Wheel-leg structure of robot, leg structure of anti-motion joint robot, robot with anti-motion joint leg structure and robot

Abstract

The present application relates to the field of robot technology, and discloses a wheel-leg structure of a robot, a leg structure of an anti-motion joint robot, an anti-motion joint leg structure robot and a robot, including a calf, a walking wheel, a joint module and a connecting piece, the connecting piece includes a first fixing part and a second fixing part, the second fixing part is constructed with a cavity that is roughly hollow and annular; the output flange of the joint module is fixedly connected to the hub of the walking wheel, the fixing plate of the joint module on the side away from the output flange is fixedly connected to the second fixing part, and the joint module is at least partially enclosed in the cavity; the end of the calf is detachably fixedly connected to the first fixing part. The present application combines the connecting piece, the joint module and the walking wheel into an independent assembly module for disassembly and assembly with the calf, and improves the disassembly and assembly efficiency of the wheel-leg structure by pre-assembly or independent disassembly of the two modules, which is beneficial to production and maintenance.

Description

Technical Field

[0001] The present application relates to the technical field of robots, and more particularly to a wheel-leg structure of a robot, a leg structure of an anti-motion joint robot, an anti-motion joint leg structure robot and a robot. Background Art

[0002] In robotics technology, mainstream robot leg and foot structures include point-foot type, wheel-foot type and palm-foot type. Among them, wheel-foot robots combine wheels and legs and feet. They can not only use four-wheel drive to drive the body, but also imitate bipedal robots to use wheels as fulcrums to simulate leg extension and walking. They have the advantages of faster movement on flat terrain environments and simpler structure, control and movement methods.

[0003] Due to the addition of wheels and joint modules for driving wheels, the assembly process and wiring harness layout of each component of the wheel-leg structure of the robot will directly affect the assembly efficiency. The current robot wheel-leg structure mainly fixes the wheels and joint modules by constructing a connection position for assembling the joint module at the end of the calf, so that the wheel-foot part and the calf part belong to the same assembly module; during assembly, this part of the module has many components, large volume and weight, and cumbersome assembly process. If the wheel-foot part or the calf part needs to be disassembled separately, the entire module needs to be disassembled together, resulting in low disassembly efficiency and inconvenience for the inspection and maintenance of the wheel-leg structure. Summary of the invention

[0004] The present application provides a wheel-leg structure of a robot, a leg structure of an anti-motion joint robot, an anti-motion joint leg structure robot and a robot, aiming to solve the problem of low assembly and maintenance efficiency of the wheel-leg structure of existing robots.

[0005] In one embodiment, a wheel-leg structure of a robot is provided, comprising:

[0006] Lower leg, walking wheel, joint module; and

[0007] A connecting piece, the connecting piece comprises a first fixing portion and a second fixing portion, the second fixing portion is configured with a cavity which is substantially in the shape of a hollow ring;

[0008] The output flange of the joint module is fixedly connected to the hub of the running wheel, the fixing plate on the side of the joint module away from the output flange is fixedly connected to the second fixing part, and the joint module is at least partially enclosed in the cavity;

[0009] The end of the calf is detachably fixedly connected to the first fixing part.

[0010] In one solution, the end of the lower leg is configured with a connecting section, and the first fixing portion is configured with a connecting groove;

[0011] The connecting section is embedded in the connecting groove and relatively fixed.

[0012] In one solution, the end of the calf is configured with a connecting groove, and the first fixing portion is configured with a connecting section;

[0013] The connecting section is embedded in the connecting groove and relatively fixed.

[0014] In one solution, the connecting section is substantially in the shape of a quadrangular prism, and a positioning flange is configured on one side of the connecting section;

[0015] The edge portion of the connecting groove is configured with a substantially arc-shaped avoidance groove, and an inner wall of the connecting groove is configured with a positioning groove corresponding to the positioning flange;

[0016] The edge of the connecting section is embedded in the avoidance groove, and the positioning flange is embedded in the groove and abuts against it.

[0017] In one solution, a side stop is formed on the side of the second fixing portion facing away from the running wheel.

[0018] The side stopper seals and stops the cavity.

[0019] In one embodiment, a wiring portion recessed radially is constructed on the extension of the second fixing portion, a wiring hole is constructed inside the wiring portion, the wiring hole extends into the cavity, and the cable of the joint module extends to the outside along the wiring hole.

[0020] In one embodiment, the first fixing portion and the second fixing portion are integrally formed.

