Geometrically nonlinear large-load high-isolation and damping robot wheel-leg mechanism

Abstract

This invention discloses a geometrically nonlinear, high-load, high-isolation and vibration-damping robot wheel-leg mechanism, including a thigh, a lower leg, a wheel, a crank, a connecting rod, an elastic device, a damping device, a first joint motor, and a second joint motor. The first and second joint motors are located inside a housing. The first joint motor is connected to the upper end of the robot's thigh and drives its rotation. The lower leg is rotatably connected to the lower end of the thigh, and the wheel is connected to the lower end of the lower leg. The upper end of the crank is connected to the second joint motor, and the lower end of the crank is rotatably connected to the upper end of the connecting rod. The lower end of the connecting rod is rotatably connected to the upper end of the lower leg. The damping device and the elastic device connect the lower leg and the connecting rod to achieve vibration isolation and reduction. This invention improves the robot's vibration isolation and reduction performance when traversing bumpy roads or walking on legs, making the robot body more stable and reducing the impact on the motors.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a geometrically nonlinear, high-load, high-isolation and vibration-damping robot wheel-leg mechanism. Background Technology

[0002] Wheeled-legged robots are hybrid mobile robots that combine the high mobility of wheeled robots with the strong terrain adaptability of legged robots. Through flexible switching between wheeled and legged locomotion modes, they achieve both high-speed travel and obstacle-crossing capabilities in complex terrains, making them core equipment for unstructured environment operations. Compared to traditional wheeled robots, they can overcome terrain limitations such as steps, trenches, and steep slopes; compared to purely legged robots, they offer higher mobility and lower energy consumption on flat surfaces, effectively balancing mobility, passability, and endurance. Currently, wheeled-legged robots are showing broad application prospects in emergency rescue, industrial inspection, military and field operations, smart cities, and agricultural and forestry plant protection.

[0003] While wheeled robots offer significant advantages in terrain adaptability and mobility, the shortcomings of their vibration damping systems have become a key bottleneck restricting performance improvement and application expansion. Existing wheeled robots mostly employ rigid linkage structures, lacking the mature independent suspension and vibration damping systems found in wheeled robots. Ground impacts and vibrations are easily transmitted directly to the body through the rigid leg structure, causing severe vibrations throughout the machine. During high-speed wheeled travel, the instantaneous impact of bumpy roads or obstacle crossings can cause significant fluctuations in the robot's posture, affecting not only the measurement accuracy of onboard sensors but also potentially causing fatigue damage to precision components such as joint motors and reducers. Furthermore, current vibration damping designs often rely on real-time adjustment of motor stiffness and damping, requiring continuous torque output to counteract vibrations, significantly shortening range.

[0004] Therefore, it is necessary to develop new vibration reduction structures to overcome the above problems. Summary of the Invention

[0005] Purpose of the invention: To address the shortcomings and defects of existing technologies, this invention provides a geometrically nonlinear, high-load, high-isolation and vibration-damping robot wheel-leg mechanism, which improves the robot's vibration damping performance when traversing bumpy roads or walking on legs, making the robot body more stable and reducing the impact on the motor.

[0006] Technical Solution: The present invention provides a geometrically nonlinear, high-load, high-isolation and vibration-damping robot wheel-leg mechanism, characterized in that it includes a thigh, a lower leg, a wheel, a crank, a connecting rod, an elastic device, a damping device, a first joint motor, and a second joint motor; the first and second joint motors are located inside a housing, the first joint motor is connected to the upper end of the robot's thigh and drives its rotation, the lower leg connection point is rotatably connected to the lower end of the thigh, and the wheel is connected to the lower end of the lower leg; the upper end of the crank is connected to the second joint motor, the lower end of the crank is rotatably connected to the upper end of the connecting rod, and the lower end of the connecting rod is rotatably connected to the upper end of the lower leg; the damping device and the elastic device connect the lower leg and the connecting rod to achieve vibration isolation and reduction.

