Swing arm for robot, robot walking system and robot

Abstract

The invention relates to the field of robots, and provides a swing arm for a robot, which comprises a swing arm motor, a driving motor, a mounting bracket and a crawler belt, a swing arm rotating shaft of the swing arm motor is fixedly connected with the first end part of the mounting bracket and is used for driving the mounting bracket to rotate around the swing arm rotating shaft; the swing arm motor further comprises a driven wheel which is arranged on the swing arm rotating shaft and can rotate around the swing arm rotating shaft. The driving motor is fixedly arranged on the second end portion of the installation support through a driving motor bearing, a driving wheel is arranged on a rotating shaft of the driving motor, and the crawler belt is connected with the driving wheel and the driven wheel. The invention further provides a robot walking system constructed by the swing arm and a robot with the walking system. According to the swing arm, the swing arm motor and the driving motor are all arranged on the swing arm, the swing arm motor independently controls the swing arm to rotate, the driving motor independently drives the crawler belt on the swing arm to rotate, and therefore rotation control and walking control over the single swing arm are very convenient, and the structure is simple.

Description

Technical Field

[0001] The present invention relates to the field of robot equipment, in particular to a robot swing arm used in complex road conditions, a robot walking system constructed by the robot swing arm, and a robot. Background Art

[0002] With the development of robotics technology, robots have been applied in many fields, especially in places that are difficult for people to reach, such as mines, and in some dangerous situations, such as firefighting.

[0003] Because robots often need to operate in relatively complex environments, their obstacle-crossing capabilities have received significant attention. Therefore, a number of robots have been designed with swing arms to assist in this task. For example, Chinese Invention Patent Publication No. CN119770897A discloses a small firefighting robot with four swing arms, each equipped with a drive wheel. The drive wheel is connected to a swing motor mounted on the chassis via a swing arm reducer, and the drive wheel is also connected to the drive motor mounted on the chassis via a travel reducer. While the robot's travel structure, provided by this technology, can provide a certain degree of obstacle-crossing capability by controlling the rotation and travel of the swing arms, the rotation and travel of each swing arm cannot be controlled independently, limiting its flexibility in navigating complex road conditions. Chinese Invention Patent Publication No. CN112977665A discloses a high-rise building omnidirectional adaptive stair-climbing transport robot equipped with four swing arms and Mecanum wheels to assist with obstacle crossing and ladder climbing. However, its two front and two rear swing arms are controlled as a single unit and cannot be flexibly controlled independently. At the same time, although it has a relatively good obstacle climbing function, it is not conducive to walking, so a separate walking mechanism needs to be set up, and the overall walking mechanism is relatively complicated. Summary of the Invention

[0004] To address the problems of existing robot walking systems lacking flexibility in obstacle crossing and relatively complex structures, embodiments of the present application provide a robot swing arm and a walking system constructed using the robot swing arm to address the aforementioned issues. A robot is also provided.

[0005] The robot swing arm provided in an embodiment of the present application includes a swing arm motor, a drive motor, a mounting bracket and a crawler; the mounting bracket is arranged in an elongated strip, and the mounting bracket includes a first end and a second end; The swing arm shaft of the swing arm motor is fixedly connected to the first end of the mounting bracket, and is used to drive the mounting bracket to rotate around the swing arm shaft; the swing arm motor also includes a driven wheel, which is provided on the swing arm shaft and can rotate around the swing arm shaft; The drive motor is fixed to the second end of the mounting bracket via a drive motor bearing. A driving wheel is provided on the drive motor shaft. The crawler belts are respectively connected to the driving wheel and the driven wheel.

[0006] The robot swing arm provided in the embodiment of the present application has the swing arm motor and the drive motor both arranged on the swing arm. The swing arm motor independently controls the rotation of the swing arm, and the drive motor independently drives the rotation of the track on the swing arm, thereby facilitating the rotation control and walking control of a single swing arm and having a relatively simple structure.

[0007] Preferably, the mounting bracket includes a swing arm frame and a driving arm frame, the swing arm motor is arranged on the swing arm frame, the driving motor is arranged on the driving arm frame, and a tensioning adjustment device is arranged between the swing arm frame and the driving arm frame, and the tensioning adjustment device is used to adjust the moving distance of the swing arm frame relative to the driving arm frame.

