Tail end quick-changing device of wheel-legged robot

Abstract

The invention discloses a wheel leg robot tail end quick-change device which comprises a locking motor, a locking transmission mechanism, an upper connecting disc, a lower connecting disc, a quick-change core and a core top block, the upper connecting disc is detachably connected to the core top block in a sleeving mode, the locking transmission mechanism is fixed to the top of the core top block, the quick-change core is embedded in a central shaft hole of the upper connecting disc, and the lower connecting disc is fixed to the top of the core top block. The locking motor is connected with the locking transmission mechanism and fixed to the upper end of the locking transmission mechanism, the lower connecting disc is installed at the upper end of the lower leg supporting piece, a quick-change shaft hole is formed in the middle of the lower connecting disc, and the lower end of the quick-change core penetrates into the quick-change shaft hole to be detachably connected with the quick-change core. According to the wheel-legged robot, the walking legs of the wheel-legged robot can be rapidly replaced, the walking wheels can be rapidly replaced directly through power-off and power-on, wheel type or crawler type or stair climbing type leg walking wheels can be freely selected when the robot walks, the rapid replacement structure further forms a modular structure of the robot, and assembly and maintenance of the robot become simpler.

Description

Technical Field

[0001] The invention belongs to the technical field of robots, in particular to a terminal quick-change device of a wheel-legged robot. Background Art

[0002] As labor costs increase, more and more companies are beginning to promote the use of robots. Since robots do not need to rest and have a high degree of execution, many repetitive production tasks can be performed by robots. In different fields, the demand for mobile robots is increasing, including services, delivery, guidance at airports and hotels, luggage transportation, and traditional cleaning and transportation robots at industrial sites. The mobile robots that are commonly designed now are divided into wheeled robots, tracked robots, legged robots, and humanoid robots, etc. During the use of the robot, the robot needs to replace different tools for different processes. Currently, the robots on the market use quick-changing devices to replace tools. This can improve the efficiency of the robot's tool replacement and also enable the robot to produce a variety of different processes, thereby improving the utilization rate of the robot.

[0003] However, in the current robot production process, the power sources of the robot quick change devices used are divided into two types: One is a pneumatic device, which uses the power of compressed gas to drive pneumatic components to perform quick changes. However, pneumatic quick change devices have the following disadvantages: First, due to the limitation of the air source, the robot must have an air pipe connected to the air source, which limits the robot's movement. For example, a mobile robot must drag an air pipe when using a pneumatic quick change, which obviously limits the robot's range of movement; in addition, when the pneumatic components are in use, only the two ends of the stroke of the pneumatic components can be used as effective action points. The remaining points within the stroke cannot be used because they cannot be accurately moved to and stopped at a certain place. Therefore, the quick change device of the pneumatic component must require the corresponding workpiece side plate model to be unified, otherwise it cannot be used; and the pneumatic component will produce a large impact when performing an action, so the pneumatic component is prone to damage after frequent use.

[0004] The other is electromagnetic brake, whose working principle is that the motor is connected to the power supply, and the electromagnetic brake coil is also energized, the armature is attracted, and the spring tension is overcome to separate the brake shoe from the brake wheel, and the motor operates normally. When the switch or contactor is disconnected, the motor loses power, and the electromagnetic brake coil also loses power. The armature is separated from the iron core under the action of the spring tension, and the brake shoe tightly holds the brake wheel, and the motor is braked and stops. The advantage is that mechanical braking mainly uses electromagnetic brake and electromagnetic clutch braking. Both use the electromagnetic coil to generate a magnetic field after being energized, so that the static iron core generates a large enough suction force to attract the armature or the moving iron core (the moving iron core of the electromagnetic clutch is attracted, and the moving and static friction plates are separated), overcome the spring tension and meet the requirements of the work site. The disadvantage is: the volume is large, and when used on the robot wheel legs, it will increase the weight of the robot itself, increase the load of the robot, and increase power consumption. Summary of the invention

[0005] The present invention aims to provide a terminal quick-change device for a wheel-legged robot, which enables the wheel-legged robot to quickly replace different wheels to cope with different driving environments.

