Double-leg type robot multi-posture walking mechanism

Abstract

The utility model relates to the technical field of robots, and discloses a double-leg type robot multi-posture walking mechanism which comprises a leg seat used for being connected with a robot body and two thigh arms connected with the leg seat, each thigh arm is rotationally connected with a shank arm, the lower end of each shank arm is provided with a driving wheel, and the driving wheels are connected with the thigh arms. Each shank arm is provided with a posture adjusting mechanism; the posture adjusting mechanism comprises a first connecting seat capable of ascending and descending along the shank arm, a rotating power arranged on the first connecting seat, and a second connecting seat connected with the rotating power; a first wheel arm is arranged on the second connecting base, and a first auxiliary wheel is arranged at the end of the first wheel arm. The utility model has the beneficial effects that the driving posture can be adjusted according to the road condition, and the driving stability is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a double -leg formula robot multi -pose walking mechanism. BACKGROUND

[0002] With the progress of science and technology, robots are applied more and more widely in various industries. The common robot walking mechanism currently usually includes the following several kinds: wheel type walking, track type walking, leg foot type walking, track type walking, magnetic suspension type walking etc. In the wheel type double -leg walking mechanism, the movement of the robot is realized through two driving wheels, and this kind of movement mode is simple in structure, and the movement is more flexible, but the two -wheel walking also has many problems: for example, the walking stability is weak, especially when the road surface is uneven or uphill, it is difficult to maintain the gravity balance through two wheels, and it is easy to fall after losing balance, and it is difficult to get up after falling. UTILITARIAN CONTENT

[0003] The utility model discloses in order to solve the above -mentioned problems in the prior art, provide a double -leg formula robot multi -pose walking mechanism that can better keep balance, can better adapt to the walking of complex road surface.

[0004] In order to realize the above -mentioned purpose, the utility model adopts the following technical scheme:

[0005] A double -leg formula robot multi -pose walking mechanism, including the leg seat for and the robot body connection, two big thighs arms are connected with the leg seat, and the small thigh arm is rotatably connected on each big thigh arm, and the lower end of each small thigh arm is equipped with the driving wheel, and the pose adjusting mechanism is arranged on each small thigh arm, the pose adjusting mechanism includes the first connecting seat that can along the small thigh arm elevating, the rotary power is arranged on the first connecting seat, and the second connecting seat is connected with the rotary power, the first wheel arm is equipped on the second connecting seat, and the first auxiliary wheel is arranged on the end of the first wheel arm.

[0006] Through adopting the above -mentioned technical scheme: set up the pose adjusting mechanism on the small thigh arm, utilize the first auxiliary wheel to assist support, and then adjust the walking pose of the robot, to adapt to the complex road driving, can better keep balance during the driving process, so that the robot is not easy to fall down, when the robot falls down, the first auxiliary wheel can also assist support, realize the three -point support of not collinear, and then assist the robot to adjust the gravity center position and get up.

[0007] As preferred, the second connecting seat is further provided with a second wheel arm, an end of the second wheel arm is provided with a second auxiliary wheel, and the second connecting seat is provided with an angle adjusting mechanism for adjusting the included angle between the first wheel arm and the second wheel arm. The first auxiliary wheel and the second auxiliary wheel are used for common auxiliary support, further expanding the walking posture of the robot; the angle adjusting mechanism can accurately adjust the wheel track between the first auxiliary wheel and the second auxiliary wheel, and when going uphill or downhill, the robot can be kept in a straight and stable moving state, and the gravity of the robot can be better placed between the first auxiliary wheel and the second auxiliary wheel, so as to improve the stability of going uphill or downhill.

[0008] As preferred, the angle adjusting mechanism comprises a first worm gear, a second worm gear and a worm, the first worm gear and the second worm gear are rotationally connected with the second connecting seat, the first wheel arm is fixedly connected with the first worm gear, and the second wheel arm is fixedly connected with the second worm gear; the first worm gear and the second worm gear are simultaneously meshed with the worm and symmetrically distributed about the axis of the worm, and the second connecting seat is provided with a second motor for driving the worm to rotate. The angle is adjusted by using one worm to simultaneously drive two worm gears to synchronously and reversely rotate, so that the structure is compact and stable, the adjusting precision is high, and the position after adjustment can be stably self-locked.