[0008] Preferably, the swing arm frame includes a first swing arm frame and a second swing arm frame, the first swing arm frame and the second swing arm frame are arranged in parallel, the first end of the first swing arm frame and the first end of the second swing arm frame are both fixedly connected to the swing arm rotating shaft of the swing arm motor, and the driven wheel is arranged between the first swing arm frame and the second swing arm frame; The driving arm frame includes a first driving arm frame and a second driving arm frame, the first driving arm frame and the second driving arm frame are arranged in parallel, the driving motor bearing is arranged on the first end of the first driving arm frame and the first end of the second driving arm frame, and the driving wheel is arranged between the first driving arm frame and the second driving arm frame; The tensioning adjustment device is arranged on the second end of the first swing arm frame and the second end of the second swing arm frame, as well as the second end of the first driving arm frame and the second end of the second driving arm frame.

[0009] Preferably, the tension adjustment device comprises: a runway-shaped hole provided on the second end of the first swing arm bracket and the second end of the second swing arm bracket; a swing arm connecting and fixing plate fixedly connected between the first swing arm bracket and the second swing arm bracket, wherein both ends of the swing arm connecting and fixing plate respectively protrude from the outer side walls of the first swing arm bracket and the second swing arm bracket to form protrusions, the protrusions being provided with bolt mounting portions; and the bolt mounting portions being provided with adjusting positioning bolts; Bolt holes are provided at corresponding positions on the second end of the first driving arm frame and the second end of the second driving arm frame; a driving arm connection fixing column is fixedly connected between the first driving arm frame and the second driving arm frame, and both ends of the driving arm connection fixing column protrude from the outer side walls of the first driving arm frame and the second driving arm frame to form blocking portions, and the blocking portions on both sides correspond to the bolt mounting portions on both sides respectively; A first positioning bolt is provided on the first driving arm frame, and the first positioning bolt passes through a first runway-shaped hole provided on the first swing arm frame and a first bolt hole on the first driving arm frame; a second positioning bolt is provided on the second driving arm frame, and the second positioning bolt passes through a second runway-shaped hole provided on the second swing arm frame and a second bolt hole on the second driving arm frame.

[0010] Preferably, the length of the first swing arm bracket is greater than that of the second swing arm bracket, the first ends of the first swing arm bracket and the second swing arm bracket are aligned, and the second end of the first swing arm bracket forms a first protruding end portion relative to the second end protruding portion of the second swing arm bracket; the first runway-shaped hole is provided on the first protruding end portion, and there are five first runway-shaped holes, two of which are provided at the upper portion, two at the lower portion, and one at the middle portion; four first positioning bolts are provided, and when installed and fixed, the first driving arm bracket is located on the inner side of the first swing arm bracket, and the four first positioning bolts respectively pass through the four runway-shaped holes provided at the upper portion and the lower portion and are fixed to the first driving arm bracket; The second driving arm frame is longer than the first driving arm frame, and the protrusion forms a second protruding end portion. The first ends of the first driving arm frame and the second driving arm frame are aligned, and the second end of the second driving arm frame forms a second protruding end portion relative to the protrusion of the second end of the first driving arm frame; a second runway-shaped hole is respectively provided at the upper and lower portions of the second end portion of the second swing arm frame; two second positioning bolts are provided, and when installed and fixed, the second swing arm frame is located on the inner side of the second driving arm frame, and the two second positioning bolts respectively pass through the two runway-shaped holes provided at the upper and lower portions and are fixed to the second driving arm frame; The drive motor head is fixed to the first drive arm frame through a drive motor bearing; the swing arm motor head is located on one side of the first swing arm frame.

[0011] Preferably, the first driving arm frame is provided with a first wire burying groove, and the first swing arm frame is provided with a second wire burying hole. After the first driving arm frame and the first swing arm frame are installed, the first wire burying groove and the second wire burying groove are connected.

[0012] An embodiment of the present application also provides a robot walking system, including four swing arm mounting suspensions and the four above-mentioned robot swing arms, each of the robot swing arms is fixed on a swing arm mounting suspension and fixed to the robot body through the swing arm mounting suspension.

