Dual-motor series joint mechanism of wheel-foot robot

Abstract

The utility model discloses a double-motor series joint mechanism of a wheel-foot robot, which comprises a machine base, an inner joint motor, an outer joint motor, a thigh joint framework, a swing rod, a connecting rod and a shank joint framework, the inner joint motor is rotatably arranged in the machine base, and the outer joint motor is fixedly arranged on the machine base. A main body of the inner joint motor is connected with the top end of the thigh joint skeleton, the rotating shaft end of the inner joint motor and the rotating shaft end of the outer joint motor are both connected with one end of the swing rod, the bottom end of the thigh joint skeleton is hinged to the upper middle portion of the shank joint skeleton, and the other end of the swing rod is hinged to one end of the connecting rod. The other end of the connecting rod is hinged to the top end of the shank joint skeleton. Due to the fact that the inner joint motor is rotatably arranged in the machine base, when the wheel-foot robot stands still, force acting on the thigh joint skeleton is balanced through reverse force output by the rotating shaft end of the inner joint motor, and balance can be maintained without simultaneous work of the outer joint motors.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of wheel-legged robot, especially a wheel-legged robot's double motor series joint mechanism. BACKGROUND

[0002] With the continuous development of mobile robot technology, as a new type of mobile robot combining the characteristics of wheels and legs, wheel-legged robots have gradually become a hotspot in research and application fields. Wheel-legged robots combine the advantages of efficient movement on flat ground of wheels and the characteristics of good obstacle crossing in complex environments, enabling them to cope with variable and complex indoor environments, especially suitable for task scenarios that require large-scale and high-mobility inspection.

[0003] Wheel-legged robots have flexible and diverse movement methods, mainly including wheel-based movement methods and leg-foot-based movement methods. On flat and obstacle-free ground, wheel-legged robots can mainly rely on wheels for movement, which can achieve smooth, efficient and fast displacement, greatly improving the inspection efficiency of robots in a wide space. However, when facing complex obstacles such as stairs, rough terrain or slippery surfaces, wheel-legged robots can switch to leg-foot-based movement methods to overcome obstacles through flexible leg-foot structures, demonstrating excellent passability and adaptability.

[0004] Although wheel-legged robots have been widely used in many fields, there are still some urgent improvements in the structure of existing wheel-legged robots. For example, in the driving mechanism of leg-foot joints, the traditional driving structure is to set two joint motors at the thigh joint and the lower leg joint, respectively, and the two joint motors are used to independently drive the swing of the thigh joint and the lower leg joint. This method can ensure the flexibility of robot movement, but when the robot is stationary, two joint motors still need to work simultaneously to maintain balance, which not only increases the complexity of the system, but also leads to unnecessary energy consumption. SUMMARY

[0005] The utility model aims at providing a wheel-legged robot's double motor series joint mechanism to solve one or more technical problems in the above background technology.

[0006] To achieve this purpose, the utility model adopts the following technical solutions:

[0007] The double-motor series joint mechanism of the wheel-legged robot comprises a base, an inner joint motor, an outer joint motor, a thigh joint framework, a swing rod, a connecting rod and a shank joint framework, the inner joint motor is rotatably arranged in the base, the outer joint motor is fixedly arranged on the base, the main body of the inner joint motor is connected with the top end of the thigh joint framework, the rotating shaft end of the inner joint motor and the rotating shaft end of the outer joint motor are both connected with one end of the swing rod, the bottom end of the thigh joint framework is hingedly connected to the middle upper portion of the shank joint framework, the other end of the swing rod is hingedly connected with one end of the connecting rod, and the other end of the connecting rod is hingedly connected to the top end of the shank joint framework.

[0008] Preferably, a parallelogram mechanism is formed between the two hinged points of the swing rod, the connecting rod, the shank joint framework and the thigh joint framework.

[0009] Preferably, the connecting shaft is further arranged, one end surface of the connecting shaft is connected with the rotating shaft end of the outer joint motor, the other end surface of the connecting shaft is connected with one end surface of the swing rod, and the other end surface of the swing rod is connected with the rotating shaft end of the inner joint motor.

[0010] Preferably, the rotating shaft end of the inner joint motor coincides with the central axis of the rotating shaft end of the outer joint motor.

[0011] Preferably, the cross roller bearing is further arranged, the outer ring of the cross roller bearing is fixed in the base, and the inner ring of the cross roller bearing is connected with the inner joint motor.

[0012] Preferably, the motor support cover is further arranged, the inner ring of the cross roller bearing is connected with the motor support cover, and the motor support cover is connected with the thigh joint framework.

[0013] Preferably, the wheel assembly is further arranged at the bottom end of the shank joint framework.

