Robot walking mechanism with auxiliary wheels

Abstract

The utility model relates to the technical field of robots, and discloses a robot walking mechanism which comprises a leg seat and two thigh arms connected with the leg seat, each thigh arm is connected with a shank arm, and the lower end of each shank arm is provided with a driving wheel. Wherein at least one shank arm is provided with an auxiliary wheel assembly, the auxiliary wheel assembly comprises a wheel arm and an auxiliary wheel connected with the wheel arm, and rotating power is arranged between the upper end of the wheel arm and the shank arm; in the first state, the auxiliary wheel is contracted on the side face of the shank arm. And in the second state, the rotating power drives the wheel arm to rotate by a preset angle, so that the auxiliary wheel and the two driving wheels form non-collinear three-point support. The utility model has the beneficial effects that the walking stability is good, and a user can get up easily after falling down.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field especially relates to a robot walking mechanism with auxiliary wheel. 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 kinds: wheel type walking, track type walking, leg foot type walking, track type walking, magnetic suspension type walking and the like. The robot with two-wheel walking mechanism has the characteristics of light, mobile and flexible, but the balance is relatively poor, and the center of gravity is prone to out of control and lead to dump, and it is difficult to get up after dumping. SUMMARY

[0003] The utility model discloses in order to solve the above -mentioned problems in prior art, provide a robot walking mechanism with auxiliary wheel with good walking stability, easy to get up after falling.

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

[0005] A robot walking mechanism with auxiliary wheel, including leg seat, two big thigh arms connected with leg seat, each big thigh arm is connected with calf arm, and the lower end of each calf arm is equipped with driving wheel, wherein at least one calf arm is equipped with auxiliary wheel assembly, the auxiliary wheel assembly includes wheel arm, auxiliary wheel connected with wheel arm, and the upper end of wheel arm and the calf arm are equipped with rotary power, in the first state, the auxiliary wheel is retracted in the side of calf arm, in the second state, the rotary power drives wheel arm to rotate the preset angle, so that auxiliary wheel and two driving wheels form non-collinear three-point support.

[0006] When driving wheel normally walks, auxiliary wheel is retracted in the side of calf arm and does not participate in support, when walking in some complex road conditions, for example, uphill and downhill, uneven road surface, two driving wheels walk and are prone to balance out of control, at this time, auxiliary wheel is unfolded, auxiliary wheel and two driving wheels form non-collinear three-point support, and a support surface is formed to maintain balance, in the same way, when robot falls, three-point support is formed by unfolding auxiliary wheel, and the center of gravity is adjusted to the support surface by robot itself, and then it is favorable to get up.

[0007] As preferred, the auxiliary wheel assembly is configured as two groups, and the two groups of auxiliary wheel assemblies are correspondingly arranged on the two calf arms. The two groups of auxiliary wheel assemblies have better stability, and the overall weight is also more balanced, and are not prone to roll over.

[0008] As preferred, the driving wheels are arranged on the outer side of the lower leg arm, and the auxiliary wheel assemblies are arranged on the inner side of the lower leg arm. The driving wheels and the auxiliary wheel assemblies are arranged on both sides of the lower leg arm, which can balance the center of gravity of the lower leg arm, and when the auxiliary wheels are supported by the ground, the four support points form the four vertices of an isosceles trapezoid, so that the walking is more stable and less likely to roll over.

[0009] As preferred, the distance between the two auxiliary wheels is a, and the distance between the two driving wheels is b, wherein the value of b / a is 1.5-3.5. By reasonably configuring the wheelbase, the auxiliary wheels are less likely to roll over when participating in walking.

[0010] As preferred, the driving wheels are arranged on the inner side of the lower leg arm, and the auxiliary wheel assemblies are arranged on the outer side of the lower leg arm.

[0011] As preferred, in the first state, the auxiliary wheels are coaxially arranged with the driving wheels.

[0012] As preferred, the upper end of the upper leg arm is rotationally connected with the leg seat, the upper end of the lower leg arm is rotationally connected with the upper leg arm, the leg seat is provided with a first motor for driving the upper leg arm to rotate, and the upper leg arm is provided with a driving mechanism for driving the lower leg arm to rotate. The first motor can adjust the angle of the upper leg arm and the leg seat, and the driving mechanism can adjust the bending angle of the lower leg arm and the upper leg arm, so that the posture of the robot upper leg arm and the lower leg arm can be very flexibly adjusted, and the center of gravity of the robot can be changed, so that the robot can keep balance during movement.

[0013] As preferred, the driving mechanism comprises a second motor fixed on the upper leg arm, an eccentric seat connected with the second motor, and a driving rod for connecting the eccentric seat and the lower leg arm, both ends of the driving rod being rotationally connected with the eccentric seat and the lower leg arm respectively; the rotation points of the second motor, the upper leg arm and the lower leg arm, and the rotation points of both ends of the driving rod constitute the four vertices of a parallelogram. The driving mechanism has simple structure and good stability.

