Hip joint structure of bionic wheel-foot robot

Abstract

The utility model discloses a hip joint structure of a bionic wheel-foot robot, which comprises a vehicle body main board, a rocker arm, a screw rod and a shank frame, and is characterized in that the vehicle body main board is fixedly connected with a first motor, the vehicle body main board is rotatably connected with a mounting plate, the mounting plate is fixedly connected with a rotating shaft of the first motor, and the mounting plate is fixedly connected with a second motor; a rocker arm is fixedly connected to a rotating shaft of the second motor, one end of the rocker arm is rotationally connected with a lead screw, one end of the lead screw is rotationally connected with a mounting seat, the mounting seat is rotationally connected to a joint shaft, and the joint shaft is fixedly connected between the inner side plate and the outer side plate; the utility model has the beneficial effects that the buffer performance is improved, the walking stability in complex terrains is higher, and the maneuverability and the moving speed are higher as the wheel feet are arranged at the bottom.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic wheel feet, and particularly relates to a hip joint configuration of a bionic wheel-foot robot. Background Art

[0002] Chinese Patent Application CN 104029745 A discloses a leg-wheel hybrid hydraulic mechanical leg, which includes a thigh hydraulic cylinder, a calf hydraulic cylinder, and thigh rod plates, calf rod plates, a main body connecting plate, and a thigh hydraulic cylinder connecting plate that are relatively parallelly installed. There is a main body cylindrical connecting column between the main body square fixing block of the main body connecting plate and the thigh hydraulic cylinder connecting plate; the two main body connecting plates are respectively hinged to the two thigh rod plates, the two thigh rod plates are respectively hinged to the two calf rod plates, and parallel calf end rods are fixed between the two calf rod plates through a calf square fixing block; both ends of the thigh hydraulic cylinder are respectively hinged between the upper parts of the two thigh rod plates and between the bottoms of the two thigh hydraulic cylinder connecting plates; both ends of the calf hydraulic cylinder are respectively hinged between the middle parts of the two calf rod plates and on the side arm plates extended from the two thigh rod plates. The technical solution of this patent has poor buffering performance, insufficient walking stability, difficulty in adapting to complex terrains, and poor mobility and moving speed, and there are problems. Summary of the Utility Model

[0003] Aiming at the defects in the prior art, the utility model provides a hip joint configuration of a bionic wheel-foot robot to solve the existing problems.

[0004] The utility model is realized through the following technical solutions: A hip joint configuration of a bionic wheel-foot robot includes a vehicle body main board, a rocker arm, a lead screw, and a calf bracket, and is characterized in that: a first motor is fixedly connected to the vehicle body main board, the vehicle body main board is rotationally connected to a mounting plate, the mounting plate is fixedly connected to the rotating shaft of the first motor, a second motor is fixedly connected to the mounting plate, the rocker arm is fixedly connected to the rotating shaft of the second motor, one end of the rocker arm is rotationally connected to the lead screw, one end of the lead screw is rotationally connected to a mounting seat, the mounting seat is rotationally connected to a joint shaft, and the joint shaft is fixedly connected between an inner side plate and an outer side plate.

[0005] Preferably, an intermediate plate is fixedly connected between the inner side plate and the outer side plate, the calf bracket is rotationally connected to the joint shaft, the calf bracket is fixedly connected to the mounting seat, and one end of the calf bracket is fixedly connected to a holding shaft, and the wheel foot is rotationally connected to the holding shaft.

[0006] Preferably, the inner side plate is fixedly connected to the mounting plate, and the outer side plate is fixedly connected to the second motor.

[0007] Preferably, a fixing frame is fixedly connected to the mounting plate, and one end of the fixing frame is fixedly connected to the inner side plate.

[0008] Preferably, the bottom of the main body of the vehicle body is fixedly connected to a bracket through bolts, and a shock absorber is hinged on the bracket, with one end of the shock absorber hinged on a fixing frame.

[0009] The beneficial effects of the present utility model are reflected in: improving the buffering performance, having higher stability when walking on complex terrains, setting wheel feet at the bottom, and having higher mobility and moving speed. Description of the Drawings

[0010] In order to more clearly illustrate the specific embodiments of the present utility model or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the description of the specific embodiments or the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn to scale.

[0011] Figure 1 It is a schematic diagram of the overall structure of the present utility model;

[0012] Figure 2 For the present utility model Figure 1 It is a sectional view taken along line A-A in the present utility model.

[0013] In the drawings, 1 is the main body of the vehicle body, 2 is the rocker arm, 3 is the inner side plate, 4 is the outer side plate, 5 is the middle plate, 6 is the bracket, 7 is the shock absorber, 8 is the lead screw, 9 is the mounting seat, 10 is the calf frame, 11 is the wheel foot, 12 is the first motor, 13 is the mounting plate, 14 is the fixing frame, 15 is the shaft holding, 16 is the second motor, and 17 is the joint shaft. Specific Embodiments

[0014] In order to make the above-mentioned objects, features, and advantages of the present utility model more obvious and understandable, the following will make a detailed description of the specific embodiments of the present utility model with reference to the drawings. Many specific details are set forth in the following description in order to fully understand the present utility model. However, the present utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present utility model. Therefore, the present utility model is not limited by the specific embodiments disclosed below.

[0015] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time.