[0014] Compared with the prior art, the wheel-legged robot has the advantages that: the rotating shaft end of the inner joint motor and the rotating shaft end of the outer joint motor are both connected with the swing rod, and the top end of the thigh joint framework is connected with the main body of the inner joint motor, so that when the wheel-legged robot is stationary, the rotating shaft end of the inner joint motor outputs a reverse force to balance the force acting on the thigh joint framework, and the outer joint motor does not need to work simultaneously to maintain the balance, thereby significantly reducing the energy consumption and improving the endurance of the wheel-legged robot. BRIEF DESCRIPTION OF DRAWINGS

[0015] The drawings further illustrate the utility model, but the contents in the drawings do not constitute any limitation on the utility model.

[0016] Figure 1 is the overall structure schematic diagram of the wheel-foot robot of one embodiment of the present application;

[0017] Figure 2 is the connection schematic diagram of the thigh joint framework and the calf joint framework of one embodiment of the present application;

[0018] Figure 3 is the internal structure schematic diagram of the series joint mechanism of one embodiment of the present application. DETAILED DESCRIPTION

[0019] The technical scheme of the present application will be further illustrated by specific embodiments in combination with the drawings.

[0020] The double-motor series joint mechanism of the wheel-foot robot of the embodiment, referring to the drawings of the embodiment, Figure 1 The joint mechanism 5 of the embodiment is arranged at two sides of the robot main body 9, the double-motor series joint mechanism 5 comprises a machine base 35, an inner joint motor 29, an outer joint motor 40, a thigh joint framework 3, a swing rod 31, a connecting rod 25 and a calf joint framework 2, the inner joint motor 29 is rotatably arranged in the machine base 35, the outer joint motor 40 is fixedly arranged on the machine base 35, the main body of the inner joint motor 29 is connected with the top end of the thigh joint framework 3, the rotating shaft end of the inner joint motor 29 and the rotating shaft end of the outer joint motor 40 are both connected with one end of the swing rod 31, the bottom end of the thigh joint framework 3 is hingedly connected to the middle upper part of the calf joint framework 2, the other end of the swing rod 31 is hingedly connected with one end of the connecting rod 25, and the other end of the connecting rod 25 is hingedly connected to the top end of the calf joint framework 2.

[0021] By connecting the rotating shaft end of the inner joint motor 29 and the rotating shaft end of the outer joint motor 40 with the swing rod 31, and connecting the top end of the thigh joint framework 3 with the main body of the inner joint motor 29, since the inner joint motor 29 is rotatably arranged in the machine base 35, when the wheel-foot robot is stationary, the reverse force is outputted by the rotating shaft end of the inner joint motor 29 to balance the force acting on the thigh joint framework 3, and the outer joint motor 40 does not need to work at the same time to maintain the balance. Compared with the prior art, the energy consumption is significantly reduced, and the endurance of the wheel-foot robot is improved.

[0022] When the rotation shaft end of the inner joint motor 29 rotates and the rotation shaft end of the outer joint motor 40 is static, the main body of the inner joint motor 29 reversely rotates under the force of the rotation shaft end, so that the thigh joint framework 3 connected with the main body of the inner joint motor 29 swings; when the rotation shaft ends of the inner joint motor 29 and the outer joint motor 40 rotate simultaneously, the swing rod 31 swings due to the series connection of the two rotation shaft ends and the connection with the swing rod 31, so that the position of the connecting rod 25 hinged with the swing rod 31 changes, and then the shank joint framework 2 swings; thus, the series connection of the outer joint motor 40 and the inner joint motor 29 can adjust the angle and position of the thigh joint framework 3 and the shank joint framework 2, and ensures the flexibility of the motion of the wheel-foot robot. The inner joint motor 29 and the outer joint motor 40 can work independently or cooperatively, and the motion state of the robot can be accurately adjusted by controlling the rotation of the two motors, and the controllability and operation performance of the robot are improved.

[0023] Preferably, the swing rod 31, the connecting rod 25, the shank joint framework 2 and the thigh joint framework 3 form a parallelogram mechanism between the two hinge points. In this embodiment, the swing rod 31, the connecting rod 25, the shank joint framework 2 and the thigh joint framework 3 form a parallelogram mechanism between the two hinge points, so that when the wheel-foot robot stands, the force acting on the thigh joint framework 3 can be balanced by the reverse force output by the rotation shaft end of the inner joint motor 29, thereby realizing force balance and improving the stability of the robot when standing.

[0024] Preferably, the connecting shaft 32 is further included, one end surface of the connecting shaft 32 is connected with the rotation shaft end of the outer joint motor 40, the other end surface of the connecting shaft 32 is connected with one end surface of the swing rod 31, and the other end surface of the swing rod 31 is connected with the rotation shaft end of the inner joint motor 29. By arranging the connecting shaft 32, the series connection of the rotation shafts of the outer joint motor 40 and the inner joint motor 29 is realized, and the rotation shaft ends of the two motors are connected with the swing rod 31, the rotation of the outer joint motor 40 is directly transmitted to the swing rod 31 through the connecting shaft 32, the transmission connection is realized, and the shank joint framework 2 can more quickly and accurately complete the corresponding action under the action of the two motors.

