Gear type movable wheel-foot robot leg structure

Abstract

The gear type movable wheel-foot robot leg structure is characterized in that the structure comprises a thigh, a shank and a connecting rod, the thigh comprises a shell, a gear transmission structure, a connecting port, a connecting arm and a driving port, and the connecting rod comprises a sliding arm, a sliding rail and a spring. The connecting rod and the thigh are connected through an upper positioning screw hole and a lower positioning screw hole of the shank to form a leg structure of the wheel-foot robot, the driving connector is connected with a power source to provide power for the gear transmission structure to drive the connecting arm structure to stretch or retract, and sliding arms of the connecting rod slide at the same time to adjust the length of the leg of the wheel-foot robot. The telescopic design and the shell play a protection role to ensure the stable operation of the gear transmission system, so that the wheel-legged robot can increase the speed on the flat ground and provide better supporting and obstacle crossing capabilities on the complex terrain; according to the technology, the application performance of the robot in complex environments such as urban detection and disaster rescue is improved, and high maneuverability and trafficability are achieved.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, particularly wheeled-legged robot technology. Specifically, it relates to a gear-type movable wheeled-legged robot thigh structure. Background Technology

[0002] With the continuous advancement of robotics technology, especially in the design of intelligent robots for complex environments, improving the robot's motion adaptability, maneuverability, and obstacle-crossing ability has become a key research focus. Traditional robot leg designs are mostly fixed structures, employing a single mode of locomotion (such as wheeled or legged). While these designs can adapt to certain terrains and task requirements, they often exhibit poor flexibility and adaptability when facing complex terrains.

[0003] Wheeled robots perform well on flat surfaces, exhibiting high speed and energy efficiency. However, they often struggle to overcome obstacles on uneven terrain. While wheeled robots typically rely on robust tires and stable drive systems, they cannot overcome high obstacles (such as steps or large rocks) by changing their gait as legged robots can.

[0004] Compared to wheeled robots, legged robots possess greater terrain adaptability and obstacle-crossing capabilities. Legged robots can traverse obstacles by adjusting their gait and stride, and can even handle irregular terrain. However, legged robots are typically slower on flat surfaces and have lower energy efficiency. Compared to wheeled robots, legged robots require more complex drive systems and control algorithms, increasing the complexity of their design and maintenance.

[0005] Wheeled-legged robots combine the advantages of wheeled and legged locomotion, enabling efficient maneuverability in complex environments. Existing wheeled-legged robots typically use fixed wheeled legs for locomotion. This fixed design limits the robot's mobility and leg lift in uneven, obstacle-filled, or confined spaces, affecting its obstacle-crossing ability and stability. To enhance the robot's adaptability to complex environments, designing a gear-like, movable wheeled-legged robot leg structure is an effective solution.

[0006] Gear systems not only provide efficient power transmission but also enable motion adjustment within limited space. Through precise gear transmission and adjustment, robots can automatically adjust the position, shape, and angle of their feet according to ground conditions, thereby achieving more stable movement and obstacle crossing. Especially when facing uneven ground, the precise control of the gear system helps wheeled robots maintain a stable center of gravity, improving their obstacle-crossing ability.

[0007] In the field of robotics design, a gear-like, movable wheeled leg structure enhances the robot's terrain adaptability and obstacle-crossing capabilities. With the continuous development of wheeled robot technology, gear technology, and intelligent control systems, this wheeled leg structure is expected to be widely used in more complex environments in the future, especially in disaster relief, industrial inspection, and urban exploration, demonstrating enormous application potential. Summary of the Invention

[0008] This invention aims to provide a gear-driven, movable wheeled-legged robot leg structure, overcoming the motion bottlenecks of wheeled-leg mechanisms and robots in complex terrain described in the background art, thus achieving greater flexibility. This structure, by introducing a gear transmission mechanism, allows the robot to flexibly adapt to different ground conditions through variations in the movement of its wheeled legs, without relying excessively on legged gait. The advantage of the gear-driven motion mechanism lies in its ability to efficiently transform wheeled drive into more complex motion forms.

[0009] A gear-driven movable wheeled robot leg structure is characterized in that the leg structure includes a thigh, a lower leg, a connecting rod, a gear transmission structure, a drive interface, a sliding arm, a slide rail, a spring, and a housing, wherein: the thigh portion includes a housing, a gear transmission structure, a connection port, a connecting arm, and a drive interface, and the housing is used to protect the gear transmission system and its internal components; the connecting rod portion includes a sliding arm, a slide rail, a spring, and a housing, the sliding arm can slide within the slide rail, driving the extension and contraction of the spring, thereby adjusting the leg length; the thigh and the connecting rod are connected through upper and lower positioning screw holes in the lower leg portion to form a wheeled robot leg structure with adjustable length.

