Moving unit of variable load robot

Abstract

The invention belongs to the field of robot walking, and discloses a moving unit of a variable-load robot, which can simply realize the size adjustment of a friction surface between a shaft piece and a cable piece in the moving unit, so that the service life of the moving unit is obviously prolonged, and the moving unit comprises a shell assembly and an output variable structure assembly, the shell assembly comprises a limb shell and a tail end shell which are hinged, the tail end shell is provided with a supporting end, the output variable-structure assembly comprises a driving grooved wheel, a pair of driven grooved wheels, a plurality of variable-structure positions, a variable-structure column and a damping steel wire, a hinge shaft of the limb shell and the tail end shell serves as a driving shaft rod, the driving grooved wheel is coaxially arranged on the driving shaft rod, and the driven grooved wheel is coaxially arranged on the driving shaft rod. The driven grooved wheels are fixedly arranged in the tail end shell, the damping steel wire is wound on the driving grooved wheel and the pair of driven grooved wheels at the same time, the damping steel wire forms an adjustable envelope angle on the driven grooved wheels, the damping steel wire between the pair of driven grooved wheels serves as a variable-structure steel wire section, and the variable-structure column is alternatively inserted into the variable-structure position in a matched mode and makes pressure contact with the variable-structure steel wire section.

Description

Technical Field

[0001] The present invention belongs to the field of robot walking, and particularly relates to a mobile unit of a variable-load robot. Background Art

[0002] Currently, the mobile unit of a robot is used to move on a predetermined ground (such as a road ground, a rock ground, a soft soil ground, a marsh ground, a grassland, etc.), and is divided into a legged type, a wheeled type, and a caterpillar type. Among them, the legged mobile unit has high mobility and is particularly suitable for a narrow or uneven predetermined ground.

[0003] The Chinese invention patent application (publication number: CN119408633, CN119408632) discloses a multi-legged mobile device, which has a first support frame, a second support frame, and a third support frame that are sequentially hinged. The first support frame, the second support frame, and the third support frame internally have a plurality of shaft members and a plurality of cable members. The cooperation of the plurality of cable members and the plurality of shaft members enables the relative hinge movement between the first support frame, the second support frame, and the third support frame, so that the robot moves on the predetermined ground by imitating the stepping motion.

[0004] The Chinese invention patent application (publication number: CN106828651) discloses a variable wheel-legged robot, which includes a control system and a mechanical system. The mechanical system includes a torso, a wheeled motion mechanism, and four leg motion mechanisms with multiple degrees of freedom installed on the torso. The wheeled motion mechanism includes four wheels installed at the rear of the mechanical system and a drive motor for driving at least one wheel. Through the setting of the leg motion mechanism and the wheeled motion mechanism, the robot can adapt to various terrains.

[0005] The Chinese invention patent application (publication number: CN112572634) provides a wheel-legged hybrid walking robot structure and a control system, which adopts a six-degree-of-freedom parallel leg and auxiliary leg structure, combined with drive wheels connected to the legs, and can complete actions such as wheeled straight-line walking, turning, and lateral movement on various terrains, and also enhances the ability to walk in structured and unstructured environments.

[0006] The patent application number (202421058574.X, a novel leg-wheel type crawling robot) discloses a novel leg-wheel type crawling robot, which can make the leg-wheel touch the ground by bending the foot mechanism, but lacks the large load-bearing capacity and the leg-wheel compliant switching ability, and also has a poor adaptability to the terrain.

[0007] Due to its compact structure and relatively simple mechanism setting, this technology has been increasingly widely used in related scenarios.

[0008] However, through implementation, the following deficiencies of this structure are also exposed: The structure is formed by shaft members and cable members. Thus, the effectiveness of the load-bearing movement of the robot depends on the frictional force generated by the shaft members and cable members within the moving unit, that is, the size of the friction surface between the shaft members and cable members. And the generated frictional force should at least form a mechanical balance in the direction of gravity with the load of the robot. Once the layout of the shaft members and cable members of this type of moving unit is set, it is difficult to change. That is, within the allowable load range, regardless of how the load changes, the friction surface area of this type of structure remains unchanged, resulting in an unchanged worn area, thereby limiting the effective service life of this type of structure. Additionally, due to the various types of predetermined ground, a single legged type is difficult to effectively walk well on a flat, hard or soft and easily sinkable predetermined ground. During the wheel-leg switching mode, it is difficult to achieve a compliant switching between the wheel and the leg. It is relatively difficult to adapt to terrain movement with large loads and complex terrains. Summary of the Invention

[0009] Aiming at the deficiencies of the prior art, the present invention provides a moving unit for a variable-load robot, which can simply adjust the size of the friction surface between the shaft members and cable members in the moving unit, so as to be able to set different sizes of friction surfaces between the shaft members and cable members to correspond to different load scenarios of the robot, thereby significantly increasing the service life of the moving unit.