[0013] The robot walking system provided in the embodiments of the present application includes four robot swing arms, each of which is independently equipped with a swing arm motor and a drive motor. This allows the swing arm to rotate to any angle by controlling the swing arm motor, and the track to rotate by controlling the drive motor. This system provides excellent obstacle-crossing flexibility and is also very suitable for walking. Furthermore, the system has a relatively simple structure, which can reduce processing and assembly costs.

[0014] Preferably, the swing arm mounting suspension includes a suspension mounting flange and a swing arm mounting flange, the swing arm mounting flange is fixedly connected to the suspension mounting flange, the swing arm mounting flange is used to connect to the robot body, the swing arm motor is fixedly mounted on the swing arm mounting flange, and the suspension mounting flange and the swing arm mounting flange are both provided with a connected third buried wire groove, and the third buried wire groove is connected to the robot body.

[0015] An embodiment of the present application also provides a robot, including the above-mentioned robot walking system, and also including a robot body, the suspension mounting flange is fixedly connected to the robot body; a battery, a control unit, a communication unit and a sensor system are provided on the robot body, the battery respectively supplies power to the drive motor, the swing arm motor, the control unit, the communication unit and the sensor system, and the communication unit and the sensor system are respectively connected to the control unit signal.

[0016] The robot provided in the embodiment of the present application focuses on improving the walking system, so that the robot provided in the embodiment of the present application has excellent obstacle-crossing flexibility and is very suitable for walking. At the same time, the structure is relatively simple, which can reduce processing and assembly costs.

[0017] Preferably, the battery includes two lithium batteries, which are provided with pins; battery sockets corresponding to the pins are respectively provided on both symmetrical sides of the robot body, and also includes a battery management unit, which is respectively connected to the battery sockets on both sides, and the drive motor, swing arm motor, control unit, communication unit and sensor system are respectively electrically connected to the battery management unit. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a schematic diagram of the robot structure in the embodiment of this application; Figure 2 This is a schematic diagram of the swing arm structure for the robot; Figure 3 、 Figure 4 This is a schematic diagram of the robot's swing arm in various working modes; Figure 5 Schematic diagram of the internal structure of the robot's swing arm.

[0020] In the figure: 100, robot body; 110, lithium battery; 120, swing arm mounting suspension; 121, suspension mounting flange; 122, swing arm mounting flange; 200, swing arm; 210, swing arm motor; 211, swing arm rotating shaft; 212, driven wheel; 220, drive motor; 221, drive motor bearing; 222, drive motor rotating shaft; 223, driving wheel; 230, mounting bracket; 231, swing arm frame; 2310, first swing arm frame; 2311, second swing arm frame; 232, drive arm frame; 2320, first drive arm frame; 2321, second drive arm frame; 240, crawler track; 250, swing arm connecting fixing plate; 251, bolt mounting part; 260, adjustment positioning bolt; 270, drive arm connecting fixing column; 271, blocking part; 281, first positioning bolt; 282, second positioning bolt. DETAILED DESCRIPTION

[0021] Hereinafter, only certain exemplary embodiments are briefly described. As will be appreciated by those skilled in the art, the described embodiments may be modified in various ways without departing from the spirit or scope of the present invention. Therefore, the drawings and description are to be considered as illustrative in nature and not restrictive.

[0022] It should be noted that the terms "first," "second," "symmetrical," "array," etc. are used only to distinguish descriptions from positional descriptions and should not be understood as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, limitations on features such as "first" and "symmetrical" may explicitly or implicitly include one or more of these features; similarly, when the number of certain features is not limited in the form of words such as "two" or "three," it should be noted that these features also explicitly or implicitly include one or more of the number of features. In the present invention, unless otherwise expressly specified or limited, terms such as "installation," "connection," and "fixation" should be understood broadly; for example, they may refer to fixed connection, detachable connection, or integral molding; they may refer to mechanical connection, direct connection, welding, or indirect connection through an intermediate medium; they may refer to internal communication between two components or interaction between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specification and drawings in conjunction with specific circumstances.

