Robot shock absorption device, walking assembly and robot

Abstract

The present invention provides a robot shock absorption device, a walking assembly, and a robot. The robot shock absorption device of the present invention includes: a fixed seat; a shock absorption device, the shock absorption device includes a shock absorption rod and a shock absorption elastic member, at least a part of the shock absorption rod is movable relative to the fixed seat, at least a part of the shock absorption rod is used to be connected to a wheel body assembly and can drive the wheel body assembly to move, the shock absorption elastic member is connected to the shock absorption rod, and the shock absorption elastic member can drive at least a part of the shock absorption rod and the wheel body assembly thereon to move in a direction away from the fixed seat by using elastic force; a limiting portion, the limiting portion is connected to the shock absorption rod and has a constrained state and a released state. In the constrained state, the limiting portion limits the shock absorption rod to prevent the shock absorption rod from moving relative to the fixed seat. In the released state, the limiting portion releases the limitation on the shock absorption rod so that at least a part of the shock absorption rod can move relative to the fixed seat. The robot shock absorption device according to the present invention can dynamically adjust the wheel body assembly and has little influence on the operation accuracy of the robot.

Description

Technical Field

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

[0002] A composite robot is a multi-modal intelligent device integrating mobility, a robotic arm, a vision system, and intelligent algorithms. A shock absorption device is generally provided on the moving wheels of the composite robot so that the robot can cross obstacles, climb slopes, or travel on soft ground. When the robotic arm is working, for a composite robotic arm, especially for equipment requiring high precision, the shock absorption device will affect the moving wheels, resulting in changes in the pose of the robot, and thus reducing the precision of the robotic arm. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to some extent. For this purpose, embodiments of the present invention provide a robot shock absorption device, a walking assembly, and a robot.

[0004] The robot shock absorption device according to an embodiment of the present invention includes:

[0005] A fixed seat;

[0006] A shock absorption device, the shock absorption device including a shock absorption rod and a shock absorption elastic member. At least a part of the shock absorption rod is movable relative to the fixed seat. At least a part of the shock absorption rod is used to be connected to a wheel body assembly and can drive the wheel body assembly to move. The shock absorption elastic member is connected to the shock absorption rod, and the shock absorption elastic member can drive at least a part of the shock absorption rod and the wheel body assembly thereon to move in a direction away from the fixed seat by using elastic force;

[0007] A limiting portion, the limiting portion is connected to the shock absorption rod and has a constrained state and a released state. In the constrained state, the limiting portion limits the shock absorption rod to prevent the shock absorption rod from moving relative to the fixed seat. In the released state, the limiting portion releases the limitation on the shock absorption rod so that at least a part of the shock absorption rod can move relative to the fixed seat.

[0008] In some embodiments, the shock absorption rod 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 absorption 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 absorption elastic member is connected to the moving rod, and the shock absorption elastic member can drive the moving rod to slide in a direction away from the sleeve rod by using elastic force;

[0009] In the constrained state, the limiting portion limits the movement of the moving rod to prevent the moving rod from sliding relative to the sleeve rod. In the released state, the limiting portion releases the constraint on the moving rod so that the moving rod can slide relative to the sleeve rod.

[0010] In some embodiments, the shock absorption device further includes a first connecting rod. The first connecting rod and the shock absorption rod are located on both sides of at least a part of the wheel body assembly in a first direction. The axial direction of the moving wheel of the wheel body assembly is a second direction. Any two of the first direction, the second direction, and the up-and-down direction are perpendicular to each other.

[0011] The upper end portion of the first connecting rod is fixedly connected to the fixed seat. The upper end portion of the sleeve rod is hinged to the fixed seat. The first end portion of the moving rod is located above the second end portion. The first end portion of the moving rod is slidably disposed within the sleeve rod. Both the second end portion of the moving rod and the lower end portion of the first connecting rod are used for being hinged to the wheel carrier of the wheel body assembly.

[0012] The shock absorption elastic member is a spring. The spring is sleeved on the circumferential side of the moving rod. Two ends of the spring respectively abut against the lower end portion of the sleeve rod and the second end portion of the moving rod.

[0013] In some embodiments, a piston is provided at the first end portion of the moving rod. The outer circumferential surface of the piston is slidably connected to the wall surface of the cavity of the sleeve rod. The piston divides the cavity of the sleeve rod into a first cavity and a second cavity in the axial direction of the shock absorption rod.