[0006] The end quick-change device of the wheel-legged robot comprises an upper leg support, a lower pull rod, a middle leg support and a lower leg support forming a four-stage linkage structure. The middle leg support and the lower leg support are detachably connected through the end quick-change device. The terminal quick-change device includes a locking motor, a locking transmission mechanism, an upper connecting plate, a lower connecting plate, a quick-change core and a core top block. The upper connecting plate is detachably sleeved on the core top block, and the upper connecting plate is installed at the lower end of the middle leg support. The upper connecting plate is provided with bolt holes fixed on the rectangular frame, and the lower connecting plate is provided with bolt holes fixed on the lower leg support.

[0007] The locking transmission mechanism is fixed on the top of the core top block, and the output shaft of the locking transmission mechanism passes through the core top block and is connected to the quick-change core below. The quick-change core is embedded in the central axis hole of the upper connecting plate. The output shaft of the locking transmission mechanism is a screw rod group. The screw rod group rotates to move the inner core of the quick-change core up and down along the inner wall of the outer core.

[0008] The locking motor is connected to the locking transmission mechanism and fixed at the upper end of the locking transmission mechanism. The lower connecting plate is installed at the upper end of the lower leg support. A quick-change shaft hole is provided in the middle of the lower connecting plate. The lower end of the quick-change core is inserted into the quick-change shaft hole and is detachably connected to the quick-change core.

[0009] The quick-change core is divided into an inner core and an outer core which are sleeved together. The upper end of the outer core is fixed on the upper connecting plate. The inner core is connected to the output shaft of the locking transmission mechanism. The inner core is thick at the top and thin at the bottom. A movable groove extending along the axial direction is provided on the outer surface of the inner core. A sliding protruding ball is embedded in the movable groove. A ball hole is provided on the surface of the outer core. The sliding protruding ball passes through the ball hole and emerges from the outer core. The bottom diameter of the quick-change shaft hole is larger than the top diameter, and when the upper connecting plate and the lower connecting plate are locked, the sliding protruding ball is located at the maximum diameter of the inner core.

[0010] Furthermore, the outer wall shape of the outer core is matched with the inner wall shape of the quick-change shaft hole, being thicker at the top and thinner at the bottom, and the inner hole diameter of the outer core is equal at the top and the bottom.

[0011] Furthermore, the depth of the moving groove is smaller than the radius of the sliding protruding ball to ensure that the sliding protruding ball emerges from the outer core. The moving groove plays a limiting role to ensure that the sliding protruding ball can move smoothly along its path.

[0012] Furthermore, the maximum diameter of the sliding protruding ball is larger than the diameter of the ball hole, ensuring that the sliding protruding ball can slide in and out smoothly under the squeezing action of the inner core. Furthermore, at least four groups of the sliding protruding balls are arranged around the quick-change core and are distributed at equal intervals. The design of multiple sliding protruding balls disperses stress and ensures that the middle leg support and the lower leg support can be connected firmly and stably.

[0013] Furthermore, the locking transmission mechanism includes a reduction gear group I, a reduction gear group II, an upper gear rack and a lower gear rack, the upper gear rack and the lower gear rack overlap each other, the reduction gear group I is fixed in the upper gear rack, the reduction gear group II is fixed in the lower gear rack, the locking motor is fixed at the top of the upper gear rack, and the output shaft is meshed with the reduction gear group I, the reduction gear group II is meshed with the reduction gear group I, the output shaft of the locking transmission mechanism is a screw group, the upper end of the screw group is sleeved with an output gear, the output gear is in the lower gear rack and meshed with the reduction gear group II, and the inner core is sleeved on the slider of the screw group.

[0014] Furthermore, the locking transmission mechanism includes a single-layer gear rack and a reduction gear group III, the reduction gear group III is installed in the single-layer gear rack, the locking motor is fixed to the side of the single-layer gear rack, and the output shaft is meshed with the reduction gear group III, the output shaft of the locking transmission mechanism is a screw group, the upper end of the screw group is sleeved with an output gear, the output gear is in the single-layer gear rack and meshed with the reduction gear group III, and the inner core is sleeved on the slider of the screw group.