[0016] For ease of explanation, spatial relative terms such as "upper", "lower", "left", "right", etc. can be used here to describe the relationship of one element or feature shown in the figure with respect to another element or feature. It should be understood that, in addition to the orientation shown in the figure, the spatial terms are intended to include different orientations during the use or operation of the device. For example, if the device in the figure is inverted, the element described as being "below" other elements or features will be positioned "above" other elements or features. Therefore, the exemplary term "lower" can include both upper and lower orientations.

[0017] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this utility model belongs. The terms used herein in the description of this utility model are only for the purpose of describing specific embodiments and are not intended to limit this utility model. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0018] To make the above objects, features, and advantages of this utility model more obvious and understandable, the following detailed description of the specific implementation of this utility model is provided in conjunction with specific embodiments: As Figures 1 - 2 shown, this utility model is implemented through the following technical solutions: A hip joint configuration of a bionic wheel-legged robot, including a vehicle body main board 1, a rocker arm 2, a lead screw 8, and a calf bracket 10, characterized in that: A first motor 12 is fixedly connected to the vehicle body main board 1, the vehicle body main board 1 is rotatably connected to a mounting plate 13, the mounting plate 13 is fixedly connected to the rotating shaft of the first motor 12, a second motor 16 is fixedly connected to the mounting plate 13, the rocker arm 2 is fixedly connected to the rotating shaft of the second motor 16, one end of the rocker arm 2 is rotatably connected to the lead screw 8, one end of the lead screw 8 is rotatably connected to a mounting seat 9, the mounting seat 9 is rotatably connected to a joint shaft 17, and the joint shaft 17 is fixedly connected between the inner side plate 3 and the outer side plate 4.

[0019] A middle plate 5 is fixedly connected between the inner side plate 3 and the outer side plate 4, the calf bracket 10 is rotatably connected to the joint shaft 17, the calf bracket 10 is fixedly connected to the mounting seat 9, one end of the calf bracket 10 is fixedly connected to a bearing shaft 15, and the wheel foot 11 is rotatably connected to the bearing shaft 15.

[0020] The inner side plate 3 is fixedly connected to the mounting plate 13, and the outer side plate 4 is fixedly connected to the second motor 16.

[0021] A fixing frame 14 is fixedly connected to the mounting plate 13, and one end of the fixing frame 14 is fixedly connected to the inner side plate 3.

[0022] The bottom of the vehicle body main board 1 is fixedly connected to a bracket 6 through bolts, a shock absorber 7 is hinged to the bracket 6, and one end of the shock absorber 7 is hinged to the fixing frame 14.

[0023] The working principle of the present utility model is as follows: In the first case, in the presence of the shock absorber 7, the first motor 12 is not powered on. By powering on and rotating the second motor 16, the rocker arm 2 is driven to rotate, thereby pulling the lead screw 8. The lead screw 8 pulls the mounting seat 9 and the calf frame 10 to rotate for angle adjustment. During the operation of the overall robot, the shock absorber 7 can play a shock-absorbing role on complex terrains. At this time, the angle of the thigh frame formed by the inner plate 3 and the outer plate 4 cannot be adjusted.

[0024] In the second case, after the shock absorber 7 is removed, starting the first motor 12 can adjust the angles between the inner plate 3, the outer plate 4 and the main body board 1 of the vehicle body, and starting the second motor 16 can adjust the angles between the inner plate 3, the outer plate 4 and the calf frame 10.

[0025] Finally, it should be noted that: The above embodiments are only used to illustrate the technical solutions of the present utility model, rather than to limit it; Although the present utility model has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: They can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; And these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present utility model, and they should all be covered within the scope of the claims and the description of the present utility model.

Claims

1. Hip joint configuration of a bionic wheel-legged robot, comprising a vehicle body main board (1), a rocker arm (2), a lead screw (8) and a calf bracket (10), characterized in that: A first motor (12) is fixedly connected to the vehicle body main board (1). The vehicle body main board (1) is rotatably connected to a mounting plate (13). The mounting plate (13) is fixedly connected to the rotating shaft of the first motor (12). A second motor (16) is fixedly connected to the mounting plate (13). A rocker arm (2) is fixedly connected to the rotating shaft of the second motor (16). One end of the rocker arm (2) is rotatably connected to a lead screw (8). One end of the lead screw (8) is rotatably connected to a mounting seat (9). The mounting seat (9) is rotatably connected to a joint shaft (17). The joint shaft (17) is fixedly connected between the inner side plate (3) and the outer side plate (4).

2. The hip joint configuration of a bionic wheel-legged robot according to claim 1, characterized in that: An intermediate plate (5) is fixedly connected between the inner side plate (3) and the outer side plate (4). A calf support (10) is rotatably connected to the joint shaft (17). The calf support (10) is fixedly connected to the mounting seat (9). One end of the calf support (10) is fixedly connected to a shaft holding member (15). A wheel foot (11) is rotatably connected to the shaft holding member (15).

3. The hip joint configuration of a bionic wheel-legged robot according to claim 1, characterized in that: The inner side plate (3) is fixedly connected to the mounting plate (13). The outer side plate (4) is fixedly connected to the second motor (16).

4. The hip joint configuration of a bionic wheel-legged robot according to claim 1, characterized in that: A fixing frame (14) is fixedly connected to the mounting plate (13). One end of the fixing frame (14) is fixedly connected to the inner side plate (3).

5. The hip joint configuration of a bionic wheel-legged robot according to claim 4, characterized in that: The bottom of the vehicle body main board (1) is fixedly connected to a bracket (6) by bolts. A shock absorber (7) is hinged to the bracket (6). One end of the shock absorber (7) is hinged to the fixing frame (14).

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