[0014] The limiting portion includes an oil cylinder, a first pipeline, a second pipeline, and a control device. Two ends of the first pipeline are respectively communicated with the first cavity and the oil cylinder. Two ends of the second pipeline are respectively communicated with the second cavity and the oil cylinder. Oil fluid is contained in the first cavity, the second cavity, and the oil cylinder. The control device is used to control the opening and closing of the first pipeline and the second pipeline.

[0015] In the constrained state, the control device closes the first pipeline and the second pipeline.

[0016] In the released state, the control device opens the first pipeline and the second pipeline.

[0017] In some embodiments, both the first pipeline and the second pipeline are communicated with the oil cylinder through connecting oil pipes.

[0018] The control device includes a first solenoid valve and a second solenoid valve. The first solenoid valve is provided on the first pipeline to control the opening and closing of the first pipeline. The second solenoid valve is provided on the second pipeline to control the opening and closing of the second pipeline.

[0019] 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 simultaneously.

[0020] In some embodiments, the limiting portion includes an adsorbing member, the adsorbing member is an electromagnet, and when the adsorbing member is energized, it can limit the movement rod by using magnetic force.

[0021] 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 movement rod, the fourth end of the rotating rod is connected to the adsorbing member, and the distance between the third end of the rotating rod and the rotating seat is less than the distance between the fourth end of the rotating rod and the rotating seat.

[0022] In the constrained state, the adsorbing member is energized and adsorbed on the adsorption plate by using magnetic force.

[0023] In the released state, the adsorbing member is not energized, and the adsorbing member can move relative to the adsorption plate.

[0024] In some embodiments, the limiting portion further includes a connecting rod. The sleeve rod has a connecting through hole penetrating through it. One end of the connecting rod extends into the connecting through hole and is hinged to the first end of the movement rod, and the other end of the connecting rod is hinged to the third end of the rotating rod.

[0025] In the extending direction of the connecting rod, the distance between the first end of the movement rod and the rotating seat is less than the distance between the fourth end of the rotating rod and the rotating seat.

[0026] 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).

[0027] The thickness direction of the adsorption plate, the axial direction of the moving wheel of the wheel body assembly, the rotating axial direction of the rotating rod and the rotating axial direction of the connecting rod are the same.

[0028] The adsorbing member is connected to the fourth end of the rotating rod through an adsorption elastic member, and the adsorption elastic member can drive the adsorbing member to move in a direction away from the adsorption plate by using elasticity.

[0029] The present invention also provides a walking assembly, which includes a wheel body assembly and the above-mentioned robot shock absorber, and the shock absorber rod of the robot shock absorber is connected to the wheel frame of the wheel body assembly.

[0030] The present invention also provides a robot, which includes

[0031] a mounting frame;

[0032] a plurality of walking assemblies, the walking assemblies being the above-mentioned walking assemblies, and the plurality of walking assemblies are arranged on the mounting frame.

[0033] In some embodiments, there are four walking assemblies, and each walking assembly 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.

[0034] In some embodiments, the fixed seat of the walking assembly is connected to the mounting frame through a first bearing, so that the fixed seat can rotate relative to the mounting frame, and the rotation axis direction of the fixed seat is the up-and-down direction;

[0035] A steering assembly is arranged on the mounting frame. The steering assembly includes a steering frame, a steering motor, a first gear, and a second gear. The steering frame is arranged on the mounting frame, the steering motor is arranged on the steering frame, the steering motor can drive the first gear to rotate, the second gear is rotatably arranged in the steering frame, the first gear meshes with the second gear, and the second gear is connected to the fixed seat and can drive the fixed seat to rotate.

