Quickly-disassembled robot wheel and foot composite structure

Abstract

The utility model discloses a quick-release type robot wheel and foot composite structure. Robot foot modules are detachably connected with robot foot wheel modules. The robot leg unit is connected with the robot foot unit, the robot foot unit is internally provided with the foot motor unit and the power supply unit and externally connected with the controller unit, and the output end of the foot motor unit is connected with the robot foot unit; and the controller unit is electrically connected with the foot motor unit and the power supply unit. According to the quick-disassembly type robot wheel-foot composite structure, no exposed wire harness exists, the exposed wire harness is prevented from being scratched and pulled in the moving process of a robot, the reliability and stability in the severe environment can be improved, the wheel-foot structure is designed in a modularized mode and can be quickly disassembled and assembled, the foot structure and the wheel-foot composite structure can be switched according to needs, and the structure is simple and convenient to use. And the part dismounting and replacing time is saved, and the labor cost is saved.

Description

Technical Field

[0001] This utility model belongs to the field of robot end effector, specifically relating to a quick-release robot wheel-foot composite configuration. Background Technology

[0002] Robot end effectors typically have leg structures, wheel structures, or wheel-leg hybrid structures. Currently, to meet the demands for robot mobility and speed, wheel-leg hybrid structures are increasingly being used in the robotics field.

[0003] Due to the numerous and complex wiring harnesses and structure of the motors in the wheel-foot system, reliability is insufficient in harsh environments. Furthermore, the wheel-foot structure is generally integrated with the leg structure and difficult to separate, making it difficult to leverage the advantages of wheeled and legged systems in different operating scenarios, and instead hindering each other. Summary of the Invention

[0004] To address the aforementioned problems, the purpose of this utility model is to provide a quick-release robot wheel-foot composite configuration, which improves the reliability of the wheel-foot composite structure and enables on-demand switching of working modes in different operating environments.

[0005] The specific technical solution to achieve the purpose of this utility model is as follows:

[0006] A quick-release robot wheel-foot composite configuration includes a robot foot module and a robot wheel module;

[0007] The robot foot module and the robot wheel module are detachably connected.

[0008] Furthermore, the robot foot module includes a robot leg unit, a robot foot unit, a foot motor unit, a power supply unit, and a controller unit;

[0009] The robot leg unit and the robot foot unit are connected. The robot foot unit is equipped with a foot motor unit and a power supply unit, and is externally connected to a controller unit.

[0010] The output of the foot motor unit is connected to the robot's foot unit;

[0011] The controller unit is electrically connected to the foot motor unit and the power supply unit.

[0012] Furthermore, the robot foot module includes a robot leg unit, a robot foot unit, a foot motor unit, a power supply unit, and a controller unit;

[0013] The robot's leg unit and foot unit are integrated into one unit. The foot unit contains a foot motor unit and a power supply unit, and is connected to an external controller unit.

[0014] The output of the foot motor unit is connected to the robot's foot unit;

[0015] The controller unit is electrically connected to the foot motor unit and the power supply unit.

[0016] Furthermore, the foot motor unit includes a foot motor, a foot motor power connector, and a foot motor mounting structure;

[0017] The foot motor, the foot motor power connector, and the foot motor mounting connector are interconnected.

[0018] The foot motor power connector is connected to the power unit to provide power to the foot motor. The robot foot module and the robot wheel module are connected through the foot motor mounting connector.

[0019] Furthermore, the robot wheel module includes wheel tires, a wheel motor unit, and wheel mounting connectors;

[0020] The foot wheel tire is equipped with a foot wheel motor unit and a foot wheel mounting connector. The foot wheel tire and the robot foot module are connected by the foot wheel mounting connector.

[0021] Furthermore, the caster motor unit includes a caster motor, a caster motor control connector, and a caster motor power connector;

[0022] The foot wheel motor and the foot wheel motor control connector are connected, and the foot wheel motor control connector is connected to the foot motor;

[0023] The foot wheel motor power connector and the foot motor power connector are connected.

[0024] Furthermore, the robot foot module and the robot wheel module are connected by bolts, clips, or magnetic attraction.

[0025] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0026] (1) The wheel foot configuration of this utility model has no exposed wire harness, which prevents the exposed wire harness from being scratched or pulled during the robot's movement, thus improving the reliability and stability in harsh environments.

[0027] (2) The wheel foot configuration of this utility model adopts a modular design. The wheel foot configuration can be quickly disassembled and assembled. The foot structure and wheel foot composite structure can be switched as needed, saving the time of disassembling and replacing parts and saving labor costs.