[0010] To achieve the above object, the present invention provides the following technical solutions:

[0011] A moving unit for a variable-load robot, characterized in that it includes: a housing assembly, including a limb housing and a terminal housing hinged at the end, the terminal housing having a support end for forming the support of the variable-load robot relative to the predetermined ground; an output variable-configuration assembly, including a driving sheave, a pair of driven sheaves, variable-configuration positions, variable-configuration columns, and damping steel wires. And the axes of the driving sheave, the driven sheaves, and the extending direction of the variable-configuration columns are parallel to each other. Among them, taking the hinge axis of the limb housing and the terminal housing as the driving shaft rod, the driving sheave is located within the limb housing and is coaxially arranged on the driving shaft rod, the driven sheaves are both fixedly arranged within the terminal housing, the damping steel wire is simultaneously wound around the driving sheave and the pair of driven sheaves, and the damping steel wire has a closed shape. When the transmitted torque of the hinge between the limb housing and the terminal housing is less than the predetermined torque, the damping steel wire maintains static friction relative to the driving sheave and the pair of driven sheaves, and the damping steel wire forms an adjustable wrap angle on the driven sheaves. Taking the damping steel wire between the pair of driven sheaves as the variable-configuration wire segment, the number of variable-configuration positions is multiple and are all formed within the terminal housing, and the multiple variable-configuration positions are all near the driven sheaves, and the variable-configuration columns are selectively inserted into the variable-configuration positions in a matching manner, and the variable-configuration columns are in pressure contact with the variable-configuration wire segment. Thus, when the variable-configuration columns are switched and matched with the multiple variable-configuration positions, the adjustable wrap angle changes simultaneously, and the transmitted torque of the hinge between the limb housing and the terminal housing increases.

[0012] Preferably, the present invention further includes a mobile wheel assembly, which includes a wheel axle rod and mobile wheels. The mobile wheels are rotatably arranged on the wheel axle rod. The end shell includes a fixed sub-shell and a rotatable sub-shell connected by a hinge, and a support end is formed at the free end of the rotatable sub-shell. When the rotatable sub-shell is turned over and opened relative to the fixed sub-shell, the mobile wheels are in rolling contact with a predetermined ground.

[0013] Furthermore, the support end has a support arc surface that abuts against the predetermined ground, so that when the rotatable sub-shell is turned over and opened relative to the fixed sub-shell, the potential energy of the fixed sub-shell remains unchanged.

[0014] Furthermore, the present invention further includes a turning driving assembly, which includes an electric push rod, a first hinge rod and a second hinge rod, and the first hinge rod is shorter than the second hinge rod. The fixed part of the electric push rod is arranged on the fixed sub-shell, and the moving part extends towards the rotatable sub-shell. The two ends of the first hinge rod are respectively hinged to the moving end of the electric push rod and the fixed sub-shell, and the two ends of the second hinge rod are respectively hinged to the moving end of the electric push rod and the rotatable sub-shell. Thus, when the electric push rod acts, the second hinge rod pushes the rotatable sub-shell to turn over relative to the fixed sub-shell.

[0015] Furthermore, the present invention further includes a secondary wheel assembly, which includes a scaling motor, a first secondary wheel surface, a second secondary wheel surface, a couple hinge rod and a pair of scaling hinge rods. The mobile wheel has an integrally formed rim, spokes and a hub. The spokes are formed in the middle of the rim, and the hub is sleeved on the wheel axle rod. Among them, the scaling motor is arranged on the inner surface of the rim and near the spokes, and the output shaft of the scaling motor extends along the radial direction of the mobile wheel. The first secondary wheel surface and the second secondary wheel surface are respectively located at both ends of the rim and are coaxially embedded in the rim. The middle of the couple hinge rod is fixedly arranged on the output shaft of the scaling motor. One end of the pair of scaling hinge rods is respectively hinged to both ends of the couple hinge rod, and the other end is respectively hinged to the first secondary wheel surface and the second secondary wheel surface, and the pair of scaling hinge rods extend in opposite directions. When the scaling motor acts to drive the couple hinge rod to rotate, a couple moment is formed at both ends of the couple hinge rod, and the couple moment causes the bending angle of the hinge between the couple hinge rod and the scaling hinge rod to change, and then the first secondary wheel surface and the second secondary wheel surface extend out or retract into both ends of the rim.

