Dual-motor parallel joint assembly of wheel-foot robot

Abstract

The double-motor parallel joint assembly comprises a shank joint framework, a first running motor, a second running motor, a torque superposition component and running rolling wheels, a mounting cavity is formed in the bottom of the shank joint framework, the first running motor and the second running motor are both fixed in the mounting cavity, and the first running motor and the second running motor are arranged in the mounting cavity. A rotating shaft of the first driving motor and a rotating shaft of the second driving motor are both connected with the input end of the torque superposition part, and the output end of the torque superposition part is connected with the driving rollers. The first driving motor and the second driving motor are arranged, and the torque superposition part is arranged to realize parallel operation of the first driving motor and the second driving motor, so that the output torques of the two driving motors are superposed, and the output torque of the roller is improved; the robot can overcome larger friction force and resistance when climbing, crossing obstacles or moving on the uneven ground, and the power performance of the robot is enhanced.

Description

Technical Field

[0001] This utility model relates to the field of wheeled robot technology, and in particular to a dual-motor series joint assembly for a wheeled robot. Background Technology

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

[0003] Wheel-legged robots exhibit diverse and flexible locomotion methods, primarily including wheel-based and leg-based methods. On flat, unobstructed surfaces, wheel-legged robots can rely mainly on their wheels for movement, achieving smooth, efficient, and rapid displacement, greatly improving their inspection efficiency in large spaces. However, when faced with complex obstacles such as stairs, rugged terrain, or slippery surfaces, wheel-legged robots can switch to leg-based locomotion, using their flexible leg structure to overcome obstacles, demonstrating excellent maneuverability and adaptability.

[0004] Although wheeled robots have been widely used in many fields, existing wheeled robots still have some structural aspects that urgently need improvement. For example, the output torque of the driving rollers in current wheeled robots is relatively low, resulting in insufficient power when the robot climbs slopes, crosses obstacles, or moves on uneven ground, making it unable to effectively overcome the friction of the ground or the resistance of obstacles. Currently, the improvement measures for this problem are generally to increase the roller diameter and use a driving motor with a larger output torque. However, increasing the roller diameter may affect the overall size and flexibility of the robot, while using a driving motor with a larger output torque may increase cost and weight. Utility Model Content

[0005] The purpose of this invention is to propose a dual-motor parallel joint assembly for a wheeled robot, in order to solve one or more technical problems existing in the background art.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] A dual-motor parallel joint assembly for a wheeled robot is characterized by comprising a lower leg joint skeleton, a first travel motor, a second travel motor, a torque superposition component, and a travel roller. The lower leg joint skeleton has a mounting cavity at its bottom. The first travel motor and the second travel motor are both fixed in the mounting cavity. The shafts of the first travel motor and the second travel motor are both connected to the input end of the torque superposition component, and the output end of the torque superposition component is connected to the travel roller.

[0008] Preferably, the torque superposition component includes a first transmission gear, a second transmission gear, a first output shaft, and a second output shaft. The first output shaft and the second output shaft are respectively disposed on the shaft ends of the first travel motor and the second travel motor. The first transmission gear and the second transmission gear are respectively disposed on the first output shaft and the second output shaft. The second output shaft is connected to the travel roller.

[0009] Preferably, the torque superposition component further includes a connecting shaft, one end of which is connected to the second output shaft, and the other end of which is connected to the traveling roller.

[0010] Preferably, the torque superposition component further includes a deep groove ball bearing, and the deep groove ball bearing is provided on the outer side of both the first output shaft and the second output shaft. Both the first output shaft and the second output shaft are rotatably disposed in the mounting cavity through the deep groove ball bearing.

[0011] Preferably, the torque superposition component further includes a cross roller bearing, and the outer side of the connecting shaft is provided with a cross roller bearing, and the connecting shaft is rotatably connected to the lower leg joint skeleton through the cross roller bearing.

[0012] Preferably, it also includes a cover plate, which covers the end of the mounting cavity, and the connecting shaft passes through the mounting cavity.

[0013] Preferably, the lower leg joint skeleton is also provided with a knee connection hole.

[0014] Preferably, the traveling roller includes a hub and a tire, the hub is connected to the connecting shaft, and the tire is fitted onto the outside of the hub.

