Explosion-proof robot leg foot and explosion-proof robot

Abstract

The utility model belongs to the technical field of robots, and particularly discloses an explosion-proof robot leg which comprises a leg assembly and a driving module for driving the leg assembly to act. The leg and foot assembly comprises a side swaying unit, a hip unit and a knee unit; the driving module comprises a motor shell, a motor front cover, a motor rear cover, a motor connecting shell and a motor driving piece; the motor front cover is installed at the front end of the motor shell, the motor rear cover is installed at the rear end of the motor shell, and the motor connecting shell is installed on the motor front cover. The motor connecting shell, the motor shell, the motor rear cover and the motor front cover form an explosion-proof cavity; the motor driving part is mounted in the explosion-proof cavity; each side swing unit, the hip unit or the knee unit is controlled by a driving module, and the driving modules are connected through a motor connecting shell. Contact between the motor driving part and the external environment is achieved, and the explosion-proof function is achieved. The utility model further discloses a robot with the flame-proof robot leg.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a flameproof robot leg and a flameproof robot. Background Art

[0002] The mobile mechanisms of robots are usually wheeled, legged and tracked. Wheeled and tracked robots are suitable for fast movement and performing tasks on flat ground, while legged robots are more suitable for moving and operating in complex or unstructured environments, such as moving on complex roads such as stairs, steps, gaps, obstacles, and narrow spaces. Therefore, the flexibility of legged robots enables them to adapt to diverse working environments and task requirements.

[0003] With the development of robotics, robots are empowering an increasing number of industries. In production environments with combustible dust or gas, such as coal mining, petroleum and petrochemicals, civil explosives and military industries, and spray coating, robots are required to have explosion-proof and flameproof performance.

[0004] Related technology can be found in patent publication number CN218141844U, which discloses a hydraulic pump-controlled explosion-proof quadruped robot, comprising a hydraulic structure and a mechanical structure. The mechanical structure comprises an explosion-proof chamber and a leg assembly, which includes a roll unit, a hip unit, and a knee unit. The hydraulic structure comprises an accumulator and a drive unit, which comprises a servo motor, a hydraulic pump, and a hydraulic cylinder connected in sequence. Each roll unit, hip unit, or knee unit is controlled by a separate drive unit. In contrast to the aforementioned related technology, multiple hydraulic cylinders are exposed and mounted on the leg assemblies. This results in bulky legs and feet and poor explosion-proofing performance. Utility Model Content

[0005] The purpose of the utility model is to provide a flameproof robot leg and foot, which uses a motor instead of a hydraulic cylinder as a driving unit to simplify the structure of the robot's leg and foot, and sets a flameproof cavity in the motor, and the relevant motor drive components are installed in the flameproof cavity to improve the flameproof performance of the robot's leg and foot.

[0006] The purpose of the utility model is achieved through such a technical solution, a flameproof robot leg and foot, comprising: a leg and foot assembly and a driving module for driving the leg and foot assembly to move;

[0007] The leg and foot assembly includes a side swing unit, a hip unit, and a knee unit;

[0008] The drive module includes: a motor housing, a motor front cover, a motor rear cover, a motor connection housing and a motor drive component. The motor front cover is installed at the front end of the motor housing; the motor rear cover is installed at the rear end of the motor housing; the motor connection housing is installed at the motor front cover; the motor connection housing, the motor housing, the motor rear cover and the motor front cover form an explosion-proof cavity; the motor drive component is installed in the explosion-proof cavity;

[0009] Each side swing unit, hip unit or knee unit is controlled by a drive module, and the drive modules are connected by a motor connecting shell.

[0010] Preferably, the motor housing includes a first motor housing and a second motor housing, and a first explosion-proof joint surface is provided at the connection between the motor front cover and the first motor housing; a second explosion-proof joint surface is provided at the connection between the first motor housing and the second motor housing; and a third explosion-proof joint surface is provided at the connection between the second motor housing and the motor rear cover.

[0011] Preferably, the outer surface of the driving module is provided with no less than two groups of bosses along its circumference, and the bosses are provided with through holes along the height direction, and the fixing members pass through the through holes to fix the driving module.