[0009] As preferred, the driving wheel is arranged on the outer side of the lower leg arm, and the first auxiliary wheel and the second auxiliary wheel are arranged on the inner side of the lower leg arm. The driving wheel and the first auxiliary wheel (or the second auxiliary wheel) are supported in staggered positions in the driving direction, the four contact points of the two driving wheels and the two first auxiliary wheels (or the second auxiliary wheels) and the ground form a trapezoidal structure, the support is more stable, and the robot can be better prevented from rolling over.

[0010] As preferred, the first auxiliary wheel and the second auxiliary wheel are not coplanar. When the first auxiliary wheel and the second auxiliary wheel simultaneously support, they are distributed in staggered positions in the driving direction, so that the robot can be better prevented from rolling over.

[0011] As preferred, the lower leg arm is provided with a lifting mechanism for driving the first connecting seat to lift. The first connecting seat is stably lifted by the lifting mechanism.

[0012] As preferred, the lifting mechanism comprises an upper connecting seat, a lower connecting seat, a lead screw and a first motor, the upper connecting seat is fixedly arranged at the upper end of the lower leg arm, the lower connecting seat is fixedly arranged at the lower end of the lower leg arm, the two ends of the lead screw are rotationally connected with the upper connecting seat and the lower connecting seat respectively, the lead screw passes through the first connecting seat to form a threaded connection, and the first connecting seat is slidingly connected with the lower leg arm. The first motor and the lead screw drive the first connecting seat to lift, the lifting precision is high, and the first connecting seat can be self-locked when lifted to any position.

[0013] As preferred, the calf arm is provided with a long slot through hole distributed along the length direction, the upper connecting seat is fixed at the upper end of the long slot through hole, the lower connecting seat is fixed at the lower end of the long slot through hole, and the lead screw is located in the long slot through hole; the two sides of the first connecting seat are fixed with U-shaped sliders which are clamped into the two side walls of the long slot through hole to form a sliding connection. The long slot through hole is formed on the calf arm, so that the lifting mechanism is directly installed in the long slot through hole, the whole is more compact, the distance between the center of gravity of the posture adjusting mechanism and the calf arm is smaller, the calf arm is subjected to smaller torque of the posture adjusting mechanism, and the stability is further improved.

[0014] As preferred, the outer side of the first connecting seat is fixed with a third connecting seat, and electromagnets are arranged at the two ends of the third connecting seat; when the first connecting seat moves to the preset position along the long slot through hole, the electromagnets are powered on and adsorbed on the calf arm. When the first connecting seat is moved to the preset position by the lifting mechanism, the electromagnets are adsorbed and positioned, so that the load of the lead screw is shared, the lead screw is protected, and the service life of the lead screw is prolonged.

[0015] As preferred, at least one of the first auxiliary wheel and the second auxiliary wheel is configured to be actively walkable. When the walking power of the active wheel is damaged, the actively walkable auxiliary wheel can be used for walking.

[0016] Therefore, the utility model has the beneficial effects of adjusting the driving posture according to the road surface condition and improving the driving stability; and the robot can also be assisted to stand up by the posture adjusting mechanism when falling. BRIEF DESCRIPTION OF DRAWINGS

[0017] Figure 1 It is a structural schematic view of the utility model.

[0018] Figure 2 It is a front view. Figure 1

[0019] Figure 3 It is a connection schematic view of the calf arm and the posture adjusting mechanism.

[0020] Figure 4 It is an exploded view. Figure 3

[0021] Figure 5 It is a structural schematic view of the posture adjusting mechanism.

[0022] Figure 6 It is a schematic view of the angle adjusting mechanism.

[0023] Figure 7 It is a partial exploded view. Figure 1

[0024] Figure 8 ​​​A side view of the first auxiliary wheel or the second auxiliary wheel.

[0025] Figure 9 A side view of the first auxiliary wheel or the second auxiliary wheel. Figure 8

[0026] Figure 10 A side view of the first auxiliary wheel or the second auxiliary wheel.

