Lower limb folding mechanism and wheeled humanoid robot

Abstract

The utility model discloses a lower limbs folding mechanism and wheeled humanoid robot, lower limbs folding mechanism includes base, first connecting rod, second connecting rod and hip connecting piece, the lower end of base is suitable for installing on the wheeled chassis walking mechanism, one end of first connecting rod is connected with the first joint module of installing in the base, and the other end inner chamber has installed second joint module, one end of second connecting rod is connected with second joint module, and the other end is connected with the third joint module of installing in the inner chamber of hip connecting piece, the output shaft of first joint module, second joint module and third joint module three are all hollow structure, and the connecting hole is set up on first connecting rod, and the outside wall of second connecting rod is equipped with the wire slot, and the accommodating cavity that second connecting rod, hip connecting piece and first connecting rod enclose is suitable for accommodating base when first connecting rod and second connecting rod are all horizontal arrangement. The lower limbs folding mechanism in the utility model is simple in structure, compact, and convenient for cable wiring, and can realize complete folding.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a lower limb folding mechanism and a wheeled humanoid robot. Background Technology

[0002] Compared to humanoid robots with bipedal structures that mimic human legs, humanoid robots with wheeled chassis offer higher mobility, easier control algorithms, and lower structural maintenance. Therefore, humanoid robots with wheeled chassis (i.e., wheeled humanoid robots) have found wider application in real-world factory environments.

[0003] The lower limb folding mechanism of the wheeled humanoid robot is located on top of the wheeled chassis walking mechanism. The wheeled chassis walking mechanism has a built-in mobile power supply, which is suitable for supplying power to the various joint modules in the lower limb mechanism via cables. In the prior art, the lower limb mechanism has a large and complex structure, and it is not convenient for cable routing, resulting in messy and unreasonable cable routing on the lower limb mechanism.

[0004] Lower limb folding mechanisms generally have two forms: upright and folded. When the lower limb folding mechanism is in the folded form, the degree of folding is limited by the distribution of cables on the mechanism, which prevents it from folding completely.

[0005] Furthermore, if the lower limb folding mechanism undergoes frequent shape changes, the cables installed on the lower limb folding mechanism may be worn out, thus creating a safety hazard. Utility Model Content

[0006] This utility model proposes a lower limb folding mechanism and a wheeled humanoid robot to solve the technical problem that the existing lower limb folding mechanism is complex in structure, resulting in messy cable routing and the lower limb folding mechanism cannot be fully folded.

[0007] On one hand, this application discloses a lower limb folding mechanism suitable for installation on a wheeled humanoid robot; the lower limb folding mechanism includes a base, a first link, a second link, and a hip connector; The lower end of the base is adapted to be mounted on top of the wheeled chassis walking mechanism of the wheeled humanoid robot; One end of the first connecting rod is connected to a first joint module installed on the upper end of the inner cavity of the base, and a second joint module is installed in the inner cavity of the other end of the first connecting rod. One end of the second connecting rod is connected to the second joint module, and the other end is connected to the third joint module installed in the inner cavity of the hip connector; The output shafts of the first joint module, the second joint module, and the third joint module are all hollow structures, and the output shafts of all three extend in the left-right direction. The first connecting rod has a connecting hole at one end near the first joint module, which is suitable for connecting the hollow cavity of the output shaft of the first joint module with the hollow cavity of the output shaft of the second joint module. The outer wall of the second connecting rod is provided with a wire groove, which is suitable for connecting the output shaft cavity of the second joint module with the output shaft cavity of the third joint module; The cavity formed by the second link, the hip connector, and the first link is adapted to accommodate the base when both the first and second links are horizontally positioned. Through the cooperation between the first link, the second link, the hip connector, and the various joint modules, cable routing is facilitated while ensuring the lower limb folding mechanism can be fully folded, resulting in a compact structure for the folded lower limb folding mechanism.

[0008] Furthermore, the base includes a base plate, a left bottom shell, and a right bottom shell; The base plate is adapted to be mounted on top of the wheeled chassis walking mechanism; The left bottom shell is bolted to the top of the base plate; The right bottom shell is bolted to the right side of the left bottom shell; the left bottom shell and the right bottom shell together form a first cavity; the first cavity is adapted to communicate with the wire passing hole on the wheel chassis walking mechanism through the wire passing notch on the bottom plate; The first joint module is placed inside the first cavity, and the right end face of the first joint module is spaced apart from the right side wall of the first cavity; the housing of the first joint module is connected to the left bottom shell by bolts; the output axis of the first joint module extends to the left outside the base and is connected to the first connecting rod by bolts. The left bottom shell and / or the right bottom shell are provided with a first limiting pin extending in the left-right direction, and the first connecting rod is provided with a first limiting groove that cooperates with the first limiting pin. By adopting the above solution, the rotation range of the first connecting rod is limited through the cooperation of the first limiting pin and the first limiting groove.

