Heavy-load four-footed mobile platform

Abstract

The utility model discloses a heavy-load four-foot mobile platform, and relates to the technical field of robots. Comprising a body and four sets of leg mechanisms symmetrically arranged on the front portion and the rear portion of the two sides of the body, the leg mechanisms are installed on the body through rotary drivers, and the rotary drivers are used for driving the leg mechanisms to rotate front and back; the rotary drivers are installed on the body in a left-right rotating mode, each rotary driver is correspondingly connected with one first linear joint, the first linear joints are hinged between the corresponding rotary drivers and the body, and the first linear joints drive the rotary drivers to rotate left and right through stretching and retracting of the telescopic ends. The first linear joint and the second linear joint are driven by the reverse planetary roller lead screws, the reverse planetary roller lead screws are large in reverse driving force and have an approaching self-locking function, and meanwhile, the cycloidal pin wheel speed reducer has high torque, so that compared with an existing product, the double-linear-joint parallel mechanism has higher bearing capacity, and the service life of the double-linear-joint parallel mechanism is prolonged. And meanwhile, the energy consumption in a heavy-load posture keeping state is reduced, and the cruising ability is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a kind of heavy load four-foot mobile platform. BACKGROUND

[0002] Publication No. CN106904226B discloses a kind of electric drive four-foot robot leg power system structure includes, four independent leg modules are symmetrically arranged in the two sides of fuselage, each leg module is fixed by rotating pair connection with fuselage;The leg module includes thigh assembly (3.1) and side swing hip joint motor assembly (3.5) of big and small;Thigh assembly (3.1) includes thigh motor assembly (3.1.1), thigh rod assembly (3.1.3), small leg motor assembly (3.1.5), small leg assembly (3.1.8).

[0003] The swing hip joint motor assembly (3.5) in the above structure, small leg motor assembly (3.1.5), thigh motor assembly (3.1.1) are all the driving structure of motor and planetary gear reducer transmission cooperation, the driving structure has obvious defects in actual application process: 1) in heavy load posture keeping state, motor needs to be braked by electrical braking mode, and energy consumption is increased;2) planetary reducer transmission ratio reaches 1:10 or more needs two-stage transmission, so that the axial dimension of reducer is longer, and the reducer of thigh motor assembly and small leg motor assembly of the above robot is coaxially arranged, and the overall size is larger;3) thigh motor assembly, side swing hip joint motor assembly, small leg motor assembly all adopt the driving structure of motor and planetary gear reducer transmission cooperation, and the carrying capacity is relatively low. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of heavy load four-foot mobile platform, can effectively solve the problems in background art.

[0005] The technical scheme for realizing the above-mentioned purpose is: a kind of heavy load four-foot mobile platform, including body, 4 groups of leg mechanism symmetrically arranged in the front and rear of the two sides of body, characterized by: leg mechanism is installed on body by rotating driver, and rotating driver is used to drive leg mechanism to rotate forward and backward;

[0006] Rotating driver is installed on body and rotates left and right, each rotating driver is correspondingly connected with a first linear joint, and the first linear joint is hinged between the corresponding rotating driver and body, and the first linear joint drives rotating driver to rotate left and right by the extension and contraction of extension end.

[0007] Further, the leg mechanism comprises a thigh part and a shank part, the root end of the thigh part is connected to the output end of the rotary driver, the joint end of the thigh part is hinged with the joint end of the shank part, a hollow cavity is arranged in the thigh part, and the second linear joint for driving the shank part to rotate around the thigh part is installed in the hollow cavity.

[0008] Further, the torso is provided with open grooves corresponding to the positions of the rotary drivers, and the rotary drivers are rotatably installed in the open grooves, wherein the rotary driver comprises a servo motor and a reducer connected to the output end of the servo motor.

[0009] Further, the reducer adopts a cycloidal pin wheel reducer.

[0010] Further, the middle part of the front side and the back side of the torso is respectively provided with a connecting seat, the connecting seat on the front side and the rotary drivers on the two sides of the front part are located on the same straight line, the connecting seat on the back side and the rotary drivers on the two sides of the back part are located on the same straight line, one end of the first linear joint is hinged with the corresponding connecting seat, and the other end is hinged with the rotary driver.

[0011] Further, the first linear joint and the second linear joint adopt a linear actuator based on a reverse planetary roller screw drive.

[0012] The beneficial effects of the present application are as follows:

[0013] 1) The cycloidal pin wheel reducer is adopted in the present application, and the transmission ratio can reach 30-100 without increasing the size, thereby reducing the product size.

[0014] 2) The first linear joint and the second linear joint in the present application adopt a reverse planetary roller screw drive, the reverse planetary roller screw drive has a relatively large reverse driving force and has a self-locking function, and the cycloidal pin wheel reducer has a relatively high torque, so that the present application has a higher carrying capacity compared with the existing products, and the energy consumption in the heavy load posture maintaining state is reduced, and the endurance is improved.

