Robot damping device, walking assembly and robot

Abstract

The invention provides a robot damping device, a walking assembly and a robot. The robot damping device comprises a fixed seat, a damping device and a damping device, the damping device comprises a damping rod and a damping elastic piece, at least part of the damping rod can move relative to the fixing base, at least part of the damping rod is used for being connected with the wheel body assembly and can drive the wheel body assembly to move, and the damping elastic piece is connected with the damping rod; the damping elastic piece can drive at least part of the damping rod and the wheel body assembly on the damping rod to move in the direction away from the fixing base through elastic force. The limiting part is connected with the damping rod and has a restraining state and a releasing state, in the restraining state, the limiting part limits the damping rod to prevent the damping rod from moving relative to the fixing base, and in the releasing state, the limiting part releases limiting on the damping rod to enable at least part of the damping rod to move relative to the fixing base. According to the damping device for the robot, the wheel body assembly can be dynamically adjusted, and the influence on the operation precision of the robot is small.

Description

Technical Field

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

[0002] A composite robot is a multimodal intelligent device that integrates mobile, robotic arms, visual systems and intelligent algorithms. The mobile wheels of composite robots are generally equipped with shock absorbers to enable the robot to cross obstacles, climb slopes or travel on soft ground. When the robotic arm is working, for composite robotic arms, especially those that require high precision, the shock absorber will affect the mobile wheels, causing the robot's posture to change, thereby reducing the accuracy of the robotic arm. Summary of the invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides a robot shock absorbing device, a walking assembly and a robot.

[0004] The robot shock absorbing device according to the embodiment of the present invention comprises: Fixed seat; A shock absorbing device, the shock absorbing device comprising a shock absorbing rod and a shock absorbing elastic member, at least a portion of the shock absorbing rod can move relative to the fixing seat, at least a portion of the shock absorbing rod is used to be connected to the wheel body assembly and can drive the wheel body assembly to move, the shock absorbing elastic member is connected to the shock absorbing rod, and the shock absorbing elastic member can use elastic force to drive at least a portion of the shock absorbing rod and the wheel body assembly thereon to move in a direction away from the fixing seat; A limiting portion, the limiting portion is connected to the shock absorbing rod and has a restrained state and a released state. In the restrained state, the limiting portion limits the shock absorbing rod to prevent the shock absorbing rod from moving relative to the fixed seat. In the released state, the limiting portion releases the restraint on the shock absorbing rod so that at least a portion of the shock absorbing rod can move relative to the fixed seat.

[0005] In some embodiments, the shock absorbing rod comprises a sleeve rod and a moving rod, the sleeve rod is connected to the fixing seat, the first end of the moving rod is slidably connected to the sleeve rod along the axial direction of the shock absorbing rod, the second end of the moving rod away from the sleeve rod is used to be connected to the wheel body assembly, the shock absorbing elastic member is connected to the moving rod, and the shock absorbing elastic member can use elastic force to drive the moving rod to slide in a direction away from the sleeve rod; In the constrained state, the limiting portion limits the moving rod to prevent the moving rod from sliding relative to the sleeve rod, and in the released state, the limiting portion releases the constraint on the moving rod to allow the moving rod to slide relative to the sleeve rod.

[0006] In some embodiments, the shock absorbing device further comprises a first connecting rod, the first connecting rod and the shock absorbing rod are located on both sides of at least part of the wheel assembly in a first direction, the axial direction of the moving wheel of the wheel assembly is a second direction, and any two of the first direction, the second direction and the up-down direction are perpendicular to each other; The upper end of the first connecting rod is fixedly connected to the fixing seat, the upper end of the sleeve rod is hinged to the fixing seat, the first end of the moving rod is located above the second end, the first end of the moving rod is slidably arranged in the sleeve rod, and the second end of the moving rod and the lower end of the first connecting rod are both used to be hinged to the wheel frame of the wheel assembly; The shock-absorbing elastic member is a spring, and the spring is sleeved on the peripheral side of the moving rod. The two ends of the spring are respectively in contact with the lower end of the sleeve rod and the second end of the moving rod.

[0007] In some embodiments, a piston is provided at the first end of the moving rod, the outer peripheral surface of the piston is slidably connected to the wall surface of the cavity of the sleeve rod, and the piston divides the cavity of the sleeve rod into a first cavity and a second cavity in the axial direction of the damping rod; The limiting part includes an oil cylinder, a first pipeline, a second pipeline and a control device, the two ends of the first pipeline are respectively connected to the first cavity and the oil cylinder, the two ends of the second pipeline are respectively connected to the second cavity and the oil cylinder, the first cavity, the second cavity and the oil cylinder all contain oil, and the control device is used to control the opening and closing of the first pipeline and the second pipeline; In the restrained state, the control device closes the first pipeline and the second pipeline; In the released state, the control device opens the first pipeline and the second pipeline.

[0008] In some embodiments, both the first pipeline and the second pipeline are connected to the oil cylinder through connecting oil pipes; The control device comprises a first solenoid valve and a second solenoid valve, wherein the first solenoid valve is arranged on the first pipeline to control the opening and closing of the first pipeline, and the second solenoid valve is arranged on the second pipeline to control the opening and closing of the second pipeline; Alternatively, the control device includes a third solenoid valve, which is connected to the first pipeline and the second pipeline and can control the opening and closing of the first pipeline and the second pipeline at the same time.

[0009] In some embodiments, the limiting portion includes an adsorption member, and the adsorption member is an electromagnet. When the adsorption member is energized, the magnetic force can be used to limit the moving rod.