[0009] Furthermore, the first link includes a first left shell and a first right shell that engage with each other; The first right shell is bolted to the right side of the first left shell; the first left shell and the first right shell together form a second cavity; The second joint module is placed inside the second cavity, and the right end face of the second joint module is spaced apart from the right side wall of the second cavity; the housing of the second joint module is connected to the first left housing by bolts; the output axis of the second joint module extends to the left outside the first connecting rod and is connected to the second connecting rod by bolts. An extended left plate is provided at the end of the first left shell away from the second joint module; the extended left plate is placed on the left side of the base and is connected to the output shaft of the first joint module by bolts; the connecting hole is provided on the extended left plate, and the second cavity is adapted to communicate with the hollow cavity of the output shaft of the first joint module through the connecting hole; The first right shell has an extended right plate at the end away from the second joint module; the extended right plate is located on the right side of the base and is connected to the base via a bearing.

[0010] Furthermore, the first link also includes a first mounting plate; The first mounting plate is positioned at the end of the first right housing furthest from the base; the first mounting plate is bolted to the right side of the first right housing, forming a first annular groove between the first mounting plate and the first right housing; the second connecting rod is connected to the first annular groove via a bearing. By employing this scheme, the assembly difficulty between the first right housing and the second connecting rod is reduced through the cooperation between the first mounting plate and the first right housing.

[0011] Furthermore, the second link includes a second left plate and a second right plate; The second left plate is placed to the left of the first connecting rod; one end of the second left plate is connected to the output shaft of the second joint module by a bolt, and the other end is connected to the output shaft of the third joint module. The second right plate is positioned to the right of the first connecting rod; one end of the second right plate is connected to the first connecting rod via a bearing, and the other end is connected to the hip connector via a bearing. The second left plate and / or the second right plate are provided with a second limiting pin, and the first connecting rod is provided with a second limiting groove that cooperates with the second limiting pin; Reinforcing ribs are provided on the left side of the second left plate and the right side of the second right plate, and the reinforcing ribs on the second left plate enclose and form the wire passage groove. By adopting the above solution, the structure of the second left plate is effectively simplified through the formation of the wire passage groove by the reinforcing ribs.

[0012] Furthermore, the right side of the second left plate is connected to the output shaft of the third joint module via a left ring plate; The left side of the second left plate is provided with a cable protection cylinder that is distributed opposite to the left ring plate; the cable protection cylinder is arranged in the left-right direction and extends to the inner ring of the left ring plate; The cable guide groove is adapted to connect with the hollow cavity of the output shaft of the third joint module through the axial hole of the cable protection cylinder. By adopting the above solution and installing the cable protection cylinder, the cable is effectively protected.

[0013] Furthermore, the second link also includes a right ring plate, a second mounting plate, and a third mounting plate; The hip connector is positioned between the second left plate and the second right plate; The right ring plate is bolted to the left side of the second right plate and is located at the end of the second right plate away from the second joint module; The second mounting plate is bolted to the left side of the right ring plate, and the left side of the second mounting plate is provided with a hip limiting pin extending in the left-right direction; the hip connector is provided with a third limiting groove that cooperates with the hip limiting pin. A second annular groove is formed between the right annular plate and the second mounting plate; the hip connector is connected to the second annular groove via a bearing. The third mounting plate is bolted to the right side of the second right plate and is located at the end of the second right plate near the second joint module. A third annular groove is formed between the third mounting plate and the second right plate; the first connecting rod is connected to the third annular groove via a bearing. By adopting the above solution, the assembly difficulty between the first connecting rod and the second right plate is effectively reduced through the cooperation between the third mounting plate and the second right plate.

[0014] Furthermore, the second limiting pin extends in the left-right direction and is positioned on the left side of the second right plate; The second limiting pin is installed in the mounting slot of the second right plate; The second right plate has an operating hole that communicates with the mounting groove. The operating hole extends in the left-right direction, and the third mounting plate covers the operating hole. By using the above solution and providing the operating hole, the difficulty of disassembling the second limiting pin is reduced.

[0015] Furthermore, the hip connector includes a hip housing, a third right plate, and a fourth mounting plate; The hip housing is a hollow cavity with openings at both the left and right ends; The third right plate is bolted to the right side of the hip housing, and the fourth mounting plate is bolted to the right side of the third right plate. A fourth annular groove is formed between the third right plate and the fourth mounting plate; the second connecting rod is connected to the fourth annular groove via a bearing; The third joint module is placed inside the hip housing, and the right end face of the third joint module is spaced apart from the left side wall of the third right plate. The housing of the third joint module is connected to the hip housing by bolts; the output axis of the third joint module extends to the left outside the hip connector and is connected to the second link by bolts. This design reduces the assembly difficulty between the hip housing and the second link through the cooperation between the hip housing, the third right plate, and the fourth mounting plate.