[0036] In some embodiments, the shock absorber rod of the robot shock absorber 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 absorber 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 drive the moving rod to slide along the direction away from the sleeve rod by using elastic force;

[0037] A piston is arranged at the first end of the moving rod. The outer peripheral surface of the piston is slidably connected to the peripheral side surface of the cavity of the sleeve rod. The piston divides the cavity of the sleeve rod into a first cavity and a second cavity in the axial direction of the shock absorber rod;

[0038] The limiting part includes an oil cylinder, a first pipeline, a second pipeline and a control device. Two ends of the first pipeline are respectively communicated with the first cavity and the oil cylinder. Two ends of the second pipeline are respectively communicated with the second cavity and the oil cylinder. Oil liquid is contained in the first cavity, the second cavity and the oil cylinder. The control device is used to control opening and closing of the first pipeline and the second pipeline;

[0039] A rotary joint frame is provided on the bogie. A rotary joint is arranged in the rotary joint frame. The rotary joint has a first connection port and a second connection port. The first connection port is connected with the oil cylinder. An opening of the second connection port faces downward, and the second connection port extends in the vertical direction;

[0040] Both the first pipeline and the second pipeline are communicated with the oil cylinder through connecting oil pipes. The top of the connecting oil pipe sequentially passes through the fixed seat, the mounting frame and the second gear upward and is rotationally connected with the second connection port.

[0041] The beneficial effects of the present invention are as follows: The robot shock absorption device according to the embodiment of the present invention can be connected with the wheel body assembly and has a constraint state and a release state. In the constraint state, the shock absorption rod is fixed by the limiting part and does not move relative to the fixed seat, so that the robot shock absorption device can be a rigid structure in this state. When supporting the robot, it will not elastically move with the movement of the robot's robotic arm, and the robot can be prevented from being affected by the contraction and release of the robot shock absorption device. When the robot shock absorption device is a rigid structure, the center of gravity of the robot is not easy to change, so that the robot shock absorption device according to the embodiment of the present invention can reduce the influence on the accuracy of the robotic arm. When the wheel body assembly needs to move, the limiting part releases the limit on the shock absorption rod so that at least part of the shock absorption rod can move relative to the fixed seat. That is, in the release state, the robot shock absorption device is an elastic structure, which can enable the robot shock absorption device according to the embodiment of the present invention to cooperate with the wheel body assembly to dynamically adjust the wheel body assembly, thereby damping the robot. Description of the Drawings

[0042] Figure 1 is a perspective view of a robot according to an embodiment of the present invention.

[0043] Figure 2 is a top view of a robot according to an embodiment of the present invention.

[0044] Figure 3 is a side view of a robot according to an embodiment of the present invention.

[0045] Figure 4 is a schematic diagram of the cooperation between a walking assembly and a robot shock absorption device according to an embodiment of the present invention.

[0046] Figure 5 It is the front view of the robot shock absorption device according to an embodiment of the present invention.

[0047] Figure 6 It is a schematic diagram of the first solenoid valve and the second solenoid valve of the limit part according to an embodiment of the present invention.

[0048] Figure 7 It is a schematic diagram of the third solenoid valve of the limit part according to an embodiment of the present invention.

[0049] Figure 8 It is a schematic diagram of the steering assembly according to an embodiment of the present invention.

[0050] Figure 9 It is a sectional view of the steering assembly according to an embodiment of the present invention.

[0051] Figure 10 It is a structural diagram of the robot shock absorption device according to another embodiment of the present invention.

[0052] Figure 11 It is a schematic diagram of the cooperation between the traveling assembly and the robot shock absorption device according to another embodiment of the present invention.

[0053] Figure 12 It is the front view of the robot shock absorption device according to another embodiment of the present invention.

[0054] Figure 13 It is the side view of the robot shock absorption device according to another embodiment of the present invention.

[0055] Reference numerals:

[0056] 1. Fixed seat, 11. First bearing;

[0057] 2. Shock absorption rod, 21. Sleeve rod, 211. Connecting through hole, 22. Moving rod, 221. First end, 222. Second end, 23. Shock absorption elastic member, 24. First connecting rod, 25. Piston, 26. First cavity, 27. Second cavity;

[0058] 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;

[0059] 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;

[0060] 5. Wheel body assembly, 51. Wheel frame, 52. Driving motor, 53. Moving wheel;

[0061] 6. Mounting frame;

[0062] 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 implementation mode

[0063] Embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0064] The robot shock absorption device according to an embodiment of the present invention will be described below with reference to the accompanying drawings. As Figures 1 to 13 shown, the robot shock absorption device according to an embodiment of the present invention includes a fixed seat 1, a shock absorption device, and a limiting portion.

