Bimorphic self-adaptive driving device of legged robot

Abstract

The invention relates to a bimorphic self-adaptive driving device of a legged robot, and belongs to the technical field of driving devices.The bimorphic self-adaptive driving device comprises a bottom plate, a connecting disc used for mounting the robot is fixedly mounted at the top of the bottom plate, a jacking mechanism used for jacking the bottom plate is arranged in the bottom plate, and mounting frames are symmetrically arranged at the bottom of the bottom plate; a connecting frame is fixedly mounted at the bottom of the mounting frame, a concave frame is arranged in the mounting frame, and a turnover mechanism used for adjusting the angle of the concave frame is arranged in the connecting frame; when walking on a flat road surface, the robot can move in any direction in a plane through the assembled Mecanum wheels, when the road surface condition is bad, the turnover mechanism turns over and turns into another mode, the five-section type module driving design is adopted to simulate the movement of a snake, each section is provided with an independent driving device and an independent control system, and therefore the driving efficiency of the snake is greatly improved. The robot can flexibly control the motion posture of each module, so that different motion modes are realized, and the flexibility is improved.

Description

Technical Field

[0001] The present invention specifically relates to a dual-morphology adaptive driving device of a leg-foot robot, and belongs to the technical field of driving devices. Background Art

[0002] Legged robot technology is in a stage of rapid development. The current level of technology can already realize basic human action simulation, such as walking, grasping, object recognition and language interaction with humans. Relying on the progress of artificial intelligence, sensing technology and mechanical control systems, modern legged robots have not only shown great potential in the industrial field, but have also gradually extended to multiple fields such as the service industry, medical rehabilitation, education and entertainment. Countries attach great importance to the development of legged robot technology and have regarded it as an important part of artificial intelligence and high-end manufacturing.

[0003] Legged robots primarily utilize wheeled, wheel-legged, legged, tracked, and creeper-type propulsion systems. However, these existing propulsion systems still face significant limitations in versatility and adaptability: wheeled systems are efficient on flat surfaces but struggle to cope with slippery, rough, or unstructured terrain; legged systems, while highly adaptable, are complex, difficult to control, and consume a lot of energy; tracked systems offer good maneuverability but lack steering flexibility and are prone to damage; creeper-type propulsion systems are slow and inefficient. These single propulsion modes are unable to meet the demands of legged robots for both efficient maneuverability and stability on extreme terrain in complex real-world scenarios such as disaster relief and field exploration. Therefore, a dual-modality adaptive drive mechanism for legged robots is proposed. Summary of the Invention

[0004] The purpose of the present invention is to address the deficiencies of the prior art and provide a dual-mode adaptive drive device for a leg-foot robot so as to adapt to walking on different terrains.

[0005] The cam is fixedly mounted on the top of the base plate, and a connecting plate for mounting the robot is fixedly mounted on the top of the base plate, a lifting mechanism for lifting the base plate is provided inside the base plate, a mounting frame is symmetrically provided on the bottom of the base plate, a connecting frame is fixedly mounted on the bottom of the mounting frame, a concave frame is provided inside the mounting frame, a flip mechanism for adjusting the angle of the concave frame is provided inside the connecting frame, a sliding block is provided inside the concave frame, a threaded cylinder is fixedly mounted inside the sliding block, a threaded rod is threadedly connected to the threaded cylinder, and the threaded rod is rotatably connected to the inside of the concave frame, a servo motor is fixedly mounted inside the concave frame, and the output end of the servo motor is fixedly connected to one end of the threaded rod, a guide assembly for guiding the sliding block is provided inside the concave frame, a bracket is fixedly mounted on the bottom of the concave frame, a Mecanum wheel is provided inside the bracket, and a limiting mechanism is provided on the sliding block.

[0006] Preferably, the flipping mechanism includes a cylinder, a driving motor, a rotating component, and a telescopic component. The cylinder is fixedly connected to the connecting frame. The driving motors are symmetrically and fixedly installed inside the cylinder. The rotating component is arranged inside the cylinder, and the output end of the driving motor is fixedly connected to the rotating component. The telescopic component is connected to the rotating component and is connected to the corresponding concave frame.