[0014] As preferred, the upper leg arm is configured as a hollow tubular structure, and the eccentric seat and the driving rod are arranged inside the upper leg arm. The upper leg arm has large strength and light weight, and the eccentric seat and the driving rod are arranged inside the upper leg arm, so that the stability is better.

[0015] As preferred, the auxiliary wheels are configured to be actively rotatable. When the driving wheels are damaged and cannot be actively rotated, the auxiliary wheels can be used to realize walking and move the robot to a designated position for maintenance.

[0016] Therefore, the present invention has the following beneficial effects: (1) the auxiliary wheel is used to assist the support and improve the stability of the active wheel to better adapt to different road conditions; (2) when the robot falls, the three-point support of the auxiliary wheel forms a support surface, which is more conducive to the robot getting up. Attached Figure Description

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

[0018] Figure 2 for Figure 1 Side view.

[0019] Figure 3 for Figure 1 The front view.

[0020] Figure 4 for Figure 1 Exploded view.

[0021] Figure 5 for Figure 1 A partial structural diagram.

[0022] Figure 6 This is a schematic diagram showing the auxiliary wheel in its deployed support state.

[0023] Figure 7 for Figure 6 Side view.

[0024] Figure 8 for Figure 6 A bottom view. Detailed Implementation

[0025] To make the technical problem to be solved, the technical solution, and the beneficial technical effects of this utility model clearer, the present utility model will be further described in detail below with reference to the accompanying drawings and several exemplary embodiments. It should be understood that the specific embodiments described herein are only for explaining the present utility model and are not intended to limit the scope of protection of the present utility model.

[0026] It should be understood that the terms "first," "second," etc., used herein are for descriptive purposes only and should not be construed as indicating or implying relative importance, nor should they be construed as implicitly specifying the number of technical features indicated. Features specified as "first" or "second" may expressly or implicitly indicate that at least one of those features is included.

[0027] like Figures 1-3The auxiliary wheel robot walking mechanism shown in the figure comprises a leg seat 1, two thigh arms 2 connected with the leg seat 1, a small leg arm 3 connected with each thigh arm 2, and a driving wheel 4 arranged at the lower end of each small leg arm 3. At least one small leg arm 3 is provided with an auxiliary wheel assembly 5, which comprises a wheel arm 50 and an auxiliary wheel 51 connected with the wheel arm 50. A rotating power 52 is arranged between the upper end of the wheel arm 50 and the small leg arm 3. In the first state, the auxiliary wheel 51 is retracted on the side of the small leg arm 3. In the second state, the rotating power 52 drives the wheel arm 50 to rotate by a preset angle, so that the auxiliary wheel 51 and the two driving wheels 4 form a three-point support.

[0028] In some embodiments, in the first state, the auxiliary wheel 51 is coaxially distributed with the driving wheel 4. At this time, the auxiliary wheel can be supported on the ground at the same time as the driving wheel (as shown in Figure 3 The diameter of the auxiliary wheel can be set to be smaller than that of the driving wheel, so that the auxiliary wheel is not in contact with the ground.

[0029] In some embodiments, the auxiliary wheel assembly 5 is configured as two groups, and the two groups of auxiliary wheel assemblies 5 are correspondingly arranged on the two small leg arms 3. The driving wheel 4 is arranged on the outer side of the small leg arm 3, and the auxiliary wheel assembly 5 is arranged on the inner side of the small leg arm 3. As shown in Figure 8 The distance between the two auxiliary wheels 51 is configured as a, and the distance between the two driving wheels 4 is configured as b, wherein the value of b / a is configured as 1.5-3.5, and further the value of b / a is configured as 2.5-3. In this embodiment, the value of b / a is configured as 2.7.

[0030] In some embodiments, the auxiliary wheel assembly 5 is configured as two groups, and the two groups of auxiliary wheel assemblies 5 are correspondingly arranged on the two small leg arms 3. The driving wheel 4 is arranged on the inner side of the small leg arm 3, and the auxiliary wheel assembly 5 is arranged on the outer side of the small leg arm 3 (not shown in the figure). The auxiliary wheel 51 is configured to be actively rotatable, and the wheel arm is configured to realize 360° rotation through the rotating power.

[0031] As shown in Figure 1 , Figure 4 and Figure 5 The upper end of the thigh arm 2 is rotationally connected with the leg seat 1, the upper end of the small leg arm 3 is rotationally connected with the thigh arm 2, the leg seat 1 is provided with a first motor 10 for driving the thigh arm 2 to rotate, and the thigh arm 2 is provided with a driving mechanism 6 for driving the small leg arm 3 to rotate. The driving mechanism 6 comprises a second motor 60 fixedly arranged on the thigh arm 2, an eccentric seat 61 connected with the second motor 60, and a driving rod 62 for connecting the eccentric seat 61 and the small leg arm 3. The two ends of the driving rod 62 are respectively rotationally connected with the eccentric seat 61 and the small leg arm 3. The rotation point of the second motor 60 (point A in the figure), the rotation point of the thigh arm 2 (point B in the figure), and the rotation point of the small leg arm 3 (point C in the figure) are arranged on the same straight line. Figure 5 Figure 5 ​Point B in the middle) and the rotation points at both ends of the drive rod 62 ( Figure 5 Points C and D form the four vertices of a parallelogram (parallelogram ABCD). The thigh arm 2 is configured as a hollow tubular structure, and the eccentric seat 61 and drive rod 62 are both located inside the thigh arm 2. The second motor can be installed at the upper end of the thigh arm and coaxial with the first motor; the second motor can also be installed in the middle of the thigh arm, thereby lowering the center of gravity and reducing the length of the drive arm.

