Robot walking training protection mechanism

Abstract

A robot walking training protection mechanism comprises a vertical frame structure, a wheel disc structure and a rotation driving mechanism are installed on the vertical frame structure, the rotation driving mechanism is used for controlling the wheel disc structure to rotate, and a hoisting assembly structure is arranged on the wheel disc structure and used for hoisting a robot. And the rotary driving mechanism is also connected with a power-off brake and a height measurement encoder. The anti-toppling device is simple in structure, can prevent the robot from toppling and being damaged, and can guarantee the safety of the robot in time under the condition that electronic equipment breaks down.

Description

Technical Field

[0001] The utility model belongs to the technical field of robot research and development auxiliary equipment, and specifically relates to a robot walking training protection mechanism. Background Art

[0002] Legged robots are the most cutting-edge research and development direction in the field of robotics today. They integrate multiple disciplines such as mechanics, electronics, computers, materials, sensors, control technology, and artificial intelligence, including bipedal robots, quadrupedal robots or robot dogs, and hexapod robots. Among them, the stability of the legs of a legged robot determines the stability and safety of the entire robot operating environment. Therefore, leg walking training for legged robots is the top priority of robot training and learning. However, there is a great risk of tipping over during the training and learning of legged robots, especially for bipedal robots with a high center of gravity. Once tipping over occurs, it is usually accompanied by damage to multiple parts and electronic components. Not only does it require replacement of parts, which is a huge loss of economic cost; it also requires reassembly and adjustment, as well as retraining and learning, which is a huge loss of time cost.

[0003] Therefore, it is necessary to provide adequate protection during the training of the legged robot to avoid the robot from tipping over. In the prior art, the patent document with the announcement number CN 107389054 A discloses a robot testing platform, including an integral bracket in a cubic structure, the top of the integral bracket is composed of a longitudinal bracket and a bracket, a tracking and positioning mechanism is arranged on the top of the integral bracket, and a speed test platform is arranged at the bottom of the integral bracket. The above technical solution only determines the state of the robot through the tracking and positioning mechanism to provide timely protection. This method has high requirements for the software control of the tracking and positioning mechanism, and no failures can occur. However, the failure rate of electronic equipment is still high at present, so the technical solution is insufficient to protect the risk of tipping over in the robot training and learning process. Summary of the invention

[0004] 1. Technical Problems Solved

[0005] In view of the deficiencies in the prior art, the utility model proposes a robot walking training protection mechanism which has a simple structure, can prevent the robot from tipping over and being damaged, and can timely ensure the safety of the robot when an electronic device fails.

[0006] 2. Specific technical solutions

[0007] A robot walking training protection mechanism includes an upright frame structure, on which a wheel disc structure and a rotary drive mechanism are installed. The rotary drive mechanism is used to control the rotation of the wheel disc structure. A hoisting component structure is arranged on the wheel disc structure for hoisting the robot. The rotary drive mechanism is also connected with a power-off brake and a height measurement encoder;

[0008] The wheel disc structure includes an installation support plate frame structure, a belt wheel disc and at least one guide wheel assembly. The belt wheel disc is rotatably installed on the installation support plate frame structure. The belt wheel disc is composed of a driven belt wheel part and a wire groove disc part. The guide wheel assembly is installed on the installation support plate frame structure and is aligned with the wire groove disc part;

[0009] The rotary drive mechanism includes a drive motor, a driving belt wheel and a transmission belt. The driving belt wheel is connected to the output end of the drive motor. The transmission belt is sleeved between the driving belt wheel and the driven belt wheel part. A brake shaft structure is installed on the driving belt wheel. The power-off brake and the height measurement encoder are respectively connected to the brake shaft structure.

[0010] Preferably: The transmission belt is a synchronous belt structure, and the driving belt wheel and the driven belt wheel part are synchronous belt wheel structures.

[0011] Preferably: The brake shaft structure is successively composed of a connection disc part, a brake pin part and a rotation monitoring thin shaft. The power-off brake is installed on the brake pin part. The height measurement encoder is connected to the end of the rotation monitoring thin shaft. The connection disc part is fixedly installed on the end face of the driving belt wheel.

