Torque transmission mechanism and robot

Abstract

The application discloses a torque transmission mechanism and a robot, wherein the torque transmission mechanism comprises a frame, a first gear, a first power source, a connecting rod, a second gear, and a support leg. The frame is rotatably installed on a robot body. The first gear is rotatably arranged on the frame. The first power source is installed on the frame and used for driving the first gear to rotate. The first end of the connecting rod is rotatably arranged on the frame. The second gear is rotatably installed on the second end of the connecting rod. The second gear is directly engaged with the first gear or indirectly engaged with the first gear through a transmission structure. The second gear has a connecting portion. The support leg is located below the first gear. The connecting portion of the second gear is connected with the support leg. The second power source is installed on the frame or the robot body and used for driving the frame to rotate relative to the robot body. The torque transmission mechanism of the application can convert the rotary motion of the first power source and the second power source into the swing and kicking action of the support leg, so that the robot can jump.

Description

Technical Field

[0001] This utility model relates to the field of robotics, specifically to a torque transmission mechanism and a robot. Background Technology

[0002] In addition to walking, some existing robot legs are also capable of jumping. There are various mechanisms for achieving jumping, but each has its drawbacks. For example, series elastic drive mechanisms, which use a motor and spring for energy storage, rely on elastic elements for energy storage, resulting in high energy loss, complex control, and susceptibility to fatigue; hydraulic / pneumatic drive mechanisms utilize fluid pressure to generate explosive force, but these systems are bulky, energy-intensive, difficult to maintain, and pose a risk of leakage; tendon drive mechanisms, which mimic biological tendons, use ropes and springs, are lightweight but have poor durability, are prone to wear and breakage, and have limited load capacity; rigid linkage mechanisms (such as four-bar linkages) are structurally stable but heavy, limiting the jumping frequency. Utility Model Content

[0003] This invention addresses the above-mentioned problems and overcomes at least one deficiency by proposing a new torque transmission mechanism and robot.

[0004] The technical solution adopted by this utility model is as follows:

[0005] A torque transmission mechanism for mounting on a robot body, the torque transmission mechanism comprising:

[0006] The frame is used for rotating and mounting on the robot body;

[0007] The first gear is rotatably mounted on the frame;

[0008] A first power source is installed on the frame to drive the first gear to rotate;

[0009] The connecting rod, with its first end rotatably mounted on the frame,

[0010] The second gear is rotatably mounted on the second end of the connecting rod. The second gear directly meshes with the first gear, or the second gear indirectly meshes with the first gear through a transmission structure. The second gear has a connecting part.

[0011] A support foot is located below the first gear, and the connecting part of the second gear is connected to the support foot;

[0012] The second power source is installed on the frame or the robot body to drive the frame to rotate relative to the robot body.

[0013] In one embodiment of the present invention, the second gear directly meshes with the first gear;

[0014] The torque transmission mechanism has a jump-and-retrieve state and a jump-and-deploy state;

[0015] When the torque transmission mechanism is in the take-off and retraction state, the support foot is in contact with the ground, and the first gear is close to the support foot;

[0016] When the torque transmission mechanism is in the take-off and deployment state, the support foot is in contact with the ground, the first gear is away from the support foot, and the second gear is located in the lower middle or lower part of the first gear;

[0017] When the torque transmission mechanism moves from the jump-and-fold state to the jump-and-unfold state, the first power source drives the first gear to rotate, and the second power source drives the frame to rotate relative to the robot body. The rotation directions of the first gear and the frame are opposite. In the vertical direction, the position of the first gear gradually moves upward, and at the same time, the position of the second gear gradually moves upward.

[0018] The torque transmission mechanism of this application uses a gear structure for transmission, which can convert the rotational motion of the first and second power sources into the swinging and pushing-off motion of the supporting foot, thereby achieving a jump. This structural form of the present application has the following advantages:

[0019] By using a gear structure for transmission, the problems of large energy loss, bulky structure or easy damage that are common to existing jumping robots can be solved.