[0007] Preferably, the rotating component includes a rotating disk and a clamping block. The rotating disk is rotatably arranged inside the cylinder. The clamping block is fixedly arranged inside the cylinder. An annular groove is arranged at the edge of the rotating disk, and the clamping block is engaged with the annular groove.

[0008] Preferably, the telescopic component includes a square groove, an electromagnet, a magnetic attraction block, and a connecting plate. One end of the square groove is fixedly connected to the rotating disk. The electromagnet is fixedly installed inside the square groove. The magnetic attraction block is arranged inside the square groove and is located on one side of the electromagnet. One end of the connecting plate is fixedly connected to the magnetic attraction block, and the other end of the connecting plate extends out of the square groove and is fixedly connected to the concave frame.

[0009] Preferably, the jacking mechanism includes a groove body, a power motor, a threaded screw rod, a supporting block, and a threaded ring. The groove bodies are symmetrically installed inside the bottom plate. The power motor is fixedly installed inside the groove body. One end of the threaded screw rod is fixedly connected to the output end of the power motor. The supporting block is arranged inside the groove body. The threaded ring is fixedly arranged inside the supporting block, and the threaded screw rod is in threaded connection with the threaded ring.

[0010] Preferably, the guiding component includes a guide rod and a guiding cylinder. The guiding cylinder is fixedly installed inside the sliding block. The guide rod is arranged inside the guiding cylinder and is fixedly connected to the concave frame.

[0011] Preferably, the limiting mechanism includes a movable groove, a through groove, a sliding plate, an electric push rod, and a limiting component. The movable groove is fixedly installed inside the sliding block. The through grooves are arranged in an array on the movable groove. The sliding plate is arranged inside the movable groove. The electric push rod is fixedly installed inside the sliding block, and the telescopic end of the electric push rod is fixedly connected to the sliding plate. The limiting component is arranged on the sliding plate.

[0012] Preferably, the limiting component includes a square plate and a tapered block. The square plate corresponding to the through groove is fixedly installed on the sliding plate and is arranged inside the through groove. The tapered block is fixedly installed on the square plate.

[0013] Preferably, a battery component is fixedly installed inside the bottom plate.

[0014] Compared with the prior art, the beneficial effects of the present invention are: When the present invention walks on a flat road surface, it can achieve movement in any direction within the plane through the assembled Mecanum wheels. The Mecanum wheels rely on the directions and speeds of their respective wheels. The final synthesis of these forces generates a resultant force vector in any required direction, thus ensuring that this platform can move freely in the direction of the final resultant force vector. When the road surface condition is poor, the flipping mechanism flips and switches to another mode, adopting a design of five-segment module drive to imitate the movement of a snake. Each segment has an independent drive device and control system. Each module can rotate independently, similar to the structure of a push-pull device. Each module first extends forward, and then drives the subsequent modules to move forward by frictional contact with the ground at the bottom contact points. Linear motion can provide higher stability, especially in situations where the robot needs to move slowly and precisely, enabling the robot to flexibly control the movement postures of each module, thereby realizing different movement modes and improving flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic structural diagram of the dual-mode adaptive drive device of the leg-foot robot of the present invention; Figure 2 is a schematic structural diagram of the bottom plate of the present invention; Figure 3 is a schematic structural diagram of the concave frame of the present invention; Figure 4 is a schematic structural diagram of the Mecanum wheel of the present invention; Figure 5 is a schematic structural diagram of the groove body of the present invention; Figure 6 is a schematic structural diagram of the sliding block of the present invention; Figure 7 is a schematic structural diagram of the sliding plate of the present invention; Figure 8 is a schematic structural diagram of the cylinder of the present invention.

