Robot wheel foot and four-wheel-foot robot walking mechanism

Abstract

The utility model relates to the technical field of robots, and discloses a robot wheel foot which comprises a large arm, a small arm and a walking wheel, a connecting base is arranged at the upper end of the large arm, a first motor is arranged on one side of the connecting base, a driving assembly is arranged between the large arm and the small arm, and a second motor is arranged on the other side of the connecting base. The shaft end of the walking wheel is connected with a walking power source, the lower end of the small arm is provided with a steering mechanism used for adjusting the walking angle of the walking wheel, and the walking power source is connected with the steering mechanism. The four-wheel robot walking mechanism comprises a robot support and four sets of robot wheel feet, the four sets of robot wheel feet are installed at the front end and the rear end of the two sides of the robot support through connecting bases, and every two adjacent sets of robot wheel feet are symmetrically distributed. The utility model has the beneficial effects of compact and stable structure, stable gravity center and flexible steering.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a robot wheel-legged and four-wheeled robot walking mechanism. Background Technology

[0002] Existing robot wheel-foot structures typically include a large arm, a forearm, and wheels. Separate motors are installed at the joints of the upper part of the large arm, the joint between the large arm and forearm, and on the wheels to adjust the angles of the large arm and forearm, and to rotate the wheels. To further improve steering flexibility, a steering motor is usually installed at the connection between the upper part of the large arm and the robot support to enable steering of the wheels. However, the overall stability of this type of robot wheel-foot is poor. When the angles of the large arm and forearm change, the position of the motor at the large arm-forearm connection also changes, affecting the center of gravity balance. Furthermore, when the rotary motor at the upper part of the large arm drives the large arm and forearm to turn, the large range of motion of the large arm and forearm also affects the robot's balance. Additionally, it requires a large amount of space around the robot and is not very maneuverable. Utility Model Content

[0003] In order to solve the above-mentioned problems in the prior art, this utility model provides a robot wheel and four-wheeled robot walking mechanism with good stability and more flexible steering of the walking wheels.

[0004] To achieve the above objectives, the present invention adopts the following technical solution:

[0005] A robot wheel foot includes a large arm, a forearm rotatably connected to the lower end of the large arm, and a walking wheel located at the lower end of the forearm. The upper end of the large arm is provided with a connecting seat for connecting to a robot support. A first motor is provided on one side of the connecting seat, and the upper end of the large arm is connected to the output end of the first motor. A drive assembly is provided between the large arm and the forearm. A second motor is provided on the other side of the connecting seat for driving the forearm to move through the drive assembly. A walking power source is connected to the axle end of the walking wheel, and a steering mechanism for adjusting the walking angle of the walking wheel is provided at the lower end of the forearm. The walking power source is connected to the steering mechanism.

[0006] By adopting the above technical solution: the steering mechanism is set at the lower end of the forearm, which on the one hand reduces the overall center of gravity and improves stability, and on the other hand, when the walking wheels turn, neither the upper arm nor the forearm will rotate, making the turning process more stable and not occupying the surrounding space, making the turning more maneuverable and flexible; the second motor drives the forearm to move through the drive mechanism, and the second motor is set on the connecting seat to prevent the center of gravity of the second motor from shifting due to the bending of the upper arm and forearm, making the overall center of gravity more stable.

[0007] Preferably, the drive assembly includes a drive arm with one end connected to the output end of a second motor, and a transmission arm rotatably connected to the other end of the drive arm. The other end of the transmission arm is rotatably connected to the upper end of the forearm. When the second motor drives the drive arm to rotate, the drive arm drives the forearm to rotate synchronously around the upper arm via the transmission arm. The drive arm, transmission arm, upper arm, and forearm form a parallelogram support, which is compact and provides stable power transmission.

[0008] Preferably, the steering mechanism includes a steering motor located at the lower end of the forearm and a steering seat connected to the steering motor, with the travel power source located within the steering seat. The steering motor, in conjunction with the steering seat, enables the travel wheels to steer. The entire mechanism is mounted at the lower end of the forearm, lowering the overall center of gravity and improving stability during travel.

[0009] Preferably, the connecting seat has a cylindrical structure with a clearance notch on its side. The first motor is fixedly connected to one end of the connecting seat, and the second motor is fixedly connected to the other end of the connecting seat. The upper end of the boom extends into the connecting seat through the clearance notch and connects to the first motor. The cylindrical structure of the connecting seat provides structural stability and high strength, thus ensuring safety at the connection points between the boom and the first motor, and between the drive arm and the second motor.