[0021] In one embodiment, a leg structure of an anti-motion joint robot is provided, comprising the wheel-leg structure and thigh of the robot of the aforementioned embodiment;

[0022] The lower leg is divided into a first splicing piece and a second splicing piece, the first splicing piece includes a first upper connecting end and a first lower connecting end, and the second splicing piece includes a second upper connecting end and a second lower connecting end;

[0023] The first upper connecting end is hinged to the thigh, the first lower connecting end is detachably fixedly connected to the second upper connecting end, and the second lower connecting end is detachably fixedly connected to the first fixing portion.

[0024] In one embodiment, a robot with an inverse-motion joint leg structure is provided, comprising the wheel-leg structure of the robot of the aforementioned embodiment and / or the leg structure of the inverse-motion joint robot.

[0025] In one embodiment, a robot is provided, comprising the wheel-leg structure of the robot and / or the leg structure of the anti-kinematic joint robot of the aforementioned embodiment.

[0026] Beneficial effects of this application:

[0027] The present application regards the connecting piece connecting the calf and the joint module as an independent structural component and detachably separates it from the calf, so that during assembly, the connecting piece, the joint module and the walking wheel form an independent assembly module, and the calf and other components of the wheel-leg structure form another assembly module; the assembly efficiency of the overall wheel-leg structure is improved by pre-assembling the two assembly modules separately, and at the same time, the independent disassembly and assembly of the wheel-foot structure or the calf structure can be achieved by splitting the two assembly modules, thus avoiding the problems of the calf and the wheel-foot as an integrated assembly module being bulky and difficult to move and having complicated parts, and facilitating inspection and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. 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 creative labor.

[0029] Figure 1 is a schematic diagram of the wheel-leg structure of a robot in one embodiment of the present application;

[0030] Figure 2 It is a schematic diagram of the assembly of the wheel-leg structure of the robot in one embodiment of the present application;

[0031] Figure 3 is a schematic diagram of a connecting member in an embodiment of the present application;

[0032] Figure 4 yes Figure 1 Partial cross-sectional view along the AA axis;

[0033] Figure 5 It is a partial assembly diagram of the wheel-leg structure of the robot in one embodiment of the present application;

[0034] Figure 6 It is a schematic diagram of the assembly of the calf in one embodiment of the present application;

[0035] Figure 7 is a schematic diagram of the leg structure of the anti-motion joint robot in one embodiment of the present application;

[0036] Reference numerals in the figures:

[0037] 1. calf; 101. first splicing piece; 1011. first upper connecting end; 1012. first lower connecting end; 102. second splicing piece; 1021. second upper connecting end; 1022. second lower connecting end; 103. connecting section; 1031. positioning flange;

[0038] 2. Traveling wheels;

[0039] 3. Joint module;

[0040] 4. Connector; 401. first fixing part; 4011. connecting groove; 4012. avoidance groove; 4013. positioning groove; 402. second fixing part; 4021. cavity; 4022. side stopper; 4023. wiring part; 4024. wire hole;

[0041] 5. Thighs. DETAILED DESCRIPTION

[0042] The specific implementation methods of the present application are further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of this application.

[0043] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0044] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0045] In this application, the concept of "roughly" describes the main features of an overall structure or shape. When describing the shape of an object, it means that the object mainly presents a certain shape, but may differ in non-functional details. These detailed differences do not affect the overall characteristics, so they can be classified as "roughly" a certain shape. For example, when describing a round object, the expression "roughly round" means that the overall shape of the object is round, but there are differences in certain non-functional details. Similarly, when describing a cube, the expression "roughly cubic" means that the overall shape of the object is a cube, but there are differences in certain non-functional details.

[0046] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0048] In the present application, the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0049] In order to solve the problem of low assembly and maintenance efficiency of the wheel-leg structure of existing robots, the present application makes improvements and innovations and proposes the following embodiments.

[0050] In one embodiment, see Figure 1 and Figure 2 , a wheel-leg structure of a robot is provided, comprising a shank 1, a walking wheel 2, a joint module 3 and a connecting piece 4;

[0051] The connecting member 4 includes a first fixing portion 401 and a second fixing portion 402, wherein the second fixing portion 402 is configured with a substantially hollow annular cavity 4021, and the joint module 3 is at least partially enclosed in the cavity 4021, so that the connecting member 4 is used to enclose and protect the side of the joint module 3 away from the running wheel 2, and the assembly gap between the joint module 3 and the connecting member 4 can also be dustproofed;

[0052] During assembly, the output flange of the joint module 3 is fixedly connected to the hub of the walking wheel 2, and the fixed plate of the joint module 3 on the side away from the output flange is fixedly connected to the second fixed part 402, thereby forming a first assembly module including the walking wheel 2, the joint module 3 and the connecting part 4; and then, the end of the calf 1 is detachably fixedly connected to the first fixed part 401, so that the calf 1 and the first assembly module can be conveniently disassembled and assembled.