[0065] The shock absorption device includes a shock absorption rod 2 and a shock absorption elastic member 23. At least a part of the shock absorption rod 2 is movable relative to the fixed seat 1. At least a part of the shock absorption rod 2 is used to be connected to the wheel body assembly 5 and can drive the wheel body assembly 5 to move. The shock absorption elastic member 23 can undergo elastic deformation. The shock absorption elastic member 23 is connected to the shock absorption rod 2. The shock absorption elastic member 23 can use the elastic force to drive at least a part of the shock absorption rod 2 and the wheel body assembly 5 thereon to move in a direction away from the fixed seat 1.

[0066] Specifically, the shock absorption elastic member 23 and the shock absorption rod 2 cooperate to dynamically adjust the wheel body assembly 5. When encountering a pothole, the shock absorption elastic member 23 can use the elastic force to drive at least a part of the shock absorption rod 2 and the wheel body assembly 5 thereon to extend in a direction away from the fixed seat 1, so that the moving wheel 53 of the wheel body assembly 5 can move in a direction away from the fixed seat 1, so that the moving wheel 53 can contact the wall surface of the pothole. When encountering a protrusion, at least a part of the shock absorption rod 2 and the wheel body assembly 5 thereon can overcome the elastic force of the shock absorption elastic member 23 and move in a direction adjacent to the fixed seat 1 under the pressure of the fixed seat 1, so that the moving wheel 53 can contact the protrusion surface. Thus, after the robot shock absorption device according to the embodiment of the present invention is connected to the wheel body assembly 5, the wheel body assembly 5 can be adjusted and shock-absorbed, so that the wheel body assembly 5 can adapt to the working conditions of complex ground when moving.

[0067] For example, at least a part of the shock absorption rod 2 is movable relative to the fixed seat 1 in the up and down direction, so that the moving wheel 53 of the wheel body assembly 5 can adapt to complex ground. For another example, the shock absorption rod 2 is a rotating rod body. One end of the shock absorption rod 2 is rotatably connected to one end of the fixed seat 1, and the other end of the shock absorption rod 2 is connected to the wheel body assembly 5. For another example, the shock absorption rod 2 is a telescopic rod. The fixed part of the shock absorption rod 2 is connected to the fixed seat 1. The telescopic part of the shock absorption rod 2 can extend downward. The shock absorption elastic member 23 can use the elastic force to drive the telescopic part of the shock absorption rod 2 to extend downward. The telescopic part of the shock absorption rod 2 is connected to the wheel body assembly 5.

[0068] The limiting part is connected to the shock-absorbing rod 2 and has a constrained state and a released 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. In the released 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 fixed seat 1.

[0069] 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 the 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. Thus, the robot shock-absorbing device can be a rigid structure in this state. When supporting the robot, it will not elastically move with the movement of the robot's robotic arm, avoiding the pose influence brought 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 easily changed. Thus, the robot shock-absorbing device according to the embodiment of the present invention can reduce the influence on the accuracy of the robotic 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 a 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, enabling the robot shock-absorbing device according to the embodiment of the present invention to cooperate with the wheel assembly 5 to dynamically adjust the wheel assembly 5, thereby damping the robot.

[0070] As Figures 4 to 7 、 Figures 10 to 13 shown, in some embodiments, the shock-absorbing rod 2 includes a sleeve rod 21 and a moving rod 22.

[0071] 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. 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 drive the moving rod 22 to slide in a direction away from the sleeve rod 21 by using elastic force. That is to say, the shock-absorbing rod 2 is a telescopic rod composed of the sleeve rod 21 and the moving rod 22. 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 become an elastic telescopic rod.

[0072] In the constrained state, the limiting portion limits the movement of the moving rod 22 to prevent the moving rod 22 from sliding relative to the sleeve rod 21; that is, in the constrained 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, not affected by gravity and elastic force, and does not expand or contract. In the released state, the limiting portion 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 under the cooperation of the shock-absorbing elastic member 23, and can be affected by gravity and elastic force to perform expansion and contraction.

[0073] As Figures 4 to 7 , Figures 10 to 13 shown, in some embodiments, the shock-absorbing device further includes a first connecting rod 24. 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 a first direction. The axial direction of the moving wheel 53 of the wheel body assembly 5 is a second direction, and any two of the first direction, the second direction, and the up-down direction are perpendicular to each other.

[0074] 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. The first end 221 of the moving rod 22 is slidably arranged 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.