[0023] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0024] like Figure 1 As shown, an embodiment of the present application provides a robot comprising a robot body 100. The robot body 100 is the main carrier of the robot and provides a mounting platform for various components that implement the robot's functions. The robot body may include a chassis and a vehicle body mounted on the chassis. The chassis can be used to mount the robot's walking system. In the robot provided herein, since the swing arm provided by the robot integrates a swing arm motor and a drive motor, the role of the chassis can be weakened. Therefore, in one embodiment provided by the present application, the robot body can be configured as a box structure with a storage cavity provided inside. The storage cavity can be used to mount various functional modules that implement the robot's functions, such as a control unit, a communication unit, and a battery. A sensor system consisting of a camera, an infrared sensor, an ultrasonic sensor, a gas sensor, and the like, as well as a searchlight, can be mounted on the outside of the box structure. The battery provides the energy required by the robot and can power the swing arm motor, the drive motor, the control unit, the communication unit, and the sensor system. The communication unit and the sensor system are each signal-connected to the control unit. The control unit communicates with the remote control via the communication unit to receive remote control commands from the remote control and execute corresponding tasks. The sensor system acquires various data about the robot's environment, such as images from cameras and the distance, size, and position of surrounding obstacles using ultrasonic sensors. This data is then sent to the control unit. The control unit processes this sensor data to generate control instructions for the robot's operations. Furthermore, the control unit transmits this data to the remote control and receives instructions from it to control the robot's various tasks, including movement, obstacle avoidance, inspection, and detection.

[0025] In the robot provided by the preferred embodiment of the present application, a battery socket is provided on each side of the housing. A battery management unit is installed within the robot body, connected to each of the two battery sockets. The control unit, communication unit, and sensor system are electrically connected to the battery management unit. The battery is a lithium battery 110, which has pins corresponding to the battery sockets and is connected to the battery management unit via the pins, thereby providing power to the various functional modules of the robot. The lithium battery arrangement on either side of the robot body facilitates battery replacement. After inserting the pins of the lithium battery into the battery sockets, the lithium battery can be fixed to the robot body with screws. Furthermore, placing the lithium battery externally also provides more space for other components inside the housing. Finally, the battery management unit flexibly configures the power supply of the lithium batteries. When powered by two lithium batteries, more power can be provided, increasing the robot's battery life. Furthermore, the two lithium batteries serve as backup for each other. If one battery fails or is low on power, the other battery can be used for power, preventing the robot from losing communication during operation due to battery failure.

[0026] A connecting flange is provided at each of the front and rear ends of the left bottom portion of the robot body, and a connecting flange is also provided at each of the front and rear ends of the right bottom portion. A swing arm mounting suspension 120 is fixedly mounted on each connecting flange. The swing arm mounting suspension 120 includes a suspension mounting flange 121 for assembly and fixation with the connecting flange, and a swing arm mounting flange 122 for fixed attachment to the swing arm motor of the robot's swing arm. The suspension mounting flange 121 and the swing arm mounting flange 122 can be integrally formed or connected by bolts. A third cable trough is provided on both the suspension mounting flange 121 and the swing arm mounting flange 122, connecting to the battery management unit on the robot body. The third cable trough allows power cables and control signal cables from the battery management unit and control unit to be routed to the swing arm mounting flange. This provides wiring support for the swing arm motor and drive motor on the robot's swing arm. Furthermore, the cables are hidden in the cable trough, and a swing arm cable shield is provided above the cable trough to protect the power cables within the trough, preventing the robot from malfunctioning in complex environments.

[0027] The robot provided in the embodiments of the present application focuses on improvements to its walking system to adapt to complex road conditions. In the improvement of the walking system, a robot swing arm 200 is introduced. The robot swing arm provided in the present application can serve as an auxiliary structure for obstacle avoidance in existing tracked or wheeled robot walking systems. However, the robot swing arm provided in the present application more importantly provides a completely new walking system. That is, the robot swing arm provided in the present application serves alone as a power drive component of the robot walking system, providing power for the entire robot to walk.