[0015] The locking transmission mechanism is provided with two structures to cope with different installation environments, and the size can be changed to facilitate installation on different wheel-legged robots.

[0016] Furthermore, the reduction gear set III includes a worm set and multiple spur gear sets with different numbers of teeth, the worm set is connected to the output shaft of the locking motor installed horizontally, and the spur gear set is combined between the worm set and the output gear. Installing the motor horizontally can also reduce the assembly volume of the quick-change device.

[0017] Compared with the prior art, the end quick-change device of the wheel-legged robot of the present invention has the following beneficial effects: the end quick-change device of the above-mentioned design adopts electric control, uses electricity as the power source, and drives the movement of the connecting mechanism by a motor. The response speed is usually faster than that of the pneumatic system, and the connection of the air source pipe and the use of the air source machine are omitted, which can reduce the burden on the wheel-legged robot. The electric control can also provide precise position and speed control, which is suitable for high-precision positioning applications of such robots.

[0018] Furthermore, the electrically controlled quick-change structure can realize the rapid replacement of the walking legs of the wheel-legged robot. The walking wheels can be quickly replaced simply by cutting off and turning on the power. When the robot is walking, the leg walking wheels can be selected at will, whether they are wheeled, tracked or stair-climbing. This quick-change structure also constitutes a modular structure of the robot, making the assembly and maintenance of the robot easier.

[0019] Moreover, this integrated, compact quick-change structure is small in size, installed at the joints of the wheel-legged robot, and has a light weight, so the overall weight of the robot is also light, which reduces energy consumption and allows the robot to have a longer standby time. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the main structure of the first embodiment of the present invention; Figure 2 This is a schematic diagram of the cross-sectional structure of the first embodiment of the present invention as viewed along the line A; Figure 3 This is a schematic diagram of the exploded cross-sectional structure of the first embodiment of the present invention; Figure 4 This is a schematic diagram of the main structure viewed from the direction B of the second embodiment of the present invention; Figure 5 It is a cross-sectional structural schematic diagram of the second embodiment of the present invention; Figure 6 A schematic diagram of the planar structure used for the installation of the terminal quick change device; Explanation of the marks in the figure: 1. Upper leg support; 2. Lower pull rod; 3. Middle leg support; 4. Lower leg support; 5. Terminal quick-change device; 6. Rectangular frame; 50. Locking motor; 51. Locking transmission mechanism; 510. Reduction gear set I; 511. Reduction gear set II; 512. Upper gear rack; 513. Lower gear rack; 514. Single-layer gear rack; 515. Reduction gear set III; 52. Upper connecting plate; 53. Lower connecting plate; 530. Quick-change shaft hole; 54. Quick-change core; 540. Inner core; 541. Outer core; 542. Moving groove; 55. Core top block; 56. Screw rod group; 57. Sliding protruding ball; DETAILED DESCRIPTION

[0021] In order to facilitate the understanding of those skilled in the art, the present invention is further described below in conjunction with embodiments and drawings. The contents mentioned in the implementation modes are not intended to limit the present invention.

[0022] Embodiment 1: Figure 1 , Figure 2 , Figure 3 , Figure 6 The end quick-change device of the wheel-leg robot comprises an upper leg support 1, a lower pull rod 2, a middle leg support 3 and a lower leg support 4 forming a four-stage linkage structure. The middle leg support and the lower leg support are detachably connected through an end quick-change device 5. A rectangular frame 6 is provided at the lower end of the middle leg support. The end quick-change device 5 is connected to the rectangular frame 6. The terminal quick-change device 5 includes a locking motor 50, a locking transmission mechanism 51, an upper connecting plate 52, a lower connecting plate 53, a quick-change core 54 and a core top block 55. The upper connecting plate 52 is detachably sleeved on the core top block 55, and the upper connecting plate 52 is installed at the lower end of the middle leg support 3, which is equivalent to the upper connecting plate 52 and the locking motor 50, The locking transmission mechanism 51 are in the rectangular frame 6, and the lower connecting plate 53 is below the rectangular frame 6 and connected to the lower leg support 4. The lower leg support 4 is the ankle and walking wheel of the wheel-legged robot. The quick locking of the quick-change core 54 and the lower connecting plate 53 can quickly connect the lower leg support 4 to the middle leg support 3.