[0010] In some embodiments, the limiting portion includes an adsorption plate, a rotating rod and a rotating seat, the adsorption plate is connected to the fixed seat, the rotating seat is arranged on at least one of the fixed seat and the adsorption plate, the rotating rod is rotatably arranged on the rotating seat, the third end of the rotating rod is connected to the moving rod, the fourth end of the rotating rod is connected to the adsorption member, and the distance between the third end of the rotating rod and the rotating seat is smaller than the distance between the fourth end of the rotating rod and the rotating seat; In the restrained state, the adsorption member is energized and adsorbed on the adsorption plate by magnetic force; In the released state, the adsorption member is not energized, and the adsorption member can move relative to the adsorption plate.

[0011] In some embodiments, the limiting portion further comprises a connecting rod, the sleeve rod having a connecting through hole extending therethrough, one end of the connecting rod extending into the connecting through hole and being hinged to the first end of the moving rod, and the other end of the connecting rod being hinged to the third end of the rotating rod; In the extending direction of the connecting rod, the distance between the first end of the moving rod and the rotating seat is smaller than the distance between the fourth end of the rotating rod and the rotating seat; The ratio of the distance between the third end of the rotating rod and the rotating seat to the distance between the fourth end of the rotating rod and the rotating seat is 1:(3-5); The thickness direction of the adsorption plate, the axial direction of the moving wheel of the wheel assembly, the rotational axial direction of the rotating rod and the rotational axial direction of the connecting rod are consistent; The adsorption member is connected to the fourth end of the rotating rod through an adsorption elastic member, and the adsorption elastic member can utilize elasticity to drive the adsorption member to move in a direction away from the adsorption plate.

[0012] The present invention also proposes a walking assembly, comprising a wheel assembly and the robot shock absorbing device, wherein the shock absorbing rod of the robot shock absorbing device is connected to the wheel frame of the wheel assembly.

[0013] The present invention also provides a robot, comprising Mounting frame; A plurality of walking components, wherein the walking components are the above-mentioned walking components, and the plurality of walking components are arranged on the mounting frame.

[0014] In some embodiments, there are four walking components, each of which includes a wheel frame, a driving motor and a moving wheel. The driving motor is arranged on the wheel frame, and the driving motor can drive the moving wheel to rotate.

[0015] In some embodiments, the fixed seat of the walking assembly is connected to the mounting frame via a first bearing, so that the fixed seat can rotate relative to the mounting frame, and the rotation axis of the fixed seat is in the up and down direction; A steering assembly is provided on the mounting frame, and the steering assembly includes a bogie, a steering motor, a first gear and a second gear. The bogie is provided on the mounting frame, and the steering motor is provided on the bogie. The steering motor can drive the first gear to rotate, and the second gear is rotatably provided in the bogie. The first gear is meshed with the second gear, and the second gear is connected to the fixed seat and can drive the fixed seat to rotate.

[0016] In some embodiments, the shock absorbing rod of the robot shock absorbing device of the walking assembly includes a sleeve rod and a moving rod, the sleeve rod is connected to the fixed seat, the first end of the moving rod is slidably connected to the sleeve rod along the axial direction of the shock absorbing rod, the second end of the moving rod away from the sleeve rod is used to be connected to the wheel body assembly, the shock absorbing elastic member is connected to the moving rod, and the shock absorbing elastic member can use elastic force to drive the moving rod to slide in a direction away from the sleeve rod; The first end of the moving rod is provided with a piston, the outer peripheral surface of the piston is slidably connected to the peripheral side surface of the cavity of the sleeve rod, and the piston divides the cavity of the sleeve rod into a first cavity and a second cavity in the axial direction of the damping rod; The limiting part includes an oil cylinder, a first pipeline, a second pipeline and a control device, the two ends of the first pipeline are respectively connected to the first cavity and the oil cylinder, the two ends of the second pipeline are respectively connected to the second cavity and the oil cylinder, the first cavity, the second cavity and the oil cylinder all contain oil, and the control device is used to control the opening and closing of the first pipeline and the second pipeline; The bogie is provided with a rotary joint frame, a rotary joint is provided in the rotary joint frame, the rotary joint has a first connection port and a second connection port, the first connection port is connected to the oil cylinder, the opening of the second connection port faces downward, and the second connection port extends in the up-down direction; The first pipeline and the second pipeline are both connected to the oil cylinder via a connecting oil pipe, and the top of the connecting oil pipe passes through the fixing seat, the mounting frame and the second gear in sequence upward and is rotatably connected to the second connecting port.

[0017] The beneficial effect of the present invention is that the robot shock absorbing device according to the embodiment of the present invention can be connected with the wheel assembly and has a constrained state and a released state. In the constrained state, the shock absorbing rod is fixed by the limiting part and does not move relative to the fixed seat, so that the robot shock absorbing device can be a rigid structure in this state, so that when supporting the robot, it will not move elastically with the movement of the robot's mechanical arm, so that the robot can avoid the posture influence caused by the contraction and release of the robot shock absorbing device. When the robot shock absorbing device is a rigid structure, the center of gravity of the robot is not easy to change, so that the robot shock absorbing device according to the embodiment of the present invention can reduce the influence on the accuracy of the mechanical arm. When the wheel assembly needs to move, the limiting part releases the limit of the shock absorbing rod, so that at least part of the shock absorbing rod can move relative to the fixed seat. That is, in the released state, the robot shock absorbing device is an elastic structure, which can make the robot shock absorbing device according to the embodiment of the present invention cooperate with the wheel assembly to dynamically adjust the wheel assembly, thereby reducing the shock of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a perspective view of a robot according to an embodiment of the present invention.

[0019] Figure 2 is a top view of a robot according to an embodiment of the present invention.

[0020] Figure 3 is a side view of a robot according to an embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of the cooperation between a walking assembly and a robot shock absorbing device according to an embodiment of the present invention.

[0022] Figure 5 4 is a front view of a robot shock absorbing device according to an embodiment of the present invention.

