Low-cost knee bending type mobile robot structure

Abstract

The utility model provides a low-cost knee-bending type mobile robot structure, which belongs to the technical field of robots and comprises a robot body, two groups of thigh structures are mounted on the lower wall surface of the robot body, and two groups of support leg structures are movably connected to the front wall surface of the robot body. The lower ends of the two thigh structures and the lower ends of the supporting leg structures are movably connected with shank structures. Each thigh structure comprises a thigh driving motor, a thigh upper shaft sleeve, a thigh inner side plate, a thigh outer side plate, a thigh lower shaft sleeve and a thigh rotating shaft; thigh driving motors are installed on the lower wall face of the robot body, and thigh inner side plates and thigh outer side plates are connected through thigh upper shaft sleeves and thigh lower shaft sleeves; in order to solve the problems that an existing knee bending type mobile robot body is high in manufacturing cost and inconvenient to maintain, the utility model provides an arm leg structure which has applicable strength, is light in structure, adopts conventional materials and is easy to machine.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially a low -cost knee -bending formula mobile robot structure. BACKGROUND

[0002] Robots have been widely used in production and life in all aspects, and the mobile robots with mobile properties are widely used. At present, the common mobile robots usually adopt the multi-wheel chassis structure, can be applied to relatively flat road surface, but cannot be applied to the road surface with variable conditions, undulating or potholes.

[0003] Because the multi-wheel chassis mobile robot is difficult to adapt to the non-flat road surface, in recent years, a large number of knee-bending joint robots have emerged, including four-legged dog type robots, two-legged walking robots, four-wheel foot type robots and two-wheel foot type robots. The common feature of such robots is to have a leg structure similar to that of a human or animal, and to have a knee-bending joint structure, so as to cope with complex and variable road conditions, and have good road adaptability and passability.

[0004] The leg structure of the knee-bending mobile robot is usually composed of a rotatable joint part and a rigid arm and leg part. The arm and leg part will bear a large external force impact during the movement of the robot, and needs to have appropriate internal space for wiring of electronic parts. In addition, the arm and leg part needs to use lightweight materials and mechanisms as much as possible, while ensuring the strength, and also as much as possible to reduce the weight of the body, to ensure the dynamic performance of the robot and reduce energy consumption.

[0005] It is found in actual use that the device has the following disadvantages:

[0006] 1. The existing knee-bending mobile robot has many problems in mechanical structure design. The traditional mechanical structure usually adopts complex materials and design, resulting in high production cost. For example, some robots use special customized high-strength alloy materials for the arm support, which not only has high material cost, but also has high processing difficulty, requiring high-precision processing equipment and technology, which undoubtedly increases the manufacturing cost.

[0007] 2. The leg of the knee-bending mobile robot needs to bear the impact force from the ground and the torque when connected with the thigh and foot during support and movement. The leg structure needs to have high structural strength to meet these needs. The Chinese patent with application number CN202311792160.X divides the components into a split structure and processes them symmetrically to ensure overall strength and uniformity of stress, which increases the processing cost. Moreover, the split components need to be positioned and installed from multiple directions during assembly, which is prone to errors and difficult to assemble. The combination of multiple split components increases the assembly difficulty and reduces the assembly efficiency.

[0008] 3. To ensure sufficient leg strength while achieving lightweight design, complex curved surfaces, reinforcing ribs, and hollow structures are typically employed. Such structures require casting or high-precision multi-axis CNC machining centers for fabrication. The manufacturing process is complex and costly. Examples include Chinese patents with application numbers CN202421091628.2 and CN202411146096.2.

[0009] 4. Regarding joint design, the complex structure and numerous components make assembly and maintenance extremely difficult, further increasing costs. Existing structures are not space-efficient, with limited internal space hindering the convenient installation of other components or sensors, and severely restricting wiring, which to some extent affects the robot's ease of maintenance. For example, in Chinese patent application number CN202411146096.2, the limited wiring space necessitates special processing of the wiring.

