Robot walking mechanism

Abstract

The invention relates to the technical field of robots, and discloses a robot walking mechanism which comprises a leg seat and two thigh arms connected with the leg seat, each thigh arm is connected with a shank arm, and the lower end of each shank arm is provided with a driving wheel; each shank arm is provided with an auxiliary wheel assembly, each auxiliary wheel assembly comprises a wheel arm and an auxiliary wheel connected with the wheel arm, and rotating power is arranged between the upper end of each wheel arm and the corresponding shank arm; in the first state, the two auxiliary wheels are correspondingly contracted on the side faces of the two shank arms respectively. And in the second state, at least one wheel arm is driven by rotating power to rotate by a preset angle, so that the auxiliary wheel and the two driving wheels form non-collinear three-point support. The invention has the beneficial effects of good walking stability and easiness in getting up after falling down.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a walking mechanism of a robot. Background Art

[0002] With the advancement of science and technology, robots are increasingly used in all walks of life. Currently, common robot walking mechanisms usually include the following: wheeled walking, tracked walking, leg-foot walking, tracked walking, magnetic levitation walking, etc. Robots with two-wheeled walking mechanisms are light, mobile and flexible, but have relatively poor balance, and the center of gravity is easily lost, resulting in tipping, and it is difficult to get up after tipping. Summary of the invention

[0003] In order to solve the above problems existing in the prior art, the present invention provides a robot walking mechanism with good walking stability and easy to get up after falling.

[0004] In order to achieve the above object, the present invention adopts the following technical solution: A robot walking mechanism comprises a leg seat, two thigh arms connected to the leg seat, each thigh arm is connected to a calf arm, and the lower end of each calf arm is provided with a driving wheel; each calf arm is provided with an auxiliary wheel assembly, the auxiliary wheel assembly comprises a wheel arm, an auxiliary wheel connected to the wheel arm, and a rotating power is provided between the upper end of the wheel arm and the calf arm; in a first state, the two auxiliary wheels are respectively retracted at the sides of the two calf arms; in a second state, at least one wheel arm is driven to rotate at a preset angle by the rotating power, so that the auxiliary wheel and the two driving wheels form a non-collinear three-point support.

[0005] When the driving wheels are walking normally, the auxiliary wheels are retracted to the sides of the calf arms and do not participate in support; when walking under some complex road conditions, such as ups and downs, and uneven roads, the two driving wheels are prone to loss of balance when walking. At this time, the auxiliary wheels are unfolded, and the auxiliary wheels and the two driving wheels form a non-collinear three-point support to form a support surface to maintain balance; similarly, when the robot falls, the auxiliary wheels are unfolded to form a three-point support, and the robot itself adjusts the center of gravity to the support surface, which is conducive to getting up.

[0006] Preferably, the two sets of auxiliary wheel assemblies are symmetrically arranged. The symmetrical arrangement of the auxiliary wheel assemblies can effectively balance the center of gravity, making the robot walk more stably.

[0007] Preferably, the driving wheel is arranged on the outside of the calf arm, and the auxiliary wheel assembly is arranged on the inside of the calf arm. The driving wheel and the auxiliary wheel are distributed on both sides of the calf arm, which can balance the center of gravity of the calf arm on the one hand, and on the other hand, when the auxiliary wheel is supported by the ground, the four supporting points form the four vertices of an isosceles trapezoid, so that walking is more stable and less prone to rollover.

[0008] Preferably, the distance between the two auxiliary wheels is configured as a, and the distance between the two driving wheels is configured as b, wherein the value of b / a is configured as 1.5-3.5. By properly configuring the wheelbase, the auxiliary wheels are less likely to roll over when walking.

[0009] Preferably, the value of b / a is configured to be 2.5-3.

[0010] Preferably, the driving wheel is arranged on the inner side of the calf arm, and the auxiliary wheel assembly is arranged on the outer side of the calf arm. Such an arrangement can balance the weight on both sides of the calf arm.

[0011] Preferably, the distance between the two auxiliary wheels is configured as a, and the distance between the two driving wheels is configured as b, wherein the value of a / b is configured as 1.2-2. When the two auxiliary wheels are deployed at the same time, four-point support is formed, and the four support points form the four vertices of an isosceles trapezoid, so that walking is more stable and less likely to roll over; at the same time, by reasonably setting the wheelbase of the auxiliary wheels, while preventing rollover, the width direction can be effectively controlled to prevent the wheelbase of the auxiliary wheels from being too large to adapt to walking on a narrow road surface.