[0027] Figure 11 A side view of the first auxiliary wheel or the second auxiliary wheel.

[0028] Figure 12 A side view of the first auxiliary wheel or the second auxiliary wheel. Figure 11

[0029] Figure 13 A side view of the first auxiliary wheel or the second auxiliary wheel. DETAILED DESCRIPTION

[0030] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the utility model more clearly understood, the utility model will be further described in detail below in combination with the drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the utility model, and are not used to limit the protection scope of the utility model.

[0031] It should be understood that, in this article, the expressions "first", "second" and the like are only used for descriptive purposes, and should not be understood as indicating or implying relative importance, and should not be understood as implicitly indicating the number of the indicated technical features. The features limited by "first", "second" can be explicitly or implicitly indicated to include at least one feature.

[0032] As shown in the drawings, a double-legged robot multi-posture walking mechanism, comprising a leg seat 10 for connecting with a robot body, two thigh arms 11 connected with the leg seat 10, a driven wheel 13 rotatably connected on each thigh arm 11, a small leg arm 12 rotatably connected on each thigh arm 11, a posture adjusting mechanism 2 arranged on each small leg arm 12, the posture adjusting mechanism 2 comprising a first connecting seat 20 which can be lifted along the small leg arm 12, a rotating power 21 arranged on the first connecting seat 20, and a second connecting seat 3 connected with the rotating power 21, the second connecting seat 3 being provided with a first wheel arm 30, and the end of the first wheel arm 30 being provided with a first auxiliary wheel 31. Figures 1-6 As shown in the drawings, a double-legged robot multi-posture walking mechanism, comprising a leg seat 10 for connecting with a robot body, two thigh arms 11 connected with the leg seat 10, a driven wheel 13 rotatably connected on each thigh arm 11, a small leg arm 12 rotatably connected on each thigh arm 11, a posture adjusting mechanism 2 arranged on each small leg arm 12, the posture adjusting mechanism 2 comprising a first connecting seat 20 which can be lifted along the small leg arm 12, a rotating power 21 arranged on the first connecting seat 20, and a second connecting seat 3 connected with the rotating power 21, the second connecting seat 3 being provided with a first wheel arm 30, and the end of the first wheel arm 30 being provided with a first auxiliary wheel 31.

[0033] Figure 5 As shown in the drawings, a double-legged robot multi-posture walking mechanism, comprising a leg seat 10 for connecting with a robot body, two thigh arms 11 connected with the leg seat 10, a driven wheel 13 rotatably connected on each thigh arm 11, a small leg arm 12 rotatably connected on each thigh arm 11, a posture adjusting mechanism 2 arranged on each small leg arm 12, the posture adjusting mechanism 2 comprising a first connecting seat 20 which can be lifted along the small leg arm 12, a rotating power 21 arranged on the first connecting seat 20, and a second connecting seat 3 connected with the rotating power 21, the second connecting seat 3 being provided with a first wheel arm 30, and the end of the first wheel arm 30 being provided with a first auxiliary wheel 31. Figure 6 ​​​As shown, the second connecting seat 3 is provided with a second wheel arm 32, the end of the second wheel arm 32 is provided with a second auxiliary wheel 33, the second connecting seat 3 is provided with an angle adjusting mechanism 5 for adjusting the included angle between the first wheel arm 30 and the second wheel arm 32; the angle adjusting mechanism 5 comprises a first worm wheel 50, a second worm wheel 51, and a worm 52 arranged between the first worm wheel 50 and the second worm wheel 51, the first worm wheel 50 and the second worm wheel 51 are both rotationally connected with the second connecting seat 3, the first worm wheel 50 and the second worm wheel 51 are simultaneously meshed with the worm 52 and symmetrically distributed about the axis of the worm 52, the second connecting seat 3 is provided with a second motor 53 for driving the worm 52 to rotate; the first wheel arm 30 is fixedly connected with the first worm wheel 50, the second wheel arm 32 is fixedly connected with the second worm wheel 51, when the second motor 53 drives the worm 52 to rotate, the first worm wheel 50 and the second worm wheel 51 synchronously and reversely rotate to adjust the included angle between the first wheel arm 30 and the second wheel arm 32.