[0075] The shock-absorbing elastic member 23 is a spring. The spring is sleeved on the circumference of the moving rod 22, and both ends of the spring are respectively abutted against 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 convex platform. The spring is sleeved on the rod body of the moving rod 22 and abuts against the convex platform, so that the spring can drive the moving rod 22 to move downward by using elastic force.

[0076] The upper end of the first connecting rod 24 is fixedly connected to the fixed seat 1. The second end 222 of the moving rod 22 and the lower end of the first connecting rod 24 are both used for being hinged to the wheel carrier 51 of the wheel body assembly 5. The axial directions of the hinge shafts of the first connecting rod 24, the sleeve rod 21, and the moving rod 22 are all the same as the axial direction of the moving wheel 53 of the wheel body assembly 5. Thus, the fixed seat 1, the wheel carrier 51 of the wheel body assembly 5, the first connecting rod 24, and the shock-absorbing rod 2 can form a link structure. When the shock-absorbing rod 2 is driven by the shock-absorbing elastic member 23 to extend downward, it can drive the wheel body assembly 5 to move downward. When the wheel body assembly 5 encounters a protrusion, it can drive the shock-absorbing rod 2 to contract against the elastic force of the shock-absorbing elastic member 23. For example. The first connecting rod 24 extends in the up-down direction, and the shock-absorbing rod 2 is inclined downward along a direction adjacent to the wheel body assembly 5.

[0077] As Figures 4 to 7As shown, in some embodiments, a piston 25 is provided at the first end portion 221 of the movable rod 22. The outer peripheral surface of the piston 25 is slidably connected to the wall surface of the cavity of the sleeve rod 21. 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 within the cavity of the sleeve rod 21, the spatial sizes of the first cavity 26 and the second cavity 27 can change accordingly.

[0078] The limiting portion includes an oil cylinder 3, a first pipeline 31, a second pipeline 32, and a control device. The two ends of the first pipeline 31 are respectively communicated with the first cavity 26 and the oil cylinder 3, the two ends of the second pipeline 32 are respectively communicated with the second cavity 27 and the oil cylinder 3, and the first cavity 26, the second cavity 27, and the oil cylinder 3 all contain hydraulic oil. The control device is used to control the opening and closing of the first pipeline 31 and the second pipeline 32.

[0079] In the constrained state, the control device closes the first pipeline 31 and the second pipeline 32. Specifically, in the constrained state, when the control device controls the first pipeline 31 and the second pipeline 32 to be closed, neither the first pipeline 31 nor the second pipeline 32 can function to communicate with the oil cylinder 3, and no hydraulic oil enters or exits the first cavity 26 and the second cavity 27, so that the piston 25 cannot move, and further the movable 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.

[0080] In the released state, the control device opens the first pipeline 31 and the second pipeline 32. Specifically, in the released state, when the control device controls the first pipeline 31 and the second pipeline 32 to be opened, the hydraulic oil in the oil cylinder 3 can enter the first cavity 26 and the second cavity 27, and the hydraulic oil in the first cavity 26 and the second cavity 27 can also enter the oil cylinder 3. Thus, the piston 25 and the movable rod 22 can move, that is, the shock absorber rod 2 is a telescopic rod body at this moment.

[0081] During the movement of the piston 25, the piston 25 can squeeze the hydraulic oil in the first cavity 26 into the oil cylinder 3. At this moment, the space of the first cavity 26 decreases, and at the same time the space of the second cavity 27 increases, and the hydraulic oil in the oil cylinder 3 can be introduced into the second cavity 27. Conversely, the piston 25 can squeeze the hydraulic oil in the second cavity 27 into the oil cylinder 3. At this moment, the space of the second cavity 27 decreases, and at the same time the space of the first cavity 26 increases, and the hydraulic oil in the oil cylinder 3 can be introduced into the first cavity 26.

[0082] In some embodiments, both the first pipeline 31 and the second pipeline 32 are communicated with the oil cylinder 3 through connecting oil pipes 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 and communicated with the openings of the first pipeline 31 and the second pipeline 32.

[0083] In some embodiments, the control device includes a first solenoid valve 33 and a second solenoid valve 34. The first solenoid valve 33 is arranged on the first pipeline 31 to control the opening and closing of the first pipeline 31. The second solenoid valve 34 is arranged on the second pipeline 32 to control the opening and closing of the second pipeline 32. In the constrained 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.