[0012] Preferably, in the first state, the auxiliary wheel is coaxially distributed with the driving wheel, and the diameter of the auxiliary wheel is less than or equal to the diameter of the driving wheel. When the diameter of the auxiliary wheel is equal to that of the driving wheel, the auxiliary wheel is in contact with the ground in the first state, and the supporting point is collinear with the supporting point of the driving wheel; when the diameter of the auxiliary wheel is smaller than that of the driving wheel, the auxiliary wheel does not contact the ground in the first state.

[0013] Preferably, the upper end of the thigh arm is rotatably connected to the leg seat, the upper end of the calf arm is rotatably connected to the thigh arm, the leg seat is provided with a first motor for driving the thigh arm to rotate, and the thigh arm is provided with a driving mechanism for driving the calf arm to rotate. The first motor can adjust the angle between the thigh arm and the leg seat, and the driving mechanism can adjust the bending angle of the calf arm and the thigh arm, so that the posture of the thigh arm and the calf arm of the robot can be adjusted very flexibly, thereby changing the center of gravity position of the robot, so that it can maintain balance during movement.

[0014] Preferably, the driving mechanism comprises a second motor fixed on the thigh arm, an eccentric seat connected to the second motor, and a driving rod for connecting the eccentric seat and the calf arm, and the two ends of the driving rod are rotatably connected to the eccentric seat and the calf arm respectively; the rotation point of the second motor, the rotation points of the thigh arm and the calf arm, and the rotation points at both ends of the driving rod constitute the four vertices of a parallelogram. The driving mechanism has a simple structure and good stability.

[0015] Preferably, the thigh arm is configured as a hollow tubular structure, and the eccentric seat and the driving rod are both arranged inside the thigh arm. The thigh arm of this structure has high strength and light weight, and the eccentric seat and the driving rod are placed inside the thigh arm, which has better stability.

[0016] Preferably, the auxiliary wheel is configured to be actively rotatable; the wheel arm is configured to be driven to rotate 360° by rotational power. When the active wheel is damaged and cannot be actively rotated, the auxiliary wheel can be used to achieve walking and move the robot to a designated location for maintenance.

[0017] Therefore, the present invention has the following beneficial effects: (1) the auxiliary wheels are used for auxiliary support to improve the walking stability of the active wheels so as to better adapt to walking on different road conditions; (2) when the robot falls, the three-point support of the auxiliary wheels is used to form a support surface, which is more conducive to the robot getting up. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0019] Figure 2 for Figure 1 Side view of.

[0020] Figure 3 for Figure 1 Front view of .

[0021] Figure 4 for Figure 1 Exploded diagram.

[0022] Figure 5 for Figure 1 Schematic diagram of the local structure.

[0023] Figure 6 Another connection method for the drive mechanism.

[0024] Figure 7 This is a schematic diagram of the auxiliary wheels in the unfolded support state.

[0025] Figure 8 for Figure 7 Side view of.

[0026] Fig. 9 A bottom view of the support structure in the second state where the auxiliary wheels are arranged on the inner side of the calf.

[0027] Fig.10 A bottom view of the support structure in the second state in which the auxiliary wheels are arranged on the outside of the calf. DETAILED DESCRIPTION

[0028] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the scope of protection of the present invention.

[0029] It should be understood that, in this document, the expressions "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance, nor should they be understood as implicitly indicating the number of technical features indicated. Features defined as "first" or "second" may explicitly or implicitly indicate that at least one of the features is included.

[0030] like Figure 1-Figure 3 A robot walking mechanism shown in the figure includes a leg base 1, two thigh arms 2 connected to the leg base 1, each thigh arm 2 is connected to a calf arm 3, and the lower end of each calf arm 3 is provided with a driving wheel 4; each calf arm 3 is provided with an auxiliary wheel assembly 5, and the auxiliary wheel assembly 5 includes a wheel arm 50 and an auxiliary wheel 51 connected to the wheel arm 50, and a rotating power 52 is provided between the upper end of the wheel arm 50 and the calf arm 3; in a first state, the auxiliary wheel 51 is retracted to the side of the calf arm 3; in a second state, at least one wheel arm is driven to rotate a preset angle by the rotating power, so that the auxiliary wheel and the two driving wheels form a non-collinear three-point support.