[0023] The locking transmission mechanism 51 is fixed on the top of the core top block 55, and the output shaft of the locking transmission mechanism 51 passes through the core top block 55 and is connected to the quick-change core 54 below. The quick-change core 54 is embedded in the central axis hole of the upper connecting plate 52. The locking motor 50 is connected to the locking transmission mechanism 51 and fixed to the upper end of the locking transmission mechanism 51. The lower connecting plate 53 is installed at the upper end of the lower leg support 4. A quick-change shaft hole 530 is provided in the middle of the lower connecting plate 53. The lower end of the quick-change core 54 is inserted into the quick-change shaft hole 530 and is detachably connected to the quick-change core 54. The quick-change core 54 is divided into an inner core 540 and an outer core 541 which are sleeved together. The upper end of the outer core 541 is fixed to the upper connecting plate 52, and the inner core 540 is connected to the output shaft of the locking transmission mechanism 51. The inner core 540 is thick at the top and thin at the bottom. A moving groove 542 extending in the axial direction is provided on the outer surface of the inner core 540, and a sliding protruding ball 57 is embedded in the moving groove 542. The depth of the moving groove 542 is smaller than the radius of the sliding protruding ball 57. A ball hole is provided on the surface of the outer core 741, and the sliding protruding ball 57 passes through the ball hole and emerges from the outer core 541. The maximum diameter of the sliding protruding ball 57 is larger than the diameter of the ball hole.

[0024] The sliding protruding balls are provided with at least 4 groups around the quick-change core 54 and are distributed at equal intervals. In this embodiment, 4 sliding protruding balls are arranged on the quick-change core. After the lower connecting plate and the quick-change core are clamped together, the weight of the entire lower leg support is borne. Multiple sliding protruding balls disperse the stress of the wheel leg walking wheel to ensure the stability of the connection. The sliding protruding balls can also be increased to 6 groups or 8 groups.

[0025] The bottom diameter of the quick-change shaft hole 530 is larger than the top diameter (in order to better insert the quick-change core into the quick-change shaft hole when it is embedded in the lower connecting plate), and when the upper connecting plate 52 and the lower connecting plate 53 are locked, the sliding protruding ball 57 is at the maximum diameter of the inner core 540. The outer wall shape of the outer core 541 is consistent with the inner wall shape of the quick-change shaft hole 530, and is thick at the top and thin at the bottom. The inner hole diameter of the outer core 541 is equal at the top and bottom.

[0026] Under the action of the locking transmission mechanism 51, the inner core 540 is driven to move up and down along the inner wall of the outer core 541. The inner hole of the outer core 541 has the same diameter at the top and bottom. The inner core is cylindrical with a thick top and a thin bottom. The lower half is inclined 30 degrees toward the middle axis relative to the upper half, that is, the moving groove 542 extends downward from the upper half and tilts inward with the lower half. In this way, when the inner core 540 moves relative to the outer core 541, the sliding protruding ball 57 embedded in the ball hole continuously protrudes from the ball hole as the diameter of the inner core 540 changes (that is, the sliding protruding ball 57 is continuously protruded from the ball hole by the sliding protruding ball 57 embedded in the ball hole). Since the sliding protruding ball is spherical and rolls in and out of the ball hole, the volume protruding from the ball hole is different). When the outer core 541 is embedded in the quick-change shaft hole of the lower connecting plate 53, the sliding protruding ball 57 protrudes outward and its diameter becomes larger. When the diameter of the quick-change shaft hole is fixed, the inner core moves downward. At this time, the inner core 540 and the inner wall of the lower connecting plate 53 squeeze the sliding protruding ball 57 at the same time, so that the sliding protruding ball 57 and the inner wall of the quick-change shaft hole 530 are transitionally matched, thereby making the quick-change core 54 and the lower connecting plate 53 clamped together. When the lock is released, the lock motor 50 reverses, the sliding protruding ball 57 rolls inward, and the sliding protruding ball 57 gradually becomes a clearance fit with the inner wall of the quick-change shaft hole 530, so that the lower connecting plate can be separated from the quick-change core 54, so that the two are separated. When the upper connecting plate 52 and the lower connecting plate 53 are respectively installed on the middle leg support 3 and the lower leg support 4, the lower leg support 4 can be quickly disassembled and replaced. When the wheel-legged robot replaces the wheel structure, the walking parts can be quickly replaced. The structure of the wheel-legged robot is based on the patent application number 202410459584.2.