[0010] Preferably, the gear-type movable wheeled robot leg structure is characterized in that the drive interface provides power to the connecting arm through a gear transmission structure, driving the connecting arm to extend or shorten, thereby realizing the adjustment of the leg length.

[0011] Preferably, the gear-type movable wheeled robot leg structure is characterized in that the gear transmission structure includes a power gear and a driven gear, which are respectively connected to a drive interface. The drive interface provides power to the gear system, and the gear system adjusts the shape of the leg through motion transmission, thereby maintaining balance and improving mobility in different terrains.

[0012] Preferably, the gear-type movable wheeled robot leg structure is characterized in that the sliding arm of the link can slide freely within the slide rail, and the sliding of the sliding arm drives the compression or extension of the spring, thereby changing the overall length of the leg and providing greater flexibility to cope with changing ground conditions.

[0013] Preferably, the gear-type movable wheeled robot leg structure is characterized in that the outer shell is used to encapsulate and protect the internal gear transmission system, springs and slide rails, preventing damage from the external environment, while improving the stability and safety of the structure and ensuring reliable operation of the robot for a long time.

[0014] Preferably, the gear-type movable wheeled robot leg structure is characterized in that the leg structure can automatically adjust during robot gait adjustment through the interaction of gear transmission and springs, further optimizing the robot's walking stability and speed, and improving the robot's mobility and efficiency.

[0015] Preferably, the gear-type movable wheeled robot leg structure is characterized in that the spring of the structure provides additional elastic support, which can buffer the impact of the robot's movement, reduce mechanical fatigue, and improve the service life and reliability of the robot's overall structure.

[0016] Preferably, the gear-type movable wheeled robot leg structure is characterized in that the drive interface includes at least one of an electric motor, a hydraulic system, or a pneumatic system to provide the necessary power.

[0017] Preferably, the gear-type movable wheeled robot leg structure is characterized in that the connecting arm is adjusted linearly or by rotation, which can precisely control the extension and retraction of the robot's legs.

[0018] Beneficial effects: This invention employs a gear transmission mechanism. Through the precise meshing of multiple gears, the gear transmission structure can efficiently transmit power, making the extension and retraction of the robot's thighs smoother and faster, reducing energy loss and improving the robot's motion efficiency. By adjusting the length of the robot's thighs, the robot can adapt to different ground environments. This flexible leg adjustment function helps the robot cope with uneven terrain, enhancing its all-terrain mobility. The drive interface supports multiple power sources such as electric motors, hydraulic systems, or pneumatic systems, providing a flexible power selection scheme that can be chosen according to different application scenarios to achieve optimal performance and efficiency. Attached Figure Description

[0019] Figure 1 A front view schematic diagram of the leg structure of a gear-type movable wheel-legged robot;

[0020] Figure 2 This is a rear view schematic diagram of the leg structure of a gear-type movable wheeled robot;

[0021] Figure 3 An exploded view of the leg structure of a gear-type movable wheeled robot;

[0022] Figure 4 A schematic diagram of the lower outer shell of the gear-type movable wheeled robot leg structure;

[0023] The markings in the diagram are as follows: 1. Sliding arm; 2. Gear base; 3. Connecting arm; 4. Lower leg; 5. Spring; 6. Slide rail; 7. Connecting port; 8. Limiting groove; 9. Power gear; 10. Drive interface; 11. Driven gear; 12. Heat dissipation hole; 13. Reinforcing member; 14. Connecting rod housing; 15. Upper gear housing; 16. Lower gear housing; 17. Connecting rod positioning hole; 18. Thigh positioning hole. Detailed Implementation

[0024] Please read Figure 1-4 The purpose, technical solution and advantages of the present utility model will be more clearly explained below with reference to the embodiments and accompanying drawings. The contents mentioned in the following description of the embodiments are some embodiments of the present utility model, and are not all or limited to the present invention. Example

[0025] A gear-type movable wheeled robot thigh structure includes a thigh structure, a linkage structure, and a lower leg. The lower leg 4 has a linkage positioning hole 17 and a thigh positioning hole 18. The linkage structure and the thigh structure are fixed to the lower leg through two positioning screw holes to form the whole of this utility model.

[0026] The thigh structure comprises a shell, a gear structure, and a connecting arm. The gear structure includes a power gear 9 and a driven gear 11. The power gear has a drive interface 10, which can provide power to the gear mechanism by connecting an external electric motor or drive device. This gear is responsible for transmitting the rotational motion of the power source to the entire system. The two gears mesh with each other to transmit power, thereby driving the connecting arm to perform telescopic movements. The limiting groove 8 can prevent the gears from disengaging from the track or position due to exceeding the specified range, thereby ensuring the stability of the mechanical system. The thigh shell includes an upper gear shell 15, a lower gear shell 16, and a gear base 2. The gear base contains heat dissipation holes 12 to prevent the gears from overheating due to violent movement, ensuring the safety of the system. At the same time, all three are made of carbon fiber composite material, which has extremely high strength and rigidity, and is very lightweight, which can significantly reduce the overall weight of the robot and improve the movement efficiency. It also has excellent corrosion resistance, impact resistance, and high temperature resistance, making it suitable for extreme environmental conditions.