[0010] A four-wheeled robot walking mechanism includes a robot support frame and four sets of robot wheels. The four sets of robot wheels are mounted on the front and rear ends of both sides of the robot support frame via connecting seats, with adjacent sets of robot wheels symmetrically distributed. By setting four sets of robot wheels on the robot support frame and symmetrically arranging them, the center of gravity of the entire robot walking mechanism is balanced and centered, resulting in very stable walking.

[0011] Preferably, the joints connecting the upper and lower arms of each set of robot legs face towards the middle of the robot support. This arrangement prevents the joints of the upper and lower arms from extending beyond the front and rear ends of the robot support, thereby reducing the size of the ends.

[0012] Preferably, the robot support is configured as a cuboid frame, with the connecting seats in the four sets of robot wheels respectively fixed to the four vertical edges of the cuboid frame. The cuboid frame has a regular shape, a central center of gravity, and is connected to the connecting seats via four vertical edges, making installation very convenient.

[0013] Preferably, both the first motor and the second motor are configured as right-angle geared motors. The first motor is located inside the cuboid frame, and the second motor is located outside the cuboid frame, with the main bodies of both motors facing the center of the cuboid frame. Using right-angle geared motors allows for a more compact installation.

[0014] Preferably, the cuboid frame is made of several segments of aluminum alloy profiles connected together. Aluminum alloy profiles are lightweight, readily available, and low in cost.

[0015] Therefore, this utility model has the advantages of compact and stable structure, stable center of gravity, and flexible steering. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of a robot's wheeled leg structure.

[0017] Figure 2 for Figure 1 Exploded view.

[0018] Figure 3 This is a schematic diagram of a structure for four robot walking mechanisms.

[0019] Figure 4 for Figure 3 A partial exploded view.

[0020] Figure 5 for Figure 3 Side view.

[0021] Figure 6 for Figure 5 A schematic diagram of the robot's support frame in its lowered (folded) state. Detailed Implementation

[0022] 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.

[0023] 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.

[0024] like Figures 1-2The robot wheel 1 shown includes a large arm 10, a small arm 11 rotatably connected to the lower end of the large arm 10, and a walking wheel 12 located at the lower end of the small arm 11. The upper end of the large arm 10 is provided with a connecting seat 13 for connecting to a robot support 2. A first motor 14 is provided on one side of the connecting seat 13, and the upper end of the large arm 10 is connected to the output end of the first motor 14. A drive assembly 15 is provided between the large arm 10 and the small arm 11. A second motor 150 is provided on the other side of the connecting seat 13 for driving the small arm 11 to move through the drive assembly 15. The axle end of the walking wheel 12 is connected to a walking power source 120, and the lower end of the small arm 11 is provided with a steering mechanism 16 for adjusting the walking angle of the walking wheel 12. The walking power source 120 is connected to the steering mechanism 16.

[0025] The drive assembly 15 includes a drive arm 151 connected at one end to the output end of the second motor 150, and a transmission arm 152 rotatably connected to the other end of the drive arm 151. The other end of the transmission arm 152 is rotatably connected to the upper end of the forearm 11. When the second motor 150 drives the drive arm 151 to rotate, the drive arm 151 drives the forearm 11 to rotate synchronously around the upper arm 10 through the transmission arm 152. The rotation points of the upper arm and forearm, the rotation points of the forearm and transmission arm, the rotation points of the transmission arm and drive arm, and the connection point of the drive arm and the second motor constitute the four vertices of the parallelogram bracket. The linkage between the upper arm and forearm is realized by using the four-bar linkage of the parallelogram.

[0026] The steering mechanism 16 includes a steering motor 160 disposed at the lower end of the forearm 11 and a steering seat 161 connected to the steering motor 160, and the walking power source 120 is disposed in the steering seat 161.

[0027] The connecting seat 13 has a cylindrical structure and a clearance notch 130 is provided on the side of the connecting seat 13. The first motor 14 is fixedly connected to one end of the connecting seat 13, and the second motor 150 is fixedly connected to the other end of the connecting seat 13. The upper end of the large arm 10 extends into the connecting seat 13 from the clearance notch 130 and connects to the first motor 14.

[0028] In some embodiments, the walking power source 120, the first motor 14, the second motor 150, and the steering motor 160 are all geared motors. In this embodiment, the first motor 14 and the second motor 150 are right-angle geared motors.