[0012] Preferably: The hoisting component structure is composed of four suspension ropes. The wheel disc structure includes four guide wheel assemblies. The four suspension ropes are respectively matched with the four guide wheel assemblies.

[0013] Preferably: The installation support plate frame structure includes an aluminum profile bracket, an installation substrate, an upper wire clamping plate and a lower wire clamping plate. One end of the aluminum profile bracket is installed on the upright frame structure. The installation substrate is installed at the other end of the aluminum profile bracket. The upper wire clamping plate and the lower wire clamping plate are respectively connected below the installation substrate through two groups of connecting columns. And the upper wire clamping plate and the lower wire clamping plate respectively surround and align with the upper and lower sides of the wire groove disc part. A belt wheel disc installation shaft sleeve is also installed on the lower surface of the installation substrate through a screw structure. The belt wheel disc is rotatably installed on the outer surface of the belt wheel disc installation shaft sleeve.

[0014] Preferably: A position sensor, a camera mechanism and / or an image sensor are installed in the inner hole of the belt wheel disc installation shaft sleeve.

[0015] Preferably, the guide wheel assembly consists of a guide mounting shell and a pulley. The guide mounting shell is installed at the corresponding orifice opened on the lower wire clamping plate, and the pulley is rotatably installed inside the guide mounting shell.

[0016] Preferably, the vertical frame structure consists of a crossbar structure and a column structure. The crossbar structure is arranged at the top of the column structure, and the installation support plate frame structure is arranged in the middle of the crossbar structure.

[0017] The beneficial effects of the present utility model are as follows: In the case of electronic device failure, the output shaft of the rotary drive mechanism can be timely braked through the brake shaft structure, further avoiding the risk of the robot collapsing to the ground; the height measurement encoder is set to calculate the height and extension speed of the hoisting component structure by the rotation of the output shaft of the rotary drive mechanism. If there is an abnormality, it can give timely feedback braking, providing the last safeguard feedback protection before the robot fails to land, and avoiding that when other position sensors, camera mechanisms and / or image sensors analyze and fail, it can still provide sufficient safety protection for the robot, avoiding causing greater losses and damage to machines or personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic structural diagram of the whole of the present utility model.

[0019] Figure 2 It is a schematic internal structural diagram of the whole of the present utility model.

[0020] Figure 3 It is a schematic diagram of the installation and cooperation structure of the wheel disc structure, the rotary drive mechanism and the installation support plate frame structure in the present utility model.

[0021] Figure 4 It is a schematic diagram of the installation structure of the wheel disc structure and the rotary drive mechanism on the installation support plate frame structure in the present utility model.

[0022] Figure 5 It is a schematic diagram of the cooperation structure of the wheel disc structure and the rotary drive mechanism in the present utility model.

[0023] Figure 6 It is a schematic diagram of the structure of the guide wheel assembly in the present utility model.

[0024] In the figure: treadmill body 1; vertical frame structure 2; wheel disc structure 3; rotary drive mechanism 4; hoisting component structure 5; power-off brake 6; height measurement encoder 7;

[0025] base frame 11; driving rotating roller 12; driven rotating roller 13; running belt 14; driving motor 15; handle structure 16;

[0026] crossbar structure 21; column structure 22;

[0027] Install the support plate frame structure 31; pulley disc 32; guide wheel assembly 33;

[0028] Driven pulley part 321; wire groove disc part 322; guide installation shell 331; pulley 332;

[0029] Drive motor 41; driving pulley 42; transmission belt 43;

[0030] Brake shaft structure 8; connecting disc part 81; brake pin shaft part 82; rotating monitoring thin shaft 83;

[0031] Aluminum profile bracket 311; installation base plate 312; upper line clamping plate 313; lower line clamping plate 314; pulley disc installation bushing 315. Detailed implementation mode

[0032] The following elaborates on the preferred embodiments of the present invention in conjunction with the attached drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, thereby making the protection scope of the present invention more clearly defined.