[0023] Figure 6 Schematic diagram of a first solenoid valve and a second solenoid valve of a limit portion according to an embodiment of the present invention.

[0024] Figure 7 Schematic diagram of a third solenoid valve of a limiting part according to an embodiment of the present invention.

[0025] Figure 8 is a schematic diagram of a steering assembly according to an embodiment of the present invention.

[0026] Fig. 9 is a cross-sectional view of a steering assembly according to an embodiment of the present invention.

[0027] Fig.10 is a structural diagram of a robot shock absorbing device according to another embodiment of the present invention.

[0028] Fig.11 It is a schematic diagram of the cooperation between a walking assembly and a robot shock absorbing device according to another embodiment of the present invention.

[0029] Fig.12 is a front view of a robot shock absorbing device according to another embodiment of the present invention.

[0030] Fig.13 is a side view of a robot shock absorbing device according to another embodiment of the present invention.

[0031] Reference numerals: 1. Fixed seat, 11. First bearing; 2. shock absorbing rod, 21. sleeve rod, 211. connecting through hole, 22. moving rod, 221. first end, 222. second end, 23. shock absorbing elastic member, 24. first connecting rod, 25. piston, 26. first cavity, 27. second cavity; 3. Oil cylinder, 31. First pipeline, 32. Second pipeline, 33. First solenoid valve, 34. Second solenoid valve, 35. Connecting oil pipe, 36. Third solenoid valve; 4. adsorption member, 41. adsorption plate, 42. rotating rod, 421. third end, 422. fourth end, 43. rotating seat, 44. connecting rod, 45. adsorption elastic member; 5. wheel body assembly, 51. wheel frame, 52. drive motor, 53. moving wheel; 6. Mounting frame; 7. Bogie, 71. Steering motor, 72. First gear, 73. Second gear, 74. Rotary joint frame, 75. Rotary joint, 76. First connection port, 77. Second connection port. DETAILED DESCRIPTION

[0032] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0033] The following describes the robot shock absorbing device according to the embodiment of the present invention with reference to the accompanying drawings. Figures 1 to 13 As shown, the robot shock absorbing device according to an embodiment of the present invention includes a fixing seat 1, a shock absorbing device and a limiting portion.

[0034] The shock absorbing device includes a shock absorbing rod 2 and a shock absorbing elastic member 23. At least a portion of the shock absorbing rod 2 can move relative to the fixed seat 1. At least a portion of the shock absorbing rod 2 is used to be connected to the wheel assembly 5 and can drive the wheel assembly 5 to move. The shock absorbing elastic member 23 can be elastically deformed. The shock absorbing elastic member 23 is connected to the shock absorbing rod 2. The shock absorbing elastic member 23 can use elastic force to drive at least a portion of the shock absorbing rod 2 and the wheel assembly 5 thereon to move in a direction away from the fixed seat 1.

[0035] Specifically, the shock-absorbing elastic member 23 and the shock-absorbing rod 2 cooperate to dynamically adjust the wheel assembly 5. When encountering a pothole, the shock-absorbing elastic member 23 can use elastic force to drive at least part of the shock-absorbing rod 2 and the wheel assembly 5 thereon to extend in a direction away from the fixed seat 1, so that the moving wheel 53 of the wheel assembly 5 can move in a direction away from the fixed seat 1, so that the moving wheel 53 contacts the wall of the pothole. When encountering a protrusion, at least part of the shock-absorbing rod 2 and the wheel assembly 5 thereon can overcome the elastic force of the shock-absorbing elastic member 23 under the pressure of the fixed seat 1 and move in a direction adjacent to the fixed seat 1, so that the moving wheel 53 contacts the surface of the protrusion. Therefore, after the robot shock-absorbing device of the embodiment of the present invention is connected to the wheel assembly 5, the wheel assembly 5 can be adjusted and damped, so that the wheel assembly 5 can adapt to the working conditions of complex ground when moving.

[0036] For example, at least part of the shock absorbing rod 2 can move in the up-down direction relative to the fixed seat 1, so that the moving wheel 53 of the wheel assembly 5 can adapt to the complex ground. For another example, the shock absorbing rod 2 is a rotating rod body, one end of the shock absorbing rod 2 is rotatably connected to one end of the fixed seat 1, and the other end of the shock absorbing rod 2 is connected to the wheel assembly 5. For another example, the shock absorbing rod 2 is a telescopic rod, the fixed part of the shock absorbing rod 2 is connected to the fixed seat 1, the telescopic part of the shock absorbing rod 2 can extend downward, the shock absorbing elastic member 23 can use elastic force to drive the telescopic part of the shock absorbing rod 2 to extend downward, and the telescopic part of the shock absorbing rod 2 is connected to the wheel assembly 5.

[0037] The limiting part is connected to the shock absorbing rod 2 and has a restraining state and a releasing state. In the restraining state, the limiting part limits the shock absorbing rod 2 to prevent the shock absorbing rod 2 from moving relative to the fixing seat 1. In the releasing state, the limiting part releases the limit on the shock absorbing rod 2 so that at least a part of the shock absorbing rod 2 can move relative to the fixing seat 1.

[0038] Specifically, when the moving wheel 53 of the wheel assembly 5 stops moving and contacts the ground, the limiting part constrains the shock absorbing rod 2 so that the limiting part is in a constrained state. In the constrained state, the limiting part limits the shock absorbing rod 2 to prevent the shock absorbing rod 2 from moving relative to the fixed seat 1, that is, in the constrained state, the shock absorbing rod 2 is fixed by the limiting part and does not move relative to the fixed seat 1, so that the robot shock absorbing device can be a rigid structure in this state, so that when supporting the robot, it will not move elastically with the movement of the robot's mechanical arm, avoiding the robot's posture influence caused by the contraction and release of the robot shock absorbing device. When the robot shock absorbing device is a rigid structure, the center of gravity of the robot is not easy to change, so that the robot shock absorbing device according to the embodiment of the present invention can reduce the influence on the accuracy of the mechanical arm. When the wheel assembly 5 (of the robot) needs to move, the limiting part releases the limit on the shock absorbing rod 2, so that at least part of the shock absorbing rod 2 can move relative to the fixed seat 1. That is, in the released state, the robot shock absorbing device is an elastic structure, which enables the robot shock absorbing device according to the embodiment of the present invention to cooperate with the wheel assembly 5 so as to dynamically adjust the wheel assembly 5, thereby shock absorbing the robot.

