A dual-morphology adaptive drive device for a leg-foot robot

Abstract

The present invention relates to a dual-form adaptive drive device for a leg-foot robot, belonging to the technical field of drive devices. The device comprises a base plate, a connecting plate for installing the robot is fixedly installed 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 at the bottom of the base plate, a connecting frame is fixedly installed at the bottom of the mounting frame, a concave frame is provided inside the mounting frame, and a flip mechanism for adjusting the angle of the concave frame is provided inside the connecting frame. When the present invention walks on a flat road, movement in any direction within the plane can be achieved through the assembled Mecanum wheels. When the road condition is poor, the flip mechanism flips and switches to another mode. A five-segment modular drive design is adopted to imitate the movement of a snake. Each segment has an independent drive device and control system, so that the robot can flexibly control the movement posture of each module, thereby achieving different movement modes and improving flexibility.

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 assembly and a telescopic assembly, the cylinder is fixedly connected to the connecting frame, the driving motor is symmetrically fixedly installed inside the cylinder, the rotating assembly is arranged inside the cylinder, and the output end of the driving motor is fixedly connected to the rotating assembly, the telescopic assembly is connected to the rotating assembly, and the telescopic assembly is connected to the corresponding concave frame.

[0007] Preferably, the rotating assembly 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 provided on the edge of the rotating disk, and the clamping block is engaged with the annular groove.

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

[0009] Preferably, the lifting mechanism includes a trough body, a power motor, a threaded screw, a support block and a threaded ring. The trough body is symmetrically installed inside the base plate, the power motor is fixedly installed inside the trough body, one end of the threaded screw is fixedly connected to the output end of the power motor, the support block is passed through the trough body, the threaded ring is fixedly arranged inside the support block, and the threaded screw is threadedly connected to the threaded ring.

[0010] Preferably, the guide assembly includes a guide rod and a guide cylinder, the guide cylinder is fixedly installed inside the sliding block, the guide rod passes through the guide cylinder, and the guide rod 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 assembly, the movable groove is fixedly installed inside the sliding block, the through groove array is arranged 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, and the limiting assembly is arranged on the sliding plate.

[0012] Preferably, the limiting assembly includes a square plate and a conical block, the square plate corresponding to the through slot is fixedly mounted on the sliding plate, and the square plate is passed through the through slot, and the conical block is fixedly mounted on the square plate.

[0013] Preferably, a battery assembly is fixedly installed inside the base plate.

[0014] Compared with the prior art, the present invention has the following beneficial effects:

[0015] When the present invention travels on a flat road, the assembled Mecanum wheels can achieve movement in any direction within the plane. The Mecanum wheels rely on the direction and speed of their respective wheels. The final synthesis of these forces produces a resultant force vector in any desired direction, thereby ensuring that the platform can move freely in the direction of the final resultant force vector. When the road conditions are poor, the flip mechanism flips and switches to another mode. A five-segment modular drive design is used to imitate the movement of a snake. Each segment has an independent drive device and control system, and each module can rotate independently. Similar to the structure of a push-pull device, each module first extends forward and then rubs against the ground through the contact point at the bottom, driving the following module forward. The linear motion can provide higher stability, especially in situations where the robot needs to move slowly and precisely. The robot can flexibly control the movement posture of each module, thereby achieving different movement modes and improving flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Schematic diagram of the structure of the dual-mode adaptive drive device of the leg-foot robot of the present invention;

[0017] Figure 2 Schematic diagram of the bottom plate structure of the present invention;

[0018] Figure 3 It is a schematic diagram of the concave frame structure of the present invention;

[0019] Figure 4 This is a schematic diagram of the Mecanum wheel structure of the present invention;

[0020] Figure 5 It is a schematic diagram of the tank structure of the present invention;

[0021] Figure 6 It is a schematic diagram of the sliding block structure of the present invention;

[0022] Figure 7 It is a schematic diagram of the sliding plate structure of the present invention;

[0023] Figure 8 It is a schematic diagram of the cylindrical structure of the present invention.

[0024] In the figure: 1. Base plate; 2. Connecting plate; 3. Slot body; 4. Power motor; 5. Threaded screw; 6. Support block; 7. Threaded ring; 8. Mounting frame; 9. Connecting frame; 10. Cylinder; 11. Drive motor; 12. Rotating plate; 13. Block; 14. Square slot; 15. Electromagnet; 16. Magnetic 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. Bracket; 26. Mecanum wheel; 27. Movable slot; 28. Through slot; 29. ​​Sliding plate; 30. Square plate; 31. Conical block; 32. Electric push rod; 33. Battery assembly. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the examples, in order to avoid confusing the present invention, well-known circuits, power supplies, software or methods are not described in detail.