[0010] Therefore, this application provides a low-cost knee-flexible mobile robot structure to meet the requirements. Utility Model Content

[0011] The purpose of this invention is to solve the problems existing in the above-mentioned background technology and to propose a low-cost knee-bending mobile robot structure.

[0012] The technical problem to be solved by this utility model is to provide a low-cost knee-bending mobile robot structure.

[0013] To solve the above-mentioned technical problems, this utility model provides the following technical solution:

[0014] A low-cost, knee-flexing mobile robot structure includes a robot body. Two sets of thigh structures are mounted on the lower wall of the robot body, and two sets of support leg structures are movably connected to the front wall of the robot body. Lower leg structures are movably connected to the lower ends of the two sets of thigh and support leg structures. Each set of thigh structures includes: a thigh drive motor, an upper thigh sleeve, an inner thigh plate, an outer thigh plate, a lower thigh sleeve, and a thigh rotation shaft. The thigh drive motor is mounted on the lower wall of the robot body. The inner and outer thigh plates are connected via the upper and lower thigh sleeves, and the upper thigh sleeve is connected to the drive end of the thigh drive motor. The thigh rotation shaft is installed inside the lower thigh sleeve.

[0015] Preferably, the leg structure comprises: a leg inner side plate, a leg outer side plate, a leg upper shaft sleeve, a leg lower shaft sleeve and a leg rotating shaft; the leg inner side plate and the leg outer side plate are connected through the leg upper shaft sleeve and the leg lower shaft sleeve, the leg upper shaft sleeve is movably connected with the shaft and the robot body, and the leg rotating shaft is movably arranged in the leg lower shaft sleeve.

[0016] Preferably, the calf structure comprises: a calf inner side plate, a calf outer side plate, a calf lower shaft sleeve and a wheel driving motor; the calf inner side plate and the calf outer side plate are respectively arranged outside the thigh rotating shaft and the leg rotating shaft through connecting flanges; the calf lower shaft sleeve is arranged between the calf inner side plate and the calf outer side plate; and the wheel driving motor is arranged in the calf lower shaft sleeve.

[0017] Preferably, a reinforcing support rod is arranged between the thigh inner side plate and the thigh outer side plate.

[0018] Preferably, a reinforcing support rod is arranged between the calf inner side plate and the calf outer side plate.

[0019] Preferably, a wheel is arranged at the driving end of the wheel driving motor.

[0020] Compared with the prior art, the utility model has at least the following beneficial effects:

[0021] The arm and leg structure has the advantages of high application strength, light structure, conventional material and simple processing.

[0022] 1. In the selection of arm support materials, standard plate materials are adopted, and the plate materials are cut into required shapes according to the shape, mounting form and bearing requirement of the arm support. This selection not only reduces the material cost, but also simplifies the processing process. Because the plate material has good processability, the design requirement can be met without complex process.

[0023] 2. In the joint structure, a cylindrical structural member is adopted as a rigid body to support. The cylindrical structural member adopts conventional standard metal materials, has regular shape and simple processing technology, and has low material cost and processing cost.

[0024] 3. The cylindrical structure is used as a joint support rigid body, the driving part and rotating part are installed inside, and the two plates are connected outside. This design reduces the number of parts, reduces the complexity and cost of assembly. Moreover, the installation and fastening of the plates are on the end surface of the cylindrical structure, that is, the two plates clamp the cylindrical structure. Because there is a certain distance between the two plates, the material stress cross section is expanded, and the strength of the arm and leg is increased without increasing the material mass. The arm and leg provide the required stiffness, strength, and anti-interference strength, thereby reducing the material cost and weight under the premise of ensuring mechanical performance.

[0025] 4. The structure of the double-plate clamping is hollow in the middle, which has enough space to install other accessories and wiring. During the movement of the robot, there is enough space for the cable to move freely, avoiding cable wear or loss caused by pulling. BRIEF DESCRIPTION OF DRAWINGS

[0026] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments of the present disclosure and, together with the description, further serve to explain the principles of the present disclosure and to enable a person skilled in the relevant art to implement and use the present disclosure.