[0016] Still further, the present invention further includes a secondary transmission assembly, which includes a driving motor, an intermediate reduction grooved wheel, a first transmission steel wire and a second transmission steel wire. The output shaft of the driving motor and the intermediate reduction grooved wheel are both rotatably arranged in the limb housing. The output shaft of the driving motor is formed with a grooved wheel section. The rotation axes of the grooved wheel section and the intermediate reduction grooved wheel are both parallel to the driving shaft rod, and the outer diameters of the grooved wheel section, the intermediate reduction grooved wheel and the driving grooved wheel increase in sequence. The first transmission steel wire is simultaneously wound around the grooved wheel section and the intermediate reduction grooved wheel, and the second transmission steel wire is simultaneously wound around the intermediate reduction grooved wheel and the driving grooved wheel.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0018] 1. Since the moving unit of the variable-load robot of the present invention includes a housing assembly and an output variable-configuration assembly, the housing assembly includes a limb housing and a terminal housing hinged at the end, the terminal housing has a supporting end, the output variable-configuration assembly includes a driving sheave, a pair of driven sheaves, a plurality of variable-configuration positions, variable-configuration columns and damping steel wires. Taking the hinge axis of the limb housing and the terminal housing as the driving shaft rod, the driving sheave is coaxially arranged on the driving shaft rod, the driven sheaves are fixedly arranged in the terminal housing, the damping steel wire is simultaneously wound around the driving sheave and the pair of driven sheaves, and the damping steel wire has a closed shape. When the hinge transmission torque between the limb housing and the terminal housing is less than the predetermined torque, the damping steel wire maintains static friction relative to the driving sheave and the pair of driven sheaves. The damping steel wire forms an adjustable wrap angle on the driven sheave. Taking the damping steel wire between the pair of driven sheaves as the variable-configuration wire segment, the variable-configuration columns are alternatively inserted into the plurality of variable-configuration positions, and the variable-configuration columns are in pressure contact with the variable-configuration wire segment. Thus, when the variable-configuration columns are switched and matched with the plurality of variable-configuration positions, the first wrap angle and the adjustable wrap angle change simultaneously, and the hinge transmission torque between the limb housing and the terminal housing increases, that is, the friction surfaces between the damping steel wire and the pair of driven sheaves both increase or decrease. Therefore, the present invention can easily adjust the size of the friction surface between the shaft parts and the cable parts in the moving unit, so that different sizes of friction surfaces between the shaft parts and the cable parts can be set to increase the static friction force between the driving and driven sheaves and the damping steel wire to correspond to different load scenarios of the robot, thereby significantly increasing the service life of the moving unit.

[0019] 2. Since the moving unit of the variable-load robot of the present invention further includes a moving wheel assembly, including a wheel shaft rod and a moving wheel, the moving wheel is rotatably arranged on the wheel shaft rod, the terminal housing includes a fixed sub-housing and a rotatable sub-housing connected by a hinge, and the supporting end is formed at the free end of the rotatable sub-housing. When the rotatable sub-housing is turned over and opened relative to the fixed sub-housing, the moving wheel is in rolling contact with the predetermined ground. Therefore, the present invention simply realizes the quick switching between the foot type and the wheel type of the moving unit by the turning of the rotatable sub-housing, which is more conducive to the mobility balance of the moving unit on flat and hard ground and uneven ground. Moreover, when the moving units of multiple variable-load robots are cooperatively implemented, it can also conveniently realize the hybrid drive of the wheel type and the foot type, that is, some moving units of the robot are of the wheel type and the rest are of the foot type.

[0020] 3. Since the supporting end of the present invention has a supporting arc surface that abuts against the predetermined ground, when the rotatable sub-housing is turned over and opened relative to the fixed sub-housing, the potential energy of the fixed sub-housing remains unchanged. Therefore, when the moving unit of the present invention switches between the foot type and the wheel type, through the continuous rolling contact of the supporting arc surface and the moving wheel circumference with the predetermined ground, no additional driving structure is required, and thus it is easy to achieve seamless switching between the wheel type and the foot type, and the complexity of the overall structure is relatively low.

