmission; A large gear (204) is supported by an optical axis (213), which is connected to a flange bearing seat (208) on the fixed plate (107) and the first bearing seat; two legged robot structures (211) are located between the flange bearing seat (208) and the first bearing seat. A timing belt (206) is used to drive the large gear (204) via the small gear (201); The pinion (201) and the gear (204) are connected by a pulley synchronizing rod (212), and both ends of the pulley synchronizing rod (212) are connected to the pinion (201) and the gear (204) with thrust ball bearings (214).

2. The two-degree-of-freedom robot traction support system according to claim 1, characterized in that, The fixing plate (107) has 2-4mm threaded holes on both sides of the slider for mounting the slider.

3. The two-degree-of-freedom robot traction support system according to claim 1, characterized in that, Both the first bearing housing and the flange bearing housing (208) are equipped with deep groove ball bearings (210).

4. The two-degree-of-freedom robot traction support system according to claim 1, characterized in that, The two legged robot structures (211) are connected by a bearing support flange (209) that mates with the optical axis (213).

Images