Leg robot with energy storage function and spare wheel

Abstract

The invention relates to the technical field of robots, provides a leg robot with an energy storage function and spare wheels, and remarkably improves the explosive power of the leg robot by introducing a bionic muscle energy storage device and simulating the energy storage and release process of biological muscles. When the robot needs to surmount obstacles or jump, the bionic muscle energy storage device can quickly release stored energy and cooperatively work with the joint power driving assembly, and extra instantaneous power support is provided for the robot. Due to the synergistic effect, the robot can easily cross higher obstacles, and a farther jumping distance is achieved.

Description

Technical Field

[0001] The present invention relates to the field of robot technology, and more specifically, to a leg robot with energy storage function and spare wheels. Background Art

[0002] In the field of robot technology, legged robots and wheel-legged robots, as important mobile platforms, their power systems and locomotion capabilities have always been hot research topics. Traditional legged robots and wheel-legged robots mainly rely on direct motor drive. This drive method performs excellently in control accuracy and can achieve precise control of the robot's movement, especially having significant advantages in flat terrains and low-speed movement scenarios. However, when dealing with complex environments and high-dynamic movement requirements, such as rapid jumping, crossing obstacles, or flexibly switching between different terrains, the direct motor drive method gradually exposes its limitations.

[0003] Specifically, the direct motor drive has obvious deficiencies in providing instantaneous high-power output. When the motor needs to respond quickly or perform high-intensity actions, it is often difficult to provide sufficient power in a short time, resulting in poor performance of the robot when performing actions such as jumping and climbing. For example, during the jumping or obstacle-crossing process of a quadruped robot, limited by the instantaneous power output of the motor, its jumping height and distance are significantly restricted, making it difficult to meet the application requirements in complex environments.

[0004] Traditional wheel-legged robots often focus on optimizing a single locomotion mode, either wheeled or legged, in their designs, while neglecting the organic combination of the two. In scenarios where rapid locomotion mode switching or simultaneous utilization of the advantages of both modes is required, the traditional design appears inadequate, restricting the adaptability and flexibility of the robot in complex and changeable environments.

[0005] Therefore, those skilled in the art have proposed a leg robot with energy storage function and spare wheels to solve the problems raised in the background art. Summary of the Invention

[0006] To solve the above technical problems, the present invention provides a leg robot with energy storage function and spare wheels. This device incorporates bionics principles into the robot design. By simulating the characteristics of biological muscles that store energy when contracting and release energy when stretching, it can provide additional instantaneous power support for the robot, significantly enhancing its explosive power and locomotion ability.

[0007] A leg robot with energy storage function and spare wheels includes a leg main body. Two driving motors 1 are installed at positions close to both sides on the inner side of the leg main body for driving the movement of the thigh assembly.

[0008] The thigh assembly is installed on the outer side of the leg main body, and the output end of the driving motor 1 is fixedly connected to the thigh assembly.

[0009] One end of the thigh component is rotatably connected to the calf component through a connecting rotating shaft, and the calf component is arranged inside the thigh component;

[0010] On both sides of the bottom end of the calf component, a first leg roller and a second leg roller are respectively rotatably connected, which are used to provide wheeled movement ability;

[0011] It also includes a bionic muscle energy storage device, which is arranged between the thigh component and the calf component, and is used to simulate the energy storage and release process of biological muscles to enhance the explosive power of the robot.

[0012] Preferably, the bionic muscle energy storage device includes an elastic pull rope. One end of the elastic pull rope is fixed on the calf extension rod at the top of the calf component, and the other end is connected to the thigh component through an adjustment component;

[0013] The adjustment component includes a connecting chute, a connecting slider and a top pulley. The connecting slider is slidably connected to the connecting chute, and the top pulley is installed on the top of the connecting slider and is connected to the elastic pull rope, which is used to adjust the tension of the elastic pull rope;

[0014] When the calf component moves relative to the thigh component, the elastic pull rope is stretched and stores energy, and provides additional power support when released.