[0021] 4. Since the moving unit of the variable-load robot of the present invention further includes a secondary wheel assembly, which includes a scaling motor, a first secondary wheel surface, a second secondary wheel surface, a couple hinge rod, and a pair of scaling hinge rods, the moving wheel has an integrally formed rim, spokes, and hub. The spokes are formed in the middle of the rim, and the hub is sleeved on the wheel axle rod. Among them, the scaling motor is arranged on the inner surface of the rim and near the spokes, and the output shaft of the scaling motor extends along the radial direction of the moving wheel. The first secondary wheel surface and the second secondary wheel surface are respectively located at both ends of the rim and are coaxially embedded in the rim. The middle of the couple hinge rod is fixedly arranged on the output shaft of the scaling motor. One end of a pair of scaling hinge rods is respectively hinged to both ends of the couple hinge rod, and the other end is respectively hinged to the first secondary wheel surface and the second secondary wheel surface, and the pair of scaling hinge rods extend in opposite directions. When the scaling motor operates to drive the couple hinge rod to rotate, a couple moment is formed at both ends of the couple hinge rod, and the couple moment causes the bending angle of the hinge between the couple hinge rod and the scaling hinge rod to change. Furthermore, the first secondary wheel surface and the second secondary wheel surface extend out or retract into both ends of the rim. Therefore, the present invention can extend the secondary wheel surface relative to the rim of the moving wheel through the secondary wheel assembly. Thus, when the moving unit moves on a soft and easily sinkable ground, the soft ground can abut against the entire moving wheel and a pair of secondary wheel surfaces, so that the contact surface between the moving unit and the soft ground is significantly increased, that is, the unit pressure between the moving unit and the soft ground is significantly reduced, thereby preventing the moving unit from sinking into the soft ground, that is, maintaining its good and effective walking on the soft ground.

[0022] 5. Since the moving unit of the variable-load robot of the present invention further includes a two-stage transmission assembly, which includes a driving rotation motor, an intermediate reduction grooved wheel, a first transmission steel wire, and a second transmission steel wire, and the output shaft of the driving rotation motor and the intermediate reduction grooved wheel are rotatably arranged in the limb housing. The output shaft of the driving rotation motor is formed with a grooved wheel section. The rotation axes of the grooved wheel section and the intermediate reduction grooved wheel are parallel to the driving shaft rod, and the outer diameters of the grooved wheel section, the intermediate reduction grooved wheel, and the driving grooved wheel increase in sequence. The first transmission steel wire is simultaneously wound around the grooved wheel section and the intermediate reduction grooved wheel, and the second transmission steel wire is simultaneously wound around the intermediate reduction grooved wheel and the driving grooved wheel. Therefore, the present invention performs a two-stage amplification on the output driving torque of the driving motor through the intermediate reduction grooved wheel and the driving grooved wheel with sequentially increasing outer diameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Schematic diagram (section) of the moving unit of the variable-load robot according to the embodiment of the present invention;

[0024] Figure 2 Schematic diagram (section) of the output variable structure assembly according to the embodiment of the present invention;

[0025] Figure 3 For Figure 2 Analysis schematic diagram of adjustable wrap angle

[0026] Figure 4 Schematic diagram (section) of the cooperation between the end housing and the mobile wheel assembly of the embodiment of the present invention;

[0027] Figure 5 Schematic diagram (section) of the mobile wheel, the overturning drive assembly and the hinge rotating shaft of the embodiment of the present invention;

[0028] Figure 6 Schematic diagram of the auxiliary wheel assembly (sketched the first auxiliary wheel surface and the second auxiliary wheel surface) of the embodiment of the present invention;

[0029] Figure 7 Schematic diagram of the implementation of the mobile unit of the variable load robot of the embodiment of the present invention.

[0030] In the figure: 100, the mobile unit of the variable load robot; 10, the housing assembly; 11, the limb housing; 12, the end housing; 121, the fixed sub-housing; 122, the rotatable sub-housing; 122a, the supporting arc surface; 123, the hinge rotating shaft; 20, the secondary transmission assembly; 21, the grooved wheel section; 22, the intermediate reduction grooved wheel; 23, the first transmission wire; 24, the second transmission wire; 30, the output variable structure assembly; 31, the driving grooved wheel; 32, the driven grooved wheel; 33, the variable structure position; 34, the variable structure column; 35, the damping wire; 35a, the variable structure wire section; 40, the mobile wheel assembly; 41, the wheel axle rod; 42, the mobile wheel; 42a, the wheel spoke; 42b, the wheel hub; 50, the overturning drive assembly; 51, the electric push rod; 52, the first hinge rod; 53, the second hinge rod; 60, the auxiliary wheel assembly; 61, the scaling motor; 62, the first auxiliary wheel surface; 63, the second auxiliary wheel surface; 64, the couple hinge rod; 65, the scaling hinge rod; F, the mounting plate. Detailed implementation manners

[0031] In order to make the technical means, creative features, achieved purposes and effects of the present invention easy to understand, the following embodiments will specifically describe the mobile unit of the variable load robot of the present invention in conjunction with the accompanying drawings. It should be noted that the descriptions of these embodiments are used to help understand the present invention, but do not constitute a limitation to the present invention.

[0032] As Figure 1 shown, the mobile unit 100 of the variable load robot in this embodiment includes a housing assembly 10, a secondary transmission assembly 20, an output variable structure assembly 30, a mobile wheel assembly 40, an overturning drive assembly 50 and an auxiliary wheel assembly 60.