[0039] like Figures 4 to 7 , Figures 10 to 13 As shown, in some embodiments, the shock absorbing rod 2 includes a sleeve rod 21 and a moving rod 22 .

[0040] The sleeve rod 21 is connected to the fixed seat 1, the first end 221 of the moving rod 22 is slidably connected to the sleeve rod 21 along the axial direction of the shock absorbing rod 2, and the second end 222 of the moving rod 22 away from the sleeve rod 21 is used to be connected to the wheel assembly 5. The shock absorbing elastic member 23 is connected to the moving rod 22, and the shock absorbing elastic member 23 can use elastic force to drive the moving rod 22 to slide in a direction away from the sleeve rod 21. In other words, the shock absorbing rod 2 is a telescopic rod composed of the sleeve rod 21 and the moving rod 22, and the moving rod 22 is slidably connected to the sleeve rod 21, so that the length of the shock absorbing rod 2 can be adjusted, and the shock absorbing elastic member 23 is connected to the moving rod 22, so that the shock absorbing rod 2 can be an elastic telescopic rod.

[0041] In the restrained state, the limiting part limits the moving rod 22 to prevent the moving rod 22 from sliding relative to the sleeve rod 21; that is, in the restrained state, the moving rod 22 does not move relative to the sleeve rod 21, so that the shock absorbing rod 2 becomes a rigid rod body, is not affected by gravity and elastic force, and does not extend or retract. In the released state, the limiting part releases the constraint on the moving rod 22, so that the moving rod 22 can slide relative to the sleeve rod 21. In the released state, the moving rod 22 is not limited. At this moment, the shock absorbing rod 2 becomes an elastic telescopic rod with the cooperation of the shock absorbing elastic member 23, and can be affected by gravity and elastic force so as to extend or retract.

[0042] like Figures 4 to 7 , Figures 10 to 13As shown, in some embodiments, the shock absorbing device also includes a first connecting rod 24, and the first connecting rod 24 and the shock absorbing rod 2 are located on both sides of at least part of the wheel body assembly 5 in the first direction, and the axial direction of the moving wheel 53 of the wheel body assembly 5 is the second direction, and any two of the first direction, the second direction and the up and down directions are perpendicular to each other.

[0043] The upper end of the sleeve rod 21 is hinged to the fixed seat 1, the first end 221 of the moving rod 22 is located above the second end 222, and the first end 221 of the moving rod 22 is slidably disposed in the sleeve rod 21. The upper part of the moving rod 22 is located in the sleeve rod 21, and the moving rod 22 can move downward relative to the sleeve rod 21.

[0044] The shock-absorbing elastic member 23 is a spring, which is sleeved on the peripheral side of the moving rod 22, and the two ends of the spring are respectively in contact with the lower end of the sleeve rod 21 and the second end 222 of the moving rod 22. The second end 222 of the moving rod 22 is a boss, and the spring is sleeved on the rod body of the moving rod 22 and in contact with the boss, so that the spring can use elastic force to drive the moving rod 22 to move downward.

[0045] The upper end of the first connecting rod 24 is fixedly connected to the fixed seat 1, and the second end 222 of the moving rod 22 and the lower end of the first connecting rod 24 are both used to be hinged to the wheel frame 51 of the wheel body assembly 5. The axial directions of the hinge axis of the first connecting rod 24, the hinge axis of the sleeve rod 21 and the hinge axis of the moving rod 22 are all consistent with the axial direction of the moving wheel 53 of the wheel body assembly 5. In this way, the fixed seat 1, the wheel frame 51 of the wheel body assembly 5, the first connecting rod 24 and the shock absorbing rod 2 can form a connecting rod structure, and when the shock absorbing rod 2 is driven to extend downward by the shock absorbing elastic member 23, it can drive the wheel body assembly 5 to move downward, and when the wheel body assembly 5 encounters a protrusion, it can drive the shock absorbing rod 2 to overcome the elastic force of the shock absorbing elastic member 23 and shrink. For example. The first connecting rod 24 extends in the up-down direction, and the shock absorbing rod 2 is tilted downward in the direction adjacent to the wheel body assembly 5.

[0046] like Figures 4 to 7 As shown, in some embodiments, a piston 25 is provided at the first end 221 of the moving rod 22, and the outer circumferential surface of the piston 25 is slidably connected to the wall surface of the cavity of the sleeve rod 21, and the piston 25 divides the cavity of the sleeve rod 21 into a first cavity 26 and a second cavity 27 in the axial direction of the shock absorber rod 2. Specifically, as the piston 25 moves in the cavity of the sleeve rod 21, the space size of the first cavity 26 and the second cavity 27 may change accordingly.

[0047] The limiting part includes the oil cylinder 3, the first pipeline 31, the second pipeline 32 and the control device. The two ends of the first pipeline 31 are respectively connected to the first cavity 26 and the oil cylinder 3, and the two ends of the second pipeline 32 are respectively connected to the second cavity 27 and the oil cylinder 3. The first cavity 26, the second cavity 27 and the oil cylinder 3 all contain oil. The control device is used to control the opening and closing of the first pipeline 31 and the second pipeline 32.