[0016] On the other hand, this application also discloses a wheeled humanoid robot, including a torso, a wheeled chassis walking mechanism, and the aforementioned lower limb folding mechanism; The wheeled chassis walking mechanism has a built-in mobile power supply for power generation; The lower limb folding mechanism is located on the top of the top plate of the wheeled chassis walking mechanism; The top edge of the top plate is provided with a protective barrier, which is arranged around the outer periphery of the lower limb folding mechanism. The torso is connected to the hip connector via corresponding joint modules. Using the above solution, a protective barrier is installed to protect the lower limb folding mechanism.

[0017] By adopting the above technical solution, this utility model has the following beneficial effects compared with the prior art: Through the cooperation between the first link, the second link, the hip connector and each joint module, the lower limb folding mechanism can be fully folded while facilitating cable routing, thus making the lower limb folding mechanism in a folded form compact in structure. The lower limb folding mechanism has a simple and compact structure, which facilitates cable routing and effectively protects the cables; By cooperating with the various joint modules, connecting holes, cable channels, cable notches, base cavity, first link cavity, and hip connector cavity that allow for hollow cable routing, the cables on the lower limb folding mechanism can be routed internally, avoiding cable wear caused by frequent folding of the lower limb folding mechanism, and improving the reliability and lifespan of the mechanism. The base, first link, second link, and hip connector are all modular structures, reducing the difficulty of disassembly, assembly, and maintenance. By setting up an operating hole, the difficulty of disassembling the second limit pin is reduced; By installing a cable protection sleeve, the cable is protected and prevented from being worn out due to frequent folding of the lower limb folding mechanism.

[0018] The above description of the disclosed content and the following description of the embodiments are intended to demonstrate and explain the spirit and principle of the present invention, and to provide a further explanation of the scope of the patent application of the present invention. Attached Figure Description

[0019] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings.

[0020] Figure 1 This is a schematic diagram of the lower limb folding mechanism in this utility model in an upright position; Figure 2 This is a schematic diagram of the lower limb folding mechanism in the folded state of this utility model; Figure 3 This is a partial cross-sectional schematic diagram of the lower limb folding mechanism in this utility model; Figure 4 for Figure 3 Enlarged view of point A in the middle; Figure 5 This is a schematic diagram of the base in this utility model; Figure 6 This is a schematic diagram of the first connecting rod in this utility model; Figure 7 This is a schematic diagram of the second connecting rod in this utility model; Figure 8 This is an exploded view of the hip connector in this utility model; Figure 9 This is a schematic diagram of the routing of the first cable on the lower limb folding mechanism in this utility model; Figure 10 This is a schematic diagram of the lower limb folding mechanism installed on the wheeled chassis walking mechanism in this utility model.

[0021] Explanation of icon numbers: 1. Base; 11. Base plate; 111. Wiring notch; 12. Left bottom shell; 13. Right bottom shell; 14. First limit pin; 2. First connecting rod; 21. First left shell; 211. Extended left plate; 212. Connecting hole; 213. First limiting groove; 22. First right shell; 221. Extended right plate; 222. Second limiting groove; 23. First mounting plate; 24. Cable clamping plate; 3. Second connecting rod; 31. Second left plate; 311. Cable guide groove; 32. Second right plate; 321. Operating hole; 33. Reinforcing rib; 34. Left ring plate; 35. Cable protection cylinder; 36. Right ring plate; 37. Second mounting plate; 371. Hip limit pin; 38. Third mounting plate; 39. Second limit pin; 4. Hip connector; 41. Hip housing; 411. Second through hole; 42. Third right plate; 421. Third limiting groove; 43. Fourth mounting plate; 44. Connecting cover plate; 51. First joint module; 52. Second joint module; 53. Third joint module; 6. Wheeled chassis walking mechanism; 61. Top plate; 611. Cable passage hole; 62. Protective enclosure; 7. First cable. Detailed Implementation

[0022] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification. Although the description of this utility model will be presented in conjunction with preferred embodiments, this does not mean that the features of this utility model are limited to this embodiment. On the contrary, the purpose of describing the utility model in conjunction with the embodiments is to cover other options or modifications that may be derived based on the claims of this utility model. To provide a deep understanding of this utility model, many specific details will be included in the following description. This utility model may also be implemented without using these details. Furthermore, to avoid confusion or obscuring the focus of this utility model, some specific details will be omitted in the description. It should be noted that, without conflict, the embodiments and features in the embodiments of this utility model can be combined with each other.

[0023] In the description of this embodiment, it should be noted that the terms "upper," "lower," "inner," "bottom," 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 that the utility model product is usually placed in during use. They are only for the convenience of describing the utility model and 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 the utility model.

[0024] The terms “first”, “second”, etc., are used only to distinguish descriptions and should not be interpreted as indicating or implying relative importance.