[0015] Preferably, the adjustment component further includes a driving motor three and a lead screw. The driving motor three is installed inside the thigh component, and its output end is fixedly connected to the lead screw;

[0016] The lead screw is threadedly connected to the connecting slider. By rotating the driving motor three, the lead screw is driven to rotate, and then the connecting slider is driven to slide on the connecting chute to adjust the pre-tightening force of the elastic pull rope.

[0017] Preferably, it also includes a joint power driving component. The joint power driving component includes a driving motor two, which is installed inside the thigh component;

[0018] The output end of the driving motor two is fixedly connected to a rotating rod, and the outside of the rotating rod is rotatably connected to a hinged rod;

[0019] The other end of the hinged rod is rotatably connected to the outside of the calf component. By rotating the driving motor two, the rotating rod and the hinged rod are driven to move, and then the angle between the calf component and the thigh component is adjusted to realize the bending and stretching of the joint.

[0020] Preferably, the joint power driving component and the bionic muscle energy storage device work together. When the robot needs to cross an obstacle or jump, the bionic muscle energy storage device releases the stored energy and provides instantaneous power support for the robot together with the joint power driving component.

[0021] Preferably, the joint power driving assembly further includes a limiting and locking mechanism, including: a limiting rotating shaft installed in the thigh assembly, and a bottom extension rod rotatably connected to the outside thereof;

[0022] The bottom extension rod has a first hook fixedly connected to its bottom end, and a connecting roller rotatably connected in the first hook for engaging with a second hook at the top of the calf assembly to achieve locking and unlocking of the joint;

[0023] The second hook is fixedly connected to the top of the calf assembly, and an inclined chute is provided at the top thereof for guiding the sliding of the connecting roller to achieve the engagement and separation of the first hook and the second hook. A top convex block is also fixedly connected to the top of the limiting rotating shaft.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. By introducing a bionic muscle energy storage device, the present invention simulates the energy storage and release process of biological muscles, significantly improving the explosive power of the leg robot. When the robot needs to cross an obstacle or jump, the bionic muscle energy storage device can quickly release the stored energy and work together with the joint power driving assembly to provide additional instantaneous power support for the robot. This synergistic effect enables the robot to easily cross higher obstacles and achieve a longer jumping distance.

[0026] 2. The combination of bionic muscles and joint power design enables the leg robot of the present invention to perform excellently in complex and changeable environments. Through the optimization of the joint power driving assembly, the robot can flexibly adjust the angle between the calf assembly and the thigh assembly to achieve seamless switching between wheeled and legged motion modes. This design not only improves the moving efficiency of the robot on flat ground, but also enhances its adaptability and flexibility in complex environments such as rugged mountain roads and uneven terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0028] Figure 2 is the present invention Figure 1 is a cross-sectional structural schematic diagram of the thigh assembly in the present invention;

[0029] Figure 3 is the present invention Figure 2 is a structural schematic diagram from another perspective in the present invention;

[0030] Figure 4 is the present invention Figure 2 is a cross-sectional structural schematic diagram in the present invention.

[0031] In the figure: 1. leg body; 2. driving motor 1; 3. thigh assembly; 4. connecting shaft; 5. calf assembly; 6. leg roller 1; 7. leg roller 2; 8. driving motor 2; 9. rotating rod; 10. hinged rod; 11. limiting shaft; 12. bottom extension rod; 13. first hook; 14. second hook; 15. driving motor 3; 16. screw rod; 17. connecting slider; 18. calf extension rod; 19. elastic pull rope; 20. connecting roller; 21. oblique slide; 22. connecting slide; 23. top pulley; 24. top bump. DETAILED DESCRIPTION

[0032] The following is a further detailed description of the embodiments of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0033] As attached Figure 1 To Attachment Figure 4 As shown:

[0034] Embodiment 1: According to Figures 1-4 As shown, the present invention provides a leg robot with energy storage function and spare wheels. The overall structure of the leg robot is constructed as follows: construct a leg body 1, and install two drive motors 2 at the inner side near the two sides. The output end of the drive motor 2 is rigidly connected to the thigh component 3 to ensure the effective transmission of the driving force.