[0026] See also Figure 1-8As shown, a dual-form adaptive drive device of a leg-foot robot includes a base plate 1, a connecting plate 2 for installing the robot is fixedly installed on the top of the base plate 1, a lifting mechanism for lifting the base plate 1 is provided inside the base plate 1, a mounting frame 8 is symmetrically provided at the bottom of the base plate 1, a connecting frame 9 is fixedly installed at the bottom of the mounting frame 8, a concave frame 18 is provided inside the mounting frame 8, a flip mechanism for adjusting the angle of the concave frame 18 is provided inside the connecting frame 9, a sliding block 19 is provided 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, and a guide mechanism for guiding the sliding block 19 is provided inside the concave frame 18. The concave frame 18 is fixedly mounted with a bracket 25 at the bottom. A Mecanum wheel 26 is mounted inside the bracket 25, and a limit mechanism is provided on the sliding block 19. When the leg-foot robot uses the dual-modality adaptive drive device to walk on the ground, or on a flat surface, the assembled Mecanum wheel 26 can achieve movement in any direction within a plane. The Mecanum wheel 26 relies on the direction and speed of each wheel. The resulting combination of these forces generates a resultant force vector in any desired direction, ensuring that the platform can move freely in the direction of the resulting force vector without changing the wheel's own direction. Numerous small rollers are distributed diagonally on its rim, allowing the wheel to slide laterally. The generatrix of these small rollers is unique. When the wheel rotates around a fixed wheel axis, the envelope of each small roller forms a cylindrical surface, allowing the wheel to roll continuously forward. The Mecanum wheel 26 is compact and flexible, making it an omnidirectional wheel.There are four of these new wheels in combination, which can realize the full range of mobility more flexibly and conveniently, and enable the robot to move in any direction without turning. When the road conditions are bad (wet, rugged, muddy), the flip mechanism flips and switches to another mode. The five-segment module drive design is used to imitate the movement of snakes. Each segment has an independent drive device and control system. Each module can rotate independently. After the limit mechanism contacts the ground, the servo motor 24 will drive the threaded rod 23 to rotate. When the threaded rod 23 rotates, the position of the sliding block 19 will be adjusted through the cooperation of the threaded barrel 22. Through the cooperation of the limit mechanism, the position of the sliding block 19 can be increased. To minimize friction with the ground, the robot adopts a structure similar to a push-pull device. Each module first extends forward, then rubs against the ground through the contact point at the bottom, driving the following module forward. Linear motion can provide greater stability, especially in situations where the robot needs to move slowly and precisely. This is similar to the way a snake uses its abdominal muscles to propel its body forward during linear motion. The movement of each module is managed by a distributed control system, allowing the robot to flexibly control the movement posture of each module, thereby achieving different motion modes. The segments are connected by flexible materials, which allows sufficient bending amplitude and ensures motion transmission and coordination between segments. The connecting parts between segments are crucial. Spring connections or rubber joints can be used to ensure a certain degree of rigidity while enabling large-angle bending and deformation when needed. The flexible connection parts need to be elastic enough to withstand bending and stretching forces, but not too loose to ensure efficient force transmission during fluctuations. A sensor is set on the concave frame 18. When the sensor detects insufficient friction or changes in road conditions, the system automatically starts the rotation drive and switches to serpentine drive mode. At the same time, when the sensor detects that the robot returns to a flat or dry road surface, the system rotates again and switches to wheeled mode for fast operation. The double-sided design plus the rotation drive system make the entire structure simpler and easier to maintain. At the same time, the sensors and automatic adjustment mechanism make the drive mode control process fully automated.

[0027] Furthermore, the flipping mechanism includes a cylinder 10, a drive motor 11, a rotating assembly and a telescopic assembly. The cylinder 10 is fixedly connected to the connecting frame 9, the drive motor 11 is symmetrically fixedly installed inside the cylinder 10, the rotating assembly is arranged inside the cylinder 10, and the output end of the drive motor 11 is fixedly connected to the rotating assembly, the telescopic assembly is connected to the rotating assembly, and the telescopic assembly is connected to the corresponding concave frame 18. The cylinder 10 is installed through the connecting frame 9. When the drive motor 11 is working, it will drive the rotating assembly to rotate, and it can rotate 180 degrees. The telescopic assembly facilitates the movement of the concave frame 18.

[0028] Furthermore, 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 provided on 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 so that the rotating disk 12 rotates smoothly.

