Wheel foot structure of robot

Abstract

The utility model relates to the technical field of robots, in particular to a wheel-foot structure of a robot, which comprises a hip joint, a knee joint, a switching structure, a thigh arm for connecting the hip joint and the knee joint, a shank arm of which the root is connected with the knee joint, a foot structure arranged below the shank arm and a wheel structure which are sequentially arranged from the leg root part to the leg front part, the shank arm is connected with the foot structure and the wheel structure through the switching structure; the hip joint comprises a hip seat fixed to the robot body and a double-head motor installed at the root of the thigh arm, and an output shaft of the double-head motor vertically extends out to be in drive connection with the hip seat. The foot structure or the wheel structure can be switched to be used through the switching structure according to topographic conditions. The multi-terrain robot is used for solving the technical problems that in the prior art, a robot is poor in adaptive capacity and low in moving efficiency under multiple topographic conditions.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically to a wheel and foot structure for a robot. Background Technology

[0002] Currently, common robot locomotion methods are categorized into wheeled and legged types. While wheeled robots are highly efficient on flat surfaces, they perform poorly on uneven or obstacle-filled terrain, easily becoming limited by the terrain and unable to move effectively. Legged robots, on the other hand, exhibit better terrain adaptability and can navigate complex terrains, but their locomotion efficiency on flat surfaces is lower than that of wheeled robots. This limitation restricts the application range of robots in diverse environments, especially in scenarios requiring rapid movement and efficient operation. Therefore, improving the adaptability and locomotion efficiency of robots under various terrain conditions has become a crucial technical challenge in the current development of robotics technology. Summary of the Invention

[0003] The purpose of this invention is to address the aforementioned shortcomings by providing a wheel-foot structure for a robot, thereby solving the technical problems of poor adaptability and low mobility of robots in various terrain conditions in the prior art.

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

[0005] A wheel-leg structure for a robot includes a hip joint, a knee joint, and a switching structure arranged sequentially from the root of the leg to the front of the leg; a thigh arm for connecting the hip joint and the knee joint; a lower leg arm connected to the knee joint at its root; a foot structure and a wheel structure disposed below the lower leg arm; the lower leg arm is connected to the foot structure and the wheel structure through the switching structure; the hip joint includes a hip seat fixed to the robot body; a dual-head motor mounted at the root of the thigh arm; the output shaft of the dual-head motor extends vertically to drive and connect to the hip seat.

[0006] Furthermore, the thigh arm includes two thigh supports symmetrically arranged front and rear; the knee joint includes a knee drive shaft and a knee driven shaft parallel to and rotatably connected to the thigh supports, a drive sprocket mounted on the knee drive shaft, a knee drive motor for driving the knee drive shaft to rotate, and a driven sprocket mounted on the knee driven shaft. The drive sprocket and the driven sprocket are connected by a chain. The knee drive shaft and the knee driven shaft are respectively located near the root and tail of the thigh arm, and the root of the lower leg arm is fixed to the knee driven shaft.

[0007] Furthermore, the lower leg arm includes two lower leg frames facing each other, with their roots connected by a lower leg shaft. A connecting seat one and a connecting seat two are symmetrically fixed to the tail of each lower leg frame. A switching seat is provided between the two lower leg frames. The two facing connecting seats one are connected by a connecting shaft one, and the two facing connecting seats two are connected by a connecting shaft two. The root of the lower leg frame is rotatably connected to the knee driven shaft via a bearing. The switching seat is provided with a fixed shaft one and a fixed shaft two. The foot structure and wheel structure are respectively mounted on the switching seat. The switching structure includes a rotating block with one end fixed to the lower leg shaft, a switching electric cylinder one rotatably connected to the rotating block at its head, a switching electric cylinder two rotatably connected to the connecting shaft one at its head and a connecting rod one rotatably connected to the fixed shaft one at its tail, and a connecting rod two rotatably connected to the connecting shaft two at its head and a connecting shaft two at its tail.

[0008] Furthermore, the switching electric cylinder includes an electric cylinder body, a lower cylinder seat rotatably connected to a fixed shaft, an upper cylinder seat rotatably connected to a rotating block, and a spring sleeved on the electric cylinder body. The electric cylinder body is fixed on the lower cylinder seat, and the piston rod head of the electric cylinder body is driven to connect to the upper cylinder seat. The beginning and end of the spring are respectively connected to the upper cylinder seat and the lower cylinder seat.