[0035] A connecting shaft 4 is installed at the end of the thigh component 3, through which the thigh component 3 is rotatably connected to the calf component 5. The calf component 5 is arranged on the inner side of the thigh component 3, and is rotatably connected to the leg roller 1 6 and the leg roller 2 7 on both sides of the bottom end thereof, forming a wheel-leg composite structure.

[0036] Embodiment 2: According to Figures 1-4 As shown, the installation and configuration of the bionic muscle energy storage device: a calf extension rod 18 is fixedly connected to the top of the calf component 5, and an elastic drawstring 19 is installed on the outside of the calf extension rod 18 as the core energy storage element of the bionic muscle energy storage device.

[0037] A connecting slide 22 is fixedly connected in the thigh component 3, and a connecting slider 17 is slidably connected on the top thereof. A top pulley 23 is installed on the top of the connecting slider 17, and the elastic drawstring 19 is connected to the adjustment component in the thigh component 3 through the top pulley 23.

[0038] The drive motor 3 15 and the screw 16 are installed, the output end of the drive motor 3 15 is fixedly connected to the screw 16, and the screw 16 is threadedly connected to the connecting slider 17. The rotation of the drive motor 3 15 can drive the screw 16 to rotate, and then drive the connecting slider 17 to slide on the connecting slide 22, adjust the preload force of the elastic pull rope 19, and realize the precise control of energy storage and release.

[0039] Embodiment 3: As shown in Figure 1 and Figure 2 , the installation and debugging of the joint power drive assembly: Install the second drive motor 8 on the inner side of the thigh assembly 3, and fixedly connect the output end thereof to the rotating rod 9. The outer side of the rotating rod 9 is rotatably connected to the hinged rod 10, and the other end of the hinged rod 10 is rotatably connected to the outer side of the calf assembly 5.

[0040] By rotating the second drive motor 8, the rotating rod 9 and the hinged rod 10 are driven to move, thereby adjusting the angle between the calf assembly 5 and the thigh assembly 3, and realizing the bending and stretching of the joint. In this process, the bionic muscle energy storage device and the joint power drive assembly work together to provide power support for the robot.

[0041] Embodiment 4: As shown in Figure 3 and Figure 4 , when the robot needs to cross an obstacle or jump, the control system first adjusts the angle between the calf assembly 5 and the thigh assembly 3 through the second drive motor 8 to make the robot in a suitable posture for jumping.

[0042] Subsequently, the third drive motor 15 starts to work, and adjusts the pre-tightening force of the elastic pull rope 19 through the lead screw 16 and the connecting slider 17 to make it reach the energy storage state.

[0043] The joint power drive assembly further includes a limiting and locking mechanism, including: a limiting rotating shaft 11, installed in the thigh assembly 3, and the outer side thereof is rotatably connected to a bottom extension rod 12;

[0044] The bottom extension rod 12, the bottom end thereof is fixedly connected with a first hook 13, and a connecting roller 20 is rotatably connected inside the first hook 13, which is used to engage with the second hook 14 at the top of the calf assembly 5 to realize the locking and unlocking of the joint;

[0045] The second hook 14 is fixedly connected to the top of the calf assembly 5, and an inclined chute 21 is opened at the top thereof, which is used to guide the sliding of the connecting roller 20 to realize the engagement and separation of the first hook 13 and the second hook 14. The top of the limiting rotating shaft 11 is also fixedly connected with a top convex block 24; when actually in use, the connecting slider 17 drives forward through the lead screw 16, and then pushes the top convex block 24, so that the top convex block 24 drives the bottom extension rod 12 to disengage from the second hook 14, and the energy-stored elastic pull rope 19 explodes.