[0016] In the figure: 1, bottom plate; 2, connecting plate; 3, groove body; 4, power motor; 5, threaded lead screw; 6, support block; 7, threaded ring; 8, mounting frame; 9, connecting frame; 10, cylinder; 11, drive motor; 12, rotating disk; 13, clamping block; 14, square groove; 15, electromagnet; 16, magnetic attraction block; 17, connecting plate; 18, concave frame; 19, sliding block; 20, guide rod; 21, guide cylinder; 22, threaded cylinder; 23, threaded rod; 24, servo motor; 25, support; 26, Mecanum wheel; 27, movable groove; 28, through groove; 29, sliding plate; 30, square plate; 31, conical block; 32, electric push rod; 33, battery assembly. DETAILED DESCRIPTION OF THE INVENTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention. In the examples, well-known circuits, power supplies, software, or methods are not specifically described to avoid confusing the present invention.

[0018] Please refer to Figure 1-8As shown in the figure, a dual - form adaptive drive device for a legged robot includes a bottom plate 1. A connection disk 2 for installing the robot is fixedly installed on the top of the bottom plate 1. A jacking mechanism for jacking up the bottom plate 1 is arranged inside the bottom plate 1. Mounting brackets 8 are symmetrically arranged at the bottom of the bottom plate 1. A connecting frame 9 is fixedly installed at the bottom of the mounting bracket 8. A concave - shaped frame 18 is arranged inside the mounting bracket 8. A flipping mechanism for adjusting the angle of the concave - shaped frame 18 is arranged inside the connecting frame 9. A sliding block 19 is arranged inside the concave - shaped frame 18. A threaded cylinder 22 is fixedly installed inside the sliding block 19. A threaded rod 23 is in threaded connection with the threaded cylinder 22, and the threaded rod 23 is rotatably connected to the inside of the concave - shaped frame 18. A servo motor 24 is fixedly installed inside the concave - shaped frame 18, and the output end of the servo motor 24 is fixedly connected to one end of the threaded rod 23. A guiding component for guiding the sliding block 19 is arranged inside the concave - shaped frame 18. A bracket 25 is fixedly installed at the bottom of the concave - shaped frame 18. A Mecanum wheel 26 is arranged inside the bracket 25. A limiting mechanism is arranged on the sliding block 19. When the dual - form adaptive drive device of the legged robot walks on the ground, when walking on a flat road surface, the Mecanum wheel 26 assembled can achieve movement in any direction within the plane. The Mecanum wheel 26 relies on the directions and speeds of its respective wheels. The final synthesis of these forces generates a resultant force vector in any required direction, thus ensuring that this platform can move freely in the direction of the final resultant force vector without changing the direction of the wheels themselves. Many small rollers are obliquely distributed on its rim, so the wheel can slide laterally. The generatrix of the small roller is very special. When the wheel rotates around the fixed wheel center axis, the envelope surface of each small roller is a cylindrical surface, so the wheel can roll continuously forward. The Mecanum wheel 26 has a compact structure and flexible movement and is an omnidirectional wheel.Four of these new wheels are combined to more flexibly and conveniently achieve all-round movement functions, enabling the robot to move in any direction without turning. When the road conditions are poor (slippery, rough, muddy), the flipping mechanism flips and switches to another mode, adopting a five-segment module drive design to imitate the movement of a snake. Each segment has an independent drive device and control system, and each module can rotate independently. After the limiting mechanism contacts the ground, the servo motor 24 works to drive the threaded rod 23 to rotate. When the threaded rod 23 rotates, the position of the sliding block 19 is adjusted through the cooperation of the threaded barrel 22. With the cooperation of the limiting mechanism, the friction with the ground can be increased. Adopting a structure similar to a push-pull device, each module first extends forward, and then drives the subsequent modules forward by friction at the contact points at the bottom. Linear motion can provide higher stability, especially in situations where the robot needs to move slowly and precisely, which is similar to the way a snake uses its abdominal muscles to push its body forward during linear motion. The movement of each module is managed by a distributed control system, enabling the robot to flexibly control the movement postures of each module, thereby achieving different movement modes. The segments are connected by flexible materials, allowing sufficient bending amplitude while ensuring movement transmission and coordination between segments. The connecting components between segments are crucial and can use spring connections or rubber joints, which can ensure a certain degree of rigidity and achieve large-angle bending and deformation when needed. The flexible connecting components need to have sufficient elasticity to withstand bending and tensile forces, but not be too loose to ensure efficient force transmission during undulation. Sensors are installed on the concave frame 18. When the sensors detect insufficient friction or changes in road conditions, the system automatically activates the rotary drive and switches to the snake drive mode. At the same time, when the sensors detect that the robot returns to a flat or dry road surface, the system rotates again and switches to the wheel mode for fast operation. The double-sided design and the rotary drive system make the entire structure relatively simple and easy to maintain. At the same time, the sensors and the automatic adjustment mechanism make the drive mode control process fully automated.