[0031] In some embodiments, the two sets of auxiliary wheel assemblies 5 are symmetrically arranged, and in the first state, the auxiliary wheel 51 is coaxially distributed with the driving wheel 4, and the diameter of the auxiliary wheel 51 is less than or equal to the diameter of the driving wheel 4. When the diameter of the auxiliary wheel 51 is equal to the diameter of the driving wheel 4, the support state in the first state is as follows: Figure 3 As shown, at this time, the two auxiliary wheels and the driving wheel are supported by the ground at the same time; in some embodiments, the diameter of the auxiliary wheel is set to be smaller than that of the driving wheel, so that in the first state, the auxiliary wheel does not contact the ground.

[0032] In some embodiments, the driving wheel 4 is arranged on the outside of the calf arm 3, and the auxiliary wheel assembly 5 is arranged on the inside of the calf arm 3. Fig. 9 As shown, the distance between the two auxiliary wheels 51 is configured as a, and the distance between the two driving wheels 4 is configured as b, wherein the value of b / a is configured as 2-3, and in this embodiment, the value of b / a is configured as 2.5.

[0033] In some embodiments, Fig. 9 As shown, the driving wheel 4 is arranged on the inner side of the calf arm 3, and the auxiliary wheel assembly 5 is arranged on the outer side of the calf arm 3; Fig. 9In the figure, the distance between the two auxiliary wheels 51 is configured as a, and the distance between the two driving wheels 4 is configured as b, wherein the value of a / b is configured as 1.2-2. Specifically, the value of a / b can be configured as 1.5, 1.7, etc., which can effectively control the wheelbase of the auxiliary wheels while preventing rollover, thereby limiting the size of the robot in the walking width direction to adapt to walking on roads or tracks with smaller widths.

[0034] like Figure 1 , Figure 4 and Figure 5 As shown, the upper end of the thigh arm 2 is rotatably connected to the leg seat 1, and the upper end of the calf arm 3 is rotatably connected to the thigh arm 2. The leg seat 1 is provided with a first motor 10 for driving the thigh arm 2 to rotate, and the thigh arm 2 is provided with a driving mechanism 6 for driving the calf arm 3 to rotate. The driving mechanism 6 includes a second motor 60 fixed to the thigh arm 2, an eccentric seat 61 connected to the second motor 60, and a driving rod 62 for connecting the eccentric seat 61 and the calf arm 3. The two ends of the driving rod 62 are rotatably connected to the eccentric seat 61 and the calf arm 3 respectively; the rotation point of the second motor 60 ( Figure 5 Point A in the middle), the rotation point of the thigh arm 2 and the calf arm 3 ( Figure 5 Point B in the middle) and the rotation points at both ends of the driving rod 62 ( Figure 5 The thigh arm 2 is configured as a hollow tubular structure, and the eccentric seat 61 and the driving rod 62 are both arranged inside the thigh arm 2. Figure 5 The second motor is arranged at the upper end of the thigh arm and is coaxially distributed with the first motor. Figure 6 The figure shows a structural schematic diagram in which the second motor is arranged in the middle position of the thigh arm. The second motor is arranged in the middle position of the thigh arm to lower the overall center of gravity, and at the same time it can also reduce the length of the driving arm, so that the driving arm itself has better stability.

[0035] In some embodiments, the auxiliary wheel is configured to be actively rotatable; the wheel arm is configured to be driven to rotate 360° by rotational power. The auxiliary wheel is provided with walking power, and when the active wheel is damaged and cannot actively walk, the power in the auxiliary wheel can be used for walking; the wheel arm can rotate 360°, which is flexible and can adapt to various angles of support, and can also avoid some obstacles between the two calves on the road by rotating.

[0036] In some embodiments, the rotating power 52, the first motor 10, and the second motor 60 all use reduction motors, and the driving wheels and the auxiliary wheels also use reduction motors for their traveling power.

[0037] In conjunction with the accompanying drawings, the principles of the present invention are as follows: Figure 1-Figure 3As shown in the figure, when the robot is walking normally using the driving wheels, the auxiliary wheels 51 are retracted at the side of the calf arm, and the auxiliary wheels can be in contact with the ground or not; when the auxiliary wheels are needed to assist in supporting or standing up, the auxiliary wheels are rotated to the position shown in the figure. Figure 7-Figure 9 In the state shown, all four wheels are in contact with the ground, and the contact points of the two driving wheels with the ground are Fig. 9 At point E and point F, the two auxiliary wheels contact the ground. Fig. 9 The middle points G, H, E, F, G, and H form an isosceles trapezoid ( Fig. 9 The four vertices of the trapezoid EFGH shown by the dotted line in the middle are configured, and the value of b / a is configured to 2.5. At this time, the robot is less likely to roll over when walking stably, and the walking stability is good; when the robot falls and needs to get up, the center of gravity of the robot can better fall within the range of the trapezoid EFGH, so that the robot can get up automatically more easily.

