A leg link device for a traffic robot and a traffic robot

Abstract

The application relates to the technical field of mechanical transmission, in particular to a leg connecting rod device for a traffic robot and the traffic robot, which comprises a bearing platform, a driving mechanism and a plurality of transmission mechanisms connected between the bearing platform and the driving mechanism. The transmission mechanism comprises a first double rocker mechanism, a second double rocker mechanism, a knee joint mechanism and a linkage rod, the plurality of first double rocker mechanisms are connected with the driving mechanism, and the first double rocker mechanism, the knee joint mechanism, the second double rocker mechanism and the bearing platform are sequentially hinged. The linkage rod is hinged between the first double rocker mechanism and the second double rocker mechanism. The knee joint mechanism adjusts the connection angle of the two double rocker mechanisms, so that when the folded double legs are in a vertical state, the rocker of the second double rocker mechanism reaches a parallel state with the linkage rod, the two double rocker mechanisms are in the same straight line, a completely vertical standing state is reached, the force transmitted to the driving mechanism is reduced, the stability of the robot in the vertical state is good, and the impact resistance is high.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission technology, and in particular to a leg linkage device for a transportation robot and the transportation robot itself. Background Technology

[0002] The transportation robot industry requires that the robot's leg drive components be capable of load-bearing, lifting, and folding, and that the robot maintain a stable upright position for long-term traffic control. Leg drive components using multiple motors to control lifting and maintaining an upright position are complex to control and have low stability. Those using purely mechanical structures as drive components, such as gear drives, are difficult to manufacture and maintain over long-term use. Some use synchronous belt drives, which lack rigidity and are prone to vibration. Linkage devices, as a frequently used mechanical structure in mechanical transmission, can achieve motion transformation, such as converting rotational motion into reciprocating oscillation or specific trajectory motion. Furthermore, linkage devices are simple in structure, highly reliable, use low-pair connections, are wear-resistant, and have strong load-bearing capacity. By combining multiple links to achieve specific path control, complex trajectories can be realized. Therefore, linkage devices are widely used in robot arm and leg structures. However, existing robots that use linkages as leg drive components basically employ a double parallelogram linkage structure as the leg transmission component. The linkage shaft at the bottom of the lower leg and the linkage of the thigh are connected by a simple diagonal tie rod. During movement, the motor needs a large torque to drive the leg to an upright position, resulting in poor stability in the upright position. Furthermore, the calculated motor load curve shows that the closer to the upright position, the greater the load, which is not conducive to the use of robots that are in an upright position for a long time. Summary of the Invention

[0003] (a) Technical problems to be solved

[0004] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a leg linkage device for a transportation robot and a transportation robot, which solves the technical problems of existing leg transmission components having complex structures, difficult maintenance, insufficient rigidity, and being unsuitable for long-term upright positions.

[0005] (II) Technical Solution

[0006] To achieve the above objectives, the leg linkage device for transportation robots of the present invention includes a support platform, a drive mechanism, and a plurality of transmission mechanisms connected between the support platform and the drive mechanism;

[0007] The transmission mechanism includes a first double rocker mechanism, a second double rocker mechanism, a knee joint mechanism, and a linkage rod;

[0008] In this configuration, the first ends of multiple first dual rocker mechanisms are all connected to the drive mechanism, and the second ends of the first dual rocker mechanisms are hinged to the knee joint mechanism.

[0009] The first end of the second dual rocker mechanism is hinged to the support platform, and the second end of the second dual rocker mechanism is hinged to the knee joint mechanism;

[0010] The first end of the linkage rod is hinged to the first double rocker mechanism, and the second end of the linkage rod is hinged to the second double rocker mechanism.

[0011] Optionally, the two rockers of the first dual-rocker mechanism are hinged to the first and second positions of the knee joint mechanism, respectively, and the two rockers of the second dual-rocker mechanism are hinged to the third and fourth positions of the knee joint mechanism, respectively. The first position coincides with the third position, and the line connecting the first position, the second position, and the fourth position forms a triangle.