[0020] It has a more compact structure, is more efficient than a pure linkage, and can reduce the effects of inertia;

[0021] The gear set enables precise adjustment of jumping force, simplifying the control logic.

[0022] In one embodiment of the present invention, the second gear indirectly meshes with the first gear;

[0023] The transmission structure is a multi-gear rotatably mounted at the first end of the connecting rod, and the rotation axis of the multi-gear coincides with the rotation axis of the first end of the connecting rod.

[0024] The multi-stage gear has a high-speed stage tooth section and a low-speed stage tooth section arranged coaxially. The low-speed stage tooth section meshes with the first gear, and the high-speed stage tooth section meshes with the second gear.

[0025] The torque transmission mechanism has a jump-and-retrieve state and a jump-and-deploy state;

[0026] When the torque transmission mechanism is in the take-off and retraction state, the support foot is in contact with the ground, and the first gear is close to the support foot;

[0027] When the torque transmission mechanism is in the take-off and deployment state, the support foot is in contact with the ground, the first gear is away from the support foot, the multi-gear is located in the lower middle or lower part of the first gear, and the second gear is located in the lower middle or lower part of the high-speed stage gear.

[0028] When the torque transmission mechanism moves from the jump-and-fold state to the jump-and-unfold state, the first power source drives the first gear to rotate, and the second power source drives the frame to rotate relative to the robot body. The rotation directions of the first gear and the frame are opposite. The multi-gear rotates around its own axis while revolving around the first gear. In the vertical direction, the positions of the first gear, the multi-gear, and the second gear all gradually move upward.

[0029] By setting up multiple gears, torque amplification and efficient energy transfer can be achieved, enabling better jumping movements.

[0030] In practical applications, the preferred choice for each gear is a metal structure. Metal gears have strong impact resistance and can achieve high durability and long service life.

[0031] In this application, a connecting shaft (which can be a hollow shaft structure) is fixed on the frame. The frame is rotatably mounted on the robot body via the connecting shaft. The second power source is used to drive the connecting shaft to rotate around the axis of the connecting shaft.

[0032] The first and second power sources of this application can have various structural forms, such as motor assemblies, rotary air pump assemblies, etc.

[0033] The term "below" in this application is not limited to directly below; it can refer to directly below or diagonally below.

[0034] In one embodiment of this utility model, when the torque transmission mechanism moves from the jumping and retracting state to the jumping and unfolding state, the rotational speed of the first power source is greater than that of the second power source, and in the vertical direction, the multi-gear is always in a lower position than the first gear.

[0035] In this application, "high" and "low" in the low-speed stage gear and the high-speed stage gear are relative concepts. In one embodiment of this utility model, the number of teeth in the low-speed stage gear is greater than the number of teeth in the high-speed stage gear, and the number of teeth in the second gear is greater than the number of teeth in the high-speed stage gear.

[0036] In one embodiment of the present invention, the frame has a cylindrical shaft, and the multi-gear and connecting rod are both mounted on the cylindrical shaft, with the axis of the cylindrical shaft coinciding with the rotation axis of the multi-gear.

[0037] In one embodiment of the present invention, the frame includes two detachably connected sub-frames, and the cylindrical shaft is disposed on at least one sub-frame.

[0038] In one embodiment of the present invention, one end of the connecting part is fixed to the second gear, and the other end extends toward the support foot and is rigidly connected, flexibly connected or rotatably connected to the support foot.

[0039] In practical applications, the support feet can take many forms. For example, they can be surface feet, in which case the connecting part can be rotatably connected to the support feet. Alternatively, they can be point feet, in which case the connecting part can be rigidly or flexibly connected to the support feet.

[0040] This application also discloses a robot, including a robot body and the torque transmission mechanism described above.

[0041] The term "robot" as used in this application is a general term and can refer to various forms of robots, including but not limited to humanoid robots.

