Joint power fusion driving unit based on bionic muscle regulation and control

Abstract

The invention relates to the technical field of robots, and provides a joint power fusion driving unit based on bionic muscle regulation and control, which comprises a leg main body, and two driving motors I are mounted at positions, close to two sides, of the inner side of the leg main body and are used for driving thigh assemblies to move; thigh assemblies are mounted on the outer sides of the leg main bodies, and the output ends of the first driving motors are fixedly connected with the thigh assemblies; the end of the thigh assembly is rotationally connected with a shank assembly through a connecting rotating shaft, and the shank assembly is arranged on the inner side of the thigh assembly. The bionic muscle energy storage device can simulate the energy storage and release process of biological muscles, when the robot needs to respond quickly or perform high-strength action, the stored energy is released quickly, and additional instantaneous power support is provided for the robot. Through the synergistic effect, the robot is more excellent in performance under the scenes of quick start, sudden stop, obstacle crossing and the like, and the movement ability and adaptability of the robot are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, in particular to a joint power fusion drive unit based on bionic muscle regulation. Background Art

[0002] In the field of robotics, legged and wheeled robots, as important mobile platforms, have long been the subject of research on their power systems and locomotion capabilities. Traditional legged and wheeled robots primarily rely on direct motor drive, which offers excellent control accuracy and precise control of robot motion, particularly in smooth terrain and low-speed scenarios. However, direct motor drive is gradually revealing its limitations when navigating complex environments and requiring high-dynamics motion.

[0003] Specifically, direct motor drive has significant shortcomings in providing instantaneous high-power output. When a motor needs to respond quickly or perform high-intensity actions, it often struggles to provide sufficient power in a short period of time. This results in poor performance when the robot performs complex actions such as rapid starts, sudden stops, crossing obstacles, or flexibly switching between different terrains. For example, when a quadruped robot runs, jumps, or crosses obstacles quickly, its speed, acceleration, jumping height, and distance are significantly restricted by the instantaneous power output of the motor, making it difficult to meet application requirements in complex environments.

[0004] Furthermore, the heavy loads on the joints of traditional robots are a significant factor limiting their performance and lifespan. During continuous or high-intensity movements, the joint motors must withstand significant loads, which not only increases energy consumption but can also lead to overheating and increased wear, ultimately impacting the lifespan and overall stability of the joints.

[0005] The design of traditional wheel-legged robots often focuses on optimizing either wheeled or legged locomotion modes, while neglecting the integration of the two. In scenarios requiring rapid switching between locomotion modes or leveraging the advantages of both modes simultaneously, traditional designs are insufficient, limiting the robot's adaptability and flexibility in complex and changing environments.

[0006] To this end, those skilled in the art have proposed a joint power fusion drive unit based on bionic muscle regulation to solve the problems raised in the background art. Summary of the Invention

[0007] To solve the above technical problems, the present invention provides a joint power fusion drive unit based on bionic muscle regulation. Through the collaborative work of a bionic muscle energy storage device and a joint power drive component, it simulates the characteristics of biological muscles that store energy when contracting and release energy when stretching, providing additional instantaneous power support for the robot, while optimizing the performance of the joint motor, reducing the load, and improving the lifespan and overall stability of the joint.

[0008] A joint power fusion drive unit based on bionic muscle regulation includes a leg main body. Two drive motors one are installed at positions near both sides on the inner side of the leg main body for driving the movement of the thigh component.

[0009] The thigh component is installed on the outer side of the leg main body, and the output end of the drive motor one is fixedly connected to the thigh component.

[0010] The end of the thigh component is rotationally connected to the calf component through a connecting rotating shaft, and the calf component is arranged on the inner side of the thigh component.

[0011] On both sides at the bottom end of the calf component, a leg roller one and a leg roller two are respectively rotationally connected for providing wheeled movement ability.

[0012] It further includes a bionic muscle energy storage device arranged between the thigh component and the calf component for simulating the energy storage and release process of biological muscles and enhancing the explosive power of the robot.

[0013] Preferably, the bionic muscle energy storage device includes an elastic drawstring. One end of the elastic drawstring is fixed to 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.

[0014] 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 connected to the elastic drawstring for adjusting the tension of the elastic drawstring.

[0015] When the calf component moves relative to the thigh component, the elastic drawstring is stretched and stores energy, and releases it when needed, working in coordination with the joint power drive component to optimize the joint performance.

[0016] Preferably, the adjustment component further includes a drive motor three and a lead screw. The drive motor three is installed inside the thigh component, and its output end is fixedly connected to the lead screw.