[0025] Preferably, the cross roller bearing 34 is further included, the outer ring of the cross roller bearing 34 is fixed in the machine base 35, and the inner ring of the cross roller bearing 34 is connected with the inner joint motor 29. By arranging the cross roller bearing 34 between the inner joint motor 29 and the machine base 35, the rotation movement of the main body of the inner joint motor 29 in the machine base 35 is guided, the friction and shaking during rotation are reduced, and the rotation precision is improved. The cross roller bearing 34 is adopted, which has excellent bearing capacity and can simultaneously bear radial and axial loads, ensures the bearing of the main body of the inner joint motor 29, and ensures the stable operation of the wheel-foot robot.

[0026] Preferably, further comprising a motor support cover 33 connected to the main body of the inner joint motor 29, the inner ring of the cross roller bearing 34 is connected to the motor support cover 33, and the motor support cover 33 is connected to the thigh joint framework 3. By arranging the motor support cover 33, the connection between the main body of the inner joint motor 29, the inner ring of the cross roller bearing 34 and the thigh joint framework 3 is realized, and the connection between the main body of the inner joint motor 29 and the thigh joint framework 3 is realized. When the main body of the inner joint motor 29 rotates under the reverse action of its rotating shaft end, it can drive the rotation of the top end of the thigh joint framework 3, realizing the leg swinging walking function of the wheel-foot robot. Using the motor support cover 33 as the connecting member between the main body of the inner joint motor 29, the inner ring of the cross roller bearing 34 and the thigh joint framework 3 can effectively enhance the connection strength between these components, ensuring the stability and reliability of the joint mechanism 5 when bearing high load and complex motion.

[0027] Preferably, further comprising a wheel assembly 1 arranged at the bottom end of the lower leg joint framework 2. By arranging the wheel assembly 1 at the bottom end of the lower leg joint framework 2, the flat ground walking function of the wheel-foot robot is realized.

[0028] The technical principles of the present application are described above in combination with specific embodiments. These descriptions are only to explain the principles of the present application, and cannot be interpreted in any way as a limitation on the scope of protection of the present application. Based on the explanations here, those skilled in the art can think of other specific embodiments of the present application without creative labor, and these embodiments will fall within the scope of protection of the present application.

Claims

1. A dual-motor series joint mechanism of a wheel-legged robot, characterized by, The knee joint robot comprises a base, an inner joint motor, an outer joint motor, a thigh joint frame, a swing rod, a connecting rod and a lower leg joint frame, the inner joint motor is rotatably arranged in the base, the outer joint motor is fixedly arranged on the base, the main body of the inner joint motor is connected with the top end of the thigh joint frame, the rotating shaft end of the inner joint motor and the rotating shaft end of the outer joint motor are both connected with one end of the swing rod, the bottom end of the thigh joint frame is hingedly connected to the middle upper portion of the lower leg joint frame, the other end of the swing rod is hingedly connected to one end of the connecting rod, and the other end of the connecting rod is hingedly connected to the top end of the lower leg joint frame.

2. The dual-motor series joint mechanism of the wheel-legged robot according to claim 1, wherein, A parallelogram mechanism is formed between the two hinged points of the swing rod, the connecting rod, the lower leg joint frame and the thigh joint frame.

3. The dual-motor series joint mechanism of the wheel-legged robot according to claim 1, wherein, The rotating shaft end of the inner joint motor coincides with the central axis of the rotating shaft end of the outer joint motor.

4. The dual-motor series joint mechanism of the wheel-legged robot according to claim 3, wherein, The connecting shaft is further arranged, one end surface of the connecting shaft is connected with the rotating shaft end of the outer joint motor, the other end surface of the connecting shaft is connected with one end surface of the swing rod, and the other end surface of the swing rod is connected with the rotating shaft end of the inner joint motor.

5. The dual-motor series joint mechanism of the wheel-legged robot according to claim 4, wherein, The cross roller bearing is further arranged, the outer ring of the cross roller bearing is fixed in the base, and the inner ring of the cross roller bearing is connected with the inner joint motor.

6. The dual-motor series joint mechanism of a wheel-legged robot according to claim 5, wherein The motor support cover is further arranged, the inner ring of the cross roller bearing is connected with the motor support cover, the motor support cover is connected with the thigh joint frame, and the motor support cover is connected with the inner joint motor.

7. The dual-motor series joint mechanism of the wheel-legged robot according to claim 1, wherein The wheel assembly is further arranged at the bottom end of the lower leg joint frame.

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