[0034] In some embodiments, at least one of the first auxiliary wheel 31 and the second auxiliary wheel 33 is configured to be actively walkable, in the present embodiment, the second auxiliary wheel 33 is configured to be actively walkable, that is, a third motor 34 (as shown in Figure 6

[0035] As shown in Figure 4 and Figure 5 As shown, the lower leg arm 12 is provided with a lifting mechanism 4 for driving the first connecting seat 20 to lift, the lifting mechanism 4 comprises an upper connecting seat 40, a lower connecting seat 41, a lead screw 42, and a first motor 43, the upper connecting seat 40 is fixedly arranged at the upper end of the lower leg arm 12, the lower connecting seat 41 is fixedly arranged at the lower end of the lower leg arm 12, the two ends of the lead screw 42 are rotationally connected with the upper connecting seat 40 and the lower connecting seat 41 respectively, the lead screw 42 is threadedly connected through the first connecting seat 20, and the first connecting seat 20 is slidingly connected with the lower leg arm 12.

[0036] The lower leg arm 12 is provided with a long slot through hole 120 distributed along the length direction, the upper connecting seat 40 is fixedly arranged at the upper end of the long slot through hole 120, the lower connecting seat 41 is fixedly arranged at the lower end of the long slot through hole 120, and the lead screw 42 is located in the long slot through hole 120; the two sides of the first connecting seat 20 are fixedly provided with U-shaped sliding blocks 22, the U-shaped sliding blocks 22 are clamped into the two side walls of the long slot through hole 120 to form sliding connection. This mounting mode of the posture adjusting mechanism makes the overall structure compact and stable, and the distance between the center of gravity of the posture adjusting mechanism and the lower leg arm is smaller.

[0037] In some embodiments, as shown in Figure 4 ​As shown, the side of the first connecting seat 20 is fixed with a third connecting seat 23, and the two ends of the third connecting seat 23 are fixed with electromagnets 24. When the first connecting seat 20 moves to the preset position along the long slot through hole 120, the electromagnets 24 are powered on and adsorbed on the calf arm 12. After the electromagnets are adsorbed, the load bearing of the screw rod can be effectively shared, and the service life of the screw rod is prolonged. In order to facilitate the stable adsorption of the electromagnet, the calf arm can be configured as a ferromagnetic body, or a strip-shaped ferromagnetic body can be fixed on the moving route of the electromagnet to facilitate the adsorption of the electromagnet.

[0038] In some embodiments, the movement mode of the leg seat 10, the thigh arm 11 and the calf arm 12 is as shown in Figure 7 Specifically, the upper end of the thigh arm 11 is rotationally connected with the leg seat 10, the upper end of the calf arm 12 is rotationally connected with the lower end of the thigh arm 11, the leg seat 10 is provided with a main driving force 14 for driving the thigh arm 11 to rotate, and the thigh arm 11 is provided with a driving mechanism for driving the calf arm 12 to rotate. The driving mechanism includes a driving motor 150 fixed on the upper end of the thigh arm 11, an eccentric seat 151 connected with the driving motor 150, a driving rod 152 provided between the eccentric seat 151 and the calf arm 12, and the two ends of the driving rod 152 are rotationally connected with the eccentric seat 151 and the calf arm 12 respectively. The rotation points of the thigh arm 11 and the leg seat 10, the rotation points of the thigh arm 11 and the calf arm 12, and the rotation points of the two ends of the driving rod 152 form four vertices of a parallelogram. The rotation between the calf arm and the thigh arm is realized by the driving motor driving the driving rod, and then the bending angle of the calf arm is adjusted to change the robot posture, the center of gravity height and the center of gravity position.

[0039] The rotary power 21, the first motor 43, the second motor 53, the third motor 34, the main driving force 14 and the driving motor 150 in the embodiment all adopt speed reducing motors. The specific model, size and performance of the speed reducing motor can be selected by the person skilled in the art according to the actual needs of the above-mentioned application scenarios.