[0019] Furthermore, the flipping mechanism includes a cylinder 10, a drive motor 11, a rotating component, and a telescopic component. The cylinder 10 is fixedly connected to the connecting frame 9. The drive motor 11 is symmetrically and fixedly installed inside the cylinder 10. The rotating component is arranged inside the cylinder 10, and the output end of the drive motor 11 is fixedly connected to the rotating component. The telescopic component is connected to the rotating component and is also connected to the corresponding concave frame 18. The cylinder 10 is installed through the connecting frame 9. When the drive motor 11 works, it drives the rotating component to rotate, and it can rotate 180 degrees. The telescopic component facilitates the movement of the concave frame 18.

[0020] Further, the rotating assembly includes a rotating disk 12 and a clamping block 13. The rotating disk 12 is rotatably arranged inside the cylinder 10, and the clamping block 13 is fixedly arranged inside the cylinder 10. An annular groove is arranged at the edge of the rotating disk 12, and the clamping block 13 is engaged with the annular groove. When the rotating disk 12 rotates, the clamping block 13 will guide the rotating disk 12 to rotate smoothly.

[0021] Further, the telescopic assembly includes a square groove 14, an electromagnet 15, a magnetic attraction block 16 and a connecting plate 17. One end of the square groove 14 is fixedly connected to the rotating disk 12. The electromagnet 15 is fixedly installed inside the square groove 14. The magnetic attraction block 16 is arranged inside the square groove 14 and is located on one side of the electromagnet 15. One end of the connecting plate 17 is fixedly connected to the magnetic attraction block 16, and the other end of the connecting plate 17 extends out of the square groove 14. The other end of the connecting plate 17 is fixedly connected to the concave frame 18. When the electromagnet 15 works to generate magnetic force, the position of the magnetic attraction block 16 will be fixed. When the electromagnet 15 stops working and no longer generates magnetic force, the magnetic attraction block 16 can slide inside the square groove 14, and then the connecting plate 17 can move, which is convenient for the telescopic movement of the position of the concave frame 18.

[0022] Further, the jacking mechanism includes a groove body 3, a power motor 4, a threaded lead screw 5, a support block 6 and a threaded ring 7. The groove bodies 3 are symmetrically installed inside the bottom plate 1. The power motor 4 is fixedly installed inside the groove body 3. One end of the threaded lead screw 5 is fixedly connected to the output end of the power motor 4. The support block 6 is arranged inside the groove body 3 in a penetrating manner. The threaded ring 7 is fixedly arranged inside the support block 6, and the threaded lead screw 5 is threadedly connected to the threaded ring 7. When the power motor 4 works, it will drive the threaded lead screw 5 to rotate. The rotation of the threaded lead screw 5 will make the support block 6 move through the cooperation of the threaded ring 7. When the support block 6 moves and contacts the ground, the position of the bottom plate 1 can be adjusted, which is convenient for the rotation of the flipping mechanism.

[0023] Further, the guiding assembly includes a guide rod 20 and a guide cylinder 21. The guide cylinder 21 is fixedly installed inside the sliding block 19. The guide rod 20 is arranged inside the guide cylinder 21 in a penetrating manner, and the guide rod 20 is fixedly connected to the concave frame 18. When the sliding block 19 moves, the guide rod 20 and the guide cylinder 21 cooperate to guide the sliding block 19 to move smoothly.