[0053] In one embodiment, see Figure 2 and Figure 5 The end of the calf 1 is configured with a connecting section 103, and the first fixing portion 401 is configured with a connecting groove 4011; during assembly, the connecting section 103 is embedded in the connecting groove 4011 and the connecting section 103 and the connecting groove 4011 are relatively fixed.

[0054] In this embodiment, the plug-in cooperation between the connecting section 103 and the connecting groove 4011 can provide an assembly guide for the assembly of the calf 1 and the connecting member 4, and can improve the stability and reliability of the wheel-leg structure. At the same time, the structural features of the connecting section 103 and the connecting groove 4011 can also facilitate the opening of fastening positions on the original structure, avoiding the addition of additional connecting transition parts.

[0055] In this embodiment, the connecting section 103 and the connecting groove 4011 can also be designed as a universal connecting port, and then by designing a sole foot component and a point foot component with the same connecting section 103 and replacing the corresponding control program, convenient switching between the wheel-foot robot, the palm-foot robot and the point-foot robot can be achieved.

[0056] In one embodiment, similar to the above-mentioned embodiment, a connecting groove 4011 is configured at the end of the calf 1, and a connecting section 103 is configured at the first fixing portion 401; during assembly, the connecting section 103 is embedded in the connecting groove 4011 and relatively fixed.

[0057] Different from the aforementioned embodiment, in this embodiment, the connecting groove 4011 is constructed at the end of the calf 1, and the connecting section 103 is constructed at the first fixing portion 401. By plugging and fitting the connecting section 103 into the connecting groove 4011, the stability and reliability of the wheel-leg structure can also be improved, and the assembly design is also facilitated.

[0058] In one embodiment, see Figure 1 and Figure 4The connecting section 103 is roughly in the shape of a quadrangular prism, and a positioning flange 1031 is configured on one side of the connecting section 103; the horizontal cross section of the connecting groove 4011 is a quadrilateral that roughly coincides with the connecting section 103, and a roughly arc-shaped avoidance groove 4012 is configured on the edge portion of the connecting groove 4011, and a positioning groove 4013 corresponding to the positioning flange 1031 is configured on an inner wall of the connecting groove 4011;

[0059] During assembly, the edge of the connecting section 103 is embedded in the avoidance groove 4012, and the positioning flange 1031 is embedded in the groove setting and abutted; by setting the avoidance groove 4012, the smoothness of the assembly process of the connecting section 103 and the connecting groove 4011 can be ensured, and the interference between the edges of the connecting section 103 and the connecting groove 4011 caused by processing errors can be avoided, thereby preventing the assembly from being hindered; the positioning flange 1031 and the groove can assist in assembly orientation and, to a certain extent, avoid horizontal movement of the connecting section 103 and the connecting groove 4011 during use.

[0060] In one embodiment, see Figures 1 to 3 A side stopper 4022 is configured on the side of the second fixing portion 402 facing away from the traveling wheel 2 , and the side stopper 4022 seals and stops the cavity 4021 .

[0061] In one embodiment, see Figure 3 and Figure 5 A wiring portion 4023 that is recessed in the radial direction is constructed on the extension of the second fixing portion 402, and a wire hole 4024 is constructed inside the wiring portion 4023. The wire hole 4024 extends into the cavity 4021, and the cable of the joint module 3 extends to the outside along the wire hole 4024. During assembly, after the calf 1 is connected to the first fixing portion 401, the cable of the calf 1 is connected to the cable of the joint module 3 that extends to the outside along the wire hole 4024, so as to realize the connection between the first assembly module composed of the walking wheel 2, the joint module 3 and the connecting member 4 and the structural parts and cable harness of the calf 1, which has good practicality and convenient assembly.

[0062] In one embodiment, the first fixing portion 401 and the second fixing portion 402 are integrally formed to ensure good structural strength of the connecting member 4 and improve the reliability of the wheel-leg structure.