[0015] 3) The second linear joint in the present application is installed in the thigh part, and the first linear joint is installed on the torso, thereby reducing the size in the width direction of the product. BRIEF DESCRIPTION OF DRAWINGS

[0016] Fig. 1 The figure is a structural schematic view of the present application;

[0017] Fig. 2 The figure is a sectional view of the leg mechanism. DETAILED DESCRIPTION

[0018] As Figs. 1-2As shown, the utility model discloses a body 1, the two sides of body 1 front and rear symmetry 4 groups of leg mechanism 2 that are arranged, leg mechanism 2 is rotatably installed on body 1 through rotary driver 3, the both sides of body 1 are provided with the open slot 4 corresponding with the position of rotary driver 3, the bottom of rotary driver 3 is installed in open slot 4 through the rotation of left and right rotating shaft, rotary driver 3 includes servo motor 5 and the reducer 6 that are connected at the output of servo motor 5, the reducer 6 adopts cycloidal pin wheel reducer.

[0019] The middle part of the front side and the rear side of body 1 is provided with connecting seat 7 respectively, the connecting seat 7 of the front side and the connecting seat 7 of the rear side are located on the same straight line with the rotary driver 3 of the two sides of the front and the rotary driver 3 of the two sides of the rear respectively, first linear joint 8 is arranged between connecting seat 7 and rotary driver 3 respectively, one end of first linear joint 8 is hinged with corresponding connecting seat 7, the other end is hinged with the top end of corresponding rotary driver 3, first linear joint 8 is driven to rotate corresponding rotary driver 3 through the telescopic drive of telescopic end.

[0020] Leg mechanism 2 includes thigh part 9 and calf part 10, the root end of thigh part 9 is connected at the output end of rotary driver 3, the joint end of thigh part 9 is provided with U-shaped opening and is hinged with the joint end of calf part 10, hollow cavity is arranged in thigh part 9, second linear joint 11 that drives calf part 10 to rotate around thigh part 9 is installed in hollow cavity, one end of second linear joint 11 is hinged in thigh part 9 through hinged seat 12, the other end is hinged with the most end of joint end of calf part 10, the hinged point of calf part 10 and thigh part 9 is located on the inside of the hinged point of calf part 10 and second linear joint 11, first linear joint 8 and second linear joint 11 adopt the linear actuator based on reverse type planetary roller screw drive, specifically can but not limited to the linear actuator based on reverse type planetary roller screw drive of application number: 2024221813260 disclosure.

[0021] When working, the utility model drives leg mechanism 2 to swing back and forth through rotary driver, controls calf part to swing up and down through second linear joint 11, controls leg mechanism 2 to swing left and right through first linear joint 8, when moving platform walks left and right and forward and backward, same as the principle of existing mechanical dog, i. e. rotary driver drives leg mechanism 2 to cooperate second linear joint 11 and drives leg mechanism 2 to move forward, belongs to the prior art, when walking left and right, drives leg mechanism to walk along the left and right direction through first linear joint 8 and second linear joint 11, same as the principle of walking forward and backward, will not be expanded here.

Claims

1. A heavy-load quadruped mobile platform, comprising a body, 4 sets of leg mechanisms symmetrically arranged on both sides of the front and rear of the body, characterized in that: The leg mechanism is installed on the body through rotary drivers for driving the leg mechanism to rotate forward and backward; The rotary drivers are installed on the body and rotate left and right, each rotary driver is connected with a first linear joint, the first linear joint is hinged between the corresponding rotary driver and the body, and the first linear joint drives the rotary driver to rotate left and right through the extension and retraction of the extension end.

2. The heavy-load quadruped mobile platform according to claim 1, characterized in that: The leg mechanism comprises a thigh part and a calf part, the root end of the thigh part is connected to the output end of the rotary driver, the joint end of the thigh part is hinged with the joint end of the calf part, a hollow cavity is arranged in the thigh part, and a second linear joint for driving the calf part to rotate around the thigh part is installed in the hollow cavity.

3. The heavy-load quadruped mobile platform according to claim 1, wherein: The body is provided with open grooves corresponding to the positions of the rotary drivers on both sides, the rotary drivers are rotatably installed in the open grooves, and the rotary drivers comprise servo motors and reducers connected to the output ends of the servo motors.

4. The heavy-load quadruped mobile platform according to claim 3, characterized in that: The reducer is a cycloidal pin wheel reducer.

5. The heavy-load quadruped mobile platform according to claim 1, wherein: The middle parts of the front side and the rear side of the body are respectively provided with connecting seats, the connecting seat on the front side and the rotary drivers on the two sides of the front part are located on the same straight line, the connecting seat on the rear side and the rotary drivers on the two sides of the rear part are located on the same straight line, one end of the first linear joint is hinged with the corresponding connecting seat, and the other end is hinged with the rotary driver.

6. The heavy-load quadruped mobile platform according to claim 2, wherein: The first linear joint and the second linear joint are straight line actuators based on reverse planetary roller screw drives.

Images