[0025] In the description of this embodiment, it should also be noted that, unless otherwise explicitly specified and limited, the terms "provided with," "set up," "connected," and "linked" 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 mechanical connection or an electrical 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 embodiment based on the specific circumstances.

[0026] Example 1 On the one hand, this embodiment discloses a lower limb folding mechanism, which is suitable for installation on the wheeled chassis walking mechanism 6 of a wheeled humanoid robot, so that the wheeled chassis walking mechanism 6 and the lower limb folding mechanism together constitute the lower limb of the wheeled humanoid robot.

[0027] Please see Figures 1-4As shown, the lower limb folding mechanism includes a base 1, a first connecting rod 2, a second connecting rod 3, and a hip connector 4. The lower end of the base 1 is adapted to be mounted on top of the wheeled chassis walking mechanism 6. A first joint module 51 is mounted on the upper end of the inner cavity of the base 1. One end of the first connecting rod 2 is connected to the first joint module 51. A second joint module 52 is mounted in the inner cavity of the other end of the first connecting rod 2. One end of the second connecting rod 3 is connected to the second joint module 52, and its other end is connected to a third joint module 53 mounted in the inner cavity of the hip connector 4. The output shafts of the first joint module 51, the second joint module 52, and the third joint module 53 are all hollow structures to allow cables to pass through. The output shafts of the first joint module 51, the second joint module 52, and the third joint module 53 all extend in the left-right direction.

[0028] In this embodiment, the wheeled chassis walking mechanism 6 has a built-in mobile power supply, which is suitable for supplying power to each joint module in the lower limb folding mechanism through corresponding cables.

[0029] A connecting hole 212 is provided at one end of the first connecting rod 2 near the first joint module 51. The connecting hole 212 is adapted to connect the output shaft cavity of the first joint module 51 with the output shaft cavity of the second joint module 52 for cable routing. A cable routing groove 311 is provided on the outer wall of the second connecting rod 3. The cable routing groove 311 extends along the length of the first connecting rod 2. The cable routing groove 311 is adapted to connect the output shaft cavity of the second joint module 52 with the output shaft cavity of the third joint module 53 for cable routing.

[0030] Furthermore, the second link 3, the hip connector 4, and the first link 2 together form a receiving cavity. When both the first link 2 and the second link 3 are horizontally positioned (e.g....), Figure 2 As shown, the cavity is used to accommodate the base 1 to save space occupied by the lower limb folding mechanism.

[0031] In this embodiment, when the lower limb folding mechanism is in an upright position, the first link 2, the second link 3, and the hip connector 4 are vertically arranged, and are distributed sequentially from bottom to top. When the lower limb folding mechanism is in a folded position, the first link 2 and the second link 3 are both horizontally arranged, the hip connector 4 is vertically arranged, and the base 1 is placed in the receiving cavity.

[0032] In this embodiment, the lower limb folding mechanism has a simple and compact structure. The connection hole 212, the cable tray 311, and the cooperation between the hollow joint modules facilitate cable routing and effectively protect the cables. The cooperation between the first link 2, the second link 3, the hip connector 4, and the various joint modules allows the lower limb folding mechanism to be fully folded (i.e., both the first link 2 and the second link 3 are horizontally positioned), resulting in a compact structure for the folded lower limb folding mechanism.

[0033] Please see Figure 1 and Figure 9 As shown, the wheeled chassis walking mechanism 6 has a top plate 61 on top. The lower limb folding mechanism is adapted to be mounted on the top plate 61 by bolts. The top plate 61 has cable passage holes 611 for cables to pass through, so that the mobile power supply can supply power to each joint module through cables.

[0034] Please see Figure 1 , Figure 3 and Figure 5 As shown, the base 1 includes a base plate 11 and a bottom shell disposed on top of the base plate 11. The base plate 11 is adapted to be mounted on top of the top plate 61 by bolts. A wire-passing notch 111 is provided on the base plate 11. The wire-passing notch 111 is adapted to communicate with a wire-passing hole 611 on the top plate 61.

[0035] The base shell includes a left base shell 12 and a right base shell 13 that interlock. The left base shell 12 is bolted to the top of the base plate 11. The right base shell 13 is bolted to the right side of the left base shell 12. The left and right base shells 12 and 13 together form a first cavity for accommodating the first joint module 51. In this embodiment, a wire-passing notch 111 is located on the right side of the base plate 11 and is opposite to the bottom opening of the first cavity. The first cavity is adapted to communicate with a wire-passing hole 611 through the wire-passing notch 111 for cable routing.

[0036] The first joint module 51 is placed inside the first cavity. The right end face of the first joint module 51 is spaced apart from the right side wall of the first cavity to allow for cable routing. The housing of the first joint module 51 is connected to the left bottom shell 12 by bolts. The output shaft of the first joint module 51 extends to the left outside the base 1 and is connected to the first connecting rod 2 by bolts.