[0029] like Figures 3-6The illustrated four-wheeled robot walking mechanism includes a robot support 2 and four sets of robot wheels 1. The four sets of robot wheels 1 are installed at the front and rear ends of both sides of the robot support 2 via connecting seats 13, and adjacent sets of robot wheels 1 are symmetrically distributed; the connecting joints of the upper arm 10 and the lower arm 11 in each set of robot wheels 1 are all facing the middle part of the robot support 2.

[0030] In some embodiments, the robot support 2 is configured as a cuboid frame 20, and the connecting seats 13 of the four sets of robot wheels 1 are respectively fixed to the four vertical edges of the cuboid frame 20. The first motor 14 is located inside the cuboid frame 20, and the second motor 150 is located outside the cuboid frame 20, with the main bodies of both the first motor 14 and the second motor 150 facing the middle of the cuboid frame 20. Figure 3 As shown, the first motor and the second motor are both located between the upper and lower sides of the cuboid frame. This arrangement makes the overall structure more compact and the center of gravity more stable. In some embodiments, the cuboid frame 20 is made of several segments of aluminum alloy profiles connected together.

[0031] In some embodiments, a robot support can be used in conjunction with two sets of robot legs to form a dual-wheeled robot walking mechanism, with the two sets of wheels symmetrically arranged on both sides of the robot support.

[0032] 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.

[0033] 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 wheel-foot, said robot wheel-foot (1) comprising a large arm (10), a small arm (11) rotatably connected with the lower end of the large arm (10), a walking wheel (12) arranged at the lower end of the small arm (11), characterized in that, The upper end of the big arm (10) is provided with a connecting seat (13) for connecting with the robot support (2), one side of the connecting seat (13) is provided with a first motor (14), the output end of the first motor (14) is connected with the upper end of the big arm (10), a driving assembly (15) is arranged between the big arm (10) and the small arm (11), the other side of the connecting seat (13) is provided with a second motor (150) for driving the small arm (11) to move through the driving assembly (15); The shaft end of the walking wheel (12) is connected with a walking power source (120), the lower end of the small arm (11) is provided with a steering mechanism (16) for adjusting the walking angle of the walking wheel (12), and the walking power source (120) is connected with the steering mechanism (16).

2. The robot wheel-foot of claim 1, wherein, The driving assembly (15) comprises a driving arm (151) connected with the output end of the second motor (150), and a transmission arm (152) rotationally connected with the other end of the driving arm (151), and the other end of the transmission arm (152) is rotationally connected with the upper end of the small arm (11). When the second motor (150) drives the driving arm (151) to rotate, the driving arm (151) drives the small arm (11) to rotate synchronously around the big arm (10) through the transmission arm (152).

3. The robot wheel-foot of claim 1, wherein, The steering mechanism (16) comprises a steering motor (160) arranged at the lower end of the small arm (11) and a steering seat (161) connected with the steering motor (160), and the walking power source (120) is arranged in the steering seat (161).

4. The robot wheel-foot of claim 2, wherein, The connecting seat (13) is in a cylindrical structure, the side surface of the connecting seat (13) is provided with an avoiding gap (130), one end of the connecting seat (13) is fixedly connected with the first motor (14), the other end of the connecting seat (13) is fixedly connected with the second motor (150), and the upper end of the big arm (10) extends into the connecting seat (13) from the avoiding gap (130) and is connected with the first motor (14).

5. A four-wheeled foot robot walking mechanism characterized by comprising: The robot support (2) is configured as a cuboid frame (20), the connecting seats (13) in the four groups of robot wheel legs (1) are respectively fixed at four vertical edges of the cuboid frame (20).

6. The four-wheel foot robot walking mechanism according to claim 5, wherein The connecting joints of the big arm (10) and the small arm (11) in each group of robot wheel legs (1) are all directed to the middle part of the robot support (2).

7. The four-wheel foot robot walking mechanism according to claim 5, wherein The first motor (14) and the second motor (150) are all configured as right-angle speed reduction motors, the first motor (14) is arranged on the inner side of the cuboid frame (20), the second motor (150) is arranged on the outer side of the cuboid frame (20), and the main bodies of the first motor (14) and the second motor (150) are all directed to the middle part of the cuboid frame (20).

8. The four-wheel foot robot walking mechanism according to claim 7, characterized in that, The cuboid frame (20) is made of aluminum alloy profiles connected together.

9. The four-wheel foot robot walking mechanism according to claim 7, wherein ​

Images