Single-wishbone active suspension wheel leg structure applied to double-wheel-foot robot

Abstract

The utility model discloses a single-wishbone active suspension wheel leg structure applied to a double-wheel-foot robot. The single-wishbone active suspension wheel leg structure comprises a hub motor assembly, a linear power unit and a single-wishbone thrust rod. A hub motor connecting piece is fixed to the inner side of the hub motor assembly, and the single-cross-arm thrust rod is connected with the hub motor connecting piece and rotationally connected with the linear power unit. And the two sets of wheel-leg structures form a wheel-leg system of the double-wheel-leg robot. According to the single-wishbone active suspension wheel-leg structure, combination of two-wheel distributed driving and a Macpherson type suspension is achieved, when the linear power unit is used for driving, the ground clearance of a double-wheel-foot robot body can be changed by changing the position relation between the wheels and the robot body, the linear power unit can serve as a suspension system, the buffering and vibration reduction effects are achieved, and the service life of the robot is prolonged. Therefore, the cross-country ability is improved. Meanwhile, the bottom of the body of the double-wheel-foot robot and the wheels are connected through the single-cross-arm thrust rods, lateral force can be well borne, and the stability of the double-wheel-foot robot is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a single-transverse-arm active suspension wheel-leg structure applied to a two-wheeled foot robot. Background Art

[0002] At present, legged robots have poor endurance, and wheeled robots have poor obstacle crossing performance. Wheeled-legged robots that combine wheeled and legged robots have become a focus of current research. Compared with traditional wheeled or legged mobile robots, wheel-legged mobile robots combine the advantages of both, with good mobility, strong obstacle crossing ability, and high energy efficiency. Using wheeled movement on relatively flat terrain can increase the movement speed; using footed movement when passing through complex terrain such as steps and pits can improve the obstacle crossing ability.

[0003] Wheel-legged robots can be divided into uncoupled and coupled types in terms of their structure. Uncoupled wheel-legged robots use wheel structures and leg structures designed independently on the robot, while coupled wheel-legged robots integrate the wheel structure into the robot's leg structure.

[0004] At present, the wheel-leg configurations of coupled wheel-leg robots are commonly two types: two-bar linkage and four-bar linkage that imitate the structure of human legs. However, since both wheel-leg structures lack buffer and vibration reduction devices, the vibration reduction effect is weak when the two-wheeled robot uses wheeled motion, and the off-road performance is poor. At the same time, since both wheel-leg structures lack lateral mechanical structures, the two-wheeled robot has a weak ability to withstand lateral forces. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by this patent application is how to provide a single-transverse-arm active suspension wheel-leg structure for a two-wheeled leg robot with good vibration reduction effect, improved off-road performance, strong lateral force bearing capacity and high stability.

[0006] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0007] A single wishbone active suspension wheel-leg structure applied to a two-wheeled foot robot, comprising a wheel hub motor assembly, a linear power unit and a single wishbone thrust rod;

[0008] A hub motor connector is fixed to the inner side of the hub motor assembly, the single cross arm thrust rod is connected to the hub motor connector, and the single cross arm thrust rod is rotationally connected to the linear power unit;

[0009] Two sets of wheel-leg structures constitute the wheel-leg system of the two-wheeled robot.

[0010] Wherein, the linear power unit includes a linear motor, an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

[0011] Wherein, a bottom connector and a top connector are fixed to the bottom and top of the linear power unit respectively, a coil spring is sleeved on the outside of the linear power unit, and two ends of the coil spring are fixedly connected to the bottom connector and the top connector of the linear power unit respectively.

[0012] Wherein, the single wishbone thrust rod is a three-node bent rod, a bending connector is fixed at the bending part of the single wishbone thrust rod, end connectors are fixed at both ends of the single wishbone thrust rod, and the end connectors are connected to the hub motor connector.

[0013] Wherein, a thrust rod connecting piece is fixed on the single cross-arm thrust rod, and the bottom connecting piece of the linear power unit is rotatably connected to the thrust rod connecting piece.

[0014] Among them, the two-wheeled robot includes a fuselage, a fuselage connecting part is fixed at the lower end of the fuselage, side connecting parts are fixed on both sides of the fuselage, the bending connecting part of the single cross-arm thrust rod is rotatably connected to the fuselage connecting part, and the top connecting part of the linear power unit is rotatably connected to the machine side connecting part.

[0015] In summary, the single-transverse arm active suspension wheel-leg structure used in the two-wheeled leg robot realizes the combination of two-wheel distributed drive and McPherson suspension. When driven by the linear power unit, the ground clearance of the two-wheeled leg robot can be changed by changing the position relationship between the wheel and the body, and the linear power unit can be used as a suspension system to play a role in buffering and vibration reduction, thereby improving off-road capabilities. At the same time, the bottom of the two-wheeled leg robot body and the wheel are connected by a single-transverse arm thrust rod, which can better withstand lateral forces and improve the stability of the two-wheeled leg robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the present invention will be further described below in conjunction with the accompanying drawings and embodiments. The accompanying drawings described below are only partial embodiments of the present invention.