[0037] Please see Figure 5 and Figure 6 As shown, the left bottom shell 12 is provided with a first limiting pin 14 extending in the left-right direction. The first connecting rod 2 is provided with a first limiting groove 213 that cooperates with the first limiting pin 14 to limit the rotation range of the first connecting rod 2.

[0038] Please see Figure 1 , Figure 3 and Figure 6 As shown, the first connecting rod 2 includes a first left shell 21 and a first right shell 22 that are interlocked. The first right shell 22 is bolted to the right side of the first left shell 21. The first left shell 21 and the first right shell 22 together form a second cavity for accommodating the second joint module 52.

[0039] The second joint module 52 is housed within the second cavity. The right end face of the second joint module 52 is spaced apart from the right side wall of the second cavity to allow for cable routing. The housing of the second joint module 52 is bolted to the first left housing 21. The output shaft of the second joint module 52 extends to the left beyond the first connecting rod 2 and is bolted to the second connecting rod 3.

[0040] An extended left plate 211 is provided at the end of the first left shell 21 away from the second joint module 52. The extended left plate 211 is located on the left side of the left bottom shell 12. The extended left plate 211 is connected to the output shaft of the first joint module 51 by bolts. A first limiting groove 213 is provided on the right side of the extended left plate 211. A connecting hole 212 is provided on the extended left plate 211. The second cavity is adapted to communicate with the hollow cavity of the output shaft of the first joint module 51 through the connecting hole 212. In this embodiment, a cable clamping plate 24 is also detachably provided on the extended left plate 211 for fixing the cable at the connecting hole 212.

[0041] An extended right plate 221 is provided at the end of the first right shell 22 away from the second joint module 52. The extended right plate 221 is located on the right side of the right bottom shell 13 and is connected to the right bottom shell 13 by a bearing.

[0042] Please see Figure 1 , Figure 3 and Figure 7 As shown, the second connecting rod 3 includes a second left plate 31 and a second right plate 32 spaced apart. The second left plate 31 is located on the left side of the first left shell 21. One end of the second left plate 31 is connected to the output shaft of the second joint module 52 by bolts, and the other end of the second left plate 31 is connected to the output shaft of the third joint module 53. The second right plate 32 is located on the right side of the first right shell 22. One end of the second right plate 32 is connected to the first right shell 22 by a bearing, and the other end of the second right plate 32 is connected to the hip connector 4 by a bearing. Reinforcing ribs 33 are provided on the left side of the second left plate 31 and the right side of the second right plate 32. The reinforcing ribs 33 on the second left plate 31 form a wire groove 311.

[0043] Furthermore, to reduce the assembly difficulty between the second right plate 32 and the first right shell 22, a first mounting plate 23 is provided on the right side of the first right shell 22. The first mounting plate 23 is located at the end of the first right shell 22 away from the base 1, and is bolted to the first right shell 22. A first annular groove is formed between the first mounting plate 23 and the first right shell 22 to accommodate the inner ring of the bearing. A third mounting plate 38 is provided on the right side of the second right plate 32. The third mounting plate 38 is bolted to the second right plate 32 and is located at the end of the second right plate 32 near the second joint module 52. The third mounting plate 38 is arranged around the first mounting plate 23. A third annular groove is formed between the third mounting plate 38 and the second right plate 32 to accommodate the outer ring of the bearing. The first annular groove is connected to the third annular groove through a bearing, that is, the second right plate 32 is connected to the first right shell 22 through a bearing.

[0044] Furthermore, to limit the rotational range of the second link 3, please refer to... Figure 4 , Figure 6 and Figure 7 As shown, the second right plate 32 is provided with a second limiting pin 39 extending in the left-right direction. The left side of the first right shell 22 is provided with a second limiting groove 222 that cooperates with the second limiting pin 39.

[0045] Furthermore, the second limiting pin 39 is installed in the mounting groove of the second right plate 32. The second right plate 32 is provided with an operating hole 321 that communicates with the mounting groove. The operating hole 321 extends in the left-right direction. When the second limiting pin 39 is accidentally broken, that is, when the second limiting pin 39 is partially broken in the mounting groove, the operator can use the operating rod to remove the second limiting pin 39 from the second right plate 32. Specifically, the operator inserts the operating rod into the operating hole 321 and uses the operating rod to push the second limiting pin 39 out of the mounting groove, so that the second limiting pin 39 is completely separated from the mounting groove.

[0046] In this embodiment, the third mounting plate 38 is covered on the operating hole 321 to prevent the second limiting pin 39 from accidentally disengaging from the second right plate 32.