[0024] Further, the limiting mechanism includes a movable groove 27, a through groove 28, a sliding plate 29, an electric push rod 32 and a limiting component. The movable groove 27 is fixedly installed inside the sliding block 19. The through grooves 28 are arranged in an array on the movable groove 27. The sliding plate 29 is arranged inside the movable groove 27. The electric push rod 32 is fixedly installed inside the sliding block 19, and the telescopic end of the electric push rod 32 is fixedly connected to the sliding plate 29. The limiting component is arranged on the sliding plate 29. When the electric push rod 32 works, it will push the sliding plate 29 to move. The movement of the sliding plate 29 makes the limiting component contact the ground to increase the friction force.

[0025] Further, the limiting component includes a square plate 30 and a conical block 31. The square plate 30 corresponding to the through groove 28 is fixedly installed on the sliding plate 29, and the square plate 30 is inserted into the through groove 28. The conical block 31 is fixedly installed on the square plate 30. When the square plate 30 moves, it will drive the conical block 31 to move. When the conical block 31 moves and contacts the ground, the friction with the ground can be increased.

[0026] Further, a battery assembly 33 is fixedly installed inside the bottom plate 1. The battery assembly 33 is electrically connected to the internal power supply of the dual-mode adaptive driving device of the legged robot, providing power for the operation of electronic devices.

[0027] As a technical optimization solution of the present invention, first, when the dual-mode adaptive drive device of the legged robot walks on the ground, when walking on a flat road surface, the omnidirectional movement in any direction within the plane can be achieved through the assembled Mecanum wheels 26. The Mecanum wheels 26 rely on the directions and speeds of their respective wheels. The final synthesis of these forces generates a resultant force vector in any required direction, thus ensuring that this platform can move freely in the direction of the final resultant force vector without changing the direction of the wheels themselves. Many small rollers are obliquely distributed on its rim, so the wheels can slide laterally. The generatrix of the small rollers is very special. When the wheels rotate around the fixed wheel center axis, the envelope of each small roller is a cylindrical surface, so the wheels can roll forward continuously. The Mecanum wheels 26 are compact in structure and flexible in movement, and are a very successful all-directional wheel. The combination of 4 such new wheels can more flexibly and conveniently achieve the omnidirectional movement function, enabling the robot to move in any direction without turning. When the road surface conditions are bad (slippery, rough, muddy), the flipping mechanism flips and switches to another mode, adopting the design of five-segment module drive to imitate the movement of a snake. Each segment has an independent drive device and control system, and each module can rotate independently. After the limiting mechanism contacts the ground, the servo motor 24 works to drive the threaded rod 23 to rotate. When the threaded rod 23 rotates, the position of the sliding block 19 is adjusted through the cooperation of the threaded barrel 22. Through the cooperation of the limiting mechanism, the friction with the ground can be increased. Adopting a structure similar to a push-pull device, each module first extends forward, and then drives the subsequent modules to move forward by friction with the ground through the contact points at the bottom. Linear motion can provide higher stability, especially in occasions where the robot needs to move slowly and precisely, which is similar to the way a snake uses the abdominal muscles to push the body forward during linear motion. The movement of each module is managed by a distributed control system, enabling the robot to flexibly control the movement postures of each module, thereby achieving different movement modes. The segments are connected by flexible materials, allowing both sufficient bending amplitude and ensuring the movement transmission and coordination between the segments. The connecting components between the segments are crucial, and spring connections or rubber joints can be used, which can ensure a certain rigidity and can achieve large-angle bending and deformation when needed.

[0028] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered by the scope of the claims and the description of the present invention.

Claims

1. A dual - form adaptive driving device for a legged robot, comprising a bottom plate (1), characterized in that: A connection plate (2) for installing a robot is fixedly installed on the top of the bottom plate (1). A jacking mechanism for jacking up the bottom plate (1) is arranged inside the bottom plate (1). Mounting brackets (8) are symmetrically arranged at the bottom of the bottom plate (1). A connecting frame (9) is fixedly installed at the bottom of the mounting bracket (8). A concave frame (18) is arranged inside the mounting bracket (8). A turning mechanism for adjusting the angle of the concave frame (18) is arranged inside the connecting frame (9). A sliding block (19) is arranged inside the concave frame (18). A threaded cylinder (22) is fixedly installed inside the sliding block (19). A threaded rod (23) is threadedly connected inside the threaded cylinder (22), and the threaded rod (23) is rotatably connected to the inside of the concave frame (18). A servo motor (24) is fixedly installed inside the concave frame (18), and the output end of the servo motor (24) is fixedly connected to one end of the threaded rod (23). A guiding component for guiding the sliding block (19) is arranged inside the concave frame (18). A bracket (25) is fixedly installed at the bottom of the concave frame (18). A Mecanum wheel (26) is arranged inside the bracket (25). A limiting mechanism is arranged on the sliding block (19).