[0028] like Figure 1 、 Figure 2 、 Figure 5 As shown, the robot swing arm 200 provided in the embodiment of the present application includes a swing arm motor 210, a drive motor 220, a mounting bracket 230 and a crawler 240; the mounting bracket 230 is arranged in a long strip, and the mounting bracket includes a first end and a second end; The entire swing arm motor 210 can be fixedly connected to the swing arm mounting flange 122 via a mounting base, thereby mounting the entire robot swing arm on the robot body 100. The swing arm shaft 211 of the swing arm motor 210 is fixedly connected to the first end of the mounting bracket 230, and is used to drive the mounting bracket 230 to rotate around the swing arm shaft 211; thereby, the entire robot swing arm 200 can rotate around the swing arm shaft 211 of the swing arm motor 210. The swing arm motor 210 also includes a driven wheel 212, which is disposed on the swing arm shaft 211 and can rotate around the swing arm shaft 211; The drive motor 220 is secured to the second end of the mounting bracket 230 via a drive motor bearing 221. A driving wheel 223 is mounted on the drive motor shaft 222. The crawler track 240 connects the driving wheel 223 and the driven wheel 212, respectively. In a preferred embodiment of the present application, both the driving wheel 223 and the driven wheel 212 are configured as gears, and the crawler track 240 is provided with tooth holes for the gears to engage. Driven by the drive motor, the driving gear rotates the crawler track. The configuration of the driven gears allows for smoother crawler track operation.

[0029] In a robot walking system comprising a robot swing arm provided in an embodiment of the present application, each robot swing arm can be individually controlled to rotate via a swing arm motor, allowing the entire swing arm 200 to rotate to any angle within 360 degrees around the swing arm rotation axis 211 of the swing arm motor 210. This allows the rotation angle of each swing arm 200 to be adjusted based on road conditions, obstacle size, and other factors. While controlling the swing arm's rotation, each drive motor 220 can also be individually controlled to rotate, thereby driving the tracks 240 on the swing arm 200 to rotate, providing power for the robot to walk and overcome obstacles.

[0030] like Figure 1 、 Figure 3 、 Figure 4 As shown, the present application can realize a variety of different walking modes by individually controlling each robot's swing arm, such as the left front obstacle avoidance mode, which is to rotate the left front robot's swing arm so that one end of the drive motor is parallel to or higher than one end of the swing arm motor, while the drive motors in the other swing arms are located at the bottom, and the entire swing arm is in an upright state, thereby crossing the obstacle located in the left front; others such as the left rear obstacle avoidance mode, the right front obstacle avoidance mode, and the right rear obstacle avoidance mode are similar; there is also a middle obstacle avoidance mode, which is to make all the swing arms in an upright state, raising the robot body as a whole, so that obstacles can pass through the middle. There is also a single-side obstacle crossing mode, such as placing the two swing arms on one side flat, and the two swing arms on the other side rotate a certain angle according to the size of the obstacle and the walking, and adjusting the contact position and area between the swing arms and the obstacle to facilitate obstacle crossing. The daily walking mode of the walking system is a smooth walking mode, that is, each swing arm is rotated to be parallel to the robot body, so that the tracks of the drive motor part and the swing arm motor part are in contact with the ground. The overall contact area of the track with the ground is the largest, which can provide smooth operation, thereby increasing the walking speed of the walking system.

[0031] like Figure 1 、、 Figure 2 、 Figure 5 As shown, a preferred embodiment of the present application provides a robot swing arm, wherein the mounting bracket 230 includes a swing arm frame 231 and a drive arm frame 232. The swing arm motor 210 is mounted on the swing arm frame 231, and the drive motor 220 is mounted on the drive arm frame 232. A tensioning device is provided between the swing arm frame 231 and the drive arm frame 232. The tensioning device is used to adjust the movement distance of the swing arm frame 231 relative to the drive arm frame 232. The swing arm motor 210 is first assembled with the swing arm frame 231, and the drive motor 220 is assembled with the drive arm frame 232, and then the entire swing arm 200 is assembled together. The tensioning device is in a relaxed state before assembly, i.e., the distance between the drive motor 220 and the swing arm motor 210 is minimized, thereby facilitating assembly of the drive arm frame 232 and the swing arm frame 231. After assembly, the tensioning adjustment device is adjusted so that the driving motor 220 is away from the swing arm motor 210, so that the crawler belt 240 can be in a tensioned state.