[0012] Optionally, the knee joint mechanism includes a pair of joint bodies and a plurality of joint hinge axes;

[0013] A pair of joint bodies are arranged opposite each other, and a plurality of joint hinge axes are arranged horizontally between the pair of joint bodies. At least the first position, the second position and the fourth position are provided with the joint hinge axes, and the two rockers of the first double rocker mechanism and the second double rocker mechanism are respectively connected to the joint hinge axes at the corresponding positions.

[0014] Optionally, the first dual-rocker mechanism includes a first rocker, a second rocker, and a first mechanical assist component;

[0015] The first ends of the first rocker and the second rocker are both connected to the drive mechanism, and the second ends of the first rocker and the second rocker are both hinged to the knee joint mechanism;

[0016] The second rocker arm is provided with a first limiting block. When the leg linkage device is in the extended state, the first rocker arm abuts against the first limiting block.

[0017] The first mechanical assist component is hinged between the first rocker arm and the second rocker arm, and the first end of the linkage rod is hinged to the second rocker arm.

[0018] Optionally, the drive mechanism includes a mounting platform and a drive component connected to the mounting platform;

[0019] The first ends of both the first rocker and the second rocker are hinged to the mounting platform, and the horizontal height of the mounting position of the first rocker on the mounting platform is higher than that of the second rocker on the mounting platform.

[0020] The drive assembly is connected to the second rocker arm to drive the second rocker arm to rotate about a hinge point on the mounting platform.

[0021] Optionally, the drive assembly includes a power unit, a slider, and a power transmission rod;

[0022] The slider is slidably connected to the mounting platform, and the power unit is connected to the slider to drive the slider to reciprocate in a horizontal straight line, and the power unit is capable of self-locking.

[0023] The first end of the second rocker is fixedly connected to a rocker connecting rod, the first end of the power transmission rod is hinged to the rocker connecting rod, and the second end of the power transmission rod is hinged to the slider.

[0024] Optionally, the second dual-rocker mechanism includes a third rocker, a fourth rocker, and a second mechanical assist component;

[0025] The first ends of the third rocker arm and the fourth rocker arm are both hinged to the support platform, and the second ends of the third rocker arm and the fourth rocker arm are both hinged to the knee joint mechanism;

[0026] The third rocker arm is provided with a second limiting block. When the leg linkage device is in a folded state, the fourth rocker arm abuts against the second limiting block.

[0027] The second mechanical assist component is hinged between the third rocker and the fourth rocker.

[0028] Optionally, the second dual rocker mechanism further includes a first fixed link and a second fixed link;

[0029] The first fixed link, the second fixed link, and the third rocker are sequentially fixedly connected end to end to form a triangular structure, and the first fixed link and the second fixed link are both hinged to the second end of the linkage rod.

[0030] Furthermore, the present invention also provides a transportation robot, which includes a mobile base and a leg linkage device, wherein the bottom of the mobile base is provided with multiple rollers, and the drive mechanism is connected to the mobile base.

[0031] Optionally, the transportation robot further includes a robot torso and at least one robotic arm connected to the robot torso, the robot torso being mounted on the support platform.

[0032] (III) Beneficial Effects

[0033] The drive mechanism serves as both a mounting platform for the leg linkage device, maintaining installation stability, and a means to drive the leg linkage device to fold / unfold and the entire device to move.

[0034] The first end of the first dual-rocker mechanism is connected to the drive mechanism, and the second end is hinged to the knee joint mechanism. The drive device controls the folding / unfolding of the legs by simultaneously driving the paired first dual-rocker mechanisms to rotate, achieving the leg raising and lowering action using only one drive mechanism. The first end of the second dual-rocker mechanism is hinged to the support platform, and the second end is hinged to the knee joint mechanism. The arrangement of the first and second dual-rocker mechanisms effectively simplifies the robot's leg structure, and the pure linkage structure is easy to maintain. The first end of the linkage rod is hinged to the first dual-rocker mechanism, and the second end is hinged to the second dual-rocker mechanism. While the drive mechanism drives the first dual-rocker mechanism to rotate, it controls the second dual-rocker mechanism to rotate synchronously through the linkage rod, thereby achieving effective linkage between the first and second dual-rocker mechanisms.