[0063] In one embodiment, see Figure 6 and Figure 7 , providing a leg structure of an anti-motion joint robot, comprising the wheel-leg structure of the robot of the aforementioned solution and a thigh 5;

[0064] The lower leg 1 is divided into a first assembling piece 101 and a second assembling piece 102. The first assembling piece 101 includes a first upper connecting end 1011 and a first lower connecting end 1012. The second assembling piece 102 includes a second upper connecting end 1021 and a second lower connecting end 1022.

[0065] During assembly, the first upper connecting end 1011 is hinged to the thigh 5, the first lower connecting end 1012 is detachably fixedly connected to the second upper connecting end 1021, and the second lower connecting end 1022 is detachably fixedly connected to the first fixing portion 401. By disassembling the integrated calf 1 structure, the calf 1 components can be inspected and maintained in a targeted manner during production and use.

[0066] In this embodiment, by designing the second assembling pieces 102 of different sizes with the same second upper connecting end 1021, the length of the wheel-leg structure can be flexibly adjusted to adapt to different working environments and usage requirements, thereby achieving better applicability.

[0067] In one embodiment, a robot with an inverse-motion joint leg structure is provided, comprising the wheel-leg structure of the robot of the aforementioned scheme and / or the leg structure of the inverse-motion joint robot.

[0068] In one embodiment, a robot is provided, comprising the wheel-leg structure of the robot and / or the leg structure of the anti-kinematic joint robot of the aforementioned solution.

[0069] The above are only optional embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. The wheel-leg structure of the robot is characterized by: include: Lower leg, walking wheel, joint module; and A connecting member, the connecting member comprising a first fixing portion and a second fixing portion, wherein the second fixing portion is configured with a cavity that is substantially in a hollow annular shape; The output flange of the joint module is fixedly connected to the hub of the walking wheel, the fixing plate of the joint module on the side away from the output flange is fixedly connected to the second fixing part, and the joint module is at least partially enclosed in the cavity; The end of the calf is detachably fixedly connected to the first fixing part.

2. The wheel-leg structure of the robot according to claim 1, characterized in that: The end of the calf is configured with a connecting section, and the first fixing portion is configured with a connecting groove; The connecting section is embedded in the connecting groove and relatively fixed.

3. The wheel-leg structure of the robot according to claim 1, characterized in that: The end of the calf is configured with a connecting groove, and the first fixing portion is configured with a connecting section; The connecting section is embedded in the connecting groove and relatively fixed.

4. The wheel-leg structure of the robot according to claim 2 or 3, characterized in that: The connecting section is substantially in the shape of a quadrangular prism, and a positioning flange is configured on one side of the connecting section; The edge portion of the connecting groove is configured with a substantially arc-shaped avoidance groove, and an inner wall of the connecting groove is configured with a positioning groove corresponding to the positioning flange; The edge of the connecting section is embedded in the avoidance groove, and the positioning flange is embedded in and abuts against the groove.

5. The wheel-leg structure of the robot according to claim 1, characterized in that: A side stopper is configured on a side of the second fixing portion facing away from the traveling wheel, and the side stopper seals and stops the cavity.

6. The wheel-leg structure of the robot according to claim 1, characterized in that: A wiring portion recessed in the radial direction is constructed on the extension of the second fixing portion, a wiring hole is constructed inside the wiring portion, the wiring hole extends into the cavity, and the cable of the joint module extends to the outside along the wiring hole.

7. The wheel-leg structure of the robot according to claim 1, characterized in that: The first fixing portion and the second fixing portion are integrally formed.

8. The leg structure of the anti-kinematic joint robot is characterized in that: A wheel-leg structure comprising any one of claims 1 to 7; and thigh; The lower leg is divided into a first assembling piece and a second assembling piece, the first assembling piece includes a first upper connecting end and a first lower connecting end, and the second assembling piece includes a second upper connecting end and a second lower connecting end; Wherein, the first upper connecting end is hinged to the thigh, the first lower connecting end is detachably fixedly connected to the second upper connecting end, and the second lower connecting end is detachably fixedly connected to the first fixing portion.

9. A robot with a counter-motion joint leg structure, characterized in that: It comprises the wheel-leg structure of the robot as described in any one of claims 1 to 7 and / or the leg structure of the anti-motion joint robot as described in claim 8.

10. A robot, characterized in that It comprises the wheel-leg structure of the robot as described in any one of claims 1 to 7 and / or the leg structure of the anti-motion joint robot as described in claim 8.

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