[0047] Please see Figure 1 , Figure 3 and Figure 8As shown, the hip connector 4 is positioned between the second left plate 31 and the second right plate 32. The hip connector 4 includes a hip housing 41, a third right plate 42, and a fourth mounting plate 43. The hip housing 41 is a hollow structure with an upper cavity and a lower cavity spaced apart vertically. The upper cavity extends in the front-to-back direction and is a hollow cavity with openings at both ends. The lower cavity is located below the upper cavity and extends in the left-to-right direction, also being a hollow cavity with openings at both ends. The upper and lower cavities are connected through a second through hole 411. The third right plate 42 is bolted to the right side of the hip housing 41 to seal the right end of the lower cavity. The fourth mounting plate 43 is bolted to the right side of the third right plate 42. A fourth annular groove is formed between the third right plate 42 and the fourth mounting plate 43. The second right plate 32 is connected to the fourth annular groove via a bearing, meaning the hip housing 41 is connected to the second right plate 32 via a bearing.

[0048] Furthermore, to reduce the assembly difficulty between the hip housing 41 and the second right plate 32, a right annular plate 36 is provided on the left side of the second right plate 32. Specifically, the right annular plate 36 is bolted to the second right plate 32 and is located at the end of the second right plate 32 away from the second joint module 52. The right annular plate 36 surrounds the fourth mounting plate 43. A second mounting plate 37 is provided on the left side of the right annular plate 36. The second mounting plate 37 is bolted to the left side of the right annular plate 36. A second annular groove is formed between the right annular plate 36 and the second mounting plate 37. The fourth annular groove is used to accommodate the inner ring of the bearing, and the second annular groove is used to accommodate the outer ring of the bearing.

[0049] The fourth annular groove is connected to the second annular groove via a bearing, that is, the hip housing 41 is connected to the second right plate 32 via a bearing.

[0050] Furthermore, in order to limit the rotation range of the hip connector 4, a hip limiting pin 371 extending in the left-right direction is provided on the left side of the second mounting plate 37. A third limiting groove 421 that cooperates with the hip limiting pin 371 is provided on the right side of the third right plate 42.

[0051] The lower cavity is used to accommodate the third joint module 53. The third joint module 53 is placed in the lower cavity of the hip housing 41, and the right end face of the third joint module 53 is spaced apart from the left side wall of the third right plate 42 to allow cables to pass through. The housing of the third joint module 53 is connected to the hip housing 41 by bolts. The output axis of the third joint module 53 extends to the left outside the hip connector 4 and is connected to the second left plate 31 by bolts.

[0052] Furthermore, the right side of the second left plate 31 is connected to the output shaft of the third joint module 53 via the left ring plate 34. A cable protection cylinder 35 is provided on the left side of the second left plate 31, opposite to the left ring plate 34, to prevent the edges of the left ring plate 34 from cutting the cable. The cable protection cylinder 35 is arranged in the left-right direction and extends to the inner ring of the left ring plate 34. The cable groove 311 is adapted to communicate with the hollow cavity of the output shaft of the third joint module 53 through the axial hole of the cable protection cylinder 35.

[0053] Furthermore, a connecting cover plate 44 is provided at the upper end of the hip housing 41.

[0054] In summary, the lower limb folding mechanism in this embodiment has a simple and compact structure, facilitates cable routing, effectively protects the cables, and ensures that the lower limb folding mechanism can be fully folded. The cables on the lower limb folding mechanism can be internally routed to prevent cable wear due to frequent folding, thus improving the reliability and lifespan of the mechanism.

[0055] On the other hand, this embodiment also discloses a wheeled humanoid robot. The wheeled humanoid robot includes a torso, a wheeled chassis walking mechanism 6, and a lower limb folding mechanism.

[0056] The wheeled chassis walking mechanism 6 has a built-in mobile power supply for power generation. Please refer to [link / reference]. Figures 1-2 As shown, the lower limb folding mechanism is located on the top of the top plate 61 of the wheeled chassis walking mechanism 6. The torso is connected to the hip connector 4 (not shown in the figure) through a corresponding joint module. The joint module is installed in the upper cavity of the hip housing 41, and the output shaft of the joint module has a hollow structure.

[0057] Furthermore, a controller is installed inside the torso, and the controller is connected to the mobile power supply inside the first joint module 51, the second joint module 52, the third joint module 53 and the wheeled chassis walking mechanism 6 through corresponding cables.

[0058] In this embodiment, a first cable 7 is provided between the power bank and the controller. (See also...) Figure 9 As shown, the internal wiring of the first cable 7 on the lower limb folding mechanism is as follows: One end of the first cable 7 is connected to the power bank. The other end of the first cable 7 passes through the cable hole 611 and the cable notch 111 in sequence to enter the inner cavity of the base 1. The first cable 7 inside the base 1 extends to the outside of the base 1 through the axial hole of the output shaft of the first joint module 51, and then enters the inner cavity of the first connecting rod 2 through the connection hole 212. The first cable 7 inside the first connecting rod 2 extends to the outside of the first connecting rod 2 through the axial hole of the output shaft of the second joint module 52, and then passes through the cable protection cylinder 35, the left ring plate 34 and the axial hole of the output shaft of the third joint module 53 in sequence through the cable groove 311 to enter the hip connector 4. Finally, the first cable 7 inside the hip connector 4 extends into the torso and is connected to the controller.