[0042] The torque transmission mechanism of this application achieves compound motion through a dual-power source coordinated gear set, which can achieve higher energy transfer efficiency and precise off-ground posture control. Compared with traditional single-motor or spring-powered jumping robots, it has stronger explosive force and more stable landing cushioning ability, making it especially suitable for high jumping requirements in dynamic environments.

[0043] The beneficial effects of this utility model are: the torque transmission mechanism of this application uses a gear structure for transmission, which can convert the rotational motion of the first power source and the second power source into the swinging and pushing action of the supporting foot, thereby realizing a jump. This application has a compact structure and low energy loss. Attached Figure Description

[0044] Figure 1 This is a diagram illustrating the take-off and retraction state;

[0045] Figure 2 This is a diagram showing another angle of the take-off and tuck position;

[0046] Figure 3 This is an exploded view of the take-off and retraction state;

[0047] Figure 4 This is a diagram of the take-off and deployment state;

[0048] Figure 5 This is a diagram showing the take-off and deployment state from another angle;

[0049] Figure 6 This is an exploded view of the take-off and deployment state.

[0050] The labels for the attached figures are as follows:

[0051] 1. Frame; 11. Frame; 111. Cylindrical shaft; 2. First gear; 3. First power source; 31. Output shaft of the first power source; 4. Multi-stage gear; 41. High-speed stage gear; 42. Low-speed stage gear; 5. Connecting rod; 51. First end; 52. Second end; 6. Second gear; 61. Connecting part; 7. Support foot; 8. Second power source; 81. Output shaft of the second power source. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0053] In the description of this application, it should be noted that the terms "inner" and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product is in use. They are used only for the convenience of describing this application and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. Furthermore, the terms "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0054] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "setup" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0055] The present invention will now be described in detail with reference to the accompanying drawings.

[0056] like Figures 1-6 As shown, a torque transmission mechanism is used for mounting on the robot body. The torque transmission mechanism includes:

[0057] Frame 1 is used for rotatable mounting on the robot body;

[0058] The first gear 2 is rotatably mounted on the frame 1;

[0059] The first power source 3 is installed on the frame 1 and is used to drive the first gear 2 to rotate;

[0060] Link 5, the first end 51 of link 5 is rotatably mounted on frame 1.

[0061] The second gear 6 is rotatably mounted on the second end 52 of the connecting rod 5. The second gear 6 indirectly meshes with the first gear 2 through a transmission structure. The second gear 6 has a connecting part 61.

[0062] The support foot 7 is located below the first gear 2, and the connecting part 61 of the second gear 6 is connected to the support foot 7;

[0063] The second power source 8 is installed on the frame 1 or the robot body and is used to drive the frame 1 to rotate relative to the robot body.

[0064] like Figure 2 , 3 As shown in Figures 5 and 6, in this embodiment, the transmission structure is a multi-gear 4 rotatably mounted on the first end 51 of the connecting rod 5, and the rotation axis of the multi-gear 4 coincides with the rotation axis of the first end 51 of the connecting rod 5.

[0065] The multi-stage gear 4 has a high-speed stage tooth 41 and a low-speed stage tooth 42 arranged coaxially. The low-speed stage tooth 42 meshes with the first gear 2, and the high-speed stage tooth 41 meshes with the second gear 6.

[0066] The torque transmission mechanism has a retracted state and a deployable state.

[0067] like Figure 1 , 2 As shown in Figure 3, when the torque transmission mechanism is in the take-off and retraction state, the support foot 7 is in contact with the ground, and the first gear 2 is close to the support foot 7.

[0068] like Figure 4 , 5 As shown in Figure 6, when the torque transmission mechanism is in the take-off and deployment state, the support foot 7 is in contact with the ground, the first gear 2 is away from the support foot 7, the multi-gear 4 is in the middle or lower part of the first gear 2, and the second gear 6 is in the middle or lower part of the high-speed stage tooth section 41.