[0028] (3) The wheel and foot configuration of this utility model adopts a universal interface design, which can adjust the number and connection method of the robot's wheels according to the needs, and quickly disassemble and assemble, thereby enhancing the robot's environmental adaptability.

[0029] The present invention will be further described below with reference to specific embodiments. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the quick-release robot wheel-foot composite configuration of this utility model.

[0031] Figure 2 This is a schematic diagram of the specific structure of the robot foot module and robot wheel module of this utility model. Detailed Implementation

[0032] Example

[0033] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. The described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present utility model.

[0034] As indicated in this application and claims, unless the context clearly indicates otherwise, the words "a," "an," "an," and / or "the" do not specifically refer to the singular and may also include the plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of explicitly identified steps and elements, which do not constitute an exclusive list, and the method or apparatus may also include other steps or elements.

[0035] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps described in these embodiments do not limit the scope of this application. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following drawings denote similar items; therefore, once an item is defined in one drawing, it need not be further discussed in subsequent drawings.

[0036] Combination Figure 1 and Figure 2 A quick-release robot wheel-foot composite configuration includes a robot foot module 1 and a robot wheel module 2;

[0037] The robot foot module 1 and the robot wheel module 2 are detachably connected. There can be multiple robot wheel modules 2. When the two are installed together, they can serve as the end of the wheel foot to realize the wheel-foot composite motion function. When the wheel-foot composite structure is not suitable for the working environment, the robot wheel module 2 can be easily removed. This removal can be done automatically by driving the movable structure through a servo motor or other means, but is not limited to this form.

[0038] The robot foot module 1 and the robot wheel module 2 are connected by bolts, clips or magnetic attraction, but are not limited to these forms;

[0039] The robot foot module 1 can serve as a foot end effector, or a specific foot sleeve can be installed on the robot foot module 1 as needed.

[0040] The robot foot module 1 includes a robot leg unit 1.1, a robot foot unit 1.2, a foot motor unit, a power supply unit 1.6, and a controller unit 1.7;

[0041] The robot leg unit 1.1 and the robot foot unit 1.2 are connected. The robot foot unit 1.2 is equipped with a foot motor unit and a power supply unit 1.6, and is externally connected to a controller unit 1.7.

[0042] The output of the foot motor unit is connected to the robot's foot unit 1.2;

[0043] The controller unit 1.7 is electrically connected to the foot motor unit and the power supply unit 1.6.

[0044] Furthermore, the robot foot module 1 includes a robot leg unit 1.1, a robot foot unit 1.2, a foot motor unit, a power supply unit 1.6, and a controller unit 1.7;

[0045] The robot leg unit 1.1 and robot foot unit 1.2 are integrated. The robot foot unit 1.2 is equipped with a foot motor unit and a power supply unit 1.6, and is externally connected to a controller unit 1.7.

[0046] The output of the foot motor unit is connected to the robot's foot unit 1.2;

[0047] The controller unit 1.7 is electrically connected to the foot motor unit and the power supply unit 1.6.

[0048] It should be noted that the controller unit 1.7 is implemented using an existing control terminal, and the specific implementation and circuit are not described here.

[0049] The foot motor unit includes a foot motor 1.3, a foot motor power connector 1.4, and a foot motor mounting structure 1.5;

[0050] The foot motor 1.3, the foot motor power connector 1.4, and the foot motor mounting connector 1.5 are interconnected.

[0051] The foot motor power connector 1.4 is connected to the power unit 1.6 to provide power to the foot motor 1.3. The robot foot module 1 and the robot wheel module 2 are connected through the foot motor mounting connector 1.5.

[0052] Furthermore, the robot wheel module 2 includes a wheel tire 2.1, a wheel motor unit, and a wheel mounting connector 2.5;

[0053] The foot wheel tire 2.1 is equipped with a foot wheel motor unit and a foot wheel mounting connector 2.5. The foot wheel tire 2.1 and the robot foot module 1 are connected by the foot wheel mounting connector 2.5.

[0054] Furthermore, the caster motor unit includes a caster motor 2.2, a caster motor control connector 2.3, and a caster motor power connector 2.4;

[0055] The foot wheel motor 2.2 is connected to the foot wheel motor control connector 2.3, and the foot wheel motor control connector 2.3 is connected to the foot motor 1.3;

[0056] The foot wheel motor power connector 2.4 and the foot motor power connector 1.4 are connected.

[0057] The power connection and electrical signal transmission between the robot foot module 1 and the robot wheel module 2 are achieved using blind-plug connectors, but not limited to blind-plug connectors, including foot motor 1.3, foot motor power connector 1.4, wheel motor control connector 2.3, and wheel motor power connector 2.4, with no exposed wiring harnesses.