[0035] The knee joint mechanism connects the first and second dual-rocker mechanisms, and readjusts the connection angle between them. This ensures that when the leg linkage is in an upright position, the rocker arm and the linkage rod of the second dual-rocker mechanism are parallel, placing the first and second dual-rocker mechanisms on the same straight line. This achieves a fully vertical standing state, where the load applied by the platform is applied only to the two rocker mechanisms themselves, effectively reducing the force transmitted to the drive mechanism. This results in good stability, high rigidity, and strong impact resistance for the robot in its upright position. Attached Figure Description

[0036] Figure 1 This is a schematic diagram of the leg linkage device for a transportation robot according to the present invention;

[0037] Figure 2 This is a schematic diagram of the folded state of the leg linkage device for a transportation robot according to the present invention;

[0038] Figure 3 This is a cross-sectional schematic diagram of the leg linkage device for a transportation robot according to the present invention;

[0039] Figure 4 This is a schematic diagram of the leg linkage device for a transportation robot according to the present invention.

[0040] Figure 5 This is a schematic diagram of the upright state of the leg linkage device for a transportation robot according to the present invention;

[0041] Figure 6 This is a schematic diagram of the leg linkage device for a transportation robot according to the present invention. Figure 1 ;

[0042] Figure 7This is a schematic diagram of the leg linkage device for a transportation robot according to the present invention. Figure 2 ;

[0043] Figure 8 Simulation diagram of the thrust generated by the slider in the leg linkage device for transportation robots of the present invention;

[0044] Figure 9 This is a schematic diagram of the connection point of the leg linkage device for a transportation robot according to the present invention;

[0045] Figure 10 Simulation of the reaction force at the connection point of the leg linkage device for transportation robots according to the present invention. Figure 1 ;

[0046] Figure 11 Simulation of the reaction force at the connection point of the leg linkage device for transportation robots according to the present invention. Figure 2 ;

[0047] Figure 12 Simulation of the reaction force at the connection point of the leg linkage device for transportation robots according to the present invention. Figure 3 ;

[0048] Figure 13 This is a simulation diagram of the coordinates of the end load of the leg linkage device for a transportation robot of the present invention in the vertical direction.

[0049] Figure 14 This is a structural schematic diagram of the transportation robot of the present invention.

[0050] [Explanation of Labels in the Attached Image]

[0051] 100: Platform;

[0052] 1: First dual-rocker mechanism; 11: First rocker; 12: Second rocker; 121: Rocker connecting rod; 13: First mechanical assist component; 14: First limit block;

[0053] 2: Second dual rocker mechanism; 21: Third rocker; 22: Fourth rocker; 23: Second mechanical assist component; 24: Second limit block; 25: First fixed link; 26: Second fixed link;

[0054] 3: Knee joint mechanism; 31: First position; 32: Second position; 33: Third position; 34: Fourth position; 35: Joint body; 36: Joint hinge axis;

[0055] 4: Linkage rod;

[0056] 5: Drive mechanism; 50: Mounting platform; 51: Power unit; 52: Slider; 53: Power transmission rod;

[0057] 61: Mobile base; 62: Wheels; 63: Robot torso; 64: Mechanical arm. Detailed Implementation

[0058] To better explain and facilitate understanding of the present invention, a detailed description of the invention is provided below with reference to the accompanying drawings and specific embodiments. In this document, directional terms such as "upper," "lower," etc., are used interchangeably with respect to... Figure 1 The orientation is used as a reference.

[0059] While exemplary embodiments of the invention are shown in the accompanying drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that the invention can be understood more clearly and thoroughly, and that the scope of the invention can be fully conveyed to those skilled in the art.

[0060] This invention provides a leg linkage device for transportation robots. The leg linkage device enables switching between stable vertical standing and folded squatting positions, achieving anthropomorphic folding and upright movements of the legs. See the attached diagram for its states. Figure 1 and Figure 2 This meets the needs of robots to maintain a stable upright position for long-term traffic control and to fold and squat for transportation.

