Robot walking training treadmill

Abstract

A robot walking training treadmill comprises a treadmill body, a vertical frame structure is arranged on the treadmill body, a wheel disc structure and a rotation driving mechanism are installed on the vertical frame structure, the rotation driving mechanism is used for controlling the wheel disc structure to rotate, a hoisting assembly structure is arranged on the wheel disc structure, and the hoisting assembly structure is used for hoisting the wheel disc structure. And the rotary driving mechanism is used for hoisting the robot and is also connected with a power-off brake and a height measurement encoder. The structure is simple, the robot can be prevented from toppling over and being damaged, and the safety of the robot can be guaranteed in time under the condition that electronic equipment breaks down.

Description

Technical Field

[0001] The invention relates to the technical field of robot research and development auxiliary equipment, and in particular to a robot walking training treadmill. Background Art

[0002] Legged robots are the most cutting-edge research and development direction in the field of robotics today. They integrate multiple disciplines such as mechanics, electronics, computers, materials, sensors, control technology, and artificial intelligence, including bipedal robots, quadrupedal robots or robot dogs, and hexapod robots. Among them, the stability of the legs of a legged robot determines the stability and safety of the entire robot operating environment. Therefore, leg walking training for legged robots is the top priority of robot training and learning. However, there is a great risk of tipping over during the training and learning of legged robots, especially for bipedal robots with a high center of gravity. Once tipping over occurs, it is usually accompanied by damage to multiple parts and electronic components. Not only does it require replacement of parts, which is a huge loss of economic cost; it also requires reassembly and adjustment, as well as retraining and learning, which is a huge loss of time cost.

[0003] Therefore, it is necessary to provide adequate protection during the training of legged robots to avoid the robot from tipping over. In the prior art, the patent document with the publication number CN 107389054 A discloses a robot testing platform; and the patent document with the publication number CN 106625768 A discloses technical solutions such as a walking robot learning platform. Both of them propose protection concepts during the training of legged robots, but they all require sensors or vision to accurately and quickly analyze that the robot is in a risk state of tipping over, and provide timely feedback. Not only are the requirements for analysis and control high, but the electronic equipment must not fail, otherwise it will be impossible to protect the robot in time during the training process. Summary of the invention

[0004] In order to make up for the technical deficiencies of existing robot research and development auxiliary equipment, the present invention proposes a robot walking training treadmill which has a simple structure, can prevent the robot from tipping over and being damaged, and can promptly ensure the safety of the robot in the event of electronic equipment failure.

[0005] The specific technical solutions are as follows:

[0006] A robot walking training treadmill includes a treadmill body, a frame structure is arranged on the treadmill body, a wheel structure and a rotary drive mechanism are installed on the frame structure, the rotary drive mechanism is used to control the rotation of the wheel structure, a hoisting component structure is arranged on the wheel structure, and is used to hoist a robot, and the rotary drive mechanism is also connected to a power-off brake and a height measurement encoder.

[0007] Preferably, the treadmill body is provided with a base frame, the upright structure is arranged on the side of the base frame, an active rotating roller and a driven rotating roller are respectively installed at both ends of the base frame, a running belt is sleeved between the active rotating roller and the driven rotating roller, and the active rotating roller is connected to a driving motor.

[0008] Preferably, the frame structure is composed of a cross bar structure and two column structures, the two column structures are arranged on both sides of the middle part of the treadmill body, the cross bar structure is arranged on the top of the two column structures to form a door frame shape, and a mounting plate frame is provided in the middle of the cross bar structure for mounting the wheel structure and the rotating drive mechanism.

[0009] Preferably, the crossbar structure and the column structure are mainly supported by aluminum profiles.

[0010] Preferably, the pulley structure comprises a mounting support plate frame structure, a pulley and at least one guide wheel assembly, the pulley is rotatably mounted on the mounting support plate frame structure, the pulley consists of a driven pulley portion and a wire groove disk portion, the guide wheel assembly is mounted on the mounting support plate frame structure, and the guide wheel assembly is aligned with the wire groove disk portion.

[0011] Preferably, the rotary drive mechanism comprises a driving motor, a driving pulley and a transmission belt, the driving pulley is connected to the output end of the driving motor, the transmission belt is sleeved between the driving pulley and the driven pulley, and a brake shaft structure is installed on the driving pulley, the power-off brake and the height measurement encoder are respectively connected to the brake shaft structure.