[0048] In the restrained state, the control device closes the first pipeline 31 and the second pipeline 32. Specifically, in the restrained state, when the control device controls the first pipeline 31 and the second pipeline 32 to be closed, the first pipeline 31 and the second pipeline 32 cannot communicate with the oil cylinder 3, and oil no longer flows in and out of the first cavity 26 and the second cavity 27, so that the piston 25 cannot move, and the moving rod 22 does not move relative to the sleeve rod 21, so that the shock absorber rod 2 is a rigid rod body at this moment.

[0049] In the release state, the control device opens the first pipeline 31 and the second pipeline 32. Specifically, in the release state, when the control device controls the first pipeline 31 and the second pipeline 32 to be opened, the oil in the oil cylinder 3 can enter the first cavity 26 and the second cavity 27, and the oil in the first cavity 26 and the second cavity 27 can also enter the oil cylinder 3. Thus, the piston 25 and the moving rod 22 can be moved, that is, at this moment, the shock absorbing rod 2 is a telescopic rod body.

[0050] During the movement of the piston 25, the piston 25 can squeeze the oil in the first cavity 26 into the oil cylinder 3. At this moment, the space of the first cavity 26 is reduced, while the space of the second cavity 27 is increased, and the oil in the oil cylinder 3 can flow into the second cavity 27. Conversely, the piston 25 can squeeze the oil in the second cavity 27 into the oil cylinder 3. At this moment, the space of the second cavity 27 is reduced, while the space of the first cavity 26 is increased, and the oil in the oil cylinder 3 can flow into the first cavity 26.

[0051] In some embodiments, the first pipeline 31 and the second pipeline 32 are both connected to the oil cylinder 3 through the connecting oil pipe 35. Specifically, one end opening of the connecting oil pipe 35 is connected to the oil cylinder 3, and the other end of the connecting oil pipe 35 is connected to the openings of the first pipeline 31 and the second pipeline 32.

[0052] In some embodiments, the control device includes a first solenoid valve 33 and a second solenoid valve 34. The first solenoid valve 33 is provided on the first pipeline 31 to control the opening and closing of the first pipeline 31. The second solenoid valve 34 is provided on the second pipeline 32 to control the opening and closing of the second pipeline 32. In the restrained state, the first solenoid valve 33 is closed to close the first pipeline 31, and the second solenoid valve 34 is closed to close the second pipeline 32. In the released state, the first solenoid valve 33 is opened to open the first pipeline 31, and the second solenoid valve 34 is opened to open the second pipeline 32.

[0053] Specifically, the first solenoid valve 33 and the second solenoid valve 34 are both automatic control valves that remain closed in the power-off state and open when powered on, that is, when the wheel assembly 5 moves, the first solenoid valve 33 and the second solenoid valve 34 are powered on so that the limit part enters the release state. For example, the first solenoid valve 33 and the second solenoid valve 34 are both two-position two-position normally closed solenoid valves. In the restrained state, the A port and the B port of the two-position two-position normally closed solenoid valve are not connected, and in the released state, the A port and the B port of the two-position two-position normally closed solenoid valve are connected.

[0054] Alternatively, in some embodiments, the control device includes a third solenoid valve 36, which is connected to the first pipeline 31 and the second pipeline 32 and can simultaneously control the opening and closing of the first pipeline 31 and the second pipeline 32. In the restrained state, the third solenoid valve 36 simultaneously closes the first pipeline 31 and the second pipeline 32. In the released state, the third solenoid valve 36 simultaneously opens the first pipeline 31 and the second pipeline 32. Specifically, the third solenoid valve 36 is an automatic control valve that remains closed in the power-off state and opens when powered on, that is, when the wheel assembly 5 moves, the third solenoid valve 36 is powered on so that the limit part enters the released state. For example, the third solenoid valve 36 is a two-position four-way normally closed solenoid valve. In the restrained state, the A port and the P port of the third solenoid valve 36 are not connected, and the B port and the O port are not connected. In the released state, the A port and the P port of the third solenoid valve 36 are connected, and the B port and the O port are connected.

[0055] like Figures 10 to 13 As shown, in some embodiments, the limiting part includes an adsorbing member 4, which is an electromagnet. When the adsorbing member 4 is powered on, the moving rod 22 can be limited by magnetic force. Specifically, the adsorbing member 4 can be provided on the moving rod 22, and when the adsorbing member 4 is powered on, the moving rod 22 can be adsorbed and fixed to the sleeve rod 21 or other components by magnetic force. The adsorbing member 4 can also be provided on the sleeve rod 21 or other components, and when the adsorbing member 4 is powered on, the moving rod 22 can be directly or indirectly fixed by magnetic force.

[0056] In some embodiments, the limiting portion includes an adsorption plate 41 , a rotating rod 42 and a rotating seat 43 .

[0057] The adsorption plate 41 is connected to the fixed seat 1, and the rotating seat 43 is provided on at least one of the fixed seat 1 and the adsorption plate 41. The rotating rod 42 is rotatably provided on the rotating seat 43, the third end 421 of the rotating rod 42 is connected to the moving rod 22, and the fourth end 422 of the rotating rod 42 is connected to the adsorption member 4. Specifically, the magnetic member can be adsorbed on the adsorption plate 41. The rotating rod 42 and the moving rod 22 cooperate with each other so that when the moving rod 22 moves, the rotating rod 42 can be driven to rotate. When the rotating rod 42 is fixed, the moving rod 22 can be limited. For example, the adsorption plate 41 is a steel plate, and the rotating seat 43 is provided on the adsorption plate 41.

[0058] The distance between the third end 421 of the rotating rod 42 and the rotating seat 43 is smaller than the distance between the fourth end 422 of the rotating rod 42 and the rotating seat 43 , so that the moment of the adsorption member 4 is greater than the moment of the moving rod 22 .