[0061] like Figure 3 and Figure 4 As shown, the leg linkage device for a transportation robot includes a support platform 100, a drive mechanism 5, and multiple transmission mechanisms installed and connected between the support platform 100 and the drive mechanism 5. Preferably, a pair of transmission mechanisms are used. The transmission mechanisms include a first double rocker mechanism 1, a second double rocker mechanism 2, a knee joint mechanism 3, and a linkage rod 4, which simplifies the device structure while maintaining stability. The first double rocker mechanism 1, the second double rocker mechanism 2, the knee joint mechanism 3, and the linkage rod 4 constitute the leg linkage device for the transportation robot. The support platform is used to install and connect the robot's torso. The drive mechanism 5 serves as a support platform for the leg linkage device, maintaining installation stability, and also drives the leg linkage device to fold / unfold and the entire device to move.

[0062] The robot's lower leg structure is formed by a first dual-rocker mechanism 1, and its upper leg structure by a second dual-rocker mechanism 2. These mechanisms are not limited to a single pair; combining multiple lower leg and upper leg structures increases the robot's stability when standing or squatting. The first ends of all the first dual-rocker mechanisms 1 are connected to a drive mechanism 5, allowing multiple mechanisms to move simultaneously, thus avoiding asynchronous leg folding caused by asynchronous multi-point drive. The second ends of the first dual-rocker mechanisms 1 are hinged to a knee joint mechanism 3. The drive unit controls the folding / unfolding of the legs by simultaneously rotating the paired first dual-rocker mechanisms 1, achieving the leg raising and lowering motion using only one drive mechanism 5. The first end of the second dual-rocker mechanism 2 is hinged to the support platform 100, and the second end is hinged to the knee joint mechanism 3. The combination of the first dual-rocker mechanisms 1 and 2 effectively simplifies the robot's leg structure, and the pure linkage structure simplifies maintenance. The first end of the linkage rod 4 is hinged to the first double rocker mechanism 1, and the second end of the linkage rod 4 is hinged to the second double rocker mechanism 2. While the drive mechanism 5 drives the first double rocker mechanism 1 to rotate, it controls the second double rocker mechanism 2 to rotate synchronously through the linkage rod 4, thereby realizing the effective linkage between the first double rocker mechanism 1 and the second double rocker mechanism 2.

[0063] like Figure 5 As shown, the knee joint is connected between the first dual-rocker mechanism 1 and the second dual-rocker mechanism 2. The connection angle of the first dual-rocker mechanism 1 and the second dual-rocker mechanism 2 has been readjusted, so that when the leg linkage device is in the upright state, the rocker arm of the second dual-rocker mechanism 2 and the linkage rod 4 are parallel to each other, so that the first dual-rocker mechanism 1 and the second dual-rocker mechanism 2 are in the same straight line, achieving a completely vertical standing state. In this state, the load force applied by the platform will only act on the two rocker mechanisms themselves, effectively reducing the force transmitted to the drive mechanism 5, making the robot have good stability, high rigidity, and strong impact resistance in the upright state.

[0064] like Figure 5 and Figure 6As shown, multiple hinge points are fixedly provided on the knee joint mechanism 3. The two rockers of the first double rocker mechanism 1 are hinged to the hinge points of the first position 31 and the second position 32 of the knee joint mechanism 3, respectively. The two rockers of the second double rocker mechanism 2 are hinged to the hinge points of the third position 33 and the fourth position 34 of the knee joint mechanism 3, respectively. The first position 31 and the third position 33 coincide, so that the line connecting the first position 31, the second position 32 and the fourth position 34 forms a triangle. By changing the included angle of the line connecting the first position 31 to the second position 32 and the fourth position 34, the connection angle of the first double rocker mechanism 1 and the second double rocker mechanism 2 can be changed to match rocker mechanisms of different sizes. This ensures that the first double rocker mechanism 1 and the second double rocker mechanism 2 can be completely in the same straight line when standing, and at the same time improves the flexibility of product size adjustment.