[0069] When the torque transmission mechanism moves from the jump-and-fold state to the jump-and-unfold state, the first power source 3 drives the first gear 2 to rotate, and the second power source 8 drives the frame 1 to rotate relative to the robot body. The rotation directions of the first gear 2 and the frame 1 are opposite. The multi-gear 4 rotates around its own axis and revolves around the first gear 2. In the vertical direction, the positions of the first gear 2, the multi-gear 4, and the second gear 6 all gradually move upward.

[0070] In this application, a connecting shaft (which can be a hollow shaft structure) is fixed on the frame 1. The frame 1 is rotatably mounted on the robot body via the connecting shaft. The second power source 8 is used to drive the connecting shaft to rotate around the axis of the connecting shaft.

[0071] The first power source 3 and the second power source 8 of this application can have various structural forms, such as motor assembly, rotary air pump assembly, etc.

[0072] The term "below" as used in this application is not limited to directly below; it can be directly below or diagonally below. The term "first end 51" and "second end 52" as used in this application are not limited to the outermost ends of the connecting rod 5.

[0073] The following describes one specific working process of this embodiment in detail with reference to the accompanying drawings:

[0074] like Figure 2 and 3 As described above, before takeoff, the torque transmission mechanism is in the takeoff retracted state; during the takeoff process (moving from the takeoff retracted state to the takeoff unfolded state), see... Figure 5 and Figure 6 The first power source 3 drives the first gear 2 to rotate rapidly counterclockwise, while the second power source 8 drives the frame 1 to rotate clockwise. The multi-gear 4, while rotating clockwise on its own axis due to the first gear 2, is also driven by the frame 1 to revolve around the first gear 2 (clockwise). The high-speed gear 41 of the multi-gear 4 meshes with the second gear 6, causing the second gear 6 to swing counterclockwise around the support leg 7, transmitting the motion to the end. During this process, it remains lower than the first gear 2 in the vertical direction, and the height of the first gear 2 and the frame 1 continuously increases, ultimately converting the rotational motion into a swinging, pushing-off action of the support leg 7. After the support leg 7 generates an instantaneous pushing-off force with the ground, the torque transmission mechanism reaches its maximum before leaving the ground. Figure 5 As shown, after the entire torque transmission mechanism leaves the ground, both power sources rotate in opposite directions, resetting to the take-off and retraction state (not necessarily fully resetting). The purpose of resetting is to concentrate the mass towards the center of mass, reducing the moment of inertia and allowing more energy to be used for vertical translation, thus increasing the jump height. During descent, the first power source drives the first gear 2 to rotate counterclockwise by a certain angle, and the second power source 8 drives the frame 1 to rotate clockwise by a certain angle. This allows the torque transmission mechanism to unfold to a certain angle to cope with the impact upon landing. During landing cushioning, the small forward and reverse rotations of the first power source 3 and the second power source 8 drive the entire torque transmission mechanism to perform a cushioning action to offset the impact.

[0075] In this embodiment, the torque transmission mechanism can achieve the compound motion (rotation + revolution) of the gear set through the coordinated work of the first power source 3 and the second power source 8, thereby optimizing the energy transmission efficiency.

[0076] The torque transmission mechanism of this application uses a gear structure for transmission, which can convert the rotational motion of the first power source 3 and the second power source 8 into the swinging and pushing-off action of the supporting foot 7, thereby achieving a jump. This structural form of the present application has the following advantages:

[0077] By using a gear structure for transmission, the problems of large energy loss, bulky structure or easy damage that are common to existing jumping robots can be solved.

[0078] By setting up a multi-gear 4, torque amplification and efficient energy transfer can be achieved, enabling better jumping movements.

[0079] The structure is more compact and more efficient than pure linkage 5, which can reduce the effects of inertia;

[0080] The gear set enables precise adjustment of jumping force, simplifying the control logic.

[0081] In practical applications, the preferred choice for each gear is a metal structure. Metal gears have strong impact resistance and can achieve high durability and long service life.