[0059] In the restrained state, the adsorption member 4 is energized and uses magnetic force to adsorb on the adsorption plate 41. Specifically, after the adsorption member 4 is energized and has magnetic force, it can be adsorbed on the adsorption plate 41, so that the friction between the adsorption member 4 and the adsorption plate 41 is large, so as to fix the rotating rod 42 connected to the adsorption member 4, thereby fixing the moving rod 22, that is, at this moment, the limiting part limits the moving rod 22.

[0060] In the release state, the adsorption member 4 is not energized, and the adsorption member 4 can move relative to the adsorption plate 41. Specifically, the adsorption member 4 is not energized and has no magnetic force, and the adsorption member 4 and the rotating rod 42 do not fix the moving rod 22, that is, the moving rod 22 can be extended relative to the sleeve rod 21 at this moment.

[0061] In some embodiments, the ratio of the distance between the third end 421 of the rotating rod 42 and the rotating seat 43 to the distance between the fourth end 422 of the rotating rod 42 and the rotating seat 43 is 1:(3-5). For example, the ratio of the distance between the third end 421 of the rotating rod 42 and the rotating seat 43 to the distance between the fourth end 422 of the rotating rod 42 and the rotating seat 43 is 1:4.

[0062] like Figures 10 to 13 As shown, in some embodiments, the limiting portion further includes a connecting rod 44, the sleeve rod 21 has a connecting through hole 211 penetrating therethrough, one end of the connecting rod 44 extends into the connecting through hole 211 and is hinged to the first end 221 of the moving rod 22, and the other end of the connecting rod 44 is hinged to the third end 421 of the rotating rod 42. Specifically, the length of the connecting rod 44 is less than the length of the rotating rod 42, and the two ends of the connecting rod 44 are respectively hinged to the moving rod 22 and the rotating rod 42, so that the moving rod 22 can be connected to the rotating rod 42 through the connecting rod 44, and when the moving rod 22 rotates, the rotating rod 42 can be driven to rotate through the connecting rod 44. When the rotating rod 42 is fixed, the rotating rod 42 limits the moving rod 22 through the connecting rod 44.

[0063] In the extension direction of the connecting rod 44 , the distance between the first end 221 of the moving rod 22 and the rotating seat 43 is smaller than the distance between the fourth end 422 of the rotating rod 42 and the rotating seat 43 , so that the moment of the adsorption member 4 is greater than the moment of the moving rod 22 .

[0064] The thickness direction of the adsorption plate 41, the axial direction of the moving wheel 53 of the wheel assembly 5, the rotational axis of the rotating rod 42 and the rotational axis of the connecting rod 44 are consistent. Specifically, the hinge axis of the connecting rod 44, the hinge axis of the rotating rod 42 and the rotational axis of the rotating rod 42 are all consistent with the axial direction of the moving wheel 53 of the wheel assembly 5.

[0065] In some embodiments, the adsorption member 4 is connected to the fourth end 422 of the rotating rod 42 through the adsorption elastic member 45, and the adsorption elastic member 45 can use elasticity to drive the adsorption member 4 to move in a direction away from the adsorption plate 41. Specifically, the adsorption elastic member 45 is a spring that can undergo elastic deformation. When the adsorption member 4 is not powered, the adsorption elastic member 45 drives the adsorption member 4 to move away from the adsorption plate 41 so that the adsorption member 4 and the adsorption plate 41 are spaced apart. After the adsorption member 4 is powered, the magnetic force of the adsorption member 4 overcomes the elastic force of the adsorption elastic member 45 and adsorbs on the adsorption plate 41.

[0066] The present invention further proposes a walking assembly, which includes a wheel assembly 5 and a robot shock absorbing device according to an embodiment of the present invention, wherein the shock absorbing rod 2 of the robot shock absorbing device according to an embodiment of the present invention is connected to a wheel frame 51 of the wheel assembly 5. When the walking assembly moves, the robot shock absorbing device can dynamically adjust the wheel assembly 5.

[0067] The present invention further proposes a robot. The robot according to an embodiment of the present invention includes a mounting frame 6 and a plurality of walking components. The walking components are walking components according to an embodiment of the present invention. The plurality of walking components are arranged on the mounting frame 6.

[0068] In some embodiments, there are four walking assemblies, each of which includes a wheel frame 51, a drive motor 52 and a moving wheel 53. The drive motor 52 is arranged on the wheel frame 51, and the drive motor 52 can drive the moving wheel 53 to rotate. That is, the robot according to the embodiment of the present invention is a four-wheel drive robot. Four-wheel drive can usually provide greater traction, which is suitable for crossing obstacles, climbing slopes or driving on soft ground. Simultaneous driving of four wheels can reduce slipping, especially in slippery or rugged terrain, and the movement is smoother. Simultaneous driving of four wheels can provide higher instantaneous torque, which is suitable for scenes requiring rapid response. If one wheel fails, the remaining wheels may still maintain basic movement capabilities, improving system reliability. Combined with differential steering or independent wheel steering (such as Mecanum wheels), high-maneuverability actions such as rotation in place and lateral translation can be achieved. Thereby, the mobility performance of the robot can be improved.

[0069] In some embodiments, the fixed seat 1 of the walking assembly is connected to the mounting frame 6 via a first bearing 11, so that the fixed seat 1 can rotate relative to the mounting frame 6, and the rotation axis of the fixed seat 1 is in the up and down direction. For example, the first bearing 11 is a thrust needle bearing.

[0070] like Figures 1 to 3 , Figure 8 and Fig. 9 As shown, a steering assembly is provided on the mounting frame 6 , and the steering assembly includes a steering frame 7 , a steering motor 71 , a first gear 72 and a second gear 73 .