[0015] Compared with the prior art, the beneficial effects of this utility model are as follows: by setting a first travel motor and a second travel motor, and setting a torque superposition component to realize the parallel operation of the first travel motor and the second travel motor, the output torque of the two travel motors is superimposed, which improves the output torque to the roller, enabling the robot to overcome greater friction and resistance when climbing slopes, crossing obstacles or moving on uneven ground, thus enhancing the robot's power performance. Attached Figure Description

[0016] The accompanying drawings further illustrate the present invention, but the content of the drawings does not constitute any limitation on the present invention.

[0017] Figure 1 This is a schematic diagram of the overall structure of one embodiment of the present utility model;

[0018] Figure 2 This is a schematic diagram of the internal structure of one embodiment of the present invention.

[0019] The components include: lower leg joint frame 13, first driving motor 141, second driving motor 142, first transmission gear 15, second transmission gear 151, first output shaft 17, second output shaft 16, connecting shaft 19, deep groove ball bearing 18, crossed roller bearing 21, cover plate 20, knee connecting hole 22, wheel hub 12, and tire 11. Detailed Implementation

[0020] The technical solution of this utility model will be further described below with reference to the accompanying drawings and specific embodiments.

[0021] This embodiment provides a dual-motor parallel joint assembly for a wheeled robot, as shown in the attached diagram. Figure 1 and 2 The device includes a lower leg joint frame 13, a first travel motor 141, a second travel motor 142, a torque superposition component, and a travel roller. The lower leg joint frame 13 has a mounting cavity at its bottom. The first travel motor 141 and the second travel motor 142 are both fixed in the mounting cavity. The shafts of the first travel motor 141 and the second travel motor 142 are both connected to the input end of the torque superposition component, and the output end of the torque superposition component is connected to the travel roller.

[0022] By setting up a first driving motor 141 and a second driving motor 142, and incorporating a torque superposition component, the first driving motor 141 and the second driving motor 142 are connected in parallel. This allows the output torque of the two driving motors to be superimposed, increasing the output torque to the rollers. This enables the robot to overcome greater friction and resistance when climbing slopes, crossing obstacles, or moving on uneven ground, thus enhancing the robot's dynamic performance. This embodiment achieves increased output torque without increasing the roller diameter through the parallel output of the two driving motors, maintaining the robot's compact size and flexibility. Furthermore, this embodiment's parallel output of the two driving motors can reduce the power and size requirements of individual motors while meeting torque requirements, thereby optimizing cost and overall weight. In addition, the parallel design of the two motors provides redundancy; even if one driving motor fails, the other can continue to operate, ensuring the robot can perform basic driving functions and improving the robot's reliability and fault tolerance.

[0023] Preferably, the torque superposition component includes a first transmission gear 15, a second transmission gear 151, a first output shaft 17, and a second output shaft 16. The first output shaft 17 and the second output shaft 16 are respectively located at the rotating shaft ends of the first travel motor 141 and the second travel motor 142. The first transmission gear 15 and the second transmission gear 151 are respectively located on the first output shaft 17 and the second output shaft 16. The second output shaft 16 is connected to the travel roller. Thus, the meshing of the first transmission gear 15 and the second transmission gear 151 superimposes the output torques of the two travel motors, and transmits the superimposed torque to the travel roller, increasing the driving force on the travel roller and solving the problem of insufficient power in traditional wheeled robots. The torque superposition structure achieved by gear meshing is simple, compact, easy to manufacture and maintain, and has high transmission efficiency and reliability.

[0024] Preferably, the torque superposition component further includes a connecting shaft 19, one end of which is connected to the second output shaft 16, and the other end of which is connected to the traveling roller. By providing the connecting shaft 19 to support the traveling roller and connecting it to the second output shaft 16, the superimposed output torque is directly transmitted from the second output shaft 16 to the traveling roller, thereby driving the robot's movement.

[0025] Preferably, the torque superposition component further includes a deep groove ball bearing 18. Both the first output shaft 17 and the second output shaft 16 are provided with deep groove ball bearings 18 on their outer sides. Both the first output shaft 17 and the second output shaft 16 are rotatably mounted within the mounting cavity via the deep groove ball bearings 18. By using the deep groove ball bearings 18, the first output shaft 17 and the second output shaft 16 are positioned within the mounting cavity. The use of deep groove ball bearings 18 ensures the smooth operation of the first output shaft 17 and the second output shaft 16, meeting the needs of the wheeled robot for rapid movement in complex terrain.