[0017] Figure 1 The utility model is a schematic structural diagram of a single-transverse-arm active suspension wheel-leg structure applied to a two-wheeled leg robot.

[0018] Figure 2 The schematic diagram of the structure of a two-wheeled leg robot adopts the single-transverse-arm active suspension wheel-leg structure applied to the two-wheeled leg robot described in the utility model. Two sets of wheel-leg structures constitute the wheel-leg system of the two-wheeled leg robot.

[0019] Figure 3 for Figure 2 Schematic diagram of another orientation. DETAILED DESCRIPTION

[0020] The present invention is further described in detail below in conjunction with the accompanying drawings. In the description of the present invention, it should be understood that the directions or positional relationships indicated by directional words such as "upper, lower" and "top, bottom" are usually based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction, and therefore cannot be understood as limiting the scope of protection of the present invention; the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0021] like Figure 1 , as shown, a single wishbone active suspension wheel-leg structure applied to a two-wheeled foot robot combines the vehicle's McPherson suspension with a two-wheel distributed drive balance vehicle, including a wheel hub motor assembly 1, a linear power unit 7 and a single wishbone thrust rod 10;

[0022] The wheel hub motor assembly 1 includes a wheel hub, a tire, a wheel hub motor and a brake. The wheel hub motor drives the wheel hub to rotate. The wheel hub motor assembly 1 is an existing structure. A wheel hub motor connector is fixed on the inner side of the wheel hub motor assembly 1. Specifically, the wheel hub motor connector is fixedly installed on the inner side of the wheel hub motor. The single cross arm thrust rod 10 is connected to the wheel hub motor connector. The single cross arm thrust rod 10 is rotationally connected to the linear power unit 7.

[0023] Two sets of wheel-leg structures constitute the wheel-leg system of the two-wheeled robot.

[0024] In specific implementation, the linear power unit 7 adopts a linear motor. Of course, in implementation, an electric cylinder, a pneumatic cylinder or a hydraulic cylinder, or other devices that can provide a force in a linear direction can be adopted.

[0025] In specific implementation, the bottom and top of the linear power unit 7 are respectively fixed with a bottom connector and a top connector, and the outer side of the linear power unit is sleeved with a coil spring, and the two ends of the coil spring are respectively fixedly connected to the bottom connector and the top connector of the linear power unit 7, so as to play a vibration reduction role.

[0026] In specific implementation, the single wishbone thrust rod 10 is a three-node bent rod, a bending connector is fixed at the bending part of the single wishbone thrust rod 10, and end connectors are fixed at both ends of the single wishbone thrust rod 10, and the end connectors are connected to the hub motor connector.

[0027] During specific implementation, a thrust rod connecting piece is fixed on the single cross arm thrust rod 10, and the bottom connecting piece of the linear power unit 7 is rotatably connected to the thrust rod connecting piece.

[0028] When implementing it, Figure 2-3The two-wheeled robot includes a body 18, a body connecting piece is fixed at the lower end of the body 18, side connecting pieces are fixed on both sides of the body, a connecting piece at the bending part of the single cross-arm thrust rod 10 is rotatably connected to the body connecting piece, and a top connecting piece of the linear power unit 7 is rotatably connected to the machine side connecting piece.

[0029] The wheel-leg system of the two-wheel-leg robot can be installed by connecting the wheel-hub motor assembly 1 and the single-arm thrust rod 10 of the two-wheel-leg structure to the body 18 of the two-wheel-leg robot. Figure 2 In the invention, two sets of wheel-leg systems are provided, which are respectively marked 15 and 21.

[0030] The specific connection method is as follows:

[0031] The hub motor connector on the inner side of the hub motor assembly 1 is provided with a first latch hole 2 and a second latch hole 14, and the first latch hole 2 and the second latch hole 14 are symmetrically arranged about the wheel axle in the vertical direction, and the two end connectors of the single cross arm thrust rod 10 are respectively provided with a third latch hole 4 and a fourth latch hole 12, the first latch hole 2 and the third latch hole 4 are pin-connected by a first latch 3, and the second latch hole 14 and the fourth latch hole 12 are pin-connected by a second latch 13; the hub motor assembly 1 is pin-connected with the single cross arm thrust rod 10 by the first latch 3 and the second latch 13, so that the wheel device has only one degree of freedom to rotate around the wheel axle relative to the single cross arm thrust rod 10;

[0032] The top connecting piece and the bottom connecting piece of the linear power unit 7 are respectively provided with a fifth pin hole 8 and a sixth pin hole 9, the thrust rod connecting piece of the single cross-arm thrust rod 10 is provided with a seventh pin hole 5, and the connecting piece at the bending part of the single cross-arm thrust rod 10 is provided with an eighth pin hole 11. The sixth pin hole 9 and the seventh pin hole 5 pin-connect the linear power unit 7 with the single cross-arm thrust rod 10 through the third pin 6, so that the linear power unit 7, i.e., the electric push rod, can control the single cross-arm thrust rod 10 to rotate around the axis of the eighth pin hole 11 in the vertical plane.