[0082] In other embodiments, a transmission structure may be omitted, and the second gear 6 directly meshes with the first gear 2. In this structure, when the torque transmission mechanism is in the take-off and retracted state, the support foot 7 is in contact with the ground, and the first gear 2 is close to the support foot 7; when the torque transmission mechanism is in the take-off and unfolded state, the support foot 7 is in contact with the ground, the first gear 2 is away from the support foot 7, and the second gear 6 is located in the lower middle or lower part of the first gear 2; when the torque transmission mechanism moves from the take-off and retracted state to the take-off and unfolded state, the first power source 3 drives the first gear 2 to rotate, and the second power source 8 drives the frame 1 to rotate relative to the robot body. The rotation directions of the first gear 2 and the frame 1 are opposite. The position of the first gear 2 gradually moves upward in the vertical direction, and simultaneously, the position of the second gear 6 gradually moves upward in the vertical direction. This also achieves the jumping function of this embodiment.

[0083] In this embodiment, when the torque transmission mechanism moves from the jumping and retracting state to the jumping and unfolding state, the rotational speed of the first power source 3 is greater than that of the second power source 8. In the vertical direction, the multi-gear 4 is always in a lower position than the first gear 2.

[0084] In this application, "high" and "low" in the low-speed stage tooth section 42 and the high-speed stage tooth section 41 are relative concepts. In this embodiment, the number of teeth in the low-speed stage tooth section 42 is greater than the number of teeth in the high-speed stage tooth section 41, and the number of teeth in the second gear 6 is greater than the number of teeth in the high-speed stage tooth section 41.

[0085] like Figure 1 , 3As shown in Figures 4 and 6, in this embodiment, the frame 1 has a cylindrical shaft 111, and the multi-gear 4 and connecting rod 5 are both mounted on the cylindrical shaft 111. The axis of the cylindrical shaft 111 coincides with the rotation axis of the multi-gear 4.

[0086] like Figure 3 and 6 As shown, in this embodiment, the frame 1 includes two detachably connected sub-frames 11, and a cylindrical shaft 111 is disposed on at least one sub-frame 11.

[0087] In this embodiment, one end of the connecting part 61 is fixed to the second gear 6, and the other end extends toward the support foot 7 and is rotatably connected to the support foot 7.

[0088] In other embodiments, the other end of the connecting portion 61 may also be rigidly or flexibly connected to the support foot 7.

[0089] In practical applications, the support foot 7 can take many forms, such as a surface foot, in which case the connecting part 61 can be rotatably connected to the support foot 7 (in this embodiment), or a point foot, in which case the connecting part 61 can be rigidly or flexibly connected to the support foot 7.

[0090] like Figure 3 and Figure 6 As shown, in this embodiment, both the first power source 3 and the second power source 8 are motors (which can be motors with gearboxes), and both have output shafts. In practical applications, power can be transmitted through various existing transmission methods, such as gear assemblies, belt assemblies, etc. In this embodiment, the output shaft 31 of the first power source is directly fixed to the first gear 2, and the output shaft 81 of the second power source is used to directly connect to the robot body. This embodiment also discloses a robot, including a robot body and the torque transmission mechanism described in this embodiment.

[0091] The term "robot" as used in this application is a general term and can refer to various forms of robots, including but not limited to humanoid robots.

[0092] The torque transmission mechanism of this application achieves compound motion through a dual-power source coordinated gear set, which can achieve higher energy transfer efficiency and precise off-ground attitude control. Compared with traditional single-motor or spring-powered jumping robots, it has stronger explosive force and more stable landing cushioning ability, and is especially suitable for the high jumping requirements of robots in dynamic environments.

[0093] The above description is only a preferred embodiment of the present utility model and does not limit the scope of patent protection of the present utility model. Any equivalent structural transformations made based on the content of the present utility model specification and drawings, whether directly or indirectly applied to other related technical fields, are similarly included within the scope of protection of the present utility model.

