Leg parallel connection structure of bionic wheel-foot robot

Abstract

The utility model discloses a leg parallel structure of a bionic wheel-foot robot, which comprises a machine body, a support, motors and wheel feet, and is characterized in that a plurality of first motors are fixedly connected onto the machine body, spacing frames are fixedly connected onto rotating shafts of the first motors, and second motors are fixedly connected onto the spacing frames through bolts; a first support is fixedly connected to a rotating shaft of the second motor and rotationally connected with a second support through a bearing. The robot has the advantages that the occupied space is small, the layout between the two execution motors is compact, the number of structural parts is reduced, the requirement for light weight is met under the condition that the strength is not changed, and the two motors are controlled respectively and matched with each other to achieve robot control.

Description

Technical Field

[0001] The utility model relates to the technical field of bionic multi-legged robots, in particular to a bionic wheel-footed robot with parallel leg configuration. Background Art

[0002] Legged robots generally need to possess two important characteristics in order to complete designated tasks: protection capability and load-bearing capacity. On the one hand, due to the harsh environment in which they operate, high protection requirements are placed on electronic components such as actuators and sensors. Conventional serial-legged robots find it difficult to achieve good protection due to the actuators and corresponding sensors installed on their legs. This also increases the mass at the lower part of the leg, increases the rotational inertia of the robot's legs, and reduces the maneuverability of the legs. On the other hand, the serial leg configuration has a large power difference between each actuator, requiring the selection of actuators of different powers during the design and manufacturing process. This increases the complexity of the robot design. At the same time, high-power drive units are usually expensive and have a low power-to-weight ratio, which is problematic. Utility Model Content

[0003] In view of the defects in the prior art, the utility model provides a bionic wheel-foot robot leg parallel configuration to solve the existing problems.

[0004] The utility model is realized through the following technical solutions: a bionic wheel-foot robot leg parallel configuration, including a fuselage, a bracket, a motor and a wheel foot, characterized in that: a plurality of first motors are fixedly connected to the fuselage, a spacer is fixedly connected to the rotating shaft of the first motor, the spacer is fixedly connected to the second motor by bolts, the rotating shaft of the second motor is fixedly connected to the first bracket, and the first bracket is rotatably connected to the second bracket through a bearing.

[0005] Preferably, the second bracket is fixedly connected to a hub motor, and the rotating shaft of the hub motor is connected to a wheel foot.

[0006] Preferably, the second motor is hinged to a connecting rod, and the other end of the connecting rod is hinged to the second bracket.

[0007] The beneficial effects of the present invention are as follows:

[0008] The space occupancy is small, and the layout between the two actuator motors is very compact, which reduces the number of structural parts and meets the lightweight requirements while ensuring the strength remains unchanged. The two motors are controlled separately and cooperate with each other to realize robot control. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following briefly describes the drawings required for the specific embodiments or the description of the prior art. Similar elements or parts are generally identified by similar reference numerals throughout the drawings. Elements or parts in the drawings are not necessarily drawn to scale.

[0010] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0011] Figure 2 This is a schematic diagram of the exploded structure of the leg configuration of the utility model.

[0012] In the accompanying drawings, 1. fuselage, 2. first motor, 3. second motor, 4. first bracket, 5. connecting rod, 6. second bracket, 7. wheel foot, 8. spacer, 9. bearing, 10. bolt, 11. hub motor. DETAILED DESCRIPTION

[0013] To make the above-mentioned objects, features, and advantages of the present invention more clearly understood, the following detailed description of specific embodiments of the present invention is provided in conjunction with the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0014] It should be noted that when an element is referred to as being “fixed to” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0015] For ease of description, spatially relative terms such as "upper," "lower," "left," and "right" may be used herein to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation shown in the figures. For example, if the device in the figures is inverted, an element described as being "below" another element or feature would be positioned "above" the other element or feature. Thus, the exemplary term "below" can encompass both above and below orientations.

[0016] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this invention pertains. The terms used herein in the specification of this invention are intended only to describe specific embodiments and are not intended to limit the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0017] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation of the present invention is described in detail below with reference to specific embodiments: Figure 1-Figure 2 The utility model shown is realized through the following technical solution: a bionic wheel-foot robot leg parallel configuration, including a fuselage 1, a bracket, a motor and a wheel foot 7, characterized in that: a plurality of first motors 2 are fixedly connected to the fuselage 1, a spacer 8 is fixedly connected to the rotating shaft of the first motor 2, the spacer 8 is fixedly connected to the second motor 3 by a bolt 10, the rotating shaft of the second motor 3 is fixedly connected to the first bracket 4, and the first bracket 4 is rotatably connected to the second bracket 6 through a bearing 9.

[0018] The second bracket 6 is fixedly connected to the hub motor 11 , and the rotating shaft of the hub motor 11 is connected to the wheel foot 7 .

[0019] The second motor 3 is hinged to a connecting rod 5 , and the other end of the connecting rod 5 is hinged to a second bracket 6 .

[0020] The working principle of the present invention is as follows: the first motor 2 is fixed between the body 1 and the first bracket 4. The rotating shaft of the second motor 3 is fixedly connected to the rotating shaft of the first motor 2 via a spacer 8. The rotating shaft of the second motor 3 is fixedly connected to the first bracket 4. The second motor 3 rotates to achieve the swinging movement of the first bracket 4. The housing of the second motor 3 is hinged to the connecting rod 5, and the other end of the connecting rod 5 is hinged to the second bracket 6. The rotation of the first motor 2 drives the entire rotation of the second motor 3, which in turn drives the swinging movement of the second bracket 6. The walking function of the robot is achieved by the hub motor 11 and wheel foot 7 at the end of the second bracket 6.

[0021] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or make equivalent replacements for some or all of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and description of the present invention.

Claims

1. A bionic wheel-foot robot leg parallel configuration, comprising a body (1), a bracket, a motor and wheel feet (7), characterized in that: The body (1) is fixedly connected to a plurality of first motors (2), the rotating shafts of the first motors (2) are fixedly connected to a spacer frame (8), the spacer frame (8) is fixedly connected to a second motor (3) via a bolt (10), the rotating shaft of the second motor (3) is fixedly connected to a first bracket (4), and the first bracket (4) is rotatably connected to the second bracket (6) via a bearing (9).

2. The parallel configuration of the legs of a bionic wheeled robot according to claim 1, characterized in that: The second bracket (6) is fixedly connected to the hub motor (11), and the hub motor (11) is connected to the wheel foot (7) on the rotating shaft.

3. The parallel configuration of the bionic wheel-foot robot legs according to claim 1 is characterized by: The second motor (3) is hingedly connected to a connecting rod (5), and the other end of the connecting rod (5) is hingedly connected to a second bracket (6).

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