[0046] When the preset energy storage threshold is reached, the control system simultaneously triggers the release mechanisms of the first drive motor 2 and the bionic muscle energy storage device. The first drive motor 2 provides basic power, while the bionic muscle energy storage device quickly releases the stored energy. The two work together to provide strong instantaneous power support for the robot to realize jumping or obstacle-crossing actions.

[0047] Integrate an advanced control system to achieve precise control of drive motor 1 (2), drive motor 2 (8), and drive motor 3 (15). At the same time, install a variety of sensors such as angle sensors, force sensors, etc. to continuously monitor the motion state and environmental information of the robot.

[0048] According to the information fed back by the sensors, the control system dynamically adjusts the energy storage and energy release processes of the bionic muscle energy storage device, as well as the working state of the joint power drive components, ensuring that the robot can maintain the best motion performance in various complex environments.

[0049] Working principle: When the leg robot is powered on and starts, the control system performs initialization operations, including detecting the operating states of drive motor 1 (2), drive motor 2 (8), and drive motor 3 (15) to ensure that they are in the normal working mode. The control system also checks the state of the elastic pull rope 19 of the bionic muscle energy storage device to confirm that it is in a relaxed and uncharged state, preparing for subsequent energy storage operations. The sensor system on the robot starts to work, collecting information about the surrounding environment, including terrain, obstacle positions, distances, etc. According to the data provided by the sensors and combined with the preset task objectives, the control system conducts path planning to determine the motion mode and path that the robot should adopt. According to the results of the path planning, the control system selects a suitable motion mode, wheeled or legged. The control system adjusts the angle between the calf component 5 and the thigh component 3 through drive motor 2 to ensure that the joint is in a position suitable for the current motion mode, preparing for subsequent motion. When the robot needs to perform high-intensity actions such as jumping and obstacle crossing, the control system activates the bionic muscle energy storage device. Drive motor 3 (15) drives the lead screw 16 to rotate, which in turn pushes the connecting slider 17 to move along the connecting chute 22, stretching the elastic pull rope 19 for energy storage. During the energy storage process, the control system adjusts the energy storage rate and energy storage amount according to the real-time feedback to ensure the best energy storage state. When the energy storage reaches the preset threshold or receives an execution instruction, the control system simultaneously triggers drive motor 1 (2) and releases the energy stored in the elastic pull rope 19. Drive motor 1 (2) provides the basic power, and the elastic pull rope 19 releases the stored energy to provide additional power. The two work together to enable the robot to complete actions such as jumping and obstacle crossing. During the motion process, the sensor system continuously monitors the environmental information and the robot's state, and feeds the data back to the control system. The control system dynamically adjusts the motion speed, direction, and posture of the robot according to the feedback information to ensure that the robot can flexibly respond to environmental changes and avoid obstacles.

[0050] All the standard parts used in the present invention can be purchased from the market. The special-shaped parts can be customized according to the descriptions in the specification and the attached drawings. The specific connection manners of each part all adopt the conventional means such as bolts, rivets, welding, etc. which are mature in the prior art. The machinery, parts and equipment all adopt the conventional models in the prior art. In addition, the circuit connection adopts the conventional connection manner in the prior art, which will not be elaborated herein. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0051] In the description of the present invention, the terms "first" and "second" are only used for descriptive purposes and cannot be construed 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 one or more of such features. The meaning of "a plurality" is two or more unless otherwise specifically defined.

[0052] In the present invention, unless otherwise clearly specified and limited, the terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. 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.

[0053] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature is at a higher level than the second feature in terms of horizontal height. The first feature being "under", "below" and "beneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature is at a lower level than the second feature in terms of horizontal height.