[0033] The housing assembly 10 includes a limb housing 11 and an end housing 12 hinged at the end, and the hinge axis (not shown in the drawings) of the limb housing 11 and the end housing 12 is used as the drive axle rod.

[0034] The end housing 12 includes a fixed sub-housing 121 and a rotatable sub-housing 122 that are hinge-connected. A support end is formed at the free end of the rotatable sub-housing 122. The support end is used to form the support of the variable load robot relative to a predetermined ground, and the support end has a support arc surface 122a that abuts against the predetermined ground. Specifically, the fixed sub-housing 121 and the rotatable sub-housing 122 are hinge-jointed through a hinge rotating shaft 123. When the fixed sub-housing 121 and the rotatable sub-housing 122 are hinge-opened, the interiors of both the fixed sub-housing 121 and the rotatable sub-housing 122 are open outward.

[0035] When the rotatable sub-housing 122 is flipped open relative to the fixed sub-housing 121, the potential energy of the fixed sub-housing 121 remains unchanged. Specifically, when the rotatable sub-housing 122 is flipped open relative to the fixed sub-housing 121, the support arc surface 122a flips along the arc surface, so as to roll relative to the rotatable sub-housing 122 on the predetermined ground. Thus, during this process, the height of the fixed sub-housing 121 does not need to change, and the whole process of flipping the rotatable sub-housing 122 open relative to the fixed sub-housing 121 can be achieved.

[0036] The secondary transmission assembly 20 includes a driving motor (not shown in the drawings), an intermediate reduction grooved pulley 22, a first transmission steel wire 23, and a second transmission steel wire 24.

[0037] The output shaft of the driving motor and the intermediate reduction grooved pulley 22 are rotatably arranged in the limb housing 11. A grooved pulley section 21 is formed on the output shaft of the driving motor. The rotating shafts of the grooved pulley section 21 and the intermediate reduction grooved pulley 22 are both parallel to the driving shaft rod, and the outer diameter of the grooved pulley section 21 is smaller than the outer diameter of the intermediate reduction grooved pulley 22. Specifically, the driving motor is located outside the limb housing 11, and the output shaft penetrates into the limb housing 11.

[0038] The first transmission steel wire 23 is simultaneously wound around the grooved pulley section 21 and the intermediate reduction grooved pulley 22. The second transmission steel wire 24 is partially wound around the intermediate reduction grooved pulley 22 and the output transformation assembly 30. Specifically, the first transmission steel wire 23 realizes a linear velocity synchronization mechanism through the grooved pulley section 21 and the intermediate reduction grooved pulley 22. Thus, the intermediate reduction grooved pulley 22 decelerates the linear velocity output by the grooved pulley section 21 and increases the output torque.

[0039] As Figure 2 shown, the output transformation assembly 30 includes a driving grooved pulley 31, a pair of driven grooved pulleys 32, a transformation position 33, a transformation column 34, and a damping steel wire 35.

[0040] The driving grooved pulley 31 is located in the limb housing 11, and the driving grooved pulley 31 is coaxially arranged on the driving shaft rod. The axes of the intermediate acceleration grooved pulley 22, the driven grooved pulleys 32, and the extending direction of the transformation column 34 are parallel to each other, and are all parallel to the extending direction of the driving shaft rod.

[0041] The outer diameter of the sprocket wheel section 21, the outer diameter of the intermediate reduction sprocket wheel 22, and the outer diameter of the driving sprocket wheel 31 increase in sequence. The second transmission steel wire 24 simultaneously wraps around the intermediate reduction sprocket wheel 22 and the driving sprocket wheel 31. Specifically, the second transmission steel wire 24 realizes a linear velocity synchronization mechanism through the intermediate reduction sprocket wheel 22 and the driving sprocket wheel 31, so that the linear velocity output by the driving sprocket wheel 31 to the intermediate reduction sprocket wheel 22 is decelerated and the output torque is increased. In this embodiment, the output shaft of the driving motor, the intermediate reduction sprocket wheel 22, and the driving sprocket wheel 31 are arranged in a straight line within the limb housing 11.

[0042] Specifically, both the intermediate reduction sprocket wheel 22 and the driving sprocket wheel 31 form a plurality of wrapping segments in the extending direction (not shown in the drawings). One wrapping segment of the sprocket wheel section 21 and the intermediate reduction sprocket wheel 22 forms a linear velocity synchronization mechanism, and the other wrapping segments of the intermediate reduction sprocket wheel 22 respectively form a linear velocity synchronization mechanism with a plurality of wrapping segments of the driving sprocket wheel 31 through a plurality of second transmission steel wires 24.