[0032] In a preferred embodiment of the present application, the swing arm frame 231 includes a first swing arm frame 2310 and a second swing arm frame 2311. The first swing arm frame 2310 and the second swing arm frame 2311 are arranged parallel to each other. The first end of the first swing arm frame 2310 and the first end of the second swing arm frame 2311 are both fixedly connected to the swing arm rotating shaft 211 of the swing arm motor 210. The driven wheel 212 is arranged between the first swing arm frame 2310 and the second swing arm frame 2311. The driving arm frame includes a first driving arm frame 2320 and a second driving arm frame 2321. The first driving arm frame 2320 and the second driving arm frame 2321 are arranged parallel to each other. The driving motor bearing 221 is arranged on the first end of the first driving arm frame 2320 and the first end of the second driving arm frame 2321. The driving wheel 223 is arranged between the first driving arm frame 2310 and the second driving arm frame 2321. The tensioning adjustment device is arranged on the second end of the first swing arm 2310 and the second end of the second swing arm 2311 , as well as the second end of the first driving arm 2320 and the second end of the second driving arm 2321 .

[0033] The tension adjustment device comprises: A runway-shaped hole is provided on the second end of the first swing arm bracket 2310 and the second end of the second swing arm bracket 2311; a swing arm connecting fixing plate 250 is fixedly connected between the first swing arm bracket 2310 and the second swing arm bracket 2311, and both ends of the swing arm connecting fixing plate 250 protrude from the outer side walls of the first swing arm bracket 2310 and the second swing arm bracket 2311 to form protrusions, and the protrusions are provided with bolt mounting portions 251; and the bolt mounting portions 251 are provided with adjustment positioning bolts 260; Bolt holes are provided at corresponding positions on the second end of the first driving arm frame 2320 and the second end of the second driving arm frame 2321; a driving arm connecting and fixing column 270 is fixedly connected between the first driving arm frame 2320 and the second driving arm frame 2321, and both ends of the driving arm connecting and fixing column 270 protrude from the outer side walls of the first driving arm frame 2320 and the second driving arm frame 2321 to form blocking portions 271, and the blocking portions 271 on both sides correspond to the bolt mounting portions 251 on both sides respectively; A first positioning bolt 281 is provided on the first driving arm frame 2320, and the first positioning bolt 281 passes through a first runway-shaped hole provided on the first swing arm frame 2310 and a first bolt hole on the first driving arm frame 2320; a second positioning bolt 282 is provided on the second driving arm frame 2321, and the second positioning bolt 282 passes through a second runway-shaped hole provided on the second swing arm frame 2311 and a second bolt hole on the second driving arm frame 2321.

[0034] The length of the first swing arm bracket 2310 is greater than that of the second swing arm bracket 2311. The first ends of the first swing arm bracket 2310 and the second swing arm bracket 2311 are aligned, and the second end of the first swing arm bracket 2310 forms a first protruding end portion relative to the protruding portion of the second end of the second swing arm bracket 2311. The first runway-shaped hole is provided on the first protruding end portion. There are five first runway-shaped holes, two at the upper portion, two at the lower portion, and one at the middle portion. Four first positioning bolts are provided. When installed and fixed, the first driving arm bracket 2320 is located on the inner side of the first swing arm bracket 2310. The four first positioning bolts 281 respectively pass through the four runway-shaped holes provided at the upper portion and the lower portion and are fixed to the first driving arm bracket 2320. The second driving arm frame 2321 is longer than the first driving arm frame 2320, and the protrusion forms a second protruding end portion. The first ends of the first driving arm frame 2320 and the second driving arm frame 2321 are aligned, and the second end of the second driving arm frame 2321 forms a second protruding end portion relative to the protrusion of the second end of the first driving arm frame. A second runway-shaped hole is provided at the upper and lower portions of the second end portion of the second swing arm frame 2311, respectively. Two second positioning bolts 282 are provided. When installed and fixed, the second swing arm frame 2311 is located on the inner side of the second driving arm frame 2321, and the two second positioning bolts 282 pass through the two runway-shaped holes provided at the upper and lower portions and are fixed to the second driving arm frame 2321. The head of the driving motor 220 is fixed to the first driving arm 2320 through the driving motor bearing 221 ; the head of the swing arm motor 210 is located on one side of the first swing arm 2310 .