[0033] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0034] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "install", "connect" 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 direct connection or a connection through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. Embodiment

[0035] Such as Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 And Figure 6As shown: a robot walking training protection mechanism is provided with a treadmill body 1 and a frame structure 2. The frame structure 2 is arranged on the treadmill body 1, and the frame structure 2 may not be loaded on the treadmill body 1. The frame structure 2 can independently form a movable frame for being moved and used in places with relatively complex terrain. The movement of the frame structure 2 includes its overall movement, or the movement of local components. A wheel disc structure 3 and a rotating drive mechanism 4 are installed on the frame structure 2. The rotating drive mechanism 4 is used to control the rotation of the wheel disc structure 3. A hoisting assembly structure 5 is arranged on the wheel disc structure 3 for hoisting the robot. The rotating drive mechanism 4 is also connected with a power-off brake 6 and a height measurement encoder 7.

[0036] By setting the power-off brake 6, the rotating drive mechanism 4 can be locked in time when the electronic equipment fails, thereby locking the wheel structure 3, preventing the robot from collapsing and tipping over on the treadmill body or the ground, thereby ensuring the safety of the robot; the height measurement encoder 7 measures the height and movement speed of the lifting component structure 5 by the rotation speed and number of rotations of the rotating drive mechanism 4. When the height and movement speed of the lifting component structure 5 are abnormal, it can timely feedback and control the rotating drive mechanism 4 to lock or reversely rotate the lifting and pulling up the robot, which can prevent the robot from tipping over and being damaged during daily training.

[0037] The treadmill body 1 is provided with a base frame 11, and the frame structure 2 is arranged on the side of the base frame 11. An active rotating roller 12 and a driven rotating roller 13 are respectively installed at both ends of the base frame 11. A running belt 14 is sleeved between the active rotating roller 12 and the driven rotating roller 13. The active rotating roller 12 is connected to a driving motor 15. The active rotating roller 12 and the driving motor 15 are connected through a multi-V belt structure transmission connection, and other transmission methods or direct connection can also be used. The multi-V belt structure transmission is more stable and can avoid slipping in extreme cases to cause greater damage. A group of handle structures 16 are also provided on the base frame 11.

[0038] The above-mentioned pulley structure 3 includes an installation support plate frame structure 31, a pulley disc 32 and four guide wheel assemblies 33. Two or other numbers of guide wheel assemblies 33 are also acceptable. Two or four guide wheel assemblies 33 are more stable and meet the use requirements. The pulley disc 32 is rotatably installed on the installation support plate frame structure 31. The pulley disc 32 is composed of a driven pulley portion 321 and a wire groove disc portion 322, and the driven pulley portion 321 and the wire groove disc portion 322 are an integrated structure, that is, integrated casting or cutting. The guide wheel assembly 33 is installed on the installation support plate frame structure 31, and the guide wheel assembly 33 is aligned with the wire groove disc portion 322. The lifting assembly structure 5 is composed of four independent slings, and the four slings are respectively matched with the four guide wheel assemblies 33. The lifting assembly structure 5 can also be composed of a connecting chain, etc.

[0039] The above-mentioned upright frame structure 2 is composed of a crossbar structure 21 and two column structures 22. The two column structures 22 are arranged on both sides of the middle part of the treadmill body 1, and the crossbar structure 21 is arranged on the tops of the two column structures 22 to form a door frame shape. The above-mentioned installation support plate frame structure 31 is arranged in the middle of the crossbar structure 21.

[0040] Moreover, the main bodies of the above-mentioned crossbar structure 21 and column structure 22 are both supported by aluminum profiles, that is, an aluminum profile is used to build a door frame-shaped frame with bearing capacity. The load-bearing parts of the above-mentioned wheel disc structure 3 and the rotary drive mechanism 4 are both fixedly installed on this aluminum profile frame to avoid insufficient bearing capacity. A sheet metal shell or a plastic shell, etc. is further wrapped outside the aluminum profile for neatly storing the internal shell wiring and for external aesthetics. Therefore, not setting an outer shell does not affect the function realization.