[0012] Preferably, the hip unit and the knee unit are hinged, and the leg-foot assembly further includes a connecting rod assembly, one end of the connecting rod assembly is connected to the driving module, and the other end of the connecting rod assembly is connected to the knee unit, and the connecting rod assembly is installed in the hip unit.

[0013] Preferably, the connecting rod assembly includes a first connecting rod, a second connecting rod and a third connecting rod; one end of the first connecting rod is connected to the driving module, the other end of the first connecting rod is hinged to one end of the second connecting rod, the other end of the second connecting rod is hinged to one end of the third connecting rod, and the other end of the third connecting rod is connected to the knee unit.

[0014] Another object of the present utility model is to provide a flameproof robot. The flameproof robot is provided with a flameproof trunk and related flameproof external components so as to have a flameproof function and is suitable for working in flammable and explosive environments.

[0015] Another object of the present invention is achieved through such a technical solution, which is a flameproof robot, comprising the above-mentioned flameproof robot legs and feet, and also comprising a flameproof torso, wherein the drive module is connected to the flameproof torso.

[0016] Preferably, the flameproof trunk comprises a top cabin body and a bottom cover plate, and flange end bolts connect the top cabin body and the bottom cover plate to form a fourth flameproof plane joint surface.

[0017] Preferably, the explosion-proof trunk is provided with at least one of an explosion-proof camera, an intrinsically safe laser radar, an RTK antenna, an explosion-proof button, and an intrinsically safe explosion-proof alarm light.

[0018] Due to the adoption of the above technical solution, the present invention has the following advantages: the leg and foot assembly is composed of a side swing unit, a hip unit, or a knee unit, all of which are controlled by a single drive module to achieve leg movement of the leg robot. The motor connection shell, motor housing, motor rear cover, and motor front cover form a flameproof cavity; the motor drive component is installed in the flameproof cavity to isolate the motor drive component from the external environment, effectively preventing dangerous factors generated inside the motor from causing an explosion in the external environment. The flameproof function makes the flameproof robot leg and foot suitable for flammable and explosive environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific embodiments of the present invention, the following briefly introduces the drawings required for use in the specific embodiments. In all the drawings, each element or part is not necessarily drawn according to the actual scale.

[0020] Figure 1 This is a schematic structural diagram of a flameproof robot leg and foot in the utility model;

[0021] Figure 2 It is a structural cross-sectional view of the drive module;

[0022] Figure 3 Schematic diagram of the structure of the connecting rod assembly;

[0023] Figure 4 This is a structural diagram of the explosion-proof robot.

[0024] Reference numerals:

[0025] 1-Leg-foot assembly, 11-Side swing unit, 12-Hip unit, 121-Hip joint, 122-Thigh, 13-Knee unit, 131-Knee joint, 132-Calf, 14-Connecting rod assembly, 141-First connecting rod, 142-Second connecting rod, 143-Third connecting rod; 2-Drive module, 21-Motor housing, 211-First motor housing, 212-Second motor housing, 22-Motor front cover, 23-Motor rear cover, 24-Motor connecting shell, 25-Motor drive component, 26-Explosion-proof cavity, 261-First explosion-proof joint surface, 262-Second explosion-proof joint surface, 263-Third explosion-proof joint surface, 27-Boss, 28-Fixer, 3-Explosion-proof torso, 31-Top cabin, 32-Bottom cover, 4-Explosion-proof camera, 5-Intrinsically safe laser radar, 6-RTK antenna, 7-Explosion-proof button, 8-Intrinsically safe explosion-proof alarm light. DETAILED DESCRIPTION

[0026] See also Figure 1A flameproof robot leg comprises a leg assembly 1 and a drive module 2 for driving the leg assembly 1. The leg assembly 1 comprises a side swing unit 11, a hip unit 12 and a knee unit 13. The drive module 2 comprises a motor housing 21, a motor front cover 22, a motor rear cover 23, a motor connecting shell 24 and a motor driving component 25. The motor front cover 22 is mounted on the front end of the motor housing 21; the motor rear cover 23 is mounted on the rear end of the motor housing 21; the motor connecting shell 24 is mounted on the motor front cover 22; a flameproof cavity 26 is formed by the motor connecting shell 24, the motor housing 21, the motor rear cover 23 and the motor front cover 22; and the motor driving component 25 is mounted in the flameproof cavity 26.