[0084] Specifically, both the first solenoid valve 33 and the second solenoid valve 34 are automatic control valves that remain closed in the power-off state and open when powered on. That is, when the wheel body assembly 5 moves, the first solenoid valve 33 and the second solenoid valve 34 are powered on so that the limiting part enters the released state. For example, both the first solenoid valve 33 and the second solenoid valve 34 are two-position two-way normally closed solenoid valves. In the constrained state, the A port and the B port of the two-position two-way normally closed solenoid valve are not connected. In the released state, the A port and the B port of the two-position two-way normally closed solenoid valve are connected.

[0085] Alternatively, in some embodiments, the control device includes a third solenoid valve 36. The third solenoid valve 36 is connected to the first pipeline 31 and the second pipeline 32 and can control the opening and closing of the first pipeline 31 and the second pipeline 32 simultaneously. In the constrained state, the third solenoid valve 36 closes the first pipeline 31 and the second pipeline 32 simultaneously. In the released state, the third solenoid valve 36 opens the first pipeline 31 and the second pipeline 32 simultaneously. 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 body assembly 5 moves, the third solenoid valve 36 is powered on so that the limiting part enters the released state. For example, the third solenoid valve 36 is a two-position four-way normally closed solenoid valve. In the constrained 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.

[0086] As Figures 10 to 13 shown, in some embodiments, the limiting part includes an adsorbing member 4. The adsorbing member 4 is an electromagnet. When the adsorbing member 4 is powered on, it can limit the moving rod 22 by using magnetic force. Specifically, the adsorbing member 4 can be arranged on the moving rod 22. When the adsorbing member 4 is powered on, it can adsorb and fix the moving rod 22 on the sleeve rod 21 or other components by using magnetic force. The adsorbing member 4 can also be arranged on the sleeve rod 21 or other components. When the adsorbing member 4 is powered on, it can directly or indirectly fix the moving rod 22 by using magnetic force.

[0087] In some embodiments, the limiting part includes an adsorption plate 41, a rotating rod 42, and a rotating seat 43.

[0088] 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.

[0089] 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 .

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] In the extending direction of the connecting rod 44, the distance between the first end 221 of the moving rod 22 and the rotating seat 43 is less than the distance between the fourth end 422 of the rotating rod 42 and the rotating seat 43, so that the moment of the adsorbing member 4 is greater than the moment of the moving rod 22.

[0095] The thickness direction of the adsorption plate 41, the axial direction of the moving wheel 53 of the wheel body assembly 5, the rotating axial direction of the rotating rod 42, and the rotating axial direction of the connecting rod 44 are the same. Specifically, the hinge axis of the connecting rod 44, the hinge axis of the rotating rod 42, and the rotating axial direction of the rotating rod 42 are all the same as the axial direction of the moving wheel 53 of the wheel body assembly 5.

[0096] In some embodiments, the adsorbing member 4 is connected to the fourth end 422 of the rotating rod 42 through an adsorption elastic member 45, and the adsorption elastic member 45 can drive the adsorbing member 4 to move away from the adsorption plate 41 by using elasticity. Specifically, the adsorption elastic member 45 is a spring that can undergo elastic deformation. When the adsorbing member 4 is not powered on, the adsorption elastic member 45 drives the adsorbing member 4 to move away from the adsorption plate 41 so that the adsorbing member 4 and the adsorption plate 41 are spaced apart. After the adsorbing member 4 is powered on, the magnetic force of the adsorbing member 4 overcomes the elastic force of the adsorption elastic member 45 and adsorbs on the adsorption plate 41.

[0097] The present invention also provides a traveling assembly. The traveling assembly according to an embodiment of the present invention includes a wheel body assembly 5 and a robot shock absorption device according to an embodiment of the present invention. The shock absorption rod 2 of the robot shock absorption device according to an embodiment of the present invention is connected to the wheel frame 51 of the wheel body assembly 5. So that when the traveling assembly moves, the robot shock absorption device can dynamically adjust the wheel body assembly 5.

[0098] The present invention also provides a robot. The robot according to an embodiment of the present invention includes a mounting frame 6 and a plurality of traveling assemblies. The traveling assemblies are the traveling assemblies according to an embodiment of the present invention, and the plurality of traveling assemblies are arranged on the mounting frame 6.