[0065] like Figure 7 As shown, the knee joint mechanism 3 includes a pair of joint bodies 35 and a plurality of joint hinge shafts 36. The pair of joint bodies 35 are arranged opposite each other, preferably both vertically arranged and opposite to each other. The plurality of joint hinge shafts 36 are all horizontally arranged between the pair of joint bodies 35, wherein at least the first position 31, the second position 32 and the fourth position 34 are provided with joint hinge shafts 36, and the joint hinge shafts 36 at corresponding positions of the pair of joint bodies 35 are coaxially arranged. The two rockers of the first double rocker mechanism 1 and the second double rocker mechanism 2 are respectively connected to the joint hinge shafts 36 at corresponding positions, thereby improving the stability of the first double rocker mechanism 1 and the second double rocker mechanism 2 and the rigidity of the legs through the pair of joint bodies 35.

[0066] like Figure 4 As shown, the first dual-rocker mechanism 1 includes a first rocker 11, a second rocker 12, and a first mechanical assist component 13. The first ends of both the first rocker 11 and the second rocker 12 are connected to a drive mechanism 5, which drives at least one of the rockers to rotate; if necessary, both rockers can be driven to rotate synchronously. The second ends of both the first rocker 11 and the second rocker 12 are hinged to the knee joint mechanism 3. Specifically, the second end of the first rocker 11 is hinged to the joint hinge shaft 36 at the first position 31 on the joint body 35, and the second end of the second rocker 12 is hinged to the joint hinge shaft 36 at the second position 32 on the joint body 35.

[0067] like Figure 5As shown, a first limiting block 14 is provided on the second rocker arm 12. After the leg linkage device is unfolded from the folded state to the vertical standing state, the first rocker arm 11 abuts against the first limiting block 14. The first limiting block blocks the rotation of the first rocker arm 11, preventing the knee joint from bending backward due to excessive rotation of the first rocker arm 11, which would cause instability in the standing position. The linkage control drive mechanism 5 of the first rocker arm 11 and the second rocker arm 12 stops the power output, so that the first rocker arm 11 and the second rocker arm 12 remain in the vertical standing state. The first mechanical assist component 13 is hinged between the first rocker arm 11 and the second rocker arm 12. The second rocker arm 12 is directly driven by the drive mechanism 5 and is the driving rod, while the first rocker arm 11 is the driven rod. The first mechanical assist component 13 is preferably a spring, hydraulic rod, pneumatic rod, etc., used to assist the rotation of the first rocker arm 11 and the second rocker arm 12, especially during the initial unfolding process from a fully folded state. The first mechanical assist component 13 uses the first rocker arm 11 as a fulcrum to provide a direct force or component force to the second rocker arm 12 in the same direction of rotation, reducing the load on the drive mechanism 5 and improving the stability of the mechanism. The first end of the linkage rod 4 is hinged to the second rocker arm 12, and the hinge point preferably coincides with the hinge point of the first mechanical assist component 13 on the second rocker arm 12, simplifying the device mechanism. When the second rocker arm 12 rotates, the linkage rod 4 synchronously drives the second double rocker mechanism 2 to rotate synchronously.

[0068] like Figures 3 to 6 As shown, the drive mechanism 5 includes a mounting platform 50 and a drive assembly connected to the mounting platform 50. The mounting platform 50 is a fixed platform used to support the entire leg linkage structure. An inclined surface is provided on the mounting platform 50. The first ends of both the first rocker arm 11 and the second rocker arm 12 are hinged to the inclined surface on the mounting platform 50, so that the horizontal height of the mounting position of the first rocker arm 11 on the mounting platform 50 is higher than that of the second rocker arm 12 on the mounting platform 50. This ensures that the first rocker arm 11 and the second rocker arm 12 can fold normally while effectively reducing the folding height, thus reducing the folding height of the entire leg linkage and consequently reducing the folding volume of the leg linkage, facilitating transportation. It also helps to reduce the height of the robot, making it easier for the robotic arm to pick up low-positioned items after being mounted on the support platform 100. The second rocker arm 12 is the main drive rocker arm, connected to the drive assembly, which drives the second rocker arm 12 to rotate around the hinge point on the mounting platform 50. See also... Figure 3When the second rocker arm 12 rotates clockwise, the first rocker arm 11, acting as a driven rocker arm, rotates clockwise synchronously, and the leg linkage device folds and retracts to the mounting platform 50. When the second rocker arm 12 rotates counterclockwise, the first rocker arm 11 rotates counterclockwise synchronously, and the leg linkage device swings and unfolds. When the second rocker arm 12 rotates to a vertical position, the first rocker arm 11 is also in a vertical position, at which point the first rocker arm 11 abuts against the first limiting block 14. In one control method, when the first rocker arm 11 abuts against the first limiting block 14, and the resistance experienced by the drive component exceeds a set value, it automatically stops, thereby keeping both legs in a vertical position. The force generated by the load on the leg linkage device acts only vertically on the first double rocker mechanism 1. The drive component is only used to maintain the vertical state of the leg linkage device and is not affected by the load force, resulting in good stability and strong impact resistance in the robot's upright state.