[0043] A pair of driven sprocket wheels 32 are both fixedly arranged within the end housing 12. The damping steel wire 35 simultaneously wraps around the driving sprocket wheel 31 and the pair of driven sprocket wheels 32, and the damping steel wire 35 wrapped around the driving sprocket wheel 31 and the pair of driven sprocket wheels 32 has a closed shape. When the articulated transmission torque between the limb housing 11 and the end housing 12 is less than the predetermined torque, the damping steel wire 35 maintains static friction with respect to the driving sprocket wheel 31 and the pair of driven sprocket wheels 32; when the articulated transmission torque between the limb housing 11 and the end housing 12 is greater than or equal to the predetermined torque, the damping steel wire 35 generates dynamic friction with respect to the driving sprocket wheel 31 and the pair of driven sprocket wheels 32, that is, the damping steel wire 35 slips relative to the driving sprocket wheel 31 and the pair of driven sprocket wheels 32. Specifically, the damping steel wire 35 forms an isosceles triangle through the driving sprocket wheel 31 and the pair of driven sprocket wheels 32. The driving sprocket wheel 31 corresponds to the apex angle of the isosceles triangle, and the pair of driven sprocket wheels 32 correspond to a pair of base angles of the isosceles triangle.

[0044] Specifically, both the driven sprocket wheels 32 form a plurality of wrapping segments in the extending direction (not shown in the drawings). The plurality of wrapping segments of the driving sprocket wheel 31 and the plurality of wrapping segments of the driven sprocket wheels 32 correspond to make a plurality of damping steel wires 35 form a plurality of isosceles triangles.

[0045] The damping steel wire 35 forms an adjustable wrap angle on the driven sprocket wheel 32. The damping steel wire 35 between the pair of driven sprocket wheels 32 is used as a variable structure wire segment 35a. Specifically, the robot imitates the action of an animal's leg movement through the relative rotation of the articulated ends of the limb housing 11 and the end housing 12. The static friction force generated by the driven sprocket wheel 32 at the adjustable wrap angle forms the driving torque of "leg movement".

[0046] Specifically, when the damping wire 35 maintains static friction with respect to the driving sheave 31 and the pair of driven sheaves 32, the bionic movement of "lifting the leg" can be effectively implemented; when the damping wire 35 slips relative to the driving sheave 31 and the pair of driven sheaves 32, the bionic movement of "lifting the leg" cannot be effectively implemented.

[0047] There are multiple allosteric positions 33, all of which are formed inside the end housing 12, and the multiple allosteric positions 33 are all near the driven sheave 32. The allosteric column 34 is alternatively inserted and fitted into the allosteric positions 33. The allosteric column 34 makes pressure contact with the allosteric wire segment 35a. Thus, when the allosteric column 34 switches and cooperates with the multiple allosteric positions 33, the adjustable wrap angles on the pair of driven sheaves 32 change simultaneously, increasing the articulated transmission torque between the limb housing 11 and the end housing 12. Specifically, the multiple allosteric positions 33 are linearly distributed, and this line is the median line on the base of the isosceles triangle formed by the damping wire 35. In this embodiment, the allosteric column 34 makes pressure contact with the allosteric wire segment 35a on the outside of the isosceles triangle, causing the allosteric wire segment 35a to bend inward. Thus, the deeper the allosteric wire segment 35a bends into the interior of the isosceles triangle, the larger the wrap angle formed by the allosteric wire segment 35a on the driven sheave 32, that is, the larger the adjustable wrap angle. And the larger the adjustable wrap angle means that the damping wire 35 has a larger friction surface on the driven sheave 32, that is, when the limb housing 11 and the end housing 12 are articulated and rotated, the damping wire 35 generates a larger static friction force on the driven sheave 32.

[0048] Specifically, as Figure 3 shown, the adjustable wrap angle β is:

[0049]

[0050] where r1 is the radius of the driving sheave 31, r2 is the radius of the driven sheave 32, r3 is the radius of the allosteric column 34, a is the center distance between the driving sheave 31 and the driven sheave 32, b is the center distance between the driven sheave 32 and the allosteric column 34, α is the straight line connection between the driving sheave 31 and the driven sheave 32, and the angle less than 180° formed by the straight line connection between the driven sheave 32 and the allosteric column 34.

[0051] As Figure 4 and Figure 5 shown, the mobile wheel assembly 40 includes a wheel axle rod 41 and a mobile wheel 42.