[0026] Preferably, the torque superposition component further includes a crossed roller bearing 21. The crossed roller bearing 21 is provided on the outer side of the connecting shaft 19, and the connecting shaft 19 is rotatably connected to the lower leg joint frame 13 via the crossed roller bearing 21. The crossed roller bearing 21, mounted on the outer side of the connecting shaft 19, supports the rotational movement of the connecting shaft 19, enabling the connecting shaft 19 to be stably rotatably connected to the lower leg joint frame 13. This reduces vibration and offset of the connecting shaft 19 during rotation, ensures smooth operation of the connecting shaft 19, and improves the stability of the robot's movement.

[0027] Preferably, it also includes a cover plate 20, which is placed over the end of the mounting cavity, through which the connecting shaft 19 passes. The cover plate 20 is used to cover the opening of the mounting cavity, preventing external debris from entering the mounting cavity and protecting the output shaft, the drive motor, and the transmission gears.

[0028] Preferably, the lower leg joint frame 13 is also provided with a knee connection hole 22. By pre-reserving the knee connection hole 22 on the lower leg joint frame 13, it is convenient to hinge it to the lower leg joint frame 13 through the knee connection hole 22.

[0029] Preferably, the traveling roller includes a hub 12 and a tire 11. The hub 12 is connected to the connecting shaft 19, and the tire 11 is fitted onto the outside of the hub 12. By fitting the tire 11 onto the outside of the hub 12, it is easier to replace the tire 11, reducing maintenance costs and time.

[0030] The technical principles of this utility model have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of this utility model and should not be construed as limiting the scope of protection of this utility model in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of this utility model without any inventive effort, and these embodiments will all fall within the scope of protection of this utility model.

Claims

1. A dual-motor parallel joint assembly for a wheeled robot, characterized in that, The device includes a lower leg joint frame, a first travel motor, a second travel motor, a torque superposition component, and a travel roller. The lower leg joint frame has a mounting cavity at its bottom. The first travel motor and the second travel motor are both fixed in the mounting cavity. The shafts of the first travel motor and the second travel motor are both connected to the input end of the torque superposition component. The output end of the torque superposition component is connected to the travel roller.

2. The dual-motor parallel joint assembly for a wheeled legged robot according to claim 1, characterized in that, The torque superposition component includes a first transmission gear, a second transmission gear, a first output shaft, and a second output shaft. The first output shaft and the second output shaft are respectively located at the shaft ends of the first travel motor and the second travel motor. The first transmission gear and the second transmission gear are respectively located on the first output shaft and the second output shaft. The second output shaft is connected to the travel roller.

3. The dual-motor parallel joint assembly for a wheeled robot according to claim 2, characterized in that, The torque superposition component also includes a connecting shaft, one end of which is connected to the second output shaft, and the other end of which is connected to the traveling roller.

4. The dual-motor parallel joint assembly for a wheeled robot according to claim 3, characterized in that, The torque superposition component also includes a deep groove ball bearing. The deep groove ball bearing is provided on the outer side of both the first output shaft and the second output shaft. Both the first output shaft and the second output shaft are rotatably mounted in the mounting cavity through the deep groove ball bearing.

5. The dual-motor parallel joint assembly for a wheeled robot according to claim 3, characterized in that, The torque superposition component also includes a cross roller bearing. The outer side of the connecting shaft is provided with a cross roller bearing, and the connecting shaft is rotatably connected to the lower leg joint skeleton through the cross roller bearing.

6. The dual-motor parallel joint assembly for a wheeled robot according to claim 3, characterized in that, It also includes a cover plate that covers the end of the mounting cavity, through which the connecting shaft passes.

7. The dual-motor parallel joint assembly for a wheeled robot according to claim 1, characterized in that, The lower leg joint skeleton also has a knee connection hole.

8. The dual-motor parallel joint assembly for a wheeled robot according to claim 3, characterized in that, The traveling roller includes a hub and a tire, the hub is connected to the connecting shaft, and the tire is fitted on the outside of the hub.

Images