[0027] Figure 1 It is a schematic diagram of the overall structure in the utility model;

[0028] Figure 2 It is a schematic diagram of the first partial structure in the utility model;

[0029] Figure 3 It is a schematic diagram of the second partial structure in the utility model;

[0030] Figure 4 It is a schematic diagram of the calf structure in the utility model;

[0031] Figure 5 It is a schematic diagram of the thigh structure in the utility model;

[0032] Figure 6 It is a schematic diagram of the supporting leg structure in the utility model.

[0033] In the figure: 1, robot body; 2, thigh driving motor; 3, thigh upper shaft sleeve; 4, thigh inner plate; 5, thigh outer plate; 6, thigh lower shaft sleeve; 7, thigh rotating shaft; 8, supporting leg inner plate; 9, supporting leg outer plate; 10, supporting leg upper shaft sleeve; 11, supporting leg lower shaft sleeve; 12, supporting leg rotating shaft; 13, calf inner plate; 14, calf outer plate; 15, calf lower shaft sleeve; 16, wheel driving motor; 17, reinforcing strut; 18, wheel.

[0034] As shown in the figure, in order to clearly realize the structure of the embodiment of the utility model, specific structures and devices are marked in the figure, but this is only for the need of illustration, and is not intended to limit the utility model in the specific structure, device and environment, and the devices and environment can be adjusted or modified by the ordinary skilled in the art according to the specific needs. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the ordinary skilled in the art without creative labor fall within the scope of protection of the utility model.

[0036] In the description of the utility model, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0037] As shown in the figure, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The utility model provides a low -cost knee -bending type mobile robot structure, including robot body 1, two groups of thigh structure are installed to the lower wall surface of robot body 1, two groups of support leg structure are movably connected to the front wall surface of robot body 1, and the lower end of two groups of thigh structure and support leg structure is movably connected with calf structure.

[0038] Specifically, the two sets of support leg structures include: an inner support leg plate 8, an outer support leg plate 9, an upper support leg sleeve 10, a lower support leg sleeve 11, and a support leg rotating shaft 12; the inner support leg plate 8 and the outer support leg plate 9 are connected by the upper support leg sleeve 10 and the lower support leg sleeve 11, the upper support leg sleeve 10 is movably connected to the robot body 1 through a shaft, and the support leg rotating shaft 12 is movably installed inside the lower support leg sleeve 11.

[0039] Specifically, the lower leg structure includes: an inner lower leg plate 13, an outer lower leg plate 14, a lower lower leg axle sleeve 15, and a wheel drive motor 16; the inner lower leg plate 13 and the outer lower leg plate 14 are respectively installed on the outside of the thigh rotation shaft 7 and the support leg rotation shaft 12 via connecting flanges; the lower lower leg axle sleeve 15 is installed between the inner lower leg plate 13 and the outer lower leg plate 14; the wheel drive motor 16 is installed inside the lower lower leg axle sleeve 15; a reinforcing strut 17 is provided between the inner lower leg plate 13 and the outer lower leg plate 14; and a wheel 18 is provided at the drive end of the wheel drive motor 16.

[0040] In this embodiment, as Figures 1-6 As shown; when using this utility model, the operator first installs the upper body of the robot to be moved onto the robot body 1, and connects an external power source to this utility model to provide power to the electrical appliances in this utility model. Then, this utility model has two modes: one is normal movement, in which the controller causes the wheel drive motor 16 to drive the wheels 18 to rotate, thereby realizing the movement of this utility model; turning is achieved by the different speeds of the two wheel drive motors 16, and backward movement is achieved by the reverse rotation of the two wheel drive motors 16; this utility model can also realize the raising, lowering, left tilting and right tilting of the robot body 1. When raising, the thigh drive motor 2 rotates forward, driving the thigh upper shaft sleeve 3 to rotate around the thigh rotation shaft 7 as the axis. Then, through the linkage of the inner leg plate 8 and the outer leg plate 9 rotating around the leg rotation axis 12, the inner leg plate 13 and the outer leg plate 14 can rotate around the lower leg sleeve 15. At this time, the angle between the two sets of inner thigh plates 4 and outer thigh plates 5 and the inner leg plates 13 and outer leg plates 14 increases simultaneously, and the robot body 1 rises. When the angle between the two sets of inner thigh plates 4 and outer thigh plates 5 and the inner leg plates 13 and outer leg plates 14 decreases simultaneously, the robot body 1 lowers. When the angle between one set of inner thigh plates 4 and outer thigh plates 5 and the inner leg plates 13 and outer leg plates 14 increases, and the angle between the other set of inner thigh plates 4 and outer thigh plates 5 and the inner leg plates 13 and outer leg plates 14 decreases, the robot body 1 can tilt to the side.