[0059] Furthermore, the inner wall of the first left shell 21 is provided with clips for positioning the first cable 7. The second left plate 31 is provided with clips for positioning the first cable 7, and these clips are distributed in the cable guide groove 311.

[0060] Example 2 The difference between this embodiment and Embodiment 1 is that, in this embodiment, a protective barrier 62 is provided at the top edge of the top plate 61. The protective barrier 62 is arranged around the outer periphery of the lower limb folding mechanism. Specifically, when the lower limb folding mechanism is in a folded state, please refer to... Figure 10 As shown, the first link 2 and the second link 3 are both horizontally arranged, and the protective enclosure 62 is arranged around the lower limb folding mechanism to protect the lower limb folding mechanism.

[0061] The above embodiments are merely illustrative of the principles and effects of this utility model and are not intended to limit the scope of this utility model. Any person skilled in the art can modify or alter the above embodiments without departing from the spirit and scope of this utility model. Therefore, all equivalent modifications or alterations made by those skilled in the art without departing from the spirit and technical concept disclosed in this utility model should still be covered by the claims of this utility model.

Claims

1. A lower limb folding mechanism, suitable for mounting on a wheeled humanoid robot, characterized in that, The lower limb folding mechanism includes a base (1), a first link (2), a second link (3), and a hip connector (4). The lower end of the base (1) is adapted to be installed on top of the wheeled chassis walking mechanism (6) of the wheeled humanoid robot; One end of the first connecting rod (2) is connected to the first joint module (51) installed at the upper end of the inner cavity of the base (1), and the other end of the first connecting rod (2) is equipped with a second joint module (52). One end of the second link (3) is connected to the second joint module (52), and the other end is connected to the third joint module (53) installed in the inner cavity of the hip connector (4); The output shafts of the first joint module (51), the second joint module (52) and the third joint module (53) are all hollow structures, and the output shafts of the three extend in the left and right directions. The first connecting rod (2) has a connecting hole (212) at one end near the first joint module (51), which is suitable for connecting the hollow cavity of the output shaft of the first joint module (51) to the hollow cavity of the output shaft of the second joint module (52); The outer wall of the second connecting rod (3) is provided with a wire groove (311), which is suitable for connecting the output shaft cavity of the second joint module (52) with the output shaft cavity of the third joint module (53); The cavity formed by the second link (3), the hip connector (4) and the first link (2) is adapted to accommodate the base (1) when both the first link (2) and the second link (3) are horizontally arranged.

2. The lower limb folding mechanism according to claim 1, characterized in that, The base (1) includes a base plate (11), a left bottom shell (12) and a right bottom shell (13). The base plate (11) is adapted to be mounted on top of the wheeled chassis walking mechanism (6); The left bottom shell (12) is bolted to the top of the bottom plate (11); The right bottom shell (13) is bolted to the right side of the left bottom shell (12); the left bottom shell (12) and the right bottom shell (13) enclose to form a first cavity; the first cavity is adapted to be connected to the wire hole (611) on the wheel chassis walking mechanism (6) through the wire notch (111) on the bottom plate (11); The first joint module (51) is placed in the first cavity, and the right end face of the first joint module (51) is spaced apart from the right side wall of the first cavity; the housing of the first joint module (51) is connected to the left bottom shell (12) by bolts; the output axis of the first joint module (51) extends to the left outside the base (1) and is connected to the first connecting rod (2) by bolts. The left bottom shell (12) and / or the right bottom shell (13) are provided with a first limiting pin (14) extending in the left and right direction, and the first connecting rod (2) is provided with a first limiting groove (213) that cooperates with the first limiting pin (14).

3. The lower limb folding mechanism according to claim 1, characterized in that, The first link (2) includes a first left shell (21) and a first right shell (22) that are interlocked with each other; The first right shell (22) is bolted to the right side of the first left shell (21); the first left shell (21) and the first right shell (22) together form a second cavity; The second joint module (52) is placed in the second cavity, and the right end face of the second joint module (52) is spaced apart from the right side wall of the second cavity; the housing of the second joint module (52) is connected to the first left shell (21) by bolts; the output axis of the second joint module (52) extends to the left outside the first connecting rod (2) and is connected to the second connecting rod (3) by bolts; The first left shell (21) has an extended left plate (211) at one end away from the second joint module (52); the extended left plate (211) is placed on the left side of the base (1) and is connected to the output shaft of the first joint module (51) by bolts; the connecting hole (212) is provided on the extended left plate (211), and the second cavity is adapted to communicate with the hollow cavity of the output shaft of the first joint module (51) through the connecting hole (212); The first right shell (22) has an extended right plate (221) at one end away from the second joint module (52); the extended right plate (221) is located on the right side of the base (1) and is connected to the base (1) by a bearing.