[0058] Generally, robot displacement actuators have two, three, four, or more structures that work together to support the robot's movement or posture changes. When the robot foot modules 1 and robot wheel modules 2 at each foot end are installed together, the wheel motors 2.2 at each foot end rotate or brake under the power supply of the corresponding power unit 1.6 and the control of the controller unit 1.7, realizing functions such as forward, backward, and steering.

[0059] Specifically, the power supply unit 1.6 and controller unit 1.7 of each leg can be integrated into a single set to achieve one-to-many power supply and control of the caster motors 2.2.

[0060] When the robot needs to move in a wheel-foot composite structure in a specific working environment, the robot foot 1 and robot wheel 2 are installed together, so that the power supply unit 1.6 and the controller unit 1.7 form a path with the wheel motor 2.2, and the wheel-foot composite structure is formed for movement.

[0061] When the robot has a wheel-leg hybrid structure and needs to move forward, backward, or turn, the wheel motors 2.2 at each leg end, powered by the corresponding power supply unit 1.6 and controlled by the control signals sent by the controller unit 1.7, output torque and speed or brakes to jointly drive the robot to move as required. The power supply unit 1.6 and the controller unit 1.7 can be set up as needed, either as one set or multiple sets.

[0062] When the robot needs to move in a legged structure in a specific working environment, the robot's wheel module 2 can be easily detached. This can be done, for example, by using a servo motor to drive the movable structure (but not limited to this method). In this case, the robot's leg module 1 serves as the end effector. Different foot sleeves can also be fitted to the robot's leg 1 to improve environmental adaptability when needed.

[0063] In addition, the robot foot module 1 and robot wheel module 2 can be equipped with foolproof, waterproof and dustproof features as needed.

[0064] This utility model features a quick-release robot wheel-foot composite structure with no exposed wiring harness, preventing the exposed wiring harness from being scratched or pulled during robot movement. This improves reliability and stability in harsh environments. The wheel-foot structure adopts a modular design, allowing for quick assembly and disassembly. The foot structure and wheel-foot composite structure can be switched as needed, saving time on disassembly and replacement of parts and reducing labor costs.

[0065] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A quick-release robot wheel-leg composite configuration, characterized in that, It includes a robot foot module (1) and a robot wheel module (2); The robot foot module (1) and the robot wheel module (2) are detachably connected; The robot foot module (1) includes a robot leg unit (1.1), a robot foot unit (1.2), a foot motor unit, a power supply unit (1.6), and a controller unit (1.7). The robot leg unit (1.1) and the robot foot unit (1.2) are connected. The robot foot unit (1.2) is equipped with a foot motor unit and a power supply unit (1.6) respectively, and is externally connected to a controller unit (1.7). The output end of the foot motor unit is connected to the robot foot unit (1.2); The controller unit (1.7) is electrically connected to the foot motor unit and the power supply unit (1.6).

2. The quick-release robot wheel-leg composite configuration according to claim 1, characterized in that, The foot motor unit includes a foot motor (1.3), a foot motor power connector (1.4), and a foot motor mounting connector (1.5). The foot motor (1.3), foot motor power connector (1.4), and foot motor mounting connector (1.5) are interconnected; The foot motor power connector (1.4) and the power unit (1.6) are connected to provide power to the foot motor (1.3). The robot foot module (1) and the robot wheel module (2) are connected through the foot motor mounting connector (1.5).

3. The quick-release robot wheel-foot composite configuration according to claim 2, characterized in that, The robot wheel module (2) includes a wheel tire (2.1), a wheel motor unit, and a wheel mounting connector (2.5). The foot wheel tire (2.1) is equipped with a foot wheel motor unit and a foot wheel mounting connector (2.5), and the foot wheel tire (2.1) and the robot foot module (1) are connected by the foot wheel mounting connector (2.5).

4. The quick-release robot wheel-foot composite configuration according to claim 3, characterized in that, The caster motor unit includes a caster motor (2.2), a caster motor control connector (2.3), and a caster motor power connector (2.4). The foot wheel motor (2.2) is connected to the foot wheel motor control connector (2.3), and the foot wheel motor control connector (2.3) is connected to the foot motor (1.3); The foot wheel motor power connector (2.4) and the foot motor power connector (1.4) are connected.

5. The quick-release robot wheel-leg composite configuration according to claim 1, characterized in that, The robot foot module (1) and the robot wheel module (2) are connected by bolts, buckles or magnetic attraction.

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