[0069] Specifically, the drive assembly includes a power unit 51, a slider 52, and a power transmission rod 53. The slider 52 is slidably connected to the mounting platform 50, and the power unit 51 is connected to the slider 52 to drive the slider 52 to reciprocate in a horizontal straight line. The power unit 51 is preferably a combination of a motor and a ball screw, but it can also be replaced with a cylinder, electric cylinder, linear motor, or other equipment capable of driving the slider 52 to reciprocate in a horizontal straight line; this application does not impose any limitations. The power unit 51 is equipped with a brake to prevent the robot from falling due to abnormal conditions such as power outages. The first end of the second rocker arm 12 is fixedly connected to a rocker arm connecting rod 121 after passing around the hinge point. The first end of the power transmission rod 53 is hinged to the rocker arm connecting rod 121, and the second end of the power transmission rod 53 is hinged to the slider 52. The horizontal movement of the slider 52 is converted into the rotational movement of the second rocker arm 12 through the power transmission rod 53 and the rocker arm connecting rod 121. This adopts a purely mechanical structure, which is simple, stable, durable, and easy to maintain. Furthermore, the structural design of the drive component reduces its size, allowing it to be concealed under the feet of the folding legs, resulting in a more aesthetically pleasing leg shape. In one specific implementation, see... Figure 7 The second rocker arm 12 is a pair of vertically arranged strip plates facing each other, and a horizontally arranged hinge shaft is installed between each pair of strip plates at each hinge point; the first rocker arm 11 is a single rod, the first mechanical assist component 13, the linkage rod 4, and the knee joint mechanism 3 are all a pair, and the first limiting block 14 is installed between the pair of strip plates.

[0070] like Figures 3 to 7As shown, the second dual-rocker mechanism 2 includes a third rocker 21, a fourth rocker 22, and a second mechanical assist component 23. The first ends of both the third rocker 21 and the fourth rocker 22 are hinged to the support platform 100, and the second ends of both are hinged to the knee joint mechanism 3. Specifically, the third rocker 21 is hinged to the hinge axis at the first position 31 on the joint body 35, and the fourth rocker 22 is hinged to the hinge axis at the fourth position 34 on the joint body 35. A second limiting block 24 is provided on the third rocker 21. When the leg linkage device is in a folded state, the fourth rocker 22 abuts against the second limiting block 24 to prevent the mechanism from exceeding the limit and being damaged. The second mechanical assist component 23 is hinged between the third rocker arm 21 and the fourth rocker arm 22. Similar to the first mechanical assist component 13, the second mechanical assist component 23 is preferably a spring, hydraulic rod, pneumatic rod, etc., used to provide assistance for the rotation of the third rocker arm 21 and the fourth rocker arm 22. Especially in the process of just unfolding from the fully folded state, the second mechanical assist component 23 uses the third rocker arm 21 as a fulcrum to provide a direct force or component force to the fourth rocker arm 22 in the same direction of rotation, reducing the load on the drive mechanism 5 and improving the stability of the mechanism.