[0035] The robot swing arm provided in this application first assembles a first swing arm frame, a second swing arm frame, and a swing arm motor into a swing arm motor assembly, and simultaneously assembles a first drive arm frame, a second drive arm frame, and a drive motor into a drive motor assembly. The swing arm motor assembly and the drive motor assembly are then assembled. At this point, the adjustment locating bolt provided on the swing arm motor assembly is located farthest from the drive motor. The first bolt hole on the first drive arm frame is aligned with the first track-shaped hole, and the first locating bolt is installed thereon. Simultaneously, the second bolt hole on the second drive arm frame is aligned with the second track-shaped hole, and the second locating bolt is also installed thereon. A crawler track is installed between the driving wheel and the driven wheel. The adjustment locating bolt is then adjusted and rotated toward the drive motor, causing the adjustment locating bolt to abut against a blocking portion. The adjustment locating bolt increases the distance between the drive motor and the swing arm motor, and the first and second locating bolts move along the first and second track-shaped holes, respectively. When the adjustment locating bolt abuts against the bolt mounting portion, the drive motor and the swing arm motor are at their maximum distance, and the crawler track is fully tensioned. Then tighten the first and second locating bolts. Meanwhile, limit holes are provided on the first and second swing arm brackets near the bolt mounting locations, into which limit bolts can be installed. Once the adjustment bolts are properly adjusted, limit bolts can be installed in the limit holes to limit the backward movement of the adjustment bolts.

[0036] In the preferred embodiment provided by the present application, the first driving arm frame 2320 is provided with a first buried wire groove, and the first swing arm frame 2310 is provided with a second buried wire hole. After the first driving arm frame 2320 and the first swing arm frame 2310 are installed, the first buried wire groove and the second buried wire groove are connected. The second buried wire groove is connected to the wiring hole provided on the swing arm motor bearing, and is connected to the third buried wire groove. Thereby, the power line and control signal line for the swing arm motor and the drive motor can be connected to the swing arm motor through the third buried wire groove, and the power line and control signal line for the drive motor can continue to be connected to the drive motor through the second buried wire groove and the first buried wire groove.

[0037] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art can easily conceive of various modifications and substitutions within the technical scope disclosed in the present invention, and such modifications and substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.

Claims

1. A robot swing arm, characterized by: It includes a swing arm motor, a drive motor, a mounting bracket and a crawler; the mounting bracket is arranged in a long strip, and the mounting bracket includes a first end and a second end; The swing arm shaft of the swing arm motor is fixedly connected to the first end of the mounting bracket, and is used to drive the mounting bracket to rotate around the swing arm shaft; the swing arm motor also includes a driven wheel, which is provided on the swing arm shaft and can rotate around the swing arm shaft; The drive motor is fixed to the second end of the mounting bracket via a drive motor bearing. A driving wheel is provided on the drive motor shaft. The crawler belts are respectively connected to the driving wheel and the driven wheel.

2. The robot swing arm according to claim 1, wherein: The mounting bracket includes a swing arm frame and a driving arm frame, the swing arm motor is arranged on the swing arm frame, the driving motor is arranged on the driving arm frame, and a tensioning adjustment device is arranged between the swing arm frame and the driving arm frame, and the tensioning adjustment device is used to adjust the moving distance of the swing arm frame relative to the driving arm frame.

3. The robot swing arm according to claim 2, wherein: The swing arm frame includes a first swing arm frame and a second swing arm frame, the first swing arm frame and the second swing arm frame are arranged in parallel, the first end of the first swing arm frame and the first end of the second swing arm frame are both fixedly connected to the swing arm rotating shaft of the swing arm motor, and the driven wheel is arranged between the first swing arm frame and the second swing arm frame; The driving arm frame includes a first driving arm frame and a second driving arm frame, the first driving arm frame and the second driving arm frame are arranged in parallel, the driving motor bearing is arranged on the first end of the first driving arm frame and the first end of the second driving arm frame, and the driving wheel is arranged between the first driving arm frame and the second driving arm frame; The tensioning adjustment device is arranged on the second end of the first swing arm frame and the second end of the second swing arm frame, as well as the second end of the first driving arm frame and the second end of the second driving arm frame.