[0007] The thigh is powered by a first joint motor to complete the stepping motion. The thigh is connected to both sides of the box body, and the lower end of the thigh is rotatably connected to the lower leg, together forming the robot's leg structure.

[0008] The lower leg is rotatably connected to a connecting rod, and the lower leg is rotated by a crank and a connecting rod to complete the robot's leg-raising action. The lower leg has a connecting hole one and a connecting hole two on its side.

[0009] The upper end of the crank rod is connected to the second joint motor and rotates with the motor as a power rod, while the lower end of the crank rod is connected to the connecting rod.

[0010] The connecting rod connects the lower leg and the crank arm, serving as an intermediate rod for power transmission. A fourth connecting hole is provided on the side of the connecting rod, and the lower end of the connecting rod is extended to a third connecting hole.

[0011] The elastic device is arranged on the outside of the leg, with its upper end connected to connection hole three and its lower end connected to connection hole one, and is stretched when the leg is bent.

[0012] The damping device is located on the inside of the leg, with its upper end connected to connection hole four and its lower end connected to connection hole two, and is compressed when the leg is bent.

[0013] The geometrically nonlinear, high-load, high-isolation, vibration-damping robot wheel-leg mechanism of the present invention is characterized in that: during use, the damping and elastic devices connected to the leg structure enable the structure to exhibit excellent geometrically nonlinear characteristics. When passing over uneven surfaces or landing on the foot, the force is transmitted from the wheel to the lower leg and then to the connecting rod. At this time, due to their characteristics, the damping and elastic devices connecting the lower leg and the connecting rod can effectively isolate the transmission of vibration at the knee joint. The amplitude of the force transmitted upward to the connecting rod and thigh is greatly reduced, thereby mitigating the vibration of the robot body and the damage to the motor.

[0014] Beneficial Effects: Compared with existing technologies, this invention has the following significant advantages: By arranging damping and elastic devices in the legs, this invention effectively isolates vibrations generated by the road surface during movement. During high-speed wheeled movement, road bumps are transmitted upwards. The damping devices installed on the inner side of the legs and the elastic devices installed on the outer side work together to buffer the vibrations, effectively suppressing them. In legged walking, although the instantaneous acceleration at the moment of lifting and landing is constrained to zero in gait planning, this only eliminates rigid impacts at the ideal trajectory level. Impact disturbances still occur during actual robot movement and cannot be completely avoided. This structure can also alleviate the impact generated at the moment of lifting and landing. The geometrically nonlinear arrangement of the damping and elastic devices in the legs can improve the static stiffness of the overall structure, increase the robot's load-bearing capacity, and alleviate the support force relying solely on the leg struts when encountering bumps during movement. Attached Figure Description

[0015] Figure 1 This is a side view of the structure of the present invention;

[0016] Figure 2 This is an exploded view of the single-leg structure of the present invention;

[0017] Figure 3 This is a schematic diagram showing the connection of the components behind the single-leg concealed thigh in this invention;

[0018] Figure 4 This is a schematic diagram of the components of the present invention that conceal the thigh when the leg is bent.

[0019] In the diagram, 1 represents the housing; 2 represents the thigh; 3 represents the lower leg; 4 represents the wheel; 5 represents the crank; 6 represents the connecting rod; 7 represents the elastic device; 8 represents the damping device; 9 represents the upper end of the thigh; 10 represents the lower end of the thigh; 11 represents the lower end of the lower leg; 12 represents the first connecting hole; 13 represents the second connecting hole; 14 represents the lower leg connection point; 15 represents the upper end of the lower leg; 16 represents the third connecting hole; 17 represents the lower end of the connecting rod; 18 represents the fourth connecting hole; 19 represents the upper end of the connecting rod; 20 represents the lower end of the crank; 21 represents the upper end of the crank; 22 represents the lower end of the elastic device; 23 represents the upper end of the elastic device; 24 represents the lower end of the damping device; and 25 represents the upper end of the damping device. Detailed Implementation