[0052] The mobile wheel 42 is rotatably arranged on the wheel axle rod 41. The mobile wheel 42 has an integrally formed rim (not shown in the drawings), wheel spokes 42a, and a hub 42b. The wheel spokes 42a are formed in the middle of the rim, and the hub 42b is sleeved on the wheel axle rod 41 through a bearing. Specifically, the wheel spokes 42a are formed in the middle of the rim in the wheel width direction.

[0053] When the rotatable sub - shell 122 is flipped open relative to the fixed sub - shell 121, the moving wheel 42 is in rolling contact with the predetermined ground. Specifically, the wheel axle rod 41 is fixedly arranged inside the rotatable housing 122. When the fixed sub - shell 121 and the rotatable sub - shell 122 are opened by the hinge, the interiors of the fixed sub - shell 121 and the rotatable sub - shell 122 are both open outward, the moving wheel 42 is exposed, and the support form of the support end on the predetermined ground is transformed from the support arc surface 122a to the peripheral surface of the moving wheel 42.

[0054] The flipping drive assembly 50 includes an electric push rod 51, a first hinge rod 52, and a second hinge rod 53, and the first hinge rod 52 is shorter than the second hinge rod 53.

[0055] The fixed part of the electric push rod 51 is arranged on the fixed sub - shell 121, and the moving part extends towards the rotatable sub - shell 122. The two ends of the first hinge rod 52 are respectively hinged to the moving end of the electric push rod 51 and the fixed sub - shell 121, and the two ends of the second hinge rod 53 are respectively hinged to the moving end of the electric push rod 51 and the rotatable sub - shell 122. Thus, when the electric push rod 51 operates, the second hinge rod 53 pushes the rotatable sub - shell 122 to flip relative to the fixed sub - shell 121. Specifically, when the moving part of the electric push rod 51 drives the first hinge rod 52 and the second hinge rod 53 to move linearly towards the rotatable sub - shell 122, due to the shorter length of the first hinge rod 52, it is first limited by the fixed sub - shell 121. The second hinge rod 53 cannot continue to move linearly towards the rotatable sub - shell 122 due to the limitation of the first hinge rod 52. Therefore, the second hinge rod 53 can only swing and rotate, so that the rotatable sub - shell 122 flips open relative to the fixed housing 121.

[0056] As Figure 6 shown, the auxiliary wheel assembly 60 includes a scaling motor 61, a first auxiliary wheel surface 62, a second auxiliary wheel surface 63, a couple hinge rod 64, and a scaling hinge rod 65. Specifically, the number of the auxiliary wheel assemblies 60 is multiple.

[0057] The scaling motor 61 is arranged on the inner surface of the wheel rim and near the wheel spoke, and the output shaft of the scaling motor 61 extends along the radial direction of the moving wheel 42. Specifically, the scaling motors 61 of the multiple auxiliary wheel assemblies 60 are all located in the middle of the wheel width direction of the moving wheel 42 and are arranged in a circle coaxial with the moving wheel 42.

[0058] The first auxiliary wheel surface 62 and the second auxiliary wheel surface 63 are respectively located at both ends of the wheel rim and are coaxially embedded in the wheel rim.

[0059] The middle part of the couple hinge rod 64 is fixedly arranged on the output shaft of the scaling motor 61. One end of a pair of scaling hinge rods 65 is respectively hinged to both ends of the couple hinge rod 64, and the other end is respectively hinged to the first auxiliary wheel surface 62 and the second auxiliary wheel surface 63, and a pair of scaling hinge rods 65 extend in opposite directions.

[0060] When the scaling motor 61 operates to drive the rotation of the couple hinge rod 64, couple moments are formed at both ends of the couple hinge rod 64. The couple moments cause the articulated bending angle between the couple hinge rod 64 and the scaling hinge rod 65 to change, and further, the first secondary wheel surface 62 and the second secondary wheel surface 63 extend or retract into the two ends of the rim. Specifically, multiple scaling motors 61 of multiple secondary wheel assemblies 60 operate simultaneously, and the multiple couple moments generated on the multiple couple hinge rods 64 together cause the first secondary wheel surface 62 and the second secondary wheel surface 63 to relatively extend or retract into the two ends of the rim.

[0061] Specifically, as Figure 7 shown, in a specific implementation, a mounting plate F is fixedly provided at the bottom of the robot, and the moving units 100 of multiple variable-load robots are detachably arranged on the mounting plate F.

[0062] The above embodiments are preferred cases of the present invention and are not used to limit the protection scope of the present invention. Various deformations or modifications that can be made by those of ordinary skill in the art without creative labor within the scope of the appended claims still fall within the protection scope of this patent.