4. The lower limb folding mechanism according to claim 3, characterized in that, The first link (2) also includes a first mounting plate (23); The first mounting plate (23) is placed at the end of the first right shell (22) away from the base (1); the first mounting plate (23) is bolted to the right side of the first right shell (22), and a first annular groove is formed between the first mounting plate (23) and the first right shell (22); the second connecting rod (3) is connected to the first annular groove through a bearing.

5. The lower limb folding mechanism according to claim 1, characterized in that, The second link (3) includes a second left plate (31) and a second right plate (32); The second left plate (31) is placed to the left of the first connecting rod (2); one end of the second left plate (31) is connected to the output shaft of the second joint module (52) by bolts, and the other end is connected to the output shaft of the third joint module (53); The second right plate (32) is placed on the right side of the first connecting rod (2); one end of the second right plate (32) is connected to the first connecting rod (2) through a bearing, and the other end is connected to the hip connector (4) through a bearing; The second left plate (31) and / or the second right plate (32) are provided with a second limiting pin (39), and the first connecting rod (2) is provided with a second limiting groove (222) that cooperates with the second limiting pin (39). The left side of the second left plate (31) and the right side of the second right plate (32) are provided with reinforcing ribs (33), and the reinforcing ribs (33) provided on the second left plate (31) form the wire groove (311).

6. The lower limb folding mechanism according to claim 5, characterized in that, The right side of the second left plate (31) is connected to the output shaft of the third joint module (53) via the left ring plate (34); The left side of the second left plate (31) is provided with a cable protection cylinder (35) that is distributed opposite to the left ring plate (34); the cable protection cylinder (35) is arranged in the left-right direction and extends to the inner ring of the left ring plate (34); The cable guide groove (311) is adapted to communicate with the hollow cavity of the output shaft of the third joint module (53) through the axial hole of the cable protection cylinder (35).

7. The lower limb folding mechanism according to claim 5, characterized in that, The second link (3) also includes a right ring plate (36), a second mounting plate (37) and a third mounting plate (38); The hip connector (4) is positioned between the second left plate (31) and the second right plate (32); The right ring plate (36) is bolted to the left side of the second right plate (32) and is located at the end of the second right plate (32) away from the second joint module (52); The second mounting plate (37) is bolted to the left side of the right ring plate (36), and the left side of the second mounting plate (37) is provided with a hip limiting pin (371) extending in the left and right directions; the hip connector (4) is provided with a third limiting groove (421) that cooperates with the hip limiting pin (371). A second annular groove is formed between the right annular plate (36) and the second mounting plate (37); the hip connector (4) is connected to the second annular groove via a bearing; The third mounting plate (38) is bolted to the right side of the second right plate (32) and is located at one end of the second right plate (32) near the second joint module (52); A third annular groove is formed between the third mounting plate (38) and the second right plate (32); the first connecting rod (2) is connected to the third annular groove through a bearing.

8. The lower limb folding mechanism according to claim 7, characterized in that, The second limiting pin (39) extends in the left-right direction and is located on the left side of the second right plate (32); The second limiting pin (39) is installed in the mounting groove of the second right plate (32); The second right plate (32) is provided with an operation hole (321) that communicates with the mounting groove. The operation hole (321) extends in the left and right direction, and the third mounting plate (38) covers the operation hole (321).

9. The lower limb folding mechanism according to claim 1, characterized in that, The hip connector (4) includes a hip housing (41), a third right plate (42), and a fourth mounting plate (43). The hip shell (41) is a hollow cavity with openings at both the left and right ends; The third right plate (42) is bolted to the right side of the hip housing (41), and the fourth mounting plate (43) is bolted to the right side of the third right plate (42); A fourth annular groove is formed between the third right plate (42) and the fourth mounting plate (43); the second connecting rod (3) is connected to the fourth annular groove through a bearing; The third joint module (53) is placed inside the hip housing (41), and the right end face of the third joint module (53) is spaced apart from the left side wall of the third right plate. The housing of the third joint module (53) is connected to the hip housing (41) by bolts; the output axis of the third joint module (53) extends to the left outside the hip connector (4) and is connected to the second link (3) by bolts.

10. A wheeled humanoid robot, characterized in that, Includes a torso, a wheeled chassis walking mechanism (6), and a lower limb folding mechanism as described in any one of claims 1 to 9; The wheeled chassis walking mechanism (6) has a built-in mobile power supply for power supply; The lower limb folding mechanism is located on the top of the top plate (61) of the wheeled chassis walking mechanism (6); The top edge of the top plate (61) is provided with a protective enclosure (62), which is arranged around the outer periphery of the lower limb folding mechanism; The torso is connected to the hip connector (4) via a corresponding joint module.

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