[0009] Furthermore, the wheel structure includes a wheel rod with its top end fixed to a switching seat, a wheel housing fixed to the bottom end of the wheel rod, a wheel axle that rotatably extends out of the wheel housing, a wheel mounted on the wheel axle, a drive shaft and a wheel drive motor installed inside the wheel housing, a drive gear connected to the output shaft of the wheel drive motor, a driven gear and a drive pulley provided on the drive shaft, a driven pulley installed at the end of the wheel axle that extends into the wheel housing, the drive gear meshing with the driven gear, and the drive pulley and the driven pulley connected by a synchronous belt.

[0010] Furthermore, the wheel rod is an electrically telescopic rod.

[0011] Furthermore, the foot structure includes a foot lever electric cylinder with the piston rod head fixed on the switching seat, and a foot fixed on the foot lever electric cylinder base.

[0012] Furthermore, the piston rod head of the fixed shaft, the electric telescopic rod, and the piston rod head of the foot rod electric cylinder are arranged in a triangular configuration.

[0013] The beneficial effects of this utility model are:

[0014] In practical applications, the robot is fixed to the main body via a hip seat. Dual-head motors rotate the root of the thigh arm, allowing adjustment of the forward and backward direction of the thigh arm. The knee joint allows the lower leg arm to extend or retract. By switching the structure, the robot can switch between a foot structure and a wheel structure depending on the terrain conditions. This invention aims to solve the technical problems of poor adaptability and low mobility of robots in various terrain conditions in the prior art. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0016] Figure 2 This is the front view of this utility model;

[0017] Figure 3 This is a top view of the present invention;

[0018] Figure 4 yes Figure 3 Cross-sectional view at point AA;

[0019] Figure 5 yes Figure 4 A magnified view of a section at point B in the middle;

[0020] Figure 6 yes Figure 4 A magnified view of a section at point C;

[0021] Reference numerals: Hip joint 1; Hip seat 11; Dual-head motor 12; Knee joint 2; Knee drive shaft 21; Knee driven shaft 22; Knee drive motor 23; Driven sprocket 24; Chain 25; Drive sprocket 26; Switching structure 3; Rotating block 31; Switching cylinder one 32; Cylinder body 321; Lower cylinder seat 322; Upper cylinder seat 323; Spring 324; Switching cylinder two 33; Connecting rod one 34; Connecting rod two 35; Thigh arm 4; Thigh bracket 41; Small Leg arm 5; lower leg frame 51; lower leg shaft 52; connecting seat one 53; connecting shaft one 531; connecting seat two 54; connecting shaft two 541; switching seat 55; fixed shaft one 551; fixed shaft two 552; foot structure 6; foot rod electric cylinder 61; foot 62; wheel structure 7; wheel rod 71; wheel housing 72; wheel axle 73; driven pulley 731; wheel 74; transmission shaft 75; driven gear 751; driving pulley 752; wheel drive motor 76; synchronous belt 77. Detailed Implementation

[0022] like Figure 1-6As shown, a wheel-foot structure for a robot includes a hip joint 1, a knee joint 2, and a switching structure 3 arranged sequentially from the root of the leg to the front of the leg; a thigh arm 4 for connecting the hip joint 1 and the knee joint 2; a lower leg arm 5 connected at the root to the knee joint 2; a foot structure 6 and a wheel structure 7 disposed below the lower leg arm 5; the lower leg arm 5 is connected to the foot structure 6 and the wheel structure 7 through the switching structure 3; the hip joint 1 includes a hip seat 11 fixed to the robot body; a dual-head motor 12 installed at the root of the thigh arm 4; the output shaft of the dual-head motor 12 extends vertically to drive and connect to the hip seat 11.

[0023] In use, the robot is fixed to the main body via the hip seat 11. The dual-head motor 12 rotates the root of the thigh arm 4, which can adjust the front-back direction of the thigh arm 4. The knee joint 2 allows the lower leg arm 5 to be extended or retracted. The switching structure 3 allows the use of either the foot structure 6 or the wheel structure 7 to be switched according to the terrain conditions. This utility model is used to solve the technical problems of poor adaptability and low mobility of robots in various terrain conditions in the prior art.

[0024] like Figure 1-6 As shown, the thigh arm 4 includes two thigh supports 41 symmetrically arranged front and rear; the knee joint 2 includes a knee drive shaft 21 and a knee driven shaft 22 parallel and rotatably connected to the thigh supports 41, a drive sprocket 26 mounted on the knee drive shaft 21, a knee drive motor 23 for driving the knee drive shaft 21 to rotate, and a driven sprocket 24 mounted on the knee driven shaft 22. The drive sprocket 26 and the driven sprocket 24 are connected by a chain 25. The knee drive shaft 21 and the knee driven shaft 22 are respectively located near the root and tail of the thigh arm 4, and the root of the lower leg arm 5 is fixed to the knee driven shaft 22. In this embodiment, the knee drive motor 23 causes the knee driven shaft 22 to rotate through the knee drive shaft 21, the drive sprocket 26, the chain 25, and the driven sprocket 24, thereby driving the root of the lower leg arm 5 to rotate, causing the lower leg arm 5 to extend or retract.