Claims

1. A mobile unit of a variable load robot, characterized in that: include: The housing assembly comprises a limb housing and a terminal housing hinged at the end, wherein the terminal housing has a supporting end, and the supporting end is used to form a support for the variable load robot relative to a predetermined ground. The output transposition component includes an active sheave, a pair of passive sheaves, a transposition position, a transposition column and a damping wire, and the axes of the active sheave, the passive sheave and the extension direction of the transposition column are parallel to each other. The hinge shaft of the limb housing and the end housing is used as a driving shaft. The active sheave is located in the limb housing, and the active sheave is coaxially arranged on the driving shaft, the passive sheaves are fixed in the terminal housing, the damping steel wire is simultaneously wrapped around the active sheave and the pair of passive sheaves, and the damping steel wire has a closed shape, when the articulated transmission torque of the limb housing and the terminal housing is less than a predetermined torque, the damping steel wire maintains static friction relative to the active sheave and the pair of passive sheaves, The damping steel wire forms an adjustable envelope angle on the passive sheave, and the damping steel wire between the pair of passive sheaves is used as a variable structure steel wire segment. There are multiple allosteric sites and all are formed in the terminal shell, and all are located near the passive groove wheel, and the allosteric columns are selectively inserted in the allosteric sites, and the allosteric columns are in pressure contact with the allosteric wire segments, so that when the allosteric columns switch and cooperate with the multiple allosteric sites, the adjustable envelope angle changes at the same time, and the articulation transmission torque of the limb shell and the terminal shell increases.

2. The mobile unit of the variable load robot according to claim 1, characterized in that: Also includes: The moving wheel assembly comprises a wheel axle rod and a moving wheel, wherein the moving wheel is rotatably arranged on the wheel axle rod. The end shell includes a fixed sub-shell and a reversible sub-shell connected by hinges, and the support end is formed at the free end of the reversible sub-shell. When the reversible sub-shell is flipped open relative to the fixed sub-shell, the moving wheel rolls in contact with the predetermined ground.

3. The mobile unit of the variable load robot according to claim 2, characterized in that: in, The support end portion has a support arc surface abutting against a predetermined ground surface, so that when the flippable sub-shell is flipped open relative to the fixed sub-shell, the fixed sub-shell maintains a constant potential energy.

4. The mobile unit of the variable load robot according to claim 2, characterized in that: Also includes: The turning-over driving assembly includes an electric push rod, a first hinge rod and a second hinge rod, wherein the first hinge rod is shorter than the second hinge rod. The fixed part of the electric push rod is arranged on the fixed sub-shell, and the movable part extends toward the reversible sub-shell. The two ends of the first hinge rod are respectively hinged to the movable end of the electric push rod and the fixed sub-shell, and the two ends of the second hinge rod are respectively hinged to the movable end of the electric push rod and the reversible sub-shell, so that when the electric push rod moves, the second hinge rod pushes the reversible sub-shell to flip relative to the fixed sub-shell.

5. The mobile unit of the variable load robot according to claim 2, characterized in that: Also includes: The secondary wheel assembly includes a zoom motor, a first secondary wheel surface, a second secondary wheel surface, a couple hinge rod and a pair of zoom hinge rods. The movable wheel has an integrally formed rim, spokes and hub, the spokes are formed in the middle of the rim, and the hub is sleeved on the wheel axle rod. The zoom motor is arranged on the inner surface of the rim and near the spokes, and the output shaft of the zoom motor extends along the radial direction of the moving wheel. The first auxiliary wheel surface and the second auxiliary wheel surface are respectively located at two ends of the rim and are coaxially embedded in the rim. The middle part of the force couple hinge is fixed on the output shaft of the zoom motor, one end of the pair of zoom hinges is respectively hinged to the two ends of the force couple hinge, and the other end is respectively hinged to the first auxiliary wheel surface and the second auxiliary wheel surface, and the pair of zoom hinges extend in opposite directions relative to each other. When the zoom motor drives the couple hinge to rotate, a couple torque is formed at both ends of the couple hinge, which changes the hinge bending angle between the couple hinge and the zoom hinge, so that the first and second wheel surfaces extend out or retract into the two ends of the rim.

6. The mobile unit of the variable load robot according to claim 5, characterized in that: Also includes: The secondary transmission assembly includes a driving motor, an intermediate reduction sheave, a first transmission wire and a second transmission wire, and the output shaft of the driving motor and the intermediate reduction sheave are both rotatably arranged in the limb housing. The output shaft of the driving motor is formed with a sheave section, the sheave section and the rotating axis of the intermediate reduction sheave are parallel to the driving shaft, and the outer diameters of the sheave section, the intermediate reduction sheave and the driving sheave increase in sequence. The first transmission steel wire is simultaneously wrapped around the sheave section and the intermediate reduction sheave, and the second transmission steel wire is simultaneously wrapped around the intermediate reduction sheave and the active sheave.

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