[0041] The utility model covers any alternative, modification, equivalent method and scheme which are made on the essence and range of the utility model. In order to make the public have the thorough understanding of the utility model, the specific details are explained in the following preferred embodiment of the utility model, and the utility model can also be completely understood without the description of these details for the person skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the utility model, the well-known method, process, flow, element and circuit are not explained in detail.

[0042] The above only is the preferred implementation of the utility model, should point out, for the ordinary skill in the art of the present technology, on the premise of not departing from the principle of the utility model, still can make a number of improvement and finish, these improvement and finish also should view as the protection range of the utility model.

Claims

1. A low cost, knee-bending mobile robot structure comprising: The utility model discloses a robot body (1), its characterized in that, two groups of thigh structure are installed to the lower wall surface of the robot body (1), two groups of support leg structure are movably connected to the front wall surface of the robot body (1), and the lower end of two groups of thigh structure and support leg structure is movably connected with calf structure, two groups of thigh structure includes: thigh drive motor (2), thigh upper shaft sleeve (3), thigh inner side plate (4), thigh outer side plate (5), thigh lower shaft sleeve (6) and thigh rotation shaft (7), thigh drive motor (2) is installed on the lower wall surface of robot body (1), thigh inner side plate (4) and thigh outer side plate (5) are connected through thigh upper shaft sleeve (3) and thigh lower shaft sleeve (6), and thigh upper shaft sleeve (3) is connected with the drive end of thigh drive motor (2), and thigh rotation shaft (7) is installed in the inside of thigh lower shaft sleeve (6).

2. The low cost, knee-bending mobile robot structure according to claim 1, characterized in that, Two groups of support leg structure includes: support leg inner side plate (8), support leg outer side plate (9), support leg upper shaft sleeve (10), support leg lower shaft sleeve (11) and support leg rotation shaft (12), and support leg inner side plate (8) and support leg outer side plate (9) are connected through support leg upper shaft sleeve (10) and support leg lower shaft sleeve (11), support leg upper shaft sleeve (10) is movably connected with the robot body (1) through the shaft, and support leg rotation shaft (12) is movably installed in the inside of support leg lower shaft sleeve (11).

3. The low cost, knee-bending mobile robot structure of claim 1, wherein, The calf structure includes: calf inner side plate (13), calf outer side plate (14), calf lower shaft sleeve (15) and wheel drive motor (16), and the calf inner side plate (13) and the calf outer side plate (14) are respectively installed on the outside of thigh rotation shaft (7) and support leg rotation shaft (12) through connecting flange plate, the calf lower shaft sleeve (15) is installed between the calf inner side plate (13) and the calf outer side plate (14), and the wheel drive motor (16) is installed in the inside of calf lower shaft sleeve (15).

4. The low cost, knee-bending mobile robot structure of claim 1, wherein, The reinforcing support rod (17) is arranged between the thigh inner side plate (4) and the thigh outer side plate (5).

5. The low cost, knee-bending mobile robot structure according to claim 3, wherein, The reinforcing support rod (17) is arranged between the calf inner side plate (13) and the calf outer side plate (14).

6. The low cost, knee-bending mobile robot structure of claim 3, wherein, The drive end of the wheel drive motor (16) is provided with a wheel (18).

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