[0041] The above-mentioned rotary drive mechanism 4 includes a drive motor 41, a driving pulley 42 and a transmission belt 43. The driving pulley 42 is connected to the output end of the drive motor 41. The transmission belt 43 is sleeved between the driving pulley 42 and the driven pulley part 321, and a brake shaft structure 8 is installed on the driving pulley 42. The power-off brake 6 and the height measurement encoder 7 are respectively connected to the brake shaft structure 8. Among them, the transmission belt 43 is a synchronous belt structure. Correspondingly, the driving pulley 42 and the driven pulley part 321 are synchronous pulley structures, and the synchronous pulley structure is preferably made of a tough material such as rubber. In this way, while ensuring that the height measurement encoder 7 can more accurately measure the height and movement speed of the hoisting component structure 5 through the rotation speed and rotation number of the rotary drive mechanism 4, there is a certain buffer space when the rotary drive mechanism 4 locks or rotates in the reverse direction to hoist and pull up the robot, avoiding excessive impact force on the robot when it is hard locked, resulting in damage to the connecting joints such as the hoisting component structure 5 or the robot.

[0042] Among them, the brake shaft structure 8 is successively composed of a connecting disc part 81, a brake pin part 82 and a rotation monitoring thin shaft 83, and the connecting disc part 81, the brake pin part 82 and the rotation monitoring thin shaft 83 are an integrated structure, that is, integrally cast or machined into an integrated structure. The power-off brake 6 is installed on the brake pin part 82, the height measurement encoder 7 is connected to the end of the rotation monitoring thin shaft 83, and the connecting disc part 81 is fixedly installed on the end face of the driving pulley 42.

[0043] The above-mentioned installation support plate frame structure 31 includes an aluminum profile bracket 311, an installation substrate 312, an upper wire clamping plate 313 and a lower wire clamping plate 314. One end of the aluminum profile bracket 311 is installed on the vertical frame structure 2 and is located above the middle of the treadmill body 1, that is, one end of the aluminum profile bracket 311 is fixedly erected in the middle of the crossbar structure 21. The installation substrate 312 is fixedly installed at the other end of the aluminum profile bracket 311 through a screw structure. The upper wire clamping plate 313 and the lower wire clamping plate 314 are respectively connected below the installation substrate 312 through two groups of connecting columns. That is, the upper wire clamping plate 313, the lower wire clamping plate 314 and the installation substrate 312 are arranged at intervals. A pulley disc installation bushing 315 is also installed on the lower surface of the installation substrate 312 through a screw structure. The pulley disc 32 is rotatably installed on the outer surface of the pulley disc installation bushing 315. A position sensor, a camera mechanism and / or an image sensor are installed in the inner hole of the pulley disc installation bushing 315, which is used to further cooperate with vision and other algorithm systems to assist in monitoring the state of the robot, and further avoid the situation where the robot tipping system fails to recognize and make a feedback response. A development control board is also installed on the installation substrate 312. The inner hole of the pulley disc installation bushing 315 is the through hole at the central part of the pulley disc installation bushing 315, and the main body part of the pulley disc installation bushing 315 is tubular.

[0044] Among them, the pulley disc 32 has an installation hole that cooperates with the pulley disc installation bushing 315, and a separating ring plate is arranged between the driven pulley part 321 and the wire groove disc part 322 of the installation hole. Bearing structures are respectively installed on the upper and lower sides of the separating ring plate. Through this bearing structure, the pulley disc 32 is rotationally matched with the pulley disc installation bushing 315, so that the rotation is more stable and accurate; an avoidance round hole is provided between the upper wire clamping plate 313 and the lower wire clamping plate 314. The avoidance round hole is sleeved on the wire groove disc part 322, and the upper wire clamping plate 313 and the lower wire clamping plate 314 are respectively aligned with the upper and lower sides of the wire groove disc part 322, which is used for guiding to avoid the sling of the hoisting component structure 5 from being scattered.

[0045] Among them, the guide wheel assembly 33 is composed of a guide installation shell 331 and a pulley 332. The guide installation shell 331 is installed at the corresponding hole opening opened on the lower wire clamping plate 314, and the pulley 332 is rotatably installed in the guide installation shell (331).

[0046] The rotation drive mechanism 4 is installed on the lower surface of the installation substrate 312, and the rotation drive mechanism 4 is arranged side by side with the pulley disc 32 and the pulley disc installation bushing 315. The power-off brake 6 is installed on the upper surface of the installation substrate 312. The height measurement encoder 7 is installed above the installation substrate 312 through the housing of the power-off brake 6. The brake shaft structure 8 passes through the installation substrate 312 and is rotationally matched with the installation substrate 312 through a deep groove ball bearing.