[0012] Preferably, the transmission belt is a synchronous belt structure, and the driving pulley and the driven pulley are synchronous pulley structures.

[0013] Preferably, the brake shaft structure is composed of a connecting disc portion, a brake pin shaft portion and a rotation monitoring thin shaft in sequence, the power-off brake is installed on the brake pin shaft portion, the height measurement encoder is connected to the end of the rotation monitoring thin shaft, and the connecting disc portion is fixedly installed on the end face of the driving pulley.

[0014] Preferably, the hoisting assembly structure is composed of four slings, and the wheel structure includes four guide wheel assemblies, and the four slings are respectively matched with the four guide wheel assemblies.

[0015] As a preference: the mounting support plate frame structure comprises an aluminum profile bracket, a mounting base plate, an upper line clamp plate and a lower line clamp plate, one end of the aluminum profile bracket is mounted on the vertical frame structure and is located above the middle of the treadmill body, the mounting base plate is mounted on the other end of the aluminum profile bracket, the upper line clamp plate and the lower line clamp plate are respectively connected in sequence below the mounting base plate through two groups of connecting columns, and the upper line clamp plate and the lower line clamp plate are respectively aligned around the upper and lower sides of the line slot disk part, the lower surface of the mounting base plate is also mounted with a pulley disk mounting sleeve through a screw structure, and the pulley disk is rotatably mounted on the outer surface of the pulley disk mounting sleeve;

[0016] A position sensor, a camera mechanism and / or an image sensor are installed in the inner hole of the pulley mounting sleeve.

[0017] The beneficial effects of the present invention are as follows: the treadmill body can provide a continuous training platform for the robot, and the wheel disc structure and the lifting assembly structure supported and installed by the frame structure can provide safety protection for the robot under the action of the rotating drive mechanism to prevent the robot from tipping over and being damaged, and the treadmill occupies a small area and is easy to use; in the event of an electronic device failure, the output shaft of the rotating drive mechanism can be braked in time through the brake shaft structure, further avoiding the risk of the robot collapsing to the ground; a height measurement encoder is provided to calculate the height and extension speed of the lifting assembly structure through the rotation of the output shaft of the rotating drive mechanism, and if an abnormality occurs, the braking can be fed back in time, providing the last guarantee feedback protection before the robot fails and falls to the ground, and avoiding failures in other position sensors, camera mechanisms and / or image sensor analysis, while still being able to provide sufficient safety protection for the robot to avoid causing large losses and damage to the machine or personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0019] Figure 2 It is a schematic diagram of the internal structure of the present invention as a whole.

[0020] Figure 3 It is a schematic diagram of the installation and matching structure of the wheel disc structure, the rotation drive mechanism and the installation support plate frame structure in the present invention.

[0021] Figure 4 It is a schematic diagram of the installation structure of the wheel disc structure and the rotary drive mechanism on the installation support plate frame structure in the present invention.

[0022] Figure 5 It is a structural schematic diagram of the cooperation between the wheel disc structure and the rotary drive mechanism in the present invention.

[0023] Figure 6 It is a schematic structural diagram of the guide wheel assembly in the present invention.

[0024] Description of reference numerals: treadmill body 1; frame structure 2; wheel structure 3; rotation drive mechanism 4; hanging assembly structure 5; power-off brake 6; height measurement encoder 7; brake shaft structure 8;

[0025] Base frame 11; active rotating roller 12; driven rotating roller 13; running belt 14; driving motor 15; handle structure 16;

[0026] Crossbar structure 21; column structure 22;

[0027] Install the support plate frame structure 31; pulley 32; guide wheel assembly 33;

[0028] Driven pulley portion 321; wire slot disc portion 322; guide mounting shell 331; pulley 332;

[0029] Driving motor 41; driving pulley 42; transmission belt 43;

[0030] Connecting plate portion 81; brake pin shaft portion 82; rotation monitoring thin shaft 83;

[0031] Aluminum profile bracket 311; mounting base plate 312; upper thread clamping plate 313; lower thread clamping plate 314; pulley mounting sleeve 315. DETAILED DESCRIPTION

[0032] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making a clearer and more definite definition of the protection scope of the present invention.

[0033] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present invention.