[0027] Each side swing unit 11 , hip unit 12 or knee unit 13 is controlled by a drive module 2 , and the drive modules 2 are connected by a motor connecting shell 24 .

[0028] Specifically, the drive module 2 includes a drive module 2 for the side swing unit, a drive module 2 for the hip unit, and a drive module 2 for the knee unit. The motor rear cover 23 of the drive module 2 for the side swing unit is installed on the robot. The motor connection shell 24 of the drive module 2 for the side swing unit is connected to one end of the side swing unit 11, and the other end of the side swing unit 11 is connected to the drive module 2 for the hip unit. The output axis of the drive module 2 for the side swing unit is perpendicular to the output axis of the drive module 2 for the hip unit. The motor connection shell 24 of the drive module 2 for the hip unit is connected to the drive module 2 for the knee unit, and the motor connection shell 24 of the drive module 2 for the knee unit is connected to the hip unit 12. The hip unit 12 and the knee unit 13 are hinged. The output axis of the drive module 2 for the knee unit is connected to the knee unit 13. The output axis of the drive module 2 for the hip unit is coaxial with the output axis of the drive module 2 for the knee unit. During operation, the output shaft of the drive module 2 of the side swing unit rotates to drive the side swing unit to rotate, thereby driving the drive module 2 of the hip unit, the drive module 2 of the knee unit and the leg-foot assembly 1 to swing left and right (divided into front, back, left and right according to the forward direction of the robot). The drive module 2 of the side swing unit is used to drive the leg-foot assembly 1 to swing inward and outward. The drive module 2 of the hip unit rotates to drive the drive module 2 of the knee unit and the leg-foot assembly 1 to swing back and forth. Preferably, the motor model used by the drive module 2 of the side swing unit and the drive module 2 of the hip unit is preferably EC-A13715-P1-12.67, and the motor model used by the drive module 2 of the knee unit is preferably EC-A13720-P1-11.4. Preferably, the motor drive component 25 adopts existing technology, including an electronic control board, an encoder, a motor stator, a motor rotor and a reducer, etc. The motor drive component 25 is installed in the explosion-proof cavity 26.

[0029] In the flameproof robot leg of this invention, the side swing unit 11, hip unit 12, or knee unit 13 are all controlled by a single drive module 2, enabling the leg movements of the robot. A flameproof cavity 26 is formed by the motor connection housing 24, the motor housing 21, the motor rear cover 23, and the motor front cover 22. The motor driver 25 is installed within this cavity, isolating the motor driver 25 from the external environment. This effectively prevents hazardous factors generated within the motor from triggering an explosion, providing a flameproof function. Therefore, the flameproof robot leg is suitable for use in flammable and explosive environments.

[0030] See also Figure 1 and Figure 2 Furthermore, the motor housing 21 includes a first motor housing 211 and a second motor housing 212. A first explosion-proof joint surface 261 is provided at the connection between the motor front cover 22 and the first motor housing 211; a second explosion-proof joint surface 262 is provided at the connection between the first motor housing 211 and the second motor housing 212; and a third explosion-proof joint surface 263 is provided at the connection between the second motor housing 212 and the motor rear cover 23. Preferably, the motor front cover 22, the first motor housing 211, the second motor housing 212, the motor rear cover 23, and the motor connection housing 24 are fixedly connected using an integrally formed screw and nut to increase the strength of the motor. These three explosion-proof joint surfaces seal the components in the explosion-proof cavity 26, ensuring that any internal abnormalities will not affect the outside world.

[0031] See also Figure 2 and Figure 3 Furthermore, the outer surface of the drive module 2 is provided with at least two groups of bosses 27 along its circumference. The bosses 27 are provided with through holes along the height direction, and the fixing members 28 pass through the through holes to fix the drive module 2. Specifically, the motor front cover 22, the first motor housing 211, the second motor housing 212, and the motor front cover 23 in the drive module 2 are provided with bosses 27 along the height direction that can be connected in series. The bosses 27 are provided with through holes along the height direction, and the through holes are provided with threads. The fixing members 28 are bolts that are threadedly connected to the through holes and fixed with nuts at the rear ends, thereby fixing the motor front cover 22, the first motor housing 211, the second motor housing 212, and the motor front cover 23 together, resulting in a compact structure. The bosses 27 are provided on the outer side of the drive module 2 and not only serve as reinforcement ribs to enhance the strength of the drive module 2, but also when the outer side of the drive module 2 comes into contact with an object, the bosses 27 are first contacted, thus protecting the drive module 2.