[0099] In some embodiments, there are four traveling assemblies, and each traveling assembly includes a wheel frame 51, a driving motor 52, and a moving wheel 53. The driving motor 52 is arranged on the wheel frame 51, and the driving motor 52 can drive the moving wheel 53 to rotate. That is, the robot according to an embodiment of the present invention is a four-wheel drive robot. Four-wheel drive can usually provide greater traction, is suitable for crossing obstacles, climbing slopes, or traveling on soft ground. Four-wheel simultaneous drive can reduce slipping, especially on slippery or rough terrains, and the movement is more stable. Four-wheel simultaneous drive can provide higher instantaneous torque and is suitable for scenarios that require quick response. If one wheel fails, the remaining wheels may still maintain basic movement ability, improving the system reliability. Combined with differential steering or independent wheel steering (such as Mecanum wheels), high-mobility actions such as in-situ rotation and lateral translation can be achieved. Thus, the moving performance of the robot can be improved.

[0100] In some embodiments, the fixed seat 1 of the traveling assembly is connected to the mounting frame 6 through a first bearing 11, so that the fixed seat 1 can rotate relative to the mounting frame 6, and the rotation axis direction of the fixed seat 1 is the up-and-down direction. For example, the first bearing 11 is a thrust needle bearing.

[0101] As Figures 1 to 3 、 Figure 8 and Figure 9 shown, a steering assembly is provided on the mounting frame 6. The steering assembly includes a steering frame 7, a steering motor 71, a first gear 72, and a second gear 73.

[0102] The steering frame 7 is provided on the mounting frame 6, the steering motor 71 is provided on the steering frame 7, the steering motor 71 can drive the first gear 72 to rotate, the second gear 73 is rotatably provided in the steering frame 7, the first gear 72 meshes with the second gear 73, and the second gear 73 is connected to the fixed seat 1 and can drive the fixed seat 1 to rotate. Thus, 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 further 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 steering frame 7 through a bearing, and the bottom of the second gear 73 is connected to the connecting portion on the fixed seat 1.

[0103] As Figure 8 and Figure 9 shown, in some embodiments, a rotary joint frame 74 is provided on the steering frame 7, a rotary joint 75 is provided in the rotary joint frame 74, the rotary joint 75 has a first connection port 76 and a second connection port 77, the orientation of the first connection port 76 is the horizontal direction, the first connection port 76 is connected to the oil cylinder 3, the opening of the second connection port 77 faces downward, and the second connection port 77 extends in the up-and-down direction.

[0104] The limiting portion includes an oil cylinder 3, a first pipeline 31, a second pipeline 32, and a control device. The two ends of the first pipeline 31 are respectively communicated with the first cavity 26 and the oil cylinder 3, the two ends of the second pipeline 32 are respectively communicated with 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, and the control device is used to control the opening and closing of the first pipeline 31 and the second pipeline 32.

[0105] 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 sequentially passes upward through the fixed seat 1, the mounting bracket 6, and the second gear 73 and is rotatably connected to the second connection 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 bracket 6, the through hole of the second gear 73, and the second connection port 77 are coaxially arranged. The top of the connecting oil pipe 35 sequentially passes upward through the oil pipe hole on the fixed seat 1, the first bearing 11, the through hole on the mounting bracket 6, and the through hole of the second gear 73 so as to be rotatably connected to the second connection port 77. Thus, when the rotating assembly rotates to change the direction, the connecting oil pipe 35 can be communicated with the rotary joint 75, and further the oil cylinder 3 can be communicated with the first pipeline 31 and the second pipeline 32.

[0106] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present invention.

[0107] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0108] In the present invention, unless otherwise clearly specified and limited, the terms "mount", "connect", "couple", "fix", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection, an electrical connection, or communicable with each other; it may be directly connected, or indirectly connected through an intermediate medium, and may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0109] In the present invention, unless otherwise clearly defined or limited, the first feature being "on" or "under" the 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, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "below" and "beneath" the second feature may mean that the first feature is directly below or obliquely below the second feature, or merely indicates that the horizontal height of the first feature is less than that of the second feature.