[0047] Although embodiments of the present utility model have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present utility model. The scope of the present utility model is defined by the appended claims.

Claims

1. A robot walking training protection mechanism, characterized in that: The invention comprises a stand structure (2), a wheel disc structure (3) and a rotary drive mechanism (4) being mounted on the stand structure (2), the rotary drive mechanism (4) being used to control the rotation of the wheel disc structure (3), a hoisting assembly structure (5) being arranged on the wheel disc structure (3) for hoisting a robot, and the rotary drive mechanism (4) being further connected to a power-off brake (6) and a height measuring encoder (7); The pulley structure (3) comprises a mounting support plate frame structure (31), a pulley disk (32) and at least one guide wheel assembly (33); the pulley disk (32) is rotatably mounted on the mounting support plate frame structure (31); the pulley disk (32) is composed of a driven pulley portion (321) and a wire groove disk portion (322); the guide wheel assembly (33) is mounted on the mounting support plate frame structure (31), and the guide wheel assembly (33) is aligned with the wire groove disk portion (322); The rotary drive mechanism (4) comprises a drive motor (41), a driving pulley (42) and a transmission belt (43); the driving pulley (42) is connected to the output end of the drive motor (41); the transmission belt (43) is sleeved between the driving pulley (42) and the driven pulley portion (321); a brake shaft structure (8) is mounted on the driving pulley (42); and the power-off brake (6) and the height measuring encoder (7) are respectively connected to the brake shaft structure (8).

2. The robot walking training protection mechanism according to claim 1, characterized in that: The transmission belt (43) is a synchronous belt structure, and the driving pulley (42) and the driven pulley portion (321) are synchronous pulley structures.

3. The robot walking training protection mechanism according to claim 1 or 2, characterized in that: The brake shaft structure (8) is composed of a connecting disk portion (81), a brake pin shaft portion (82) and a rotation monitoring thin shaft (83) in sequence, the power-off brake (6) is mounted on the brake pin shaft portion (82), the height measuring encoder (7) is connected to the end of the rotation monitoring thin shaft (83), and the connecting disk portion (81) is fixedly mounted on the end surface of the driving pulley (42).

4. The robot walking training protection mechanism according to claim 3 is characterized in that: The lifting assembly structure (5) is composed of four lifting cables, and the wheel disc structure (3) includes four guide wheel assemblies (33). The four lifting cables cooperate with the four guide wheel assemblies (33) respectively.

5. The robot walking training protection mechanism according to any one of claims 1 to 2 or 4, characterized in that: The mounting support plate frame structure (31) comprises an aluminum profile bracket (311), a mounting base plate (312), an upper line clamping plate (313) and a lower line clamping plate (314); one end of the aluminum profile bracket (311) is mounted on the vertical frame structure (2); the mounting base plate (312) is mounted on the other end of the aluminum profile bracket (311); the upper line clamping plate (313) and the lower line clamping plate (314) are respectively connected to the bottom of the mounting base plate (312) in sequence through two groups of connecting columns; the upper line clamping plate (313) and the lower line clamping plate (314) are respectively aligned around the upper and lower sides of the line slot disk portion (322); a pulley disk mounting shaft sleeve (315) is also mounted on the lower surface of the mounting base plate (312) through a screw structure; the pulley disk (32) is rotatably mounted on the outer surface of the pulley disk mounting shaft sleeve (315).

6. The robot walking training protection mechanism according to claim 5, characterized in that: A position sensor, a camera mechanism and / or an image sensor are installed in the inner hole of the pulley mounting sleeve (315).

7. The robot walking training protection mechanism according to claim 5, characterized in that: The guide wheel assembly (33) is composed of a guide mounting shell (331) and a pulley (332); the guide mounting shell (331) is mounted at a corresponding hole opened in the lower line clamping plate (314); and the pulley (332) is rotatably mounted in the guide mounting shell (331).

8. The robot walking training protection mechanism according to claim 1, 6 or 7, characterized in that: The frame structure (2) is composed of a crossbar structure (21) and a column structure (22); the crossbar structure (21) is arranged on the top of the column structure (22); and the mounting support plate frame structure (31) is arranged in the middle of the crossbar structure (21).

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