[0071] Further, see Figure 4 The second double rocker mechanism 2 also includes a first fixed link 25 and a second fixed link 26. The first fixed link 25, the second fixed link 26, and the third rocker 21 are sequentially and fixedly connected end-to-end to form a triangular structure. Each vertex of the triangle is a hinge point. The first fixed link 25 and the second fixed link 26 are fixedly connected and then hinged to the second end of the linkage rod 4. The linkage between the first double rocker mechanism 1 and the second double rocker mechanism 2 is achieved through the linkage rod. When the leg linkage device is in an upright state, the first rocker 11, the second rocker 12, the third rocker 21, the fourth rocker 22, and the linkage rod 4 are all in a vertical state, and the first rocker 11 and the third rocker 21 are located in a straight line. This allows the load force to be applied to the two rocker mechanisms themselves, while the force transmitted to the drive part is almost zero. For the specific structure of the second double rocker mechanism 2, see [link to relevant documentation]. Figure 6 and Figure 7 The third rocker arm 21 is a pair of strip plates, each hinge point is equipped with a hinge shaft, the fourth rocker arm 22 is a single rod, the second mechanical assist assembly 23 is a pair, and the second limit block 24 is installed between the pair of strip plates.

[0072] Figures 8 to 13 This is a simulation structure of the leg linkage device unfolding from a folded state to a vertical state. Figure 8 A simulation diagram of the thrust generated by the slider 52 of the drive mechanism 5. Figure 9 This is a schematic diagram of the connection points of each joystick and link. Figures 10 to 12 Simulation diagrams of the reaction forces at the connection points of each joystick and link. Figure 13This is a simulation graph of the coordinates of the end load in the vertical direction. From... Figures 8 to 13 As can be seen, the advantages of using the above structure are:

[0073] By adjusting the position of linkage 4 and the design of knee joint mechanism 3, the mechanism is optimized so that the thrust required to drive the structure is smaller the closer it is to the upright position. Figures 8 to 13 The simulation was conducted with a 35kg load and slider 52 moving at 10mm / s (without the first mechanical assist component 13 and the second mechanical assist component 23 set). The simulation lasted 16 seconds, allowing the robot to rise 550mm from a squatting position to an upright position. During this process, the thrust required by slider 52 decreased from approximately 10000N to approximately 28N, and the load on each link and rocker arm was minimized in the upright position. The upright position allows the robot to withstand greater impact and vibration loads, thus improving system stability.

[0074] like Figure 14 As shown, the present invention also provides a transportation robot, including a movable base 61 and a leg linkage device. The bottom of the movable base 61 is provided with multiple rollers 62. The mounting platform 50 of the drive mechanism 5 is fixed on the movable base 61, facilitating the overall movement of the robot. Further, the transportation robot also includes a robot torso 63 and at least one robotic arm 64 connected to the robot torso 63. The robot torso 63 is mounted on a support platform 100. By providing a first mechanical assist component 13 and a second mechanical assist component 23, the load on the drive mechanism 5 can be effectively reduced when the robot is in a bent-knee position, thus reducing the force on the robot in a squatting state.

[0075] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0076] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0077] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first and second features are in direct contact, or that they are in indirect contact through an intermediate medium. Furthermore, "above," "over," or "on top" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," or "beneath" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0078] In the description of this specification, the terms "one embodiment," "some embodiments," "embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0079] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make modifications, alterations, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A leg linkage device for a transportation robot, characterized in that, The leg linkage device includes a support platform (100), a drive mechanism (5), and a plurality of transmission mechanisms connected between the support platform (100) and the drive mechanism (5); The transmission mechanism includes a first double rocker mechanism (1), a second double rocker mechanism (2), a knee joint mechanism (3), and a linkage rod (4). Among them, the first ends of multiple first dual rocker mechanisms (1) are connected to the drive mechanism (5), and the second ends of the first dual rocker mechanisms (1) are hinged to the knee joint mechanism (3); The first end of the second dual rocker mechanism (2) is hinged to the bearing platform (100), and the second end of the second dual rocker mechanism (2) is hinged to the knee joint mechanism (3); The first end of the linkage rod (4) is hinged to the first double rocker mechanism (1), and the second end of the linkage rod (4) is hinged to the second double rocker mechanism (2).

2. The leg linkage device for a transportation robot as described in claim 1, characterized in that, The two rockers of the first dual rocker mechanism (1) are respectively hinged to the first position (31) and the second position (32) of the knee joint mechanism (3), and the two rockers of the second dual rocker mechanism (2) are respectively hinged to the third position (33) and the fourth position (34) of the knee joint mechanism (3). The first position (31) coincides with the third position (33), and the line connecting the first position (31), the second position (32) and the fourth position (34) forms a triangle.