2. The dual - form adaptive drive device for a leg - foot robot according to claim 1, wherein: The turning mechanism includes a cylinder (10), a driving motor (11), a rotating component and a telescopic component. The cylinder (10) is fixedly connected to the connecting frame (9). The driving motors (11) are symmetrically and fixedly installed inside the cylinder (10). The rotating component is arranged inside the cylinder (10), and the output end of the driving motor (11) is fixedly connected to the rotating component. The telescopic component is connected to the rotating component and is connected to the corresponding concave frame (18).

3. The dual-mode adaptive driving device for a legged robot according to claim 2, characterized in that: The rotating component includes a rotating disc (12) and a clamping block (13). The rotating disc (12) is rotatably arranged inside the cylinder (10). The clamping block (13) is fixedly arranged inside the cylinder (10). An annular groove is arranged at the edge of the rotating disc (12), and the clamping block (13) is engaged with the annular groove.

4. The dual - form adaptive drive device of a legged robot according to claim 3, characterized in that: The telescopic component includes a square groove (14), an electromagnet (15), a magnetic attraction block (16) and a connecting plate (17). One end of the square groove (14) is fixedly connected to the rotating disc (12). The electromagnet (15) is fixedly installed inside the square groove (14). The magnetic attraction block (16) is arranged inside the square groove (14), and the magnetic attraction block (16) is located on one side of the electromagnet (15). One end of the connecting plate (17) is fixedly connected to the magnetic attraction block (16), and the other end of the connecting plate (17) extends out of the square groove (14). The other end of the connecting plate (17) is fixedly connected to the concave frame (18).

5. The dual - morphology adaptive driving device for a legged robot according to claim 1, wherein: The jacking mechanism includes a trough body (3), a power motor (4), a threaded lead screw (5), a support block (6) and a threaded ring (7). The trough body (3) is symmetrically installed inside the bottom plate (1). The power motor (4) is fixedly installed inside the trough body (3). One end of the threaded lead screw (5) is fixedly connected to the output end of the power motor (4). The support block (6) is arranged inside the trough body (3). The threaded ring (7) is fixedly arranged inside the support block (6), and the threaded lead screw (5) is in threaded connection with the threaded ring (7).

6. The dual-mode adaptive driving device of a legged robot according to claim 1, wherein: The guiding assembly includes a guide rod (20) and a guiding cylinder (21). The guiding cylinder (21) is fixedly installed inside the sliding block (19). The guide rod (20) is arranged inside the guiding cylinder (21), and the guide rod (20) is fixedly connected to the concave-shaped frame (18).

7. The dual - form adaptive driving device for a legged robot according to claim 1, wherein: The limiting mechanism includes a movable groove (27), a through groove (28), a sliding plate (29), an electric push rod (32) and a limiting assembly. The movable groove (27) is fixedly installed inside the sliding block (19). The through grooves (28) are arranged in an array on the movable groove (27). The sliding plate (29) is arranged inside the movable groove (27). The electric push rod (32) is fixedly installed inside the sliding block (19), and the telescopic end of the electric push rod (32) is fixedly connected to the sliding plate (29). The limiting assembly is arranged on the sliding plate (29).

8. The dual - form adaptive drive device of a legged robot according to claim 7, characterized in that: The limiting assembly includes a square plate (30) and a tapered block (31). The square plate (30) corresponding to the through groove (28) is fixedly installed on the sliding plate (29), and the square plate (30) is arranged inside the through groove (28). The tapered block (31) is fixedly installed on the square plate (30).

9. The dual-mode adaptive drive device for a legged robot according to claim 8, characterized in that: A battery assembly (33) is fixedly installed inside the bottom plate (1).

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