[0017] The lead screw is threadedly connected to the connecting slider. By rotating the drive motor three, the lead screw is driven to rotate, thereby driving the connecting slider to slide on the connecting chute and adjusting the pre-tension of the elastic drawstring to adapt to different working requirements.

[0018] Preferably, it further includes a joint power drive assembly, and the joint power drive assembly includes a second drive motor installed inside the thigh assembly;

[0019] The output end of the second drive motor is fixedly connected with a rotating rod, and an articulated rod is rotatably connected to the outside of the rotating rod;

[0020] The other end of the articulated rod is rotatably connected to the outside of the calf assembly. By rotating the second drive motor, the rotating rod and the articulated rod are driven to move, thereby adjusting the angle between the calf assembly and the thigh assembly and realizing the bending and stretching of the joint.

[0021] Preferably, the joint power drive assembly works in cooperation with the bionic muscle energy storage device. When the robot performs various actions, the bionic muscle energy storage device can release the stored energy as needed and jointly provide power support for the robot with the joint power drive assembly, thereby optimizing the performance of the joint motor, reducing the load, and increasing the joint life.

[0022] Preferably, the joint power drive assembly further includes a limiting and locking mechanism, including: a limiting rotating shaft installed inside the thigh assembly, and a bottom extension rod is rotatably connected to the outside of the limiting rotating shaft;

[0023] The bottom extension rod, the bottom end of which is fixedly connected with a first hook, and a connecting roller is rotatably connected inside the first hook for engaging with a second hook at the top of the calf assembly to realize the locking and unlocking of the joint;

[0024] The second hook is fixedly connected to the top of the calf assembly, and an inclined chute is opened at the top of the second hook for guiding the sliding of the connecting roller to realize 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.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. The bionic muscle energy storage device can simulate the energy storage and release process of biological muscles. When the robot needs to respond quickly or perform high-intensity actions, it can quickly release the stored energy to provide additional instantaneous power support for the robot. This synergistic effect makes the robot perform better in scenarios such as quick start, sudden stop, and crossing obstacles, significantly improving the robot's movement ability and adaptability.

[0027] 2. By providing additional power support at critical moments through the bionic muscle energy storage device, the present invention effectively reduces the load on the joint motor under rated conditions, that is, reduces the motor torque. This means that the motor does not need to run at a high load for a long time, thereby reducing the wear and energy consumption of the motor.

[0028] 3. Due to the reduction in motor torque, the load on the joint motor during movement is reduced, reducing motor overheating and wear. This helps to extend the service life of the motor and improve the overall stability and reliability of the robot.

[0029] 4. The bionic muscle energy storage device absorbs and stores energy during the energy storage process, releasing this energy when needed, working in conjunction with the joint power drive components. This energy management method makes the robot more efficient when performing actions, reduces unnecessary energy consumption, and achieves energy conservation.

[0030] 5. The synergistic effect of the bionic muscle energy storage device and the joint power drive assembly not only provides additional power support but also optimizes the overall performance of the joint. This synergy makes the joint movement smoother and more efficient during various robot movements, improving the robot's movement accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0032] Figure 2 For the present invention Figure 1 Schematic diagram of the cross-sectional structure of the mid-thigh component;

[0033] Figure 3 For the present invention Figure 2 A structural diagram from another perspective;

[0034] Figure 4 For the present invention Figure 2 Schematic diagram of the cross-section structure in.

[0035] In the figure: 1. Leg body; 2. Drive motor 1; 3. Thigh assembly; 4. Connecting shaft; 5. Calf assembly; 6. Leg roller 1; 7. Leg roller 2; 8. Drive motor 2; 9. Rotating rod; 10. Articulated rod; 11. Limiting shaft; 12. Bottom extension rod; 13. First hook; 14. Second hook; 15. Drive motor 3; 16. Screw; 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

[0036] The following embodiments of the present invention are described in further detail with reference to 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.

[0037] As attached Figure 1 To the attached Figure 4 As shown:

[0038] Example 1: According toFigures 1-4 As shown in the figure, the present invention provides a joint power fusion drive unit based on bionic muscle regulation. Installation of the leg main body and the drive motor: Construct the leg main body 1, and install two drive motors 1-2 at positions near both sides on its inner side. The output end of the drive motor 1-2 is rigidly connected to the thigh component 3 to ensure the effective transmission of the driving force.

[0039] Connection between the thigh and the calf component: Install a connecting rotating shaft 4 at the end of the thigh component 3, and realize the rotational connection between the thigh component 3 and the calf component 5 through this rotating shaft. The calf component 5 is arranged inside the thigh component 3, and a leg roller 1-6 and a leg roller 2-7 are respectively rotatably connected to both sides of its bottom end, forming a wheel-leg composite structure to provide wheeled and legged movement capabilities.