[0020] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0021] like Figure 1-4The present invention discloses a geometrically nonlinear, high-load, high-isolation and vibration-damping robot wheel-leg mechanism, comprising a thigh 2, a lower leg 3, a wheel 4, a crank 5, a connecting rod 6, an elastic device 7, a damping device 8, a first joint motor, and a second joint motor. The first and second joint motors are located within a housing 1. The first joint motor is connected to and drives the upper end 9 of the robot's thigh to rotate. The lower leg connection point 14 is rotatably connected to the lower end 10 of the thigh, and the wheel 4 is connected to the lower end 11 of the lower leg. The upper end 21 of the crank 5 is connected to the second joint motor, the lower end 20 of the crank 5 is rotatably connected to the upper end 19 of the connecting rod 6, and the lower end 17 of the connecting rod is rotatably connected to the upper end 15 of the lower leg. The damping device 8 and the elastic device 7 connect the lower leg 3 and the connecting rod 6 to achieve vibration isolation and reduction. Furthermore, this structure improves the load-bearing capacity of the wheel-legs, thereby enhancing the robot's load-bearing capacity.

[0022] The thigh 2 of the present invention is powered by the first joint motor to complete the stepping action. The thigh 2 is connected to both sides of the box 1, and the lower end 10 of the thigh is rotatably connected to the lower leg 3, together forming the leg structure of the robot.

[0023] The upper end 15 of the lower leg of the present invention is rotatably connected to the connecting rod 6. The lower leg 3 is rotated by the crank 5 and the connecting rod 6 to complete the robot's leg lifting action. The lower leg 3 has a first connecting hole 12 and a second connecting hole 13 on its side.

[0024] The upper end 21 of the crank arm of the present invention is connected to the second joint motor and rotates with the motor as a power rod, while the lower end 20 of the crank arm is connected to the connecting rod 6.

[0025] The connecting rod 6 of the present invention connects the lower leg 3 and the crank 5, serving as an intermediate rod for power transmission. The connecting rod 6 has a connecting hole 18 on its side, and the lower end 17 of the connecting rod is extended by a section, with a connecting hole 16 at its end.

[0026] The elastic device 7 of the present invention is arranged on the outside of the leg. The upper end 23 of the elastic device is connected to the third connection hole 16, and the lower end 22 of the elastic device is connected to the first connection hole 12. It is stretched when the leg is bent.

[0027] The damping device 8 of the present invention is disposed on the inside of the leg. The upper end 25 of the damping device is connected to the fourth connection hole 18, and the lower end 24 of the damping device is connected to the second connection hole 13. It is compressed when the leg is bent.

[0028] In use, the damping device 8 and elastic device 7 connected to the leg structure give the structure excellent geometric nonlinear characteristics. When passing over uneven surfaces or landing on the foot, the force is transmitted from the wheel 4 to the lower leg 3 and then to the connecting rod 6. At this time, due to their characteristics, the damping device 8 and elastic device 7 connecting the lower leg 3 and the connecting rod 6 can effectively isolate the transmission of vibration at the knee joint. The amplitude of the force transmitted upward to the connecting rod 6 and thigh 2 is greatly reduced, thereby reducing the vibration of the machine body and the damage to the motor.

[0029] This invention effectively isolates vibrations generated by the road surface during movement by arranging damping and elastic devices in the legs. During high-speed wheeled movement, road bumps are transmitted upwards. The damping devices installed on the inside of the legs and the elastic devices installed on the outside work together to buffer the vibrations, effectively suppressing them. In legged riding, although the instantaneous acceleration at the moment of lifting and landing is constrained to zero in gait planning, this only eliminates rigid impacts at the ideal trajectory level. Impact disturbances still occur during actual robot movement and cannot be completely avoided. This structure also mitigates the impact generated at the moment of lifting and landing. The geometrically nonlinear arrangement of the damping and elastic devices in the legs improves the overall static stiffness of the structure, increases the robot's load-bearing capacity, and alleviates the support force relying solely on the leg struts when encountering bumps during movement.