[0038] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by up, down, left, right, inside, outside, one end, the other end, etc. are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the purpose of more clearly describing the technical solution of the present invention, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific orientation, and cannot be understood as a limitation of the present invention.

[0039] Although specific embodiments of the present invention are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present invention. Various substitutions, changes and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A robot walking mechanism, characterized in that: It comprises a leg seat (1), two thigh arms (2) connected to the leg seat (1), each thigh arm (2) is connected to a calf arm (3), and the lower end of each calf arm (3) is provided with a driving wheel (4); Each calf arm (3) is provided with an auxiliary wheel assembly (5), the auxiliary wheel assembly (5) comprising a wheel arm (50) and an auxiliary wheel (51) connected to the wheel arm (50), and a rotating power (52) is provided between the upper end of the wheel arm (50) and the calf arm (3); In a first state, the two auxiliary wheels (51) are retracted on the sides of the two calf arms (3) respectively; in a second state, at least one wheel arm (50) is driven to rotate by a preset angle through a rotating force (52), so that the auxiliary wheel (51) and the two driving wheels (4) form a non-collinear three-point support.

2. A robot walking mechanism according to claim 1, characterized in that: The two sets of auxiliary wheel assemblies (5) are symmetrically arranged.

3. A robot walking mechanism according to claim 2, characterized in that: The driving wheel (4) is arranged on the outside of the calf arm (3), and the auxiliary wheel assembly (5) is arranged on the inside of the calf arm (3).

4. A robot walking mechanism according to claim 3, characterized in that: The distance between the two auxiliary wheels (51) is configured as a, and the distance between the two driving wheels (4) is configured as b, wherein the value of b / a is configured as 1.5-3.

5.

5. A robot walking mechanism according to claim 4, characterized in that: The value of b / a is configured as 2.5-3.

6. A robot walking mechanism according to claim 2, characterized in that: The driving wheel (4) is arranged on the inner side of the calf arm (3), and the auxiliary wheel assembly (5) is arranged on the outer side of the calf arm (3).

7. A robot walking mechanism according to claim 6, characterized in that: The distance between the two auxiliary wheels (51) is configured as a, and the distance between the two driving wheels (4) is configured as b, wherein the value of a / b is configured as 1.2-2.

8. The robot walking mechanism according to claim 1, characterized in that In the first state, the auxiliary wheel (51) and the driving wheel (4) are coaxially distributed, and the diameter of the auxiliary wheel (51) is less than or equal to the diameter of the driving wheel (4).

9. A robot walking mechanism according to claim 1 or 2, characterized in that: The upper end of the thigh arm (2) is rotatably connected to the leg seat (1), and the upper end of the calf arm (3) is rotatably connected to the thigh arm (2). The leg seat (1) is provided with a first motor (10) for driving the thigh arm (2) to rotate, and the thigh arm (2) is provided with a driving mechanism (6) for driving the calf arm (3) to rotate.

10. A robot walking mechanism according to claim 9, characterized in that: The driving mechanism (6) comprises a second motor (60) fixedly mounted on the thigh arm (2), an eccentric seat (61) connected to the second motor (60), and a driving rod (62) for connecting the eccentric seat (61) and the calf arm (3), wherein two ends of the driving rod (62) are respectively rotatably connected to the eccentric seat (61) and the calf arm (3); The rotation point of the second motor (60), the rotation points of the thigh arm (2) and the calf arm (3), and the rotation points at both ends of the driving rod (62) form four vertices of a parallelogram.

11. A robot walking mechanism according to claim 10, characterized in that: The thigh arm (2) is configured as a hollow tubular structure, and the eccentric seat (61) and the driving rod (62) are both arranged inside the thigh arm (2).

12. A robot walking mechanism according to claim 1 or 2, characterized in that: The auxiliary wheel (51) is configured to be actively rotatable; and the wheel arm (50) is configured to be driven to rotate 360° by a rotational force (52).

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