[0027] The locking transmission mechanism 51 described in the above text includes a reduction gear group I 510, a reduction gear group II 511, an upper gear rack 512 and a lower gear rack 513. The upper gear rack 512 and the lower gear rack 513 overlap each other, and the reduction gear group I 510 is fixed in the upper gear rack 512, and the reduction gear group II 511 is fixed in the lower gear rack 513. The locking motor 50 is fixed on the top of the upper gear rack 512, and the output shaft is meshed with the reduction gear group I 510, and the reduction gear group II 511 is meshed with the reduction gear group I 510. The reduction gear group I 510 and the reduction gear group II 511 are spur gears with different numbers of teeth. The torque and speed are adjusted by meshing multiple spur gears to withstand the movement of the lower leg support.

[0028] The output shaft of the locking transmission mechanism 51 is a screw rod group 56, and the upper end of the screw rod group 56 is sleeved with an output gear. The output gear is in the lower gear frame and meshes with the reduction gear group II. The inner core 540 is sleeved on the slider of the screw rod group 56. When the screw rod is driven, the slider on the screw rod moves up and down, and then the inner core sleeved on the slider moves up and down. The inner core 540 moves up and down to squeeze the sliding protruding ball 57 in and out, so that the quick-change core 54 is stuck to the lower connecting plate 53 as described above.

[0029] Embodiment 2: Based on the above structure, the locking transmission mechanism and the locking motor can be designed into a more compact structure to facilitate better assembly of the wheel-leg mechanism and the robot, as follows: Such as / 4, Figure 5 , Figure 6 The locking transmission mechanism 51 comprises a single-layer gear frame 514 and a reduction gear set III 515. The reduction gear set III is installed in the single-layer gear frame. The locking motor is fixed to the side of the single-layer gear frame, and the output shaft is meshed with the reduction gear set III. The output shaft of the locking transmission mechanism 51 is a screw rod group 56 , and an output gear is sleeved on the upper end of the screw rod group 56 . The output gear is in the single-layer gear rack 514 and meshes with the reduction gear group III 515 . The inner core 540 is sleeved on the slider of the screw rod group 56 .

[0030] The reduction gear set III515 includes a worm set and multiple spur gear sets with different numbers of teeth (this design structure is a well-known technology for converting horizontal power into vertical power). The worm set is connected to the output shaft of the horizontally installed locking motor, and the spur gear set is combined between the worm set and the output gear. The spur gear set uses different tooth pitches to adjust the speed and torque, thereby transmitting the final speed to the screw set, and then driving the inner core to move up and down.

[0031] The above is a detailed introduction to the end quick-change device of the wheel-legged robot provided by the present application. The description of the specific embodiment is only used to help understand the method and its core idea of ​​the present application. It should be pointed out that for ordinary technicians in this technical field, without departing from the principles of the present application, several improvements and modifications can be made to the present application, and these improvements and modifications also fall within the scope of protection of the claims of the present application.