3. The leg linkage device for a transportation robot as described in claim 2, characterized in that, The knee joint mechanism (3) includes a pair of joint bodies (35) and a plurality of joint hinge axes (36). A pair of joint bodies (35) are arranged opposite to each other, and a plurality of joint hinge shafts (36) are arranged horizontally between the pair of joint bodies (35). At least the first position (31), the second position (32) and the fourth position (34) are provided with the joint hinge shafts (36). The two rockers of the first double rocker mechanism (1) and the second double rocker mechanism (2) are respectively connected to the joint hinge shafts (36) at the corresponding positions.

4. The leg linkage device for a transportation robot as described in claim 1, characterized in that, The first dual rocker mechanism (1) includes a first rocker (11), a second rocker (12), and a first mechanical assist component (13). The first ends of the first rocker (11) and the second rocker (12) are both connected to the drive mechanism (5), and the second ends of the first rocker (11) and the second rocker (12) are both hinged to the knee joint mechanism (3); The second rocker (12) is provided with a first limiting block (14). When the leg linkage device is in the unfolded state, the first rocker (11) abuts against the first limiting block (14). The first mechanical assist component (13) is hinged between the first rocker arm (11) and the second rocker arm (12), and the first end of the linkage rod (4) is hinged to the second rocker arm (12).

5. The leg linkage device for a transportation robot as described in claim 4, characterized in that, The drive mechanism (5) includes a mounting platform (50) and a drive component connected to the mounting platform (50); The first ends of the first rocker (11) and the second rocker (12) are both hinged to the mounting platform (50), and the horizontal height of the mounting position of the first rocker (11) on the mounting platform (50) is higher than the mounting position of the second rocker (12) on the mounting platform (50). The drive assembly is connected to the second rocker arm (12) to drive the second rocker arm (12) to rotate about a hinge point on the mounting platform (50).

6. The leg linkage device for a transportation robot as described in claim 5, characterized in that, The drive assembly includes a power unit (51), a slider (52), and a power transmission rod (53). The slider (52) is slidably connected to the mounting platform (50), the power unit (51) is connected to the slider (52) to drive the slider (52) to reciprocate on a horizontal straight line, and the power unit (51) is capable of self-locking; The first end of the second rocker (12) is fixedly connected to the rocker connecting rod (121), the first end of the power transmission rod (53) is hinged to the rocker connecting rod (121), and the second end of the power transmission rod (53) is hinged to the slider (52).

7. The leg linkage device for a transportation robot as described in claim 1, characterized in that, The second dual rocker mechanism (2) includes a third rocker (21), a fourth rocker (22), and a second mechanical assist component (23); The first ends of the third rocker (21) and the fourth rocker (22) are both hinged to the bearing platform (100), and the second ends of the third rocker (21) and the fourth rocker (22) are both hinged to the knee joint mechanism (3); The third rocker (21) is provided with a second limiting block (24). When the leg linkage device is in a folded state, the fourth rocker (22) abuts against the second limiting block (24). The second mechanical assist component (23) is hinged between the third rocker (21) and the fourth rocker (22).

8. The leg linkage device for a transportation robot as described in claim 7, characterized in that, The second dual rocker mechanism (2) also includes a first fixed link (25) and a second fixed link (26); The first fixed link (25), the second fixed link (26) and the third rocker (21) are connected end to end in a triangular structure, and the first fixed link (25) and the second fixed link (26) are both hinged to the second end of the linkage rod (4).

9. A transportation robot, characterized in that, The transportation robot includes a mobile base (61) and a leg linkage device as described in any one of claims 1-8. The bottom of the mobile base (61) is provided with a plurality of rollers (62), and the drive mechanism (5) is connected to the mobile base (61).

10. The transportation robot as described in claim 9, characterized in that, The transportation robot also includes a robot torso (63) and at least one robotic arm (64) connected to the robot torso (63), the robot torso (63) being mounted on the support platform (100).

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