[0029] Furthermore, the telescopic assembly includes a square slot 14, an electromagnet 15, a magnetic block 16 and a connecting plate 17. One end of the square slot 14 is fixedly connected to the rotating disk 12, the electromagnet 15 is fixedly installed inside the square slot 14, the magnetic block 16 is arranged inside the square slot 14, and the magnetic block 16 is located on one side of the electromagnet 15, one end of the connecting plate 17 is fixedly connected to the magnetic block 16, and the other end of the connecting plate 17 extends out of the square slot 14, and the other end of the connecting plate 17 is fixedly connected to the concave frame 18. The electromagnet 15 generates a magnetic force to fix the position of the magnetic block 16. When the electromagnet 15 stops working, it no longer generates a magnetic force, which can make the magnetic block 16 slide inside the square slot 14, and then the connecting plate 17 can move, thereby facilitating the telescopic movement of the concave frame 18.

[0030] Furthermore, the lifting mechanism includes a trough body 3, a power motor 4, a threaded screw 5, a support block 6 and a threaded ring 7. The trough body 3 is symmetrically installed inside the base plate 1, the power motor 4 is fixedly installed inside the trough body 3, one end of the threaded screw 5 is fixedly connected to the output end of the power motor 4, the support block 6 is passed through the trough body 3, the threaded ring 7 is fixedly arranged inside the support block 6, and the threaded screw 5 is threadedly connected to the threaded ring 7. When the power motor 4 works, it will drive the threaded screw 5 to rotate. The rotation of the threaded screw 5 will cooperate with the threaded ring 7 to move the support block 6. When the support block 6 moves, it contacts the ground, and the position of the base plate 1 can be adjusted, which facilitates the rotation of the flipping mechanism.

[0031] Furthermore, the guide 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 passed through the guide cylinder 21, 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, so that the sliding block 19 moves smoothly.

[0032] Furthermore, 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 groove 28 is arrayed 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. When the electric push rod 32 works, it pushes the sliding plate 29 to move. The sliding plate 29 moves through the limiting assembly, so that the limiting assembly contacts the ground to increase friction.

[0033] Furthermore, the limiting assembly includes a square plate 30 and a conical block 31. The square plate 30 corresponding to the through groove 28 is fixedly mounted on the sliding plate 29, and the square plate 30 is passed through the through groove 28. The conical block 31 is fixedly mounted on the square plate 30. When the square plate 30 moves, it will drive the conical block 31 to move. The conical block 31 moves and contacts the ground, which can increase the friction between the square plate 30 and the ground.

[0034] Furthermore, a battery assembly 33 is fixedly installed inside the base plate 1, and the battery assembly 33 is electrically connected to the internal power supply of the dual-mode adaptive drive device of the leg-foot robot to provide power for the operation of electronic devices.

[0035] As a technical optimization solution of the present invention, the dual-modality adaptive drive system of the legged robot allows for terrestrial walking on flat surfaces. The Mecanum wheels 26 can achieve motion in any direction within a plane. The Mecanum wheels 26 rely on the direction and speed of the individual wheels. The resulting combination of these forces generates a resultant force vector in any desired direction, ensuring that the platform can move freely in the direction of the resulting force vector without changing the wheel's orientation. Numerous small rollers are arranged diagonally on the wheel rim, allowing the wheel to slide laterally. The rollers' generatrix is ​​unique; as the wheel rotates around a fixed wheel axis, the envelope of each roller forms a cylindrical surface, enabling continuous forward rolling. The Mecanum wheels 26 offer a compact structure and flexible motion, making them a highly successful omnidirectional wheel. There are four of these new wheels in combination, which can realize the full range of mobility more flexibly and conveniently, and enable the robot to move in any direction without turning. When the road conditions are bad (wet, rugged, muddy), the flip mechanism flips and switches to another mode. The five-segment module drive design is used to imitate the movement of snakes. Each segment has an independent drive device and control system. Each module can rotate independently. After the limit mechanism contacts the ground, the servo motor 24 will drive the threaded rod 23 to rotate. When the threaded rod 23 rotates, the position of the sliding block 19 will be adjusted through the cooperation of the threaded barrel 22. Through the cooperation of the limit mechanism, the position of the sliding block 19 can be increased. To minimize friction with the ground, the robot adopts a structure similar to a push-pull device. Each module first extends forward, then rubs against the ground through the contact point at the bottom, driving the following module forward. Linear motion can provide greater stability, especially in situations where the robot needs to move slowly and precisely. This is similar to the way a snake uses its abdominal muscles to propel its body forward during linear motion. The movement of each module is managed by a distributed control system, allowing the robot to flexibly control the movement posture of each module, thereby achieving different motion modes. The segments are connected by flexible materials, which allows sufficient bending amplitude and ensures motion transmission and coordination between segments. The connecting parts between segments are crucial. Spring connections or rubber joints can be used to ensure a certain degree of rigidity while enabling large-angle bending and deformation when needed.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A dual-morphology adaptive driving device for a humanoid robot, comprising a base plate (1), characterized in that: A connecting plate (2) for mounting a robot is fixedly mounted on the top of the base plate (1), a lifting mechanism for lifting the base plate (1) is provided inside the base plate (1), a mounting frame (8) is symmetrically provided on the bottom of the base plate (1), a connecting frame (9) is fixedly mounted on the bottom of the mounting frame (8), a concave frame (18) is provided inside the mounting frame (8), a flip mechanism for adjusting the angle of the concave frame (18) is provided inside the connecting frame (9), a sliding block (19) is provided inside the concave frame (18), and a threaded cylinder (2) is fixedly mounted inside the sliding block (19). 2), the threaded cylinder (22) is internally threadedly connected to a threaded rod (23), 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 guide assembly for guiding the sliding block (19) is provided inside the concave frame (18), a bracket (25) is fixedly installed at the bottom of the concave frame (18), a Mecanum wheel (26) is provided inside the bracket (25), and a limiting mechanism is provided on the sliding block (19); The turning mechanism comprises a cylinder (10), a driving motor (11), a rotating assembly and a telescopic assembly, wherein the cylinder (10) is fixedly connected to the connecting frame (9), the driving motor (11) is symmetrically fixedly installed inside the cylinder (10), the rotating assembly is arranged inside the cylinder (10), and the output end of the driving motor (11) is fixedly connected to the rotating assembly, the telescopic assembly is connected to the rotating assembly, and the telescopic assembly is connected to the corresponding concave frame (18).