Claims

1. A terminal quick-change device for a wheel-legged robot, the wheel-legged robot comprising an upper leg support member (1), a lower pull rod (2), a middle leg support member (3) and a lower leg support member (4) forming a four-stage linkage structure, the middle leg support member (3) and the lower leg support member (4) being detachably connected via a terminal quick-change device (5). Features: The end quick-change device (5) comprises a locking motor (50), a locking transmission mechanism (51), an upper connecting plate (52), a lower connecting plate (53), a quick-change core (54) and a core top block (55), wherein the upper connecting plate (52) is detachably sleeved on the core top block (55), and the upper connecting plate (52) is mounted on the lower end of the middle leg support member (3). The locking transmission mechanism (51) is fixed on the top of the core top block (55), and the output shaft of the locking transmission mechanism (51) passes through the core top block (55) and is connected to the quick-change core (54) below. The quick-change core (54) is embedded in the central axis hole of the upper connecting plate (52). The locking motor (50) is connected to the locking transmission mechanism (51) and fixed to the upper end of the locking transmission mechanism (51); the lower connecting plate (53) is installed at the upper end of the lower leg support member (4); a quick-change shaft hole (530) is provided in the middle of the lower connecting plate (53); the lower end of the quick-change core (54) is inserted into the quick-change shaft hole (530) and is detachably connected to the quick-change core (54); The quick-change core (54) is divided into an inner core (540) and an outer core (541) which are sleeved together. The upper end of the outer core (541) is fixed on the upper connecting plate (52). The inner core (540) is connected to the output shaft of the locking transmission mechanism (51). The inner core (540) is thick at the top and thin at the bottom. A movable groove extending along the axial direction is provided on the outer surface of the inner core (540). A sliding protruding ball (57) is embedded in the movable groove. A ball hole is provided on the surface of the outer core (541). The sliding protruding ball (57) passes through the ball hole and emerges from the outer core (541). The bottom diameter of the quick-change shaft hole (530) is larger than the top diameter, and when the upper connecting plate (52) and the lower connecting plate (53) are locked, the sliding protruding ball (57) is located at the maximum diameter of the inner core (540).

2. The end quick change device of the wheel-legged robot according to claim 1, characterized in that; The outer wall shape of the outer core (541) is matched with the inner wall shape of the quick-change shaft hole (530), and is thick at the top and thin at the bottom. The inner hole diameter of the outer core (541) is equal at the top and bottom.

3. The end quick-change device of the wheel-legged robot according to claim 2 is characterized in that ; The depth of the moving groove is smaller than the radius of the sliding protruding ball (57).

4. The end quick-change device of the wheel-legged robot according to claim 3, characterized in that: The maximum diameter of the sliding protruding ball (57) is greater than the diameter of the ball hole.

5. The end quick-change device of the wheel-legged robot according to claim 4, characterized in that: At least four groups of the sliding protruding balls (57) are arranged around the quick-change core (54) and are distributed at equal intervals.

6. The end quick-change device (5) of the wheel-legged robot according to claim 1, characterized in that: The locking transmission mechanism comprises a reduction gear set I (510), a reduction gear set II (511), an upper gear rack (512) and a lower gear rack (513); the upper gear rack (512) and the lower gear rack (513) overlap each other; the reduction gear set I (510) is fixed in the upper gear rack (512); the reduction gear set II (511) is fixed in the lower gear rack (513); the locking motor (50) is fixed on the top of the upper gear rack (512); the output shaft is meshed with the reduction gear set I (510); the reduction gear set II (511) is meshed with the reduction gear set I (510); The output shaft of the locking transmission mechanism (51) is a screw rod group, the upper end of the screw rod group is sleeved with an output gear, the output gear is in the lower gear rack (513) and meshes with the reduction gear group II (511), and the inner core (540) is sleeved on the slider of the screw rod group (56).

7. The end quick change device of the wheel-legged robot according to claim 1, characterized in that: The locking transmission mechanism (51) comprises a single-layer gear frame (514) and a reduction gear set III (515), wherein the reduction gear set III (515) is installed in the single-layer gear frame (514), the locking motor (50) is fixed to a side of the single-layer gear frame (514), and the output shaft is meshed with the reduction gear set III (515). The output shaft of the locking transmission mechanism (51) is a screw rod group, the upper end of the screw rod group is sleeved with an output gear, the output gear is in the single-layer gear rack (514) and meshes with the reduction gear group III (515), and the inner core is sleeved on the slider of the screw rod group.

8. The end quick-change device of the wheel-legged robot according to claim 7, characterized in that: The reduction gear set III includes a worm set and multiple spur gear sets with different numbers of teeth. The worm set is connected to the output shaft of the transversely mounted locking motor, and the spur gear set is combined between the worm set and the output gear.

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