[0040] Example 2: According to Figures 1-4 As shown in the figure, installation of the elastic pull rope: Fix a calf extension rod 18 at the top of the calf component 5, and install an elastic pull rope 19 outside the calf extension rod 18 as the core energy storage element of the bionic muscle energy storage device.

[0041] Installation of the adjustment component: Fix a connection chute 22 inside the thigh component 3, and a connection slider 17 is slidably connected to its top. A top pulley 23 is installed at the top of the connection slider 17, and the elastic pull rope 19 is connected to the adjustment component inside the thigh component 3 through the top pulley 23.

[0042] Installation of the drive motor and the lead screw: Install a drive motor 3-15 and a lead screw 16. The output end of the drive motor 3-15 is fixedly connected to the lead screw 16, and the lead screw 16 is threadedly connected to the connection slider 17. By rotating the drive motor 3-15, the lead screw 16 can be driven to rotate, and then the connection slider 17 can be driven to slide on the connection chute 22 to adjust the pre-tightening force of the elastic pull rope 19 and achieve precise control of energy storage and energy release.

[0043] Example 3: According to Figure 1 and Figure 2 As shown in the figure, installation of the drive motor and the rotating rod: Install a drive motor 2-8 inside the thigh component 3, and its output end is fixedly connected to a rotating rod 9. The outside of the rotating rod 9 is rotatably connected to a hinge rod 10, and the other end of the hinge rod 10 is rotatably connected to the outside of the calf component 5.

[0044] Joint angle adjustment: By rotating the drive motor 2-8, the rotating rod 9 and the hinge rod 10 are driven to move, and then the angle between the calf component 5 and the thigh component 3 is adjusted to realize the bending and stretching of the joint. During this process, the bionic muscle energy storage device and the joint power drive component work together to provide power support for the robot.

[0045] Example 4: According to Figure 3 and Figure 4As shown in the figure, attitude adjustment: When the robot needs to perform high-intensity actions (such as rapid start, jump, obstacle crossing), the control system first adjusts the angle between the calf component 5 and the thigh component 3 through the drive motor two 8, so that the robot is in an attitude suitable for performing actions.

[0046] Energy storage process: Subsequently, the drive motor three 15 starts to work, and adjusts the pre-tightening force of the elastic drawstring 19 through the lead screw 16 and the connecting slider 17 to make it reach the energy storage state. During the energy storage process, the control system adjusts the energy storage rate and the energy storage amount according to the real-time feedback to ensure the best energy storage state.

[0047] Power release and collaborative work: When the preset energy storage threshold is reached, the control system simultaneously triggers the release mechanisms of the drive motor one 2 and the bionic muscle energy storage device. The drive motor one 2 provides the 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 achieve actions such as rapid start, jump or obstacle crossing.

[0048] Limit and locking mechanism: The joint power drive assembly also includes a limit and locking mechanism, including components such as a limit rotating shaft 11, a bottom extension rod 12, a first hook 13, a second hook 14 and a connecting roller 20. These components work together to lock and unlock the joint to ensure the stability and safety of the robot during movement.

[0049] Example five: Integration of the control system and sensors, control system integration: Integrate an advanced control system to achieve precise control of the drive motor one 2, the drive motor two 8 and the drive motor three 15. At the same time, install a variety of sensors such as angle sensors, force sensors, etc. to monitor the motion state and environmental information of the robot in real time.

[0050] Force feedback mechanism integration: In the joint power drive assembly (including the drive motor one 2, the drive motor two 8), a force sensor is installed to monitor the torque generated by the joint motor during operation in real time. The force sensor transmits the monitored torque data to the control system in real time.

[0051] Dynamic adjustment strategy: The control system dynamically judges whether the joint motor is in an overloaded or underloaded state according to the received torque data and in combination with the preset torque threshold range.

[0052] When the torque of the joint motor approaches or exceeds the preset upper limit threshold, the control system determines it as an overload state. At this time, the control system issues an instruction to adjust the pre-tightening force of the elastic drawstring 19 of the bionic muscle energy storage device through the drive motor three 15, increasing the energy storage of the bionic muscle energy storage device, thereby sharing part of the load of the joint motor and reducing the actual output torque of the joint motor. Conversely, when the torque of the joint motor is lower than the preset lower limit threshold, the control system determines it as an underload state. At this time, the control system adjusts the energy release rate of the bionic muscle energy storage device, reducing the assistance of the bionic muscle energy storage device to the joint motor, enabling the joint motor to work more effectively using its own torque.