[0071] The bogie 7 is arranged on the mounting frame 6, and the steering motor 71 is arranged on the bogie 7. The steering motor 71 can drive the first gear 72 to rotate. The second gear 73 is rotatably arranged in the bogie 7. The first gear 72 is meshed with the second gear 73. The second gear 73 is connected to the fixed seat 1 and can drive the fixed seat 1 to rotate. Therefore, when the steering motor 71 drives the first gear 72 to rotate, the first gear 72 can drive the second gear 73 to rotate, and then drive the fixed seat 1 (traveling assembly) to rotate, so as to change the moving direction of the traveling assembly. For example, the second gear 73 is rotatably connected to the bogie 7 through a bearing, and the bottom of the second gear 73 is connected to the connecting portion on the fixed seat 1.

[0072] like Figure 8 and Fig. 9 As shown, in some embodiments, a rotating joint frame 74 is provided on the bogie 7, a rotating joint 75 is provided inside the rotating joint frame 74, the rotating joint 75 has a first connection port 76 and a second connection port 77, the first connection port 76 is oriented in the horizontal direction, the first connection port 76 is connected to the oil cylinder 3, the opening of the second connection port 77 is toward the lower side, and the second connection port 77 extends in the up and down directions.

[0073] The limiting part includes the oil cylinder 3, the first pipeline 31, the second pipeline 32 and the control device. The two ends of the first pipeline 31 are respectively connected to the first cavity 26 and the oil cylinder 3, and the two ends of the second pipeline 32 are respectively connected to the second cavity 27 and the oil cylinder 3. The first cavity 26, the second cavity 27 and the oil cylinder 3 all contain oil. The control device is used to control the opening and closing of the first pipeline 31 and the second pipeline 32.

[0074] The first pipeline 31 and the second pipeline 32 are both connected to the oil cylinder 3 through the connecting oil pipe 35. The top of the connecting oil pipe 35 passes through the fixed seat 1, the mounting frame 6 and the second gear 73 in sequence and is rotatably connected to the second connecting port 77. Specifically, the fixed seat 1 is provided with an oil pipe hole. The oil pipe hole on the fixed seat 1, the first bearing 11, the through hole on the mounting frame 6, the through hole of the second gear 73 and the second connecting port 77 are coaxially arranged. The top of the connecting oil pipe 35 passes through the oil pipe hole on the fixed seat 1, the first bearing 11, the through hole on the mounting frame 6 and the through hole of the second gear 73 in sequence so as to be rotatably connected to the second connecting port 77, so that when the rotating assembly rotates to change direction, the connecting oil pipe 35 is connected to the rotary joint 75, and then the oil cylinder 3 can be connected to the first pipeline 31 and the second pipeline 32.

[0075] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0076] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0077] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0078] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0079] In the present invention, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0080] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A robot shock absorbing device, characterized in that: include: Fixed seat; A shock absorbing device, the shock absorbing device comprising a shock absorbing rod and a shock absorbing elastic member, at least a portion of the shock absorbing rod can move relative to the fixing seat, at least a portion of the shock absorbing rod is used to be connected to the wheel body assembly and can drive the wheel body assembly to move, the shock absorbing elastic member is connected to the shock absorbing rod, and the shock absorbing elastic member can use elastic force to drive at least a portion of the shock absorbing rod and the wheel body assembly thereon to move in a direction away from the fixing seat; A limiting portion, the limiting portion is connected to the shock absorbing rod and has a restrained state and a released state. In the restrained state, the limiting portion limits the shock absorbing rod to prevent the shock absorbing rod from moving relative to the fixed seat. In the released state, the limiting portion releases the restraint on the shock absorbing rod so that at least a portion of the shock absorbing rod can move relative to the fixed seat.

2. The robot shock absorbing device according to claim 1, characterized in that: The shock-absorbing rod comprises a sleeve rod and a moving rod, the sleeve rod is connected to the fixing seat, the first end of the moving rod is slidably connected to the sleeve rod along the axial direction of the shock-absorbing rod, the second end of the moving rod away from the sleeve rod is used to be connected to the wheel body assembly, the shock-absorbing elastic member is connected to the moving rod, and the shock-absorbing elastic member can use elastic force to drive the moving rod to slide in a direction away from the sleeve rod; In the constrained state, the limiting portion limits the moving rod to prevent the moving rod from sliding relative to the sleeve rod, and in the released state, the limiting portion releases the constraint on the moving rod to allow the moving rod to slide relative to the sleeve rod.

3. The robot shock absorbing device according to claim 2, characterized in that: The shock absorbing device further comprises a first connecting rod, wherein the first connecting rod and the shock absorbing rod are located on both sides of at least part of the wheel assembly in a first direction, the axial direction of the moving wheel of the wheel assembly is a second direction, and any two of the first direction, the second direction and the up-down direction are perpendicular to each other; The upper end of the first connecting rod is fixedly connected to the fixing seat, the upper end of the sleeve rod is hinged to the fixing seat, the first end of the moving rod is located above the second end, the first end of the moving rod is slidably arranged in the sleeve rod, and the second end of the moving rod and the lower end of the first connecting rod are both used to be hinged to the wheel frame of the wheel assembly; The shock-absorbing elastic member is a spring, and the spring is sleeved on the peripheral side of the moving rod. The two ends of the spring are respectively in contact with the lower end of the sleeve rod and the second end of the moving rod.

4. The robot shock absorbing device according to claim 2 or 3, characterized in that: The first end of the moving rod is provided with a piston, the outer peripheral surface of the piston is slidably connected to the wall surface of the cavity of the sleeve rod, and the piston divides the cavity of the sleeve rod into a first cavity and a second cavity in the axial direction of the damping rod; The limiting part includes an oil cylinder, a first pipeline, a second pipeline and a control device, the two ends of the first pipeline are respectively connected to the first cavity and the oil cylinder, the two ends of the second pipeline are respectively connected to the second cavity and the oil cylinder, the first cavity, the second cavity and the oil cylinder all contain oil, and the control device is used to control the opening and closing of the first pipeline and the second pipeline; In the restrained state, the control device closes the first pipeline and the second pipeline; In the released state, the control device opens the first pipeline and the second pipeline.