[0040] The main wheel 13 is arranged on the outer side of the calf arm 12, the first auxiliary wheel 31 and the second auxiliary wheel 33 are arranged on the inner side of the calf arm 12, and the first auxiliary wheel 31 and the second auxiliary wheel 33 are not coplanar. This kind of arrangement makes the overall structure compact on the one hand, and on the other hand, the weight on both sides of the calf arm can be better balanced. Thirdly, when the two main wheels 13 and the two first auxiliary wheels 31 are in contact with the ground at the same time (as shown in Figure 8 、 Figure 9 When the first auxiliary wheel 31 and the second auxiliary wheel 33 are in the state shown in Figure 11 , the contact points of the four wheels with the ground also form the vertices of an isosceles trapezoid. In this state, walking is more stable and less likely to roll over.

[0041] Referring to the accompanying drawings, the principle of this utility model is as follows: Figure 2 The normal driving posture shown indicates that only the two drive wheels 13 are in contact with the ground, and this posture is suitable for driving on flat roads; as shown Figure 8 and Figure 9 In another driving posture, the vehicle travels by using two first auxiliary wheels 31 (or second auxiliary wheels 33) in conjunction with two drive wheels 13 to support the ground. This four-wheel support provides greater stability, and the trapezoidal shape formed by the four wheels and their ground support points helps prevent rollover. This posture is suitable for driving on uneven surfaces. Figure 10 As shown, when going uphill or downhill, the angle of the second connecting seat 3 is adjusted by rotating the power 21, so that the angles of the first auxiliary wheel 31 and the drive wheel 13 are adapted to the slope. At the same time, the bending angle between the thigh arm 11 and the lower leg arm 12 can be adjusted by the drive mechanism 15 to lower the overall center of gravity and adjust it to the position between the first auxiliary wheel 31 and the drive wheel 13, thereby improving the stability when going uphill or downhill. When the drive wheel 13 is damaged and cannot move actively, the posture adjustment mechanism adjusts to... Figure 12 The state shown is such that the first auxiliary wheel 31 and the second auxiliary wheel 33 are in contact with the ground, while the driving wheel 13 is separated from the ground. Since the first auxiliary wheel or the second auxiliary wheel 33 can move actively, even if the driving wheel is damaged, the whole structure can still function as shown. Figure 12 The state shown is moving on a plane.

[0042] When the slope is steep, you can use Figure 13 The robot uses the first auxiliary wheel 31 and the second auxiliary wheel 33 to climb slopes. In the diagram, the center of the first auxiliary wheel 31 is designated as point A, and the center of the second auxiliary wheel 33 is designated as point B. The dashed line CD represents the vertical position of the robot's center of gravity (center of gravity line). Point E is the center of the dashed line AB. When the dashed line CD passes through point E, the robot's center of gravity is at the vertical center of the first auxiliary wheel 31 and the second auxiliary wheel 33, resulting in the most stable walking state. In this structure, the positions of the first auxiliary wheel 31 and the second auxiliary wheel 33 can be adjusted by rotational power, thereby changing the position of point E so that point E falls on the dashed line CD, thus improving the robot's walking stability. Through the posture adjustment mechanism in conjunction with the angle adjustment of the thigh and calf arms, the robot's walking system can adapt to various road conditions. Furthermore, when the robot tipes over, the posture adjustment mechanism can assist in getting back up. This is achieved by adding support points through the first and second auxiliary wheels, defining a support surface through three non-collinear points, and changing the position of the support points so that the center of gravity falls on the support surface, assisting the robot in automatically getting back up.

[0043] In the description of this utility model, it should be understood that the directions or positional relationships indicated by up, down, left, right, inner end, outer end, one end, and the other end are based on the orientation or positional relationships shown in the accompanying drawings. They are only for the purpose of more clearly describing the technical solution of this utility model, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and should not be construed as a limitation of this utility model.

[0044] Although specific embodiments of the present invention are described in detail herein, they are given for illustrative purposes only and should not be construed as limiting the scope of the present invention. Various substitutions, alterations, and modifications may be conceived without departing from the spirit and scope of the present invention.