[0025] like Figure 1-6As shown, the lower leg arm 5 includes two lower leg frames 51 facing each other. The roots of the two lower leg frames 51 are connected by a lower leg shaft 52. The tail of each lower leg frame 51 is symmetrically fixed with a connecting seat 1 53 and a connecting seat 2 54. A switching seat 55 is provided between the two lower leg frames 51. The two facing connecting seats 1 53 are connected by a connecting shaft 1 531, and the two facing connecting seats 2 54 are connected by a connecting shaft 2 541. The root of the lower leg frame 51 is rotatably connected to the knee driven shaft 22 through a bearing. The switching seat 55 is provided with a fixed shaft 1 551 and a fixed shaft 2 552. The foot structure 6 and the wheel structure 7 are respectively installed on the switching seat 55. The switching structure 3 includes a rotating block 31 with one end fixed to the lower leg shaft 52, a switching electric cylinder 32 rotatably connected to the rotating block 31 at the front end, and the knee driven shaft 22 and the tail end fixedly connected to the front end through a connecting frame. The switching cylinder 33 is rotatably connected to the connecting shaft 531. A connecting rod 34 is rotatably connected to the connecting shaft 531 at its head and to the fixed shaft 551 at its tail. A connecting rod 35 is rotatably connected to the connecting shaft 541 at its head and to the fixed shaft 552 at its tail. In this embodiment, when the piston rod of the switching cylinder 33 extends, the lower leg support 51 slightly reverses about the axis of the knee driven shaft 22, the piston rod of the switching cylinder 32 retracts, causing the tail of the connecting rod 34 to move upwards, and the switching seat 55 slightly reverses, placing the wheel structure 7 on the ground. Conversely, when the piston rod of the switching cylinder 33 retracts, the lower leg support 51 slightly rotates clockwise about the axis of the knee driven shaft 22, the piston rod of the switching cylinder 32 extends, causing the tail of the connecting rod 34 to move downwards, and the switching seat 55 slightly rotates clockwise, causing the wheel structure 7 to lift off the ground and the foot structure 6 to be placed on the ground.

[0026] like Figure 1-6 As shown, the switching electric cylinder 32 includes a cylinder body 321, a lower cylinder seat 322 rotatably connected to a fixed shaft 551, an upper cylinder seat 323 rotatably connected to a rotating block 31, and a spring 324 sleeved on the cylinder body 321. The cylinder body 321 is fixed on the lower cylinder seat 322. The piston rod head of the cylinder body 321 is driven to connect to the upper cylinder seat 323. The beginning and end of the spring 324 are respectively connected to the upper cylinder seat 323 and the lower cylinder seat 322. In this embodiment, the spring 324 makes the extension and retraction of the cylinder body 321 more stable, improving the stability when switching between the foot structure 6 and the wheel structure 7.

[0027] like Figure 1-6As shown, the wheel structure 7 includes a wheel rod 71 with its top end fixed to a switching seat 55, a wheel housing 72 fixed to the bottom end of the wheel rod 71, a wheel axle 73 with one end rotatably extending out of the wheel housing 72, and a wheel 74 mounted on the wheel axle 73. A drive shaft 75 and a wheel drive motor 76 are installed inside the wheel housing 72. A drive gear is driven and connected to the output shaft of the wheel drive motor 76. A driven gear 751 and a drive pulley 752 are provided on the drive shaft 75. A driven pulley 731 is installed at the end of the wheel axle 73 that extends into the wheel housing 72. The drive gear meshes with the driven gear 751, and the drive pulley 752 and the driven pulley 731 are connected by a synchronous belt 77. In this embodiment, the wheel drive motor 76 drives the drive shaft 75 to rotate through the drive gear and the driven gear 751. The drive shaft 75 drives the wheel axle 73 and the wheel 74 to rotate through the drive pulley 752, the synchronous belt 77, and the driven pulley 731.

[0028] like Figure 1-6 As shown, the wheel rod 71 is an electric telescopic rod; in this embodiment, when the wheel rod 71 is an electric telescopic rod, it can raise the robot body and also raise the foot structure 6 away from the ground.

[0029] like Figure 1-6 As shown, the foot structure 6 includes a foot cylinder 61 with the piston rod head fixed on the switching seat 55, and feet 62 fixed on the base of the foot cylinder 61. In this embodiment, the height of the robot body can be adjusted by the foot cylinder 61, and the wheel structure 7 can be moved away from the ground.