4. The robot swing arm according to claim 3, wherein: The tension adjustment device comprises: a runway-shaped hole provided on the second end of the first swing arm bracket and the second end of the second swing arm bracket; a swing arm connecting and fixing plate fixedly connected between the first swing arm bracket and the second swing arm bracket, wherein both ends of the swing arm connecting and fixing plate respectively protrude from the outer side walls of the first swing arm bracket and the second swing arm bracket to form protrusions, the protrusions being provided with bolt mounting portions; and the bolt mounting portions being provided with adjusting positioning bolts; Bolt holes are provided at corresponding positions on the second end of the first driving arm frame and the second end of the second driving arm frame; a driving arm connection fixing column is fixedly connected between the first driving arm frame and the second driving arm frame, and both ends of the driving arm connection fixing column protrude from the outer side walls of the first driving arm frame and the second driving arm frame to form blocking portions, and the blocking portions on both sides correspond to the bolt mounting portions on both sides respectively; A first positioning bolt is provided on the first driving arm frame, and the first positioning bolt passes through a first runway-shaped hole provided on the first swing arm frame and a first bolt hole on the first driving arm frame; a second positioning bolt is provided on the second driving arm frame, and the second positioning bolt passes through a second runway-shaped hole provided on the second swing arm frame and a second bolt hole on the second driving arm frame.

5. The robot swing arm according to claim 4, wherein: The length of the first swing arm bracket is greater than that of the second swing arm bracket, the first ends of the first swing arm bracket and the second swing arm bracket are aligned, and the second end of the first swing arm bracket forms a first protruding end portion relative to the second end protruding portion of the second swing arm bracket; the first runway-shaped hole is provided on the first protruding end portion, and there are five first runway-shaped holes, two of which are provided at the upper portion, two at the lower portion, and one at the middle portion; four first positioning bolts are provided, and when installed and fixed, the first driving arm bracket is located on the inner side of the first swing arm bracket, and the four first positioning bolts respectively pass through the four runway-shaped holes provided at the upper portion and the lower portion and are fixed to the first driving arm bracket; The second driving arm frame is longer than the first driving arm frame, and the protrusion forms a second protruding end portion. The first ends of the first driving arm frame and the second driving arm frame are aligned, and the second end of the second driving arm frame forms a second protruding end portion relative to the protrusion of the second end of the first driving arm frame; a second runway-shaped hole is respectively provided at the upper and lower portions of the second end portion of the second swing arm frame; two second positioning bolts are provided, and when installed and fixed, the second swing arm frame is located on the inner side of the second driving arm frame, and the two second positioning bolts respectively pass through the two runway-shaped holes provided at the upper and lower portions and are fixed to the second driving arm frame; The drive motor head is fixed to the first drive arm frame through a drive motor bearing; the swing arm motor head is located on one side of the first swing arm frame.

6. The robot swing arm according to claim 5, wherein: The first driving arm frame is provided with a first wire burying groove, and the first swing arm frame is provided with a second wire burying hole. After the first driving arm frame and the first swing arm frame are installed, the first wire burying groove and the second wire burying groove are connected.

7. The robot walking system is characterized by: It comprises four swing arm mounting suspensions and four robot swing arms as described in any one of claims 1 to 6, each of the robot swing arms is fixed on a swing arm mounting suspension and is fixed to the robot body through the swing arm mounting suspension.

8. The robot walking system according to claim 7, wherein: The swing arm mounting suspension includes a suspension mounting flange and a swing arm mounting flange, the swing arm mounting flange is fixedly connected to the suspension mounting flange, the swing arm mounting flange is used to connect to the robot body, the swing arm motor is fixedly mounted on the swing arm mounting flange, and the suspension mounting flange and the swing arm mounting flange are both provided with a connected third buried wire groove, and the third buried wire groove is connected to the robot body.

9. A robot, characterized in that It includes the robot walking system as described in claim 7 or 8, and also includes a robot body, the suspension mounting flange is fixedly connected to the robot body; the robot body is provided with a battery, a control unit, a communication unit and a sensor system, the battery respectively supplies power to the drive motor, the swing arm motor, the control unit, the communication unit and the sensor system, and the communication unit and the sensor system are respectively connected to the control unit signal.

10. The robot according to claim 9, wherein: The battery includes two lithium batteries, each of which is provided with pins; battery sockets corresponding to the pins are respectively provided on both symmetrical sides of the robot body, and also includes a battery management unit, which is respectively connected to the battery sockets on both sides, and the drive motor, swing arm motor, control unit, communication unit and sensor system are respectively electrically connected to the battery management unit.

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