Claims

1. A geometrically nonlinear, high-load, high-isolation, vibration-damping robot wheel-leg mechanism, characterized in that: The system includes a thigh (2), a calf (3), a wheel (4), a crank (5), a connecting rod (6), an elastic device (7), a damping device (8), a first joint motor, and a second joint motor. The first joint motor and the second joint motor are located inside the housing (1). The first joint motor is connected to the upper end (9) of the thigh of the robot and drives it to rotate. The calf connection point (14) is rotatably connected to the lower end (10) of the thigh. The wheel (4) is connected to the lower end (11) of the calf. The upper end (21) of the crank (5) is connected to the second joint motor. The lower end (20) of the crank is rotatably connected to the upper end (19) of the connecting rod (6). The lower end (17) of the connecting rod is rotatably connected to the upper end (15) of the calf. The damping device (8) and the elastic device (7) connect the calf (3) and the connecting rod (6) to achieve vibration isolation and reduction.

2. The geometrically nonlinear, high-load, high-isolation, vibration-damping robot wheel-leg mechanism according to claim 1, characterized in that: The thigh (2) is powered by the first joint motor to complete the stepping action. The thigh (2) is connected to both sides of the box (1). The lower end (10) of the thigh is rotatably connected to the lower leg (3) to form the leg structure of the robot.

3. The geometrically nonlinear, high-load, high-isolation, vibration-damping robot wheel-leg mechanism according to claim 1, characterized in that: The upper end (15) of the lower leg is rotatably connected to the connecting rod (6). The lower leg (3) is rotated by the crank rod (5) and the connecting rod (6) to complete the robot's leg lifting action. The lower leg (3) has a connecting hole one (12) and a connecting hole two (13) on its side.

4. The geometrically nonlinear, high-load, high-isolation, vibration-damping robot wheel-leg mechanism according to claim 1, characterized in that: The upper end (21) of the crank rod is connected to the second joint motor and rotates with the motor as a power rod, while the lower end (20) of the crank rod is connected to the connecting rod (6).

5. The geometrically nonlinear, high-load, high-isolation, vibration-damping robot wheel-leg mechanism according to claim 4, characterized in that: The connecting rod (6) connects the lower leg (3) and the crank rod (5) as an intermediate rod for power transmission. The connecting rod (6) has a connecting hole four (18) on its side and the lower end (17) of the connecting rod is extended by a section, with a connecting hole three (16) at the end.

6. The geometrically nonlinear, high-load, high-isolation, vibration-damping robot wheel-leg mechanism according to claim 5, characterized in that: The elastic device (7) is arranged on the outside of the leg. The upper end (23) of the elastic device is connected to the third connection hole (16), and the lower end (22) of the elastic device is connected to the first connection hole (12). It is stretched when the leg is bent.

7. The geometrically nonlinear, high-load, high-isolation, vibration-damping robot wheel-leg mechanism according to claim 5, characterized in that: The damping device (8) is located on the inside of the leg. The upper end (25) of the damping device is connected to the fourth connection hole (18), and the lower end (24) of the damping device is connected to the second connection hole (13). It is compressed when the leg is bent.

8. The geometrically nonlinear, high-load, high-isolation, vibration-damping robot wheel-leg mechanism according to any one of claims 1-7, characterized in that: When in use, the damping device (8) and elastic device (7) connected to the leg structure make the structure exhibit excellent geometric nonlinear characteristics. When passing through uneven road surfaces or landing on the foot, the force is transmitted from the wheel (4) to the lower leg (3) and then to the connecting rod (6). At this time, the damping device (8) and elastic device (7) connecting the lower leg (3) and the connecting rod (6) can effectively isolate the transmission of vibration at the knee joint due to their characteristics. The amplitude of the force transmitted upward to the connecting rod (6) and thigh (2) is greatly reduced, thereby reducing the vibration of the machine body and the damage to the motor.

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