[0034] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, it can be a direct connection, it can be connected through an intermediate medium, and it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0035] Example:

[0036] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown: a robot walking training treadmill is provided with a treadmill body 1, a frame structure 2 is provided on the treadmill body 1, a wheel structure 3 and a rotating drive mechanism 4 are installed on the frame structure 2, the rotating drive mechanism 4 is used to control the rotation of the wheel structure 3, a lifting component structure 5 is provided on the wheel structure 3, and is used to lift the robot. The rotating drive mechanism 4 is also connected with a power-off brake 6 and a height measurement encoder 7.

[0037] By setting the power-off brake 6, the rotating drive mechanism 4 can be locked in time when the electronic equipment fails, thereby locking the wheel structure 3, preventing the robot from collapsing and tipping over on the treadmill body or the ground, thereby ensuring the safety of the robot; the height measurement encoder 7 measures the height and movement speed of the lifting component structure 5 by the rotation speed and number of rotations of the rotating drive mechanism 4. When the height and movement speed of the lifting component structure 5 are abnormal, it can timely feedback and control the rotating drive mechanism 4 to lock or reversely rotate the lifting and pulling up the robot, which can prevent the robot from tipping over and being damaged during daily training.

[0038] The treadmill body 1 is provided with a base frame 11, and the frame structure 2 is arranged on the side of the base frame 11. An active rotating roller 12 and a driven rotating roller 13 are respectively installed at both ends of the base frame 11. A running belt 14 is sleeved between the active rotating roller 12 and the driven rotating roller 13. The active rotating roller 12 is connected to a driving motor 15. The active rotating roller 12 and the driving motor 15 are connected through a multi-V belt structure transmission connection, and other transmission methods or direct connection can also be used. The multi-V belt structure transmission is more stable and can avoid slipping in extreme cases to cause greater damage. A group of handle structures 16 are also provided on the base frame 11.

[0039] The above-mentioned frame structure 2 is composed of a crossbar structure 21 and two column structures 22. The two column structures 22 are arranged on both sides of the middle part of the treadmill body 1. The crossbar structure 21 is arranged on the top of the two column structures 22 to form a door frame shape. A mounting plate frame is provided in the middle of the crossbar structure 21 for installing the wheel structure 3 and the rotating drive mechanism 4.

[0040] The main bodies of the above-mentioned crossbar structure 21 and the column structure 22 are both supported by aluminum profiles, that is, the aluminum profile builds a door frame-like frame with bearing capacity, and the load-bearing parts of the above-mentioned wheel structure 3 and the rotating drive mechanism 4 are fixedly installed on the aluminum profile frame to avoid insufficient bearing capacity; the outer side of the aluminum profile is then wrapped with a sheet metal shell or a plastic shell, etc., which is used to neatly store the wiring in the internal shell and make the exterior beautiful, so the absence of an outer shell does not affect the function realization.

[0041] The above-mentioned pulley structure 3 includes a mounting support plate frame structure 31, a pulley disc 32 and four guide wheel assemblies 33. Two or other numbers of guide wheel assemblies 33 are also acceptable. Two or four guide wheel assemblies 33 are more stable and meet the use requirements. The mounting support plate frame structure 31 is substantially the same as the above-mentioned mounting plate frame. The mounting plate frame is in other simple forms. The pulley disc 32 is rotatably mounted on the mounting support plate frame structure 31. The pulley disc 32 is composed of a driven pulley portion 321 and a wire groove disc portion 322, and the driven pulley portion 321 and the wire groove disc portion 322 are an integrated structure, that is, an integrated casting or cutting process. The guide wheel assembly 33 is installed on the mounting support plate frame structure 31, and the guide wheel assembly 33 is aligned with the wire groove disc portion 322. The lifting assembly structure 5 is composed of four independent slings, and the four slings are respectively matched with the four guide wheel assemblies 33. The lifting assembly structure 5 can also be composed of a connecting chain, etc.

[0042] The above-mentioned rotary drive mechanism 4 includes a driving motor 41, a driving pulley 42 and a transmission belt 43. The driving pulley 42 is connected to the output end of the driving motor 41. The transmission belt 43 is sleeved between the driving pulley 42 and the driven pulley portion 321. A brake shaft structure 8 is installed on the driving pulley 42. The power-off brake 6 and the height measuring encoder 7 are respectively connected to the brake shaft structure 8. Among them, the transmission belt 43 is a synchronous belt structure. Correspondingly, the driving pulley 42 and the driven pulley portion 321 are synchronous pulley structures, and the material of the synchronous pulley structure is preferably a tough material such as rubber. In this way, while ensuring that the height measuring encoder 7 can more accurately measure the height and movement speed of the hoisting component structure 5 through the rotation speed and number of rotations of the rotary drive mechanism 4, there is a certain buffer space when the rotary drive mechanism 4 is locked or reversely rotated to hoist and pull up the robot, so as to avoid excessive impact force on the robot when hard locking, resulting in damage to the connecting joints of the hoisting component structure 5 or the robot.