[0032] In some embodiments, the rotational power 52, the first motor 10, and the second motor 60 are all geared motors, and the driving power of the drive wheel and the auxiliary wheel are also geared motors.

[0033] Referring to the accompanying drawings, the principle of this utility model is as follows: Figures 1-3 The diagram shows the robot walking normally using its drive wheels. The auxiliary wheel 51 retracts to the side of its lower leg arm. At this time, the auxiliary wheel can be in contact with the ground or not. When the auxiliary wheel needs to assist in support or to help the robot stand up, it rotates to the position shown in the diagram. Figures 6-8 As shown in the diagram, all four wheels are in contact with the ground, and the two drive wheels are at contact points with the ground. Figure 8 Points E and F are the contact points between the two auxiliary wheels and the ground. Figure 8 Points G, H, E, F, G, and H form an isosceles trapezoid. Figure 8 The four vertices of the trapezoid EFGH (shown by the dashed line) are defined, and the value of b / a is configured to 2.7. At this time, the robot is less likely to tip over when walking stably, and its walking stability is good. When the robot falls and needs to get up, the robot's center of gravity can fall better within the range of the trapezoid EFGH, so that the robot can get up more easily and automatically.

[0034] 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.

[0035] 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 robot walking mechanism with auxiliary wheels, characterized by, The application relates to a leg support device, which comprises a leg base (1), two thigh arms (2) connected with the leg base (1), a calf arm (3) connected with each thigh arm (2), and a driving wheel (4) arranged at the lower end of each calf arm (3); At least one calf arm (3) is provided with an auxiliary wheel assembly (5), the auxiliary wheel assembly (5) comprises a wheel arm (50) and an auxiliary wheel (51) connected with the wheel arm (50), and a rotating power (52) is arranged between the upper end of the wheel arm (50) and the calf arm (3); In a first state, the auxiliary wheel (51) is retracted on the side of the calf arm (3); in a second state, the rotating power (52) drives the wheel arm (50) to rotate by a preset angle, so that the auxiliary wheel (51) and the two driving wheels (4) form three-point support which are not collinear.

2. The robot walking mechanism with auxiliary wheels according to claim 1, characterized in that, The auxiliary wheel assembly (5) is arranged in two groups and is arranged on the two calf arms (3) correspondingly.

3. The robot walking mechanism with auxiliary wheels according to claim 2, characterized in that, The driving wheel (4) is arranged on the outer side of the calf arm (3), and the auxiliary wheel assembly (5) is arranged on the inner side of the calf arm (3).

4. The robot walking mechanism with auxiliary wheels according to claim 3, characterized in that, The distance between the two auxiliary wheels (51) is a, and the distance between the two driving wheels (4) is b, wherein the value of b / a is 1.5-3.

5.

5. The robot walking mechanism with auxiliary wheels according to claim 2, characterized in that, The driving wheel (4) is arranged on the inner side of the calf arm (3), and the auxiliary wheel assembly (5) is arranged on the outer side of the calf arm (3).

6. The robot walking mechanism with auxiliary wheels according to claim 1, characterized in that, In the first state, the auxiliary wheel (51) and the driving wheel (4) are coaxially distributed.

7. The robot walking mechanism with auxiliary wheels according to claim 1 or 2, characterized in that, The upper end of the thigh arm (2) is rotationally connected with the leg base (1), the upper end of the calf arm (3) is rotationally connected with the thigh arm (2), the leg base (1) is provided with a first motor (10) for driving the thigh arm (2) to rotate, and the thigh arm (2) is provided with a driving mechanism (6) for driving the calf arm (3) to rotate.

8. The robot walking mechanism with auxiliary wheels according to claim 7, characterized in that, The driving mechanism (6) comprises a second motor (60) fixed on the thigh arm (2), an eccentric seat (61) connected with the second motor (60), and a driving rod (62) for connecting the eccentric seat (61) and the calf arm (3), wherein the two ends of the driving rod (62) are rotationally connected with the eccentric seat (61) and the calf arm (3) respectively. The rotation points of the second motor (60), the thigh arm (2) and the calf arm (3), and the rotation points of the two ends of the driving rod (62) constitute four vertices of a parallelogram.

9. The robot walking mechanism with auxiliary wheels according to claim 8, characterized in that, The thigh arm (2) is configured as a hollow tubular structure, and the eccentric seat (61) and the driving rod (62) are arranged in the interior of the thigh arm (2).

10. The robot walking mechanism with auxiliary wheels according to claim 2, characterized in that, The auxiliary wheel (51) is configured to be actively rotatable.

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