2. The dual-morphology adaptive driving device of a humanoid robot according to claim 1, characterized in that: The rotating assembly comprises a rotating disk (12) and a clamping block (13); the rotating disk (12) is rotatably arranged inside the cylinder (10); the clamping block (13) is fixedly arranged inside the cylinder (10); an annular groove is provided on the edge of the rotating disk (12), and the clamping block (13) is engaged with the annular groove.

3. The dual-morphology adaptive driving device of a humanoid robot according to claim 2, characterized in that: The telescopic assembly comprises a square slot (14), an electromagnet (15), a magnetic block (16) and a connecting plate (17), wherein one end of the square slot (14) is fixedly connected to the rotating disk (12), the electromagnet (15) is fixedly installed inside the square slot (14), the magnetic block (16) is arranged inside the square slot (14), and the magnetic block (16) is located on one side of the electromagnet (15), one end of the connecting plate (17) is fixedly connected to the magnetic block (16), and the other end of the connecting plate (17) extends out of the square slot (14), and the other end of the connecting plate (17) is fixedly connected to the concave frame (18).

4. The dual-morphology adaptive driving device for a humanoid robot according to claim 1, characterized in that: The lifting mechanism comprises a trough body (3), a power motor (4), a threaded screw (5), a support block (6) and a threaded ring (7); the trough body (3) is symmetrically mounted inside the base plate (1); the power motor (4) is fixedly mounted inside the trough body (3); one end of the threaded screw (5) is fixedly connected to the output end of the power motor (4); the support block (6) is passed through the trough body (3); the threaded ring (7) is fixedly arranged inside the support block (6); and the threaded screw (5) is threadedly connected to the threaded ring (7).

5. The dual-morphology adaptive driving device of a humanoid robot according to claim 1, characterized in that: The guide assembly comprises a guide rod (20) and a guide cylinder (21), wherein the guide cylinder (21) is fixedly mounted inside the sliding block (19), the guide rod (20) is passed through the guide cylinder (21), and the guide rod (20) is fixedly connected to the concave frame (18).

6. The dual-morphology adaptive driving device for a humanoid robot according to claim 1, characterized in that: The limiting mechanism comprises a movable groove (27), a through groove (28), a sliding plate (29), an electric push rod (32) and a limiting assembly, wherein the movable groove (27) is fixedly mounted inside the sliding block (19), the through groove (28) array is arranged on the movable groove (27), the sliding plate (29) is arranged inside the movable groove (27), the electric push rod (32) is fixedly mounted inside the sliding block (19), and the telescopic end of the electric push rod (32) is fixedly connected to the sliding plate (29), and the limiting assembly is arranged on the sliding plate (29).

7. The dual-morphology adaptive driving device of a humanoid robot according to claim 6, characterized in that: The limiting assembly comprises a square plate (30) and a tapered block (31), wherein the square plate (30) corresponding to the through-groove (28) is fixedly mounted on the sliding plate (29), and the square plate (30) is inserted into the through-groove (28), and the tapered block (31) is fixedly mounted on the square plate (30).

8. The dual-morphology adaptive driving device of a humanoid robot according to claim 7, characterized in that: A battery assembly (33) is fixedly installed inside the base plate (1).

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