[0032] See also Figure 1Furthermore, the hip unit 12 and the knee unit 13 are hinged, and the leg-foot assembly 1 also includes a connecting rod assembly 14, one end of the connecting rod assembly 14 is connected to the driving module 2 of the knee unit, and the other end of the connecting rod assembly 14 is connected to the knee unit 13, and the connecting rod assembly 14 is installed in the hip unit 12. Specifically, the hip unit 12 includes a hip joint 121 and a thigh 122, and the knee unit 13 includes a knee joint 131 and a calf 132; the driving module 2 of the knee unit is fixedly mounted on the hip joint 121, one end of the thigh 122 is mounted on the hip joint 121, and the other end of the thigh 122 is hinged to the knee joint 131. The calf 132 is hinged to the thigh 122 through the knee joint 131. One end of the connecting rod assembly 14 is connected to the output end of the driving module 2 of the knee unit, and the other end of the connecting rod assembly 14 is connected to the knee joint 131, and the connecting rod assembly 14 is installed in the thigh 122. In order to reduce the overall weight of the legs and feet, weight-reducing holes are provided on the hip unit 12 and the calf 132 , so that the hip unit 12 and the calf 132 have a hollow structure.

[0033] See also Figure 3 The connecting rod assembly 14 includes a first connecting rod 141, a second connecting rod 142, and a third connecting rod 143. One end of the first connecting rod 141 is connected to the output shaft of the driving module 2 of the knee unit, the other end of the first connecting rod 141 is hinged to one end of the second connecting rod 142, the other end of the second connecting rod 142 is hinged to one end of the third connecting rod 143, and the other end of the third connecting rod 143 is hinged to the knee joint 131. During operation, the driving module 2 of the knee unit rotates, driving the first connecting rod 141 to rotate. The rotation of the first connecting rod 141 drives the second connecting rod 142 to move in the thigh 122. When the second connecting rod 142 moves, it drives the third connecting rod 143 to rotate, so that the calf 132 rotates about the knee joint 131, and the driving module 2 of the knee unit drives the calf 132 to swing.

[0034] See also Figure 4 Furthermore, a flameproof robot further includes a flameproof trunk 3, with a drive module 2 connected to the flameproof trunk 3. Specifically, there are four sets of leg and foot assemblies 1, each mounted at the four corners of the flameproof trunk 3 via a side swing unit drive module 2, forming a quadruped robot. The flameproof trunk 3 of the robot utilizes a conventional housing.

[0035] Furthermore, the flameproof trunk 3 is composed of a top cabin 31 and a bottom cover plate 32, and the flange end faces are bolted together to form a fourth flameproof plane joint surface.

[0036] Furthermore, based on the robot's functional requirements, the flameproof trunk 3 is also equipped with at least one of the following: a flameproof camera 4, an intrinsically safe laser radar 5, an RTK antenna 6, a flameproof button 7, and an intrinsically safe explosion-proof alarm light 8. The intrinsically safe laser radar 5 is sealed with a glass cover to enhance explosion-proof performance. The RTK antenna 6, the flameproof button 7, and the intrinsically safe explosion-proof alarm light 8 are connected using explosion-proof cables. The cable passes through the flameproof trunk 3 and is sealed with glue to enhance explosion-proof performance. The flameproof camera 4, the intrinsically safe laser radar 5, the RTK antenna 6, the flameproof button 7, and the intrinsically safe explosion-proof alarm light 8 all utilize existing technologies, and their connections to the flameproof trunk 3 are all based on existing technologies.

[0037] The flameproof robot is equipped with flameproof robot legs, flameproof torso and related flameproof external components, so that the flameproof robot as a whole has flameproof function and is suitable for working in flammable and explosive environments.