[0033] The wheel-leg structure is applied to a two-wheeled-leg robot, and two sets of wheel-leg structures constitute the wheel-leg system of the two-wheeled-leg robot.

[0034] like Figure 2-3 The machine side connecting pieces on both sides of the fuselage 18 are respectively provided with a ninth latch hole 17 and a tenth latch hole 19, the fuselage connecting piece 23 at the bottom of the fuselage is provided with two eleventh latch holes, and the fifth latch holes 8 at the upper ends of the two linear power units 7 are respectively connected with the ninth latch hole 17 and the tenth latch hole 19 through the fourth latch pin 16 and the fifth latch pin 20;

[0035] The eighth latch holes 11 of the two single-arm thrust rods 10 and the fuselage connecting member 23 are provided with an eleventh latch hole, and are pin-connected through the sixth latch pin 22 and the seventh latch pin 24 respectively.

[0036] The single-transverse-arm active suspension wheel-leg structure applied to a two-wheeled leg robot provided by the present invention has the advantages of good vibration reduction effect during wheeled driving, improved off-road performance, strong lateral force bearing capacity and high stability.

[0037] When the two-wheeled legged robot performs foot-type motion, the linear power unit actively changes its length to drive the single-arm thrust rod to swing up and down in the vertical plane. Since the single-arm thrust rod is connected to the hub motor assembly, the positional relationship between the wheel and the body is changed, and the ground clearance of the two-wheeled legged robot is changed, so that the two-wheeled legged robot can adjust the leg position and posture to complete foot-type motion.

[0038] When the two-wheeled robot performs wheeled motion, the two wheels are distributedly driven, and the linear power unit plays the role of active suspension. The electric push rod and the coil spring cooperate to adjust the stiffness and damping of the suspension spring in time. When passing through uneven roads, it plays the role of vibration reduction and buffering to adapt to the unevenness of the road surface, keep the fuselage stable, and improve the off-road performance of the two-wheeled robot in wheeled motion.

[0039] At the same time, due to the use of a single transverse arm thrust rod to connect the wheel and the fuselage, the ability to withstand lateral force is improved. Under lateral force, it is less likely to tip sideways than a longitudinal wheel-leg structure.

[0040] The present application is different from the two-link wheel-leg structure and four-link wheel-leg structure of common two-wheeled leg robots, and is a new type of wheel-leg configuration for two-wheeled leg robots.

[0041] Finally, it should be noted that those skilled in the art may make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is intended to include these modifications and variations.

Claims

1. A single wishbone active suspension wheel-leg structure applied to a two-wheeled foot robot, characterized in that: It includes a hub motor assembly, a linear power unit and a single wishbone thrust rod; A hub motor connector is fixed to the inner side of the hub motor assembly, the single cross arm thrust rod is connected to the hub motor connector, and the single cross arm thrust rod is rotationally connected to the linear power unit; Two sets of wheel-leg structures constitute the wheel-leg system of the two-wheeled robot; The single cross arm thrust rod is a three-node bent rod, a bending connector is fixed at the bending part of the single cross arm thrust rod, and end connectors are fixed at both ends of the single cross arm thrust rod, and the end connectors are connected to the wheel hub motor connector; A thrust rod connecting piece is fixed on the single cross arm thrust rod, and the bottom connecting piece of the linear power unit is rotatably connected to the thrust rod connecting piece.

2. The single wishbone active suspension wheel-leg structure applied to a two-wheeled foot robot according to claim 1, characterized in that: The linear power unit includes a linear motor, an electric cylinder, a pneumatic cylinder or a hydraulic cylinder.

3. The single wishbone active suspension wheel-leg structure applied to a two-wheeled foot robot according to claim 1, characterized in that: A bottom connector and a top connector are fixed to the bottom and top of the linear power unit, respectively. A coil spring is sleeved on the outside of the linear power unit, and two ends of the coil spring are fixedly connected to the bottom connector and the top connector of the linear power unit, respectively.

4. The single wishbone active suspension wheel-leg structure applied to a two-wheeled foot robot according to claim 1, characterized in that: The two-wheeled leg robot includes a fuselage, a fuselage connecting piece is fixed at the lower end of the fuselage, side connecting pieces are fixed on both sides of the fuselage, the bending connecting piece of the single cross-arm thrust rod is rotatably connected to the fuselage connecting piece, and the top connecting piece of the linear power unit is rotatably connected to the machine side connecting piece.

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