Claims

1. A bipedal robot multi-posture walking mechanism, comprising a leg base (10) for connection with the robot body, two thigh arms (11) connected to the leg base (10), a lower leg arm (12) rotatably connected to each thigh arm (11), and a drive wheel (13) provided at the lower end of each lower leg arm (12), characterized in that, Each lower leg arm (12) is equipped with a posture adjustment mechanism (2); The posture adjustment mechanism (2) includes a first connecting seat (20) that can be raised and lowered along the lower leg arm (12), a rotational power (21) provided on the first connecting seat (20), and a second connecting seat (3) connected to the rotational power (21); the second connecting seat (3) is provided with a first wheel arm (30), and the end of the first wheel arm (30) is provided with a first auxiliary wheel (31).

2. The bipedal robot multi-posture walking mechanism according to claim 1, characterized in that, The second connecting seat (3) is also provided with a second wheel arm (32), and the end of the second wheel arm (32) is provided with a second auxiliary wheel (33). The second connecting seat (3) is provided with an angle adjustment mechanism (5) for adjusting the angle between the first wheel arm (30) and the second wheel arm (32).

3. The bipedal robot multi-posture walking mechanism according to claim 2, characterized in that, The angle adjustment mechanism (5) includes a first worm wheel (50), a second worm wheel (51), and a worm (52). The first worm wheel (50) and the second worm wheel (51) are rotatably connected to the second connecting seat (3). The first wheel arm (30) is fixedly connected to the first worm wheel (50), and the second wheel arm (32) is fixedly connected to the second worm wheel (51). The first worm wheel (50) and the second worm wheel (51) mesh with the worm (52) and are symmetrically distributed about the axis of the worm (52). The second connecting seat (3) is provided with a second motor (53) for driving the worm (52) to rotate.

4. The bipedal robot multi-posture walking mechanism according to claim 2, characterized in that, The drive wheel (13) is located on the outside of the lower leg arm (12), and the first auxiliary wheel (31) and the second auxiliary wheel (33) are located on the inside of the lower leg arm (12).

5. The bipedal robot multi-posture walking mechanism according to claim 4, characterized in that, The first auxiliary wheel (31) and the second auxiliary wheel (33) are not coplanar.

6. A bipedal robot multi-posture walking mechanism according to claim 1 or 2, characterized in that, The lower leg arm (12) is provided with a lifting mechanism (4) for driving the first connecting seat (20) to rise and fall.

7. The bipedal robot multi-posture walking mechanism according to claim 6, characterized in that, The lifting mechanism (4) includes an upper connecting seat (40), a lower connecting seat (41), a lead screw (42), and a first motor (43). The upper connecting seat (40) is fixed to the upper end of the lower leg arm (12), and the lower connecting seat (41) is fixed to the lower end of the lower leg arm (12). The two ends of the lead screw (42) are rotatably connected to the upper connecting seat (40) and the lower connecting seat (41) respectively. The lead screw (42) passes through the first connecting seat (20) to form a threaded connection. The first connecting seat (20) is slidably connected to the lower leg arm (12).

8. The bipedal robot multi-posture walking mechanism according to claim 7, characterized in that, The lower leg arm (12) is provided with long slot through holes (120) distributed along the length direction. The upper connecting seat (40) is fixed at the upper end of the long slot through hole (120), the lower connecting seat (41) is fixed at the lower end of the long slot through hole (120), and the lead screw (42) is located inside the long slot through hole (120). The first connecting seat (20) is fixed with U-shaped sliders (22) on both sides, and the U-shaped sliders (22) are inserted into the two side walls of the long slot through hole (120) to form a sliding connection.

9. A bipedal robot multi-pose walking mechanism according to claim 8, characterized in that, A third connecting seat (23) is fixed on the outer side of the first connecting seat (20), and electromagnets (24) are provided at both ends of the third connecting seat (23); when the first connecting seat (20) moves along the long slot through hole (120) to the preset position, the electromagnet (24) is energized and attracted to the lower leg arm (12).

10. A bipedal robot multi-pose walking mechanism according to claim 2, characterized in that, At least one of the first auxiliary wheel (31) and the second auxiliary wheel (33) is configured to be able to move actively.

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