[0043] Among them, the brake shaft structure 8 is composed of a connecting disc portion 81, a brake pin shaft portion 82 and a rotation monitoring fine shaft 83 in sequence, and the connecting disc portion 81, the brake pin shaft portion 82 and the rotation monitoring fine shaft 83 are an integrated structure, that is, they can be integrally cast or cut into an integrated structure. The power-off brake 6 is installed on the brake pin shaft portion 82, the height measurement encoder 7 is connected to the end of the rotation monitoring fine shaft 83, and the connecting disc portion 81 is fixedly installed on the end face of the driving pulley 42.

[0044] The above-mentioned mounting support plate frame structure 31 includes an aluminum profile bracket 311, a mounting base plate 312, an upper line clamping plate 313 and a lower line clamping plate 314. One end of the aluminum profile bracket 311 is mounted on the frame structure 2 and is located above the middle of the treadmill body 1, that is, one end of the aluminum profile bracket 311 is fixedly mounted in the middle of the crossbar structure 21, and the mounting base plate 312 is fixedly mounted on the other end of the aluminum profile bracket 311 through a screw structure. The upper line clamping plate 313 and the lower line clamping plate 314 are respectively connected to the lower side of the mounting base plate 312 through two groups of connecting columns, that is, the upper line clamping plate 313, the lower line clamping plate 314 and the mounting base plate 312 are spaced apart, and the mounting base A pulley mounting sleeve 315 is also installed on the lower surface of the plate 312 through a screw structure, and the pulley 32 is rotatably installed on the outer surface of the pulley mounting sleeve 315. A position sensor, a camera mechanism and / or an image sensor are installed in the inner hole of the pulley mounting sleeve 315, which are used to further cooperate with vision and other algorithm systems to assist in monitoring the status of the robot, and further avoid the situation where the robot dumps the system but does not recognize and make a feedback response. A development control board is also installed on the mounting base plate 312, wherein the inner hole of the pulley mounting sleeve 315 is the through hole in the center of the pulley mounting sleeve 315, and the main body of the pulley mounting sleeve 315 is tubular.

[0045] The pulley disc 32 has a mounting hole that cooperates with the pulley disc mounting sleeve 315, and a separation ring is provided between the driven pulley portion 321 and the wire groove disc portion 322, and bearing structures are respectively installed on the upper and lower sides of the separation ring, through which the pulley disc 32 and the pulley disc mounting sleeve 315 are rotatably matched, so that the rotation is more stable and accurate; an avoidance circular hole is provided between the upper line clamping plate 313 and the lower line clamping plate 314, and the avoidance circular hole is sleeved on the wire groove disc portion 322, and the upper line clamping plate 313 and the lower line clamping plate 314 are respectively aligned with the upper and lower sides of the wire groove disc portion 322, for guiding to avoid the sling of the lifting component structure 5 from being scattered

[0046] The guide wheel assembly 33 is composed of a guide mounting shell 331 and a pulley 332. The guide mounting shell 331 is mounted at a corresponding opening of the lower line clamping plate 314, and the pulley 332 is rotatably mounted in the guide mounting shell (331).

[0047] The rotary drive mechanism 4 is installed on the lower surface of the mounting base plate 312, and the rotary drive mechanism 4 is arranged side by side with the pulley 32 and the pulley mounting sleeve 315. The power-loss brake 6 is installed on the upper surface of the mounting base plate 312. The height measurement encoder 7 is installed above the mounting base plate 312 through the housing frame of the power-loss brake 6. The brake shaft structure 8 passes through the mounting base plate 312 and is rotatably matched with the mounting base plate 312 through a deep groove ball bearing.

[0048] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims.