Claims

1. A torque transmission mechanism for mounting on a robot body, characterized in that, The torque transmission mechanism includes: The frame is used for rotating and mounting on the robot body; The first gear is rotatably mounted on the frame; A first power source is installed on the frame to drive the first gear to rotate; The connecting rod, with its first end rotatably mounted on the frame, The second gear is rotatably mounted on the second end of the connecting rod. The second gear directly meshes with the first gear, or the second gear indirectly meshes with the first gear through a transmission structure. The second gear has a connecting part. A support foot is located below the first gear, and the connecting part of the second gear is connected to the support foot; The second power source is installed on the frame or the robot body to drive the frame to rotate relative to the robot body.

2. The torque transmission mechanism as described in claim 1, characterized in that, The second gear meshes directly with the first gear; The torque transmission mechanism has a jump-and-retrieve state and a jump-and-deploy state; When the torque transmission mechanism is in the take-off and retraction state, the support foot is in contact with the ground, and the first gear is close to the support foot; When the torque transmission mechanism is in the take-off and deployment state, the support foot is in contact with the ground, the first gear is away from the support foot, and the second gear is located in the lower middle or lower part of the first gear; When the torque transmission mechanism moves from the jump-and-fold state to the jump-and-unfold state, the first power source drives the first gear to rotate, and the second power source drives the frame to rotate relative to the robot body. The rotation directions of the first gear and the frame are opposite. In the vertical direction, the position of the first gear gradually moves upward, and at the same time, the position of the second gear gradually moves upward.

3. The torque transmission mechanism as described in claim 1, characterized in that, The second gear indirectly meshes with the first gear; The transmission structure is a multi-gear rotatably mounted at the first end of the connecting rod, and the rotation axis of the multi-gear coincides with the rotation axis of the first end of the connecting rod. The multi-stage gear has a high-speed stage tooth section and a low-speed stage tooth section arranged coaxially. The low-speed stage tooth section meshes with the first gear, and the high-speed stage tooth section meshes with the second gear.

4. The torque transmission mechanism as described in claim 3, characterized in that, The torque transmission mechanism has a jump-and-retrieve state and a jump-and-deploy state; When the torque transmission mechanism is in the take-off and retraction state, the support foot is in contact with the ground, and the first gear is close to the support foot; When the torque transmission mechanism is in the take-off and deployment state, the support foot is in contact with the ground, the first gear is away from the support foot, the multi-gear is located in the lower middle or lower part of the first gear, and the second gear is located in the lower middle or lower part of the high-speed stage gear. When the torque transmission mechanism moves from the jump-and-fold state to the jump-and-unfold state, the first power source drives the first gear to rotate, and the second power source drives the frame to rotate relative to the robot body. The rotation directions of the first gear and the frame are opposite. The multi-gear rotates around its own axis while revolving around the first gear. In the vertical direction, the positions of the first gear, the multi-gear, and the second gear all gradually move upward.

5. The torque transmission mechanism as described in claim 4, characterized in that, When the torque transmission mechanism moves from the jumping and retracting state to the jumping and unfolding state, the rotational speed of the first power source is greater than that of the second power source. In the vertical direction, the multi-gear is always in a lower position than the first gear.

6. The torque transmission mechanism as described in claim 3, characterized in that, The number of teeth in the low-speed gear section is greater than the number of teeth in the high-speed gear section, and the number of teeth in the second gear is greater than the number of teeth in the high-speed gear section.

7. The torque transmission mechanism as described in claim 3, characterized in that, The frame has a cylindrical shaft, and the multi-gear and connecting rod are all mounted on the cylindrical shaft. The axis of the cylindrical shaft coincides with the rotation axis of the multi-gear. The frame includes two detachably connected subframes, and the cylindrical shaft is mounted on at least one subframe.

8. The torque transmission mechanism as described in claim 1, characterized in that, The first power source is a motor assembly, and the second power source is a motor assembly.

9. The torque transmission mechanism as described in claim 1, characterized in that, One end of the connecting part is fixed to the second gear, and the other end extends to the support foot and is rigidly, flexibly, or rotatably connected to the support foot.

10. A robot, characterized in that, It includes a robot body and at least one torque transmission mechanism as described in any one of claims 1 to 9.

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