[0027] The connecting arm 3 is made of high-strength alloy material and uses a linear telescopic method to adjust the leg length. The length of the arm can be adjusted according to the rotation of the transmission gear set. The extension and retraction of the connecting arm is guided by the guide rail to ensure that there is no jamming or deviation during the extension and retraction process. The connecting arm is connected to the main body of the wheeled robot through the connecting port 7. The connection ports are densely arranged to adapt to the structure of different wheeled robots.

[0028] The linkage structure includes a sliding arm 1 and a slide rail 6. The sliding arm slides freely within the slide rail. Both ends of the slide rail are fixed in the linkage positioning holes 17 of the lower leg portion. The sliding arm 1 is connected to a spring 5. When the sliding arm moves along the slide rail, it causes the spring to extend and retract, thereby changing the overall length of the leg. The slide rail is made of a flexible alloy material, allowing the sliding arm to slide smoothly. The spring 5 provides additional elastic support during leg length adjustment through elastic support, mitigating the impact force generated during robot movement. This not only reduces mechanical fatigue but also improves the robot's adaptability on complex terrain. The stiffness and length of the spring should be precisely selected and replaced according to the robot's load and application requirements. The linkage housing 14 protects the slide rail, spring, and sliding arm components from external environmental influences, while also improving the overall stability and safety of the structure.

[0029] This invention employs a gear transmission mechanism. Through the precise meshing of multiple gears, the gear transmission structure efficiently transmits power, making the extension and retraction of the wheeled robot's thighs smoother and faster, thus improving the robot's motion efficiency. By connecting the thighs of the gear-type movable wheeled robot structure to the lower legs, precise control of the robot's leg height can be achieved. The linkage structure design makes the robot's movement more stable. By installing this invention on both sides of the wheeled robot to replace the original fixed and inflexible leg structure, the problem of limited leg lifting height can be solved. By adjusting the length of the robot's legs, the robot can adapt to different ground environments. This flexible leg adjustment function helps the robot cope with uneven terrain, enhancing its all-terrain mobility.

Claims

1. A gear-type movable wheeled robot leg structure, characterized in that, The leg structure includes a thigh, a lower leg, a connecting rod, a gear transmission structure, a drive interface, a sliding arm, a slide rail, a spring, and a housing. The thigh portion includes the housing, gear transmission structure, a connection port, a connecting arm, and a drive interface. The housing protects the gear transmission system and its internal components. The connecting rod portion includes a sliding arm, a slide rail, and a spring. The sliding arm can slide within the slide rail, causing the spring to extend and retract, thereby adjusting the leg length. The thigh and connecting rod are connected via upper and lower positioning screw holes in the lower leg portion, forming an adjustable-length wheeled robot leg structure.

2. The gear-type movable wheeled robot leg structure according to claim 1, characterized in that, The drive interface provides power to the connecting arm through a gear transmission structure, driving the connecting arm to extend or shorten, thereby achieving the adjustment of the leg length.

3. The gear-type movable wheeled robot leg structure according to claim 2, characterized in that, The gear transmission structure includes a drive gear and a driven gear, which are connected to the drive interface. The drive interface provides power to the gear system, and the gear system adjusts the shape of the legs through motion transmission, thereby maintaining balance and improving mobility in different terrains.

4. The gear-type movable wheeled robot leg structure according to claim 1, characterized in that, The sliding arm of the connecting rod can slide freely within the slide rail. The sliding of the sliding arm causes the spring to compress or extend, thereby changing the overall length of the leg.

5. The gear-type movable wheeled robot leg structure according to claim 1, characterized in that, The outer shell is used to encapsulate and protect the internal gear transmission system, springs, slide rails and gear structure, preventing damage from the external environment, while improving the stability and safety of the structure and ensuring the robot can operate reliably for a long time.

6. The gear-type movable wheeled robot leg structure according to claim 1, characterized in that, The leg structure can automatically adjust during robot gait adjustment through the interaction of gear transmission and springs, further optimizing the robot's walking stability and speed, and improving the robot's mobility and efficiency.

7. The gear-type movable wheeled robot leg structure according to claim 1, characterized in that, The springs in the structure provide additional elastic support, which can buffer the impact of the robot's movement, reduce mechanical fatigue, and improve the service life and reliability of the robot's overall structure.

8. The gear-type movable wheeled robot leg structure according to claim 1, characterized in that, The drive interface includes at least one of an electric motor, a hydraulic system, or a pneumatic system to provide the necessary power.

9. The gear-type movable wheeled robot leg structure according to claim 1, characterized in that, The connecting arm can be adjusted linearly or by rotation, enabling precise control of the robot's leg extension and retraction.

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