[0110] In the present invention, the terms "an embodiment", "some embodiments", "example", "specific example", or "some examples", etc. mean that the specific features, structures, materials, or characteristics described in connection 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 specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, 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.

[0111] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A robot shock absorption device, characterized in that, Comprising: Fixed seat; Shock absorption device, the shock absorption device includes a shock absorption rod and a shock absorption elastic member, at least part of the shock absorption rod is movable relative to the fixed seat, at least part of the shock absorption rod is used to be connected to the wheel body assembly and can drive the wheel body assembly to move, the shock absorption elastic member is connected to the shock absorption rod, and the shock absorption elastic member can use elastic force to drive at least part of the shock absorption rod and the wheel body assembly thereon to move in a direction away from the fixed seat; Limiting part, the limiting part is connected to the shock absorption rod and has a constraint state and a release state. In the constraint state, the limiting part limits the shock absorption rod to prevent the shock absorption rod from moving relative to the fixed seat. In the release state, the limiting part releases the limit on the shock absorption rod so that at least part of the shock absorption rod can move relative to the fixed seat; The shock absorption rod includes a sleeve rod and a moving rod, the limiting part includes an adsorbent, a connecting rod, an adsorption plate, a rotating rod and a rotating seat. The adsorbent is an electromagnet. When the adsorbent is energized, it can use magnetic force to limit the moving rod. 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 adsorbent, and the distance between the third end of the rotating rod and the rotating seat is less than the distance between the fourth end of the rotating rod and the rotating seat. The sleeve rod has a connecting through hole penetrating it. 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 constraint state, the adsorbent is energized and adsorbed on the adsorption plate by magnetic force; In the release state, the adsorbent is not energized, and the adsorbent can move relative to the adsorption plate.

2. The robot shock absorption device according to claim 1, wherein 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 absorption 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 absorption elastic member is connected to the moving rod, and the shock absorption elastic member can use elastic force to drive the moving rod to slide in a direction away from the sleeve rod; In the constraint state, the limiting part limits the moving rod to prevent the moving rod from sliding relative to the sleeve rod. In the release state, the limiting part releases the constraint on the moving rod so that the moving rod can slide relative to the sleeve rod.

3. The robot shock absorption device according to claim 2, wherein The shock absorption device further includes a first connecting rod. The first connecting rod and the shock absorption rod are located on both sides of at least part of the wheel body assembly in a first direction. The axial direction of the moving wheel of the wheel body assembly is a second direction. 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 fixed seat, the upper end of the sleeve rod is hinged to the fixed 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 for being hinged to the wheel frame of the wheel body assembly; The shock-absorbing elastic member is a spring, the spring is sleeved on the periphery of the moving rod, and two ends of the spring respectively abut against 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, wherein In the extending direction of the connecting rod, the distance between the first end of the moving rod and the rotating seat is less 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 body assembly, the rotating axial direction of the rotating rod, and the rotating axial direction of the connecting rod are the same; The adsorbing member is connected to the fourth end of the rotating rod through an adsorption elastic member, and the adsorption elastic member can drive the adsorbing member to move in a direction away from the adsorption plate by using elasticity.

5. A walking component, characterized in that, Comprising a wheel body assembly and the robot shock-absorbing device according to any one of claims 1-4, wherein the shock-absorbing rod of the robot shock-absorbing device is connected to the wheel frame of the wheel body assembly.

6. A robot, characterized in that, Comprising A mounting frame; A plurality of traveling assemblies, the traveling assemblies being the traveling assemblies according to claim 5, and the plurality of traveling assemblies are arranged on the mounting frame.

7. The robot according to claim 6, characterized in that, The traveling assemblies are four, and each traveling assembly 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.

8. The robot according to claim 6 or 7, wherein The fixed seat of the traveling assembly is connected to the mounting frame through a first bearing, so that the fixed seat can rotate relative to the mounting frame, and the rotating axial direction of the fixed seat is the up-down direction; A steering assembly is arranged on the mounting frame. The steering assembly includes a steering frame, a steering motor, a first gear, and a second gear. The steering frame is arranged on the mounting frame, the steering motor is arranged on the steering frame, the steering motor can drive the first gear to rotate, the second gear is rotatably arranged in the steering frame, the first gear meshes with the second gear, and the second gear is connected to the fixed seat and can drive the fixed seat to rotate.

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