[0054] In the description of this specification, the descriptions with reference to 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 descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0055] In the accompanying drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are involved. For other structures, reference can be made to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0056] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A leg robot with energy storage function and spare wheel, characterized in that: It includes a leg main body (1), and two driving motors one (2) are installed at positions near both sides on the inner side of the leg main body (1) for driving the movement of the thigh assembly (3); The thigh assembly (3) is installed on the outer side of the leg main body (1), and the output end of the driving motor one (2) is fixedly connected to the thigh assembly (3); The end of the thigh assembly (3) is rotatably connected to the calf assembly (5) through a connecting rotating shaft (4), and the calf assembly (5) is arranged on the inner side of the thigh assembly (3); Both sides at the bottom end of the calf assembly (5) are respectively rotatably connected with a leg roller one (6) and a leg roller two (7) for providing wheeled moving ability; It further includes a bionic muscle energy storage device, which is arranged between the thigh assembly (3) and the calf assembly (5) for simulating the energy storage and release process of biological muscles and enhancing the explosive power of the robot.

2. The leg robot with energy storage function and spare wheel according to claim 1, characterized in that: The bionic muscle energy storage device includes an elastic pull rope (19), one end of the elastic pull rope (19) is fixed on the calf extension rod (18) at the top of the calf assembly (5), and the other end is connected to the thigh assembly (3) through an adjusting component; The adjusting component includes a connecting sliding groove (22), a connecting slider (17) and a top pulley (23), the connecting slider (17) is slidably connected on the connecting sliding groove (22), and the top pulley (23) is installed on the top of the connecting slider (17) and is connected to the elastic pull rope (19) for adjusting the tension of the elastic pull rope (19); When the calf assembly (5) moves relative to the thigh assembly (3), the elastic pull rope (19) is stretched and stores energy, and provides additional power support when released.

3. The leg robot with energy storage function and spare wheel according to claim 2, characterized in that: The adjusting component further includes a driving motor three (15) and a lead screw (16), the driving motor three (15) is installed in the thigh assembly (3), and its output end is fixedly connected to the lead screw (16); The lead screw (16) is threadedly connected to the connecting slider (17), and by rotating the driving motor three (15), the lead screw (16) is driven to rotate, thereby driving the connecting slider (17) to slide on the connecting sliding groove (22) to adjust the pre-tightening force of the elastic pull rope (19).

4. The leg robot with energy storage function and spare wheel according to claim 1, characterized in that: It further includes a joint power driving component, and the joint power driving component includes a driving motor two (8) installed on the inner side of the thigh assembly (3); The output end of the driving motor two (8) is fixedly connected to a rotating rod (9), and the outer side of the rotating rod (9) is rotatably connected to a hinged rod (10); The other end of the hinged rod (10) is rotatably connected to the outer side of the calf assembly (5), and by rotating the driving motor two (8), the rotating rod (9) and the hinged rod (10) are driven to move, thereby adjusting the angle between the calf assembly (5) and the thigh assembly (3) to realize the bending and stretching of the joint.

5. The leg robot with energy storage function and spare wheel according to claim 4, characterized in that: The joint power driving component and the bionic muscle energy storage device work together. When the robot needs to cross an obstacle or jump, the bionic muscle energy storage device releases the stored energy and provides instantaneous power support for the robot together with the joint power driving component.

6. The leg robot with energy storage function and spare wheel according to claim 5, characterized in that: The joint power drive assembly further includes a limiting and locking mechanism, including: a limiting rotating shaft (11), installed in the thigh assembly (3), and a bottom extension rod (12) is rotatably connected to the outside thereof; The bottom extension rod (12), the bottom end of which is fixedly connected with a first hook (13), and a connecting roller (20) is rotatably connected in the first hook (13) for engaging with a second hook (14) at the top of the calf assembly (5) to realize the locking and unlocking of the joint; The second hook (14), fixedly connected to the top of the calf assembly (5), and an inclined chute (21) is opened at the top thereof for guiding the sliding of the connecting roller (20) to realize the engagement and separation of the first hook (13) and the second hook (14). A top convex block (24) is also fixedly connected to the top of the limiting rotating shaft (11).

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