[0053] Real-time optimization and adjustment: During the movement of the robot, the force feedback mechanism works continuously. The control system continuously and dynamically adjusts the force of the bionic muscle energy storage device according to the torque data monitored in real time, ensuring that the torque of the joint motor is always maintained within an appropriate range. This real-time optimization and adjustment mechanism not only improves the movement accuracy and stability of the robot, but also effectively extends the service life of the joint motor and reduces the maintenance cost.

[0054] Working principle: When the leg robot is powered on and starts, the control system performs initialization operations, including detecting the operating states of drive motors, namely drive motor 1, drive motor 2, and drive motor 3, to ensure they are in normal working modes. Meanwhile, the control system checks the state of the bionic muscle energy storage device's elastic drawstring to confirm 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. Based on the data provided by the sensors and combined with the preset task objectives, the control system conducts path planning to determine the movement mode and path the robot should take. According to the results of the path planning, the control system selects an appropriate movement mode, either wheeled or legged. The control system adjusts the angle between the calf assembly and the thigh assembly through drive motor 2 to ensure the joint is in a position suitable for the current movement mode, preparing for subsequent movements. 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 drives the lead screw to rotate, which then pushes the connecting slider to move along the connecting chute, stretching the elastic drawstring for energy storage. During the energy storage process, the control system adjusts the energy storage rate and energy storage amount according to 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 and releases the stored energy of the elastic drawstring. Drive motor 1 provides the basic power, and the released stored energy of the elastic drawstring provides additional power. The two work together to enable the robot to complete actions such as jumping and obstacle crossing. During the movement process, the sensor system continuously monitors the environmental information and the robot's state, feeding the data back to the control system. The control system dynamically adjusts the robot's movement speed, direction, and posture based on the feedback information to ensure the robot can flexibly respond to environmental changes and avoid obstacles.

[0055] All standard parts used in the present invention can be purchased from the market. Special-shaped parts can be customized according to the descriptions in the specification and the drawings. The specific connection methods of each part all adopt conventional means such as bolts, rivets, and welding that are mature in the prior art. The machinery, parts, and equipment all adopt conventional models in the prior art. In addition, the circuit connection adopts the conventional connection method in the prior art, which will not be elaborated here. The content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0056] 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.

[0057] In the present invention, unless otherwise clearly defined or limited, terms such as "installed", "connected", "joined", "fixed", etc. shall be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components. 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.

[0058] In the present invention, unless otherwise clearly defined or 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 in indirect 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 has a higher horizontal height than the second feature. 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 has a lower horizontal height than the second feature.

[0059] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example" or "some examples", etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described 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.

[0060] In the drawings of the disclosed embodiments of the present invention, only the structures related to the disclosed embodiments are involved, and other structures can refer to the general design. Without conflict, the same embodiment and different embodiments of the present invention can be combined with each other.

[0061] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A joint power fusion drive unit based on bionic muscle regulation, 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). On both sides of the bottom end of the calf assembly (5), a leg roller one (6) and a leg roller two (7) are respectively rotatably connected 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 joint power fusion drive unit based on bionic muscle regulation 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 to 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.

3. The joint power fusion drive unit based on bionic muscle regulation 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). By rotating the driving motor three (15), the lead screw (16) is driven to rotate, and then the connecting slider (17) is driven to slide on the connecting sliding groove (22) to adjust the pre-tightening force of the elastic pull rope (19) to adapt to different working requirements.

4. The joint power fusion drive unit based on bionic muscle regulation according to claim 1, characterized in that: It further includes a joint power driving component. 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 an articulated rod (10) is rotatably connected to the outer side of the rotating rod (9). The other end of the articulated rod (10) is rotatably connected to the outer side of the calf assembly (5). By rotating the driving motor two (8), the rotating rod (9) and the articulated rod (10) are driven to move, and then the angle between the calf assembly (5) and the thigh assembly (3) is adjusted to realize the bending and stretching of the joint.

5. The joint power fusion drive unit based on bionic muscle regulation according to claim 4, characterized in that: The joint power driving component and the bionic muscle energy storage device work together. When the robot performs various actions, the bionic muscle energy storage device can release the stored energy as needed and jointly provide power support for the robot with the joint power driving component.

6. The joint power fusion drive unit based on bionic muscle regulation according to claim 5, characterized in that: The joint power driving component further includes a limiting rotating shaft (11) installed in the thigh assembly (3), and a bottom extension rod (12) is rotatably connected to the outer side of it. The bottom extension rod (12) has a first hook (13) fixedly connected to its bottom end. A connecting roller (20) is rotatably connected within the first hook (13) and is used to engage with a second hook (14) at the top of the calf assembly (5) to lock and unlock the joint. The second hook (14) is fixedly connected to the top of the calf assembly (5). An inclined chute (21) is formed at its top and is used to guide the sliding of the connecting roller (20) to achieve 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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