[0030] like Figure 1-6 As shown, the fixed shaft 551, the piston rod head of the electric telescopic rod, and the piston rod head of the foot cylinder 61 are arranged in a triangle. In this embodiment, when the fixed shaft 551, the piston rod head of the electric telescopic rod, and the piston rod head of the foot cylinder 61 are arranged in a triangle, the switching effect between the wheel structure 7 and the foot structure 6 is better.

[0031] The specific embodiments described herein are merely illustrative examples of this utility model. Those skilled in the art to which this utility model pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the scope defined by this utility model.

Claims

1. A wheel-foot structure for a robot, characterized in that: It includes a hip joint, a knee joint, and a switching structure arranged sequentially from the root of the leg to the front of the leg; a thigh arm for connecting the hip joint and the knee joint; a lower leg arm connected to the knee joint at its root; a foot structure and a wheel structure disposed below the lower leg arm; and the lower leg arm is connected to the foot structure and the wheel structure through the switching structure. The hip joint includes a hip seat fixed to the robot body and a dual-head motor installed at the root of the thigh arm. The output shaft of the dual-head motor extends vertically to drive and connect to the hip seat.

2. The wheel-foot structure of a robot according to claim 1, characterized in that, The thigh arm includes two thigh supports symmetrically arranged front and rear; the knee joint includes a knee drive shaft and a knee driven shaft parallel to and rotatably connected to the thigh supports, a drive sprocket mounted on the knee drive shaft, a knee drive motor for driving the knee drive shaft to rotate, and a driven sprocket mounted on the knee driven shaft. The drive sprocket and the driven sprocket are connected by a chain. The knee drive shaft and the knee driven shaft are respectively located near the root and tail of the thigh arm, and the root of the lower leg arm is fixed to the knee driven shaft.

3. The wheel-foot structure of a robot according to claim 2, characterized in that, The lower leg arm includes two lower leg frames facing each other, with the bases of the two lower leg frames connected by a lower leg shaft. The tails of the lower leg frames are symmetrically fixed with a first connecting seat and a second connecting seat. A switching seat is provided between the two lower leg frames. The two first connecting seats facing each other are connected by a first connecting shaft, and the two second connecting seats facing each other are connected by a second connecting shaft. The base of the lower leg frame is rotatably connected to the knee driven shaft through a bearing. The switching seat is provided with a first fixed shaft and a second fixed shaft. The foot structure and wheel structure are respectively mounted on the switching seat. The switching structure includes a rotating block with one end fixed to the lower leg shaft, a switching electric cylinder one rotatably connected to the rotating block at the front end, a switching electric cylinder two rotatably connected to the connecting shaft one at the rear end and fixed to the knee driven shaft at the front end via a connecting frame, a connecting rod one rotatably connected to the connecting shaft one at the front end and fixed shaft one at the rear end, and a connecting rod two rotatably connected to the connecting shaft two at the front end and fixed shaft two at the rear end.

4. The wheel-foot structure of a robot according to claim 3, characterized in that, The switching electric cylinder includes an electric cylinder body, a lower cylinder seat rotatably connected to a fixed shaft, an upper cylinder seat rotatably connected to a rotating block, and a spring sleeved on the electric cylinder body. The electric cylinder body is fixed on the lower cylinder seat, and the piston rod head of the electric cylinder body is driven to connect to the upper cylinder seat. The beginning and end of the spring are respectively connected to the upper cylinder seat and the lower cylinder seat.

5. The wheel-foot structure of a robot according to claim 3, characterized in that, The wheel structure includes a wheel rod with its top end fixed to a switching seat, a wheel housing fixed to the bottom end of the wheel rod, a wheel axle that rotatably extends out of the wheel housing, a wheel mounted on the wheel axle, a drive shaft and a wheel drive motor installed inside the wheel housing, a drive gear connected to the output shaft of the wheel drive motor, a driven gear and a drive pulley provided on the drive shaft, a driven pulley installed at the end of the wheel axle that extends into the wheel housing, the drive gear meshing with the driven gear, and the drive pulley and the driven pulley connected by a synchronous belt.

6. The wheel-foot structure of a robot according to claim 5, characterized in that, The wheel rod is an electric telescopic rod.

7. The wheel-foot structure of a robot according to claim 6, characterized in that, The foot structure includes a foot lever electric cylinder with the piston rod head fixed on the switching seat, and a foot fixed on the foot lever electric cylinder base.

8. The wheel-foot structure of a robot according to claim 7, characterized in that, The piston rod head of the fixed shaft, the electric telescopic rod, and the piston rod head of the foot rod electric cylinder are arranged in a triangle.

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