[0038] The flameproof robot leg assembly 1 of the present invention consists of a side swing unit 11 and a hip unit 12 or knee unit 13. Each of these units is controlled by a drive module 2 to achieve leg movement. Drive module 2 utilizes a motor, with multiple motors centrally mounted to simplify the robot's leg structure. A flameproof cavity 26 is formed by a motor connection housing 24, a motor housing 21, a motor rear cover 23, and a motor front cover 22. Multiple explosion-proof joints are provided within this cavity, and a motor driver 25 is installed within this cavity, isolating the motor driver 25 from the external environment. This effectively prevents hazardous factors within the motor from triggering explosions, providing a flameproof function. The robot is equipped with a flameproof trunk 3, which is equipped with at least one of a flameproof camera 4, an intrinsically safe laser radar 5, an RTK antenna 6, a flameproof button 7, and an intrinsically safe explosion-proof alarm light 8. Therefore, the flameproof robot is suitable for use in flammable and explosive environments.

Claims

1. A flameproof robot leg, characterized in that: include: A leg and foot assembly (1) and a driving module (2) for driving the leg and foot assembly (1); The leg and foot assembly (1) comprises a side swing unit (11), a hip unit (12) and a knee unit (13); The drive module (2) comprises: a motor housing (21), a motor front cover (22), a motor rear cover (23), a motor connecting housing (24) and a motor driving component (25); the motor front cover (22) is mounted on the front end of the motor housing (21); the motor rear cover (23) is mounted on the rear end of the motor housing (21); the motor connecting housing (24) is mounted on the motor front cover (22); a flameproof cavity (26) is formed by the motor connecting housing (24), the motor housing (21), the motor rear cover (23) and the motor front cover (22); and the motor driving component (25) is mounted in the flameproof cavity (26); Each side swing unit (11), hip unit (12) and knee unit (13) is controlled by a driving module (2), and the driving modules (2) are connected by a motor connecting shell (24).

2. The flameproof robot leg according to claim 1, characterized in that: The motor housing (21) comprises a first motor housing (211) and a second motor housing (212); a first flameproof joint surface (261) is provided at the connection between the motor front cover (22) and the first motor housing (211); a second flameproof joint surface (262) is provided at the connection between the first motor housing (211) and the second motor housing (212); and a third flameproof joint surface (263) is provided at the connection between the second motor housing (212) and the motor rear cover (23).

3. The flameproof robot leg according to claim 1 or 2, characterized in that: The outer surface of the driving module (2) is provided with no less than two groups of bosses (27) along its circumference, and the bosses (27) are provided with through holes along the height direction, and the fixing members (28) pass through the through holes to fix the driving module (2).

4. The flameproof robot leg according to claim 1 or 2, characterized in that: The hip unit (12) and the knee unit (13) are hinged, and the leg-foot assembly (1) also includes a connecting rod assembly (14). One end of the connecting rod assembly (14) is connected to the knee unit drive module (2), and the other end of the connecting rod assembly (14) is connected to the knee unit (13). The connecting rod assembly (14) is installed in the hip unit (12).

5. The flameproof robot leg according to claim 4, characterized in that: The connecting rod assembly (14) includes a first connecting rod (141), a second connecting rod (142) and a third connecting rod (143); one end of the first connecting rod (141) is connected to the driving module (2) of the knee unit, the other end of the first connecting rod (141) is hinged to one end of the second connecting rod (142), the other end of the second connecting rod (142) is hinged to one end of the third connecting rod (143), and the other end of the third connecting rod (143) is connected to the knee unit (13).

6. A flameproof robot, characterized in that: The invention comprises the flameproof robot leg and foot as claimed in any one of claims 1 to 5, and also comprises a flameproof trunk (3), wherein the drive module (2) is connected to the flameproof trunk (3).

7. The explosion-proof robot according to claim 6, characterized in that: The flameproof trunk (3) comprises a top cabin (31) and a bottom cover plate (32), and flange end face bolts connect the top cabin (31) and the bottom cover plate (32) to form a fourth flameproof plane joint surface.

8. The explosion-proof robot according to claim 7, characterized in that: The flameproof trunk (3) is provided with at least one of a flameproof camera (4), an intrinsically safe laser radar (5), an RTK antenna (6), a flameproof button (7), and an intrinsically safe explosion-proof warning light (8).

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