Claims

1. A robot walking training treadmill, characterized in that: The invention comprises a treadmill body (1), a frame structure (2) is arranged on the treadmill body (1), a wheel disc structure (3) and a rotary drive mechanism (4) are installed on the frame structure (2), the rotary drive mechanism (4) is used to control the rotation of the wheel disc structure (3), a hoisting assembly structure (5) is arranged on the wheel disc structure (3) and is used to hoist a robot, and the rotary drive mechanism (4) is also connected to a power-off brake (6) and a height measuring encoder (7).

2. The robot walking training treadmill according to claim 1, characterized in that: The treadmill body (1) is provided with a base frame (11), the frame structure (2) is arranged on the side of the base frame (11), an active rotating roller (12) and a driven rotating roller (13) are respectively installed at both ends of the base frame (11), a running belt (14) is sleeved between the active rotating roller (12) and the driven rotating roller (13), and the active rotating roller (12) is connected to a driving motor (15).

3. The robot walking training treadmill according to claim 1 or 2, characterized in that: The frame structure (2) is composed of a crossbar structure (21) and two column structures (22). The two column structures (22) are arranged on both sides of the middle of the treadmill body (1). The crossbar structure (21) is arranged on the top of the two column structures (22) to form a door frame. A mounting plate frame is provided in the middle of the crossbar structure (21) for mounting a wheel disc structure (3) and a rotary drive mechanism (4).

4. The robot walking training treadmill according to claim 3, characterized in that: The main bodies of the crossbar structure (21) and the column structure (22) are both supported by aluminum profiles.

5. The robot walking training treadmill according to claim 1 or 4, characterized in that: The pulley structure (3) comprises a mounting support plate frame structure (31), a pulley disk (32) and at least one guide wheel assembly (33); the pulley disk (32) is rotatably mounted on the mounting support plate frame structure (31); the pulley disk (32) is composed of a driven pulley portion (321) and a line slot disk portion (322); the guide wheel assembly (33) is mounted on the mounting support plate frame structure (31), and the guide wheel assembly (33) is aligned with the line slot disk portion (322).

6. The robot walking training treadmill according to claim 5, characterized in that: The rotary drive mechanism (4) comprises a driving motor (41), a driving pulley (42) and a transmission belt (43); the driving pulley (42) is connected to the output end of the driving motor (41); the transmission belt (43) is sleeved between the driving pulley (42) and the driven pulley portion (321); a brake shaft structure (8) is installed on the driving pulley (42); the power-off brake (6) and the height measuring encoder (7) are respectively connected to the brake shaft structure (8).

7. The robot walking training treadmill according to claim 6, characterized in that: The transmission belt (43) is a synchronous belt structure, and the driving pulley (42) and the driven pulley part (321) are synchronous pulley structures.

8. The robot walking training treadmill according to claim 6 or 7, characterized in that: The brake shaft structure (8) is composed of a connecting disk portion (81), a brake pin shaft portion (82) and a rotation monitoring thin shaft (83) in sequence, the power-off brake (6) is installed on the brake pin shaft portion (82), the height measurement encoder (7) is connected to the end of the rotation monitoring thin shaft (83), and the connecting disk portion (81) is fixedly installed on the end face of the driving pulley (42).

9. The robot walking training treadmill according to claim 8, characterized in that: The hoisting assembly structure (5) is composed of four slings, and the wheel structure (3) includes four guide wheel assemblies (33). The four slings are respectively matched with the four guide wheel assemblies (33).

10. The robot walking training treadmill according to any one of claims 5 to 7 or 9, characterized in that: The mounting support plate frame structure (31) comprises an aluminum profile bracket (311), a mounting base plate (312), an upper line clamping plate (313) and a lower line clamping plate (314); one end of the aluminum profile bracket (311) is mounted on the vertical frame structure (2) and is located above the middle of the treadmill body (1); the mounting base plate (312) is mounted on the other end of the aluminum profile bracket (311); the upper line clamping plate (313) and the lower line clamping plate (314) are respectively connected to the lower side of the mounting base plate (312) in sequence through two groups of connecting columns; and the upper line clamping plate (313) and the lower line clamping plate (314) are respectively aligned around the upper and lower sides of the line slot disk part (322); a pulley disk mounting shaft sleeve (315) is also mounted on the lower surface of the mounting base plate (312) through a screw structure; the pulley disk (32) is rotatably mounted on the outer surface of the pulley disk mounting shaft sleeve (315); A position sensor, a camera mechanism and / or an image sensor are installed in the inner hole of the pulley mounting sleeve (315).

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