5. The robot shock absorbing device according to claim 4, characterized in that: The first pipeline and the second pipeline are both connected to the oil cylinder through connecting oil pipes; The control device comprises a first solenoid valve and a second solenoid valve, wherein the first solenoid valve is arranged on the first pipeline to control the opening and closing of the first pipeline, and the second solenoid valve is arranged on the second pipeline to control the opening and closing of the second pipeline; Alternatively, the control device includes a third solenoid valve, which is connected to the first pipeline and the second pipeline and can control the opening and closing of the first pipeline and the second pipeline at the same time.

6. The robot shock absorbing device according to claim 2 or 3, characterized in that: The limiting part includes an adsorption member, which is an electromagnet. When the adsorption member is energized, the magnetic force can be used to limit the moving rod.

7. The robot shock absorbing device according to claim 6, characterized in that: The limiting part includes an adsorption plate, a rotating rod and a rotating seat, the adsorption plate is connected to the fixed seat, the rotating seat is arranged on at least one of the fixed seat and the adsorption plate, the rotating rod is rotatably arranged on the rotating seat, the third end of the rotating rod is connected to the moving rod, the fourth end of the rotating rod is connected to the adsorption member, and the distance between the third end of the rotating rod and the rotating seat is smaller than the distance between the fourth end of the rotating rod and the rotating seat; In the restrained state, the adsorption member is energized and adsorbed on the adsorption plate by magnetic force; In the released state, the adsorption member is not energized, and the adsorption member can move relative to the adsorption plate.

8. The robot shock absorbing device according to claim 7, characterized in that: The limiting part further includes a connecting rod, the sleeve rod has a connecting through hole extending therethrough, one end of the connecting rod extends into the connecting through hole and is hinged to the first end of the moving rod, and the other end of the connecting rod is hinged to the third end of the rotating rod; In the extending direction of the connecting rod, the distance between the first end of the moving rod and the rotating seat is smaller than the distance between the fourth end of the rotating rod and the rotating seat; The ratio of the distance between the third end of the rotating rod and the rotating seat to the distance between the fourth end of the rotating rod and the rotating seat is 1:(3-5); The thickness direction of the adsorption plate, the axial direction of the moving wheel of the wheel assembly, the rotational axial direction of the rotating rod and the rotational axial direction of the connecting rod are consistent; The adsorption member is connected to the fourth end of the rotating rod through an adsorption elastic member, and the adsorption elastic member can utilize elasticity to drive the adsorption member to move in a direction away from the adsorption plate.

9. A walking assembly, characterized in that: It comprises a wheel body assembly and the robot shock absorbing device according to any one of claims 1 to 8, wherein the shock absorbing rod of the robot shock absorbing device is connected to the wheel frame of the wheel body assembly.

10. A robot, characterized in that: include Mounting frame; A plurality of walking components, wherein the walking components are the walking components according to claim 9, and the plurality of walking components are arranged on the mounting frame.

11. The robot according to claim 10, characterized in that: There are four walking assemblies, each of which includes a wheel frame, a driving motor and a moving wheel. The driving motor is arranged on the wheel frame, and the driving motor can drive the moving wheel to rotate.

12. The robot according to claim 10 or 11, characterized in that: The fixed seat of the walking assembly is connected to the mounting frame via a first bearing, so that the fixed seat can rotate relative to the mounting frame, and the rotation axis of the fixed seat is in the up and down direction; A steering assembly is provided on the mounting frame, and the steering assembly includes a bogie, a steering motor, a first gear and a second gear. The bogie is provided on the mounting frame, and the steering motor is provided on the bogie. The steering motor can drive the first gear to rotate, and the second gear is rotatably provided in the bogie. The first gear is meshed with the second gear, and the second gear is connected to the fixed seat and can drive the fixed seat to rotate.

13. The robot according to claim 12, characterized in that: The shock absorbing rod of the robot shock absorbing device of the walking assembly includes a sleeve rod and a moving rod, the sleeve rod is connected to the fixing seat, the first end of the moving rod is slidably connected to the sleeve rod along the axial direction of the shock absorbing rod, the second end of the moving rod away from the sleeve rod is used to be connected to the wheel body assembly, the shock absorbing elastic member is connected to the moving rod, and the shock absorbing elastic member can use elastic force to drive the moving rod to slide in a direction away from the sleeve rod; The first end of the moving rod is provided with a piston, the outer peripheral surface of the piston is slidably connected to the peripheral side surface of the cavity of the sleeve rod, and the piston divides the cavity of the sleeve rod into a first cavity and a second cavity in the axial direction of the damping rod; The limiting part includes an oil cylinder, a first pipeline, a second pipeline and a control device, the two ends of the first pipeline are respectively connected to the first cavity and the oil cylinder, the two ends of the second pipeline are respectively connected to the second cavity and the oil cylinder, the first cavity, the second cavity and the oil cylinder all contain oil, and the control device is used to control the opening and closing of the first pipeline and the second pipeline; The bogie is provided with a rotary joint frame, a rotary joint is provided in the rotary joint frame, the rotary joint has a first connection port and a second connection port, the first connection port is connected to the oil cylinder, the opening of the second connection port faces downward, and the second connection port extends in the up-down direction; The first pipeline and the second pipeline are both connected to the oil cylinder via a connecting oil pipe, and the top of the connecting oil pipe passes through the fixing seat, the mounting frame and the second gear in sequence upward and is rotatably connected to the second connecting port.

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