A bindable robot

Abstract

The utility model relates to robot technical field discloses a kind of foot binding robots, including: robot fuselage, leg structure and foot binding structure, and robot fuselage is equipped with leg structure;Foot binding structure includes band, and one end of band is installed on robot fuselage, and the other end can be connected with leg structure to fix leg structure on robot fuselage.The utility model can quickly and reliably fix its leg structure when needing to move wheel-foot robot in non-working state, effectively avoids the inconvenience brought by leg structure drooping and retraction, facilitates the movement of robot, and does not need to manually adjust the position of leg structure before each start.

Description

Technical Field

[0001] This utility model relates to the field of robotics technology, specifically to a robot with adjustable feet. Background Technology

[0002] Wheeled-legged robots, as a hybrid mobile platform combining wheeled and legged locomotion, have significant advantages in adaptability to complex terrain and maneuverability, and are widely used in fields such as inspection, rescue, and logistics. In existing technologies, the leg structure of wheeled-legged robots typically adopts an articulated design, with the extension and retraction of the legs driven by motors or servo motors.

[0003] However, this design has a common problem: when the robot is lifted while it is powered off or not in operation, the legs will naturally droop and retract due to gravity and the degree of freedom of the joint structure, causing the wheel feet to deviate from the initial posture, which is not conducive to the robot's start-up. Utility Model Content

[0004] In view of this, the present invention provides a robot with adjustable legs to solve the problem that when the robot is lifted in a power-off or non-working state, the legs will naturally droop and retract due to gravity and the degree of freedom of the joint structure, causing the wheel feet to deviate from the initial posture.

[0005] In a first aspect, this utility model provides a foot-binding robot, comprising: The robot body is equipped with a leg structure; The foot restraint structure includes a strap, one end of which is mounted on the robot body, and the other end of which can be connected to the leg structure to fix the leg structure to the robot body.

[0006] Beneficial effects: When it is necessary to fix the robot's legs, for example, during transport or power-off storage, the operator can use the straps to form an adjustable binding loop, thereby gathering and fixing the leg structure to the body. This will tightly bind the thighs and calves to the side of the body, preventing them from drooping naturally due to gravity.

[0007] With the aforementioned foot-binding structure, when the wheeled robot needs to be moved while it is not in operation, its leg structure can be quickly and reliably fixed, effectively avoiding the inconvenience caused by the leg structure drooping and retracting, making it convenient to move the robot without having to manually adjust the position of the leg structure before each start-up.

[0008] In one optional embodiment, the foot structure further includes: A first strap fixing unit is disposed on the robot body; The second strap fixing unit is disposed on the leg structure; The strap has one end connected to the first strap fixing unit and the other end connected to the second strap fixing unit, thus fixing the leg structure in a working state.

[0009] In one alternative embodiment, the leg structure includes a thigh and a lower leg, the thigh being mounted on the robot body and the lower leg being hinged to the thigh; The second strap fixing unit is disposed on the lower leg.

[0010] In one optional embodiment, the first strap fixing unit includes: a first strap support arm and a first strap hole, the first strap hole being formed on the robot body, and the first strap support arm being formed on one side of the first strap hole; One end of the strap is fitted onto the first strap support arm.

[0011] In one optional embodiment, the second strap fixing unit includes: a second strap support arm and a second strap hole, the second strap hole being opened on the lower leg, and the second strap support arm being formed on one side of the first strap hole; The end of the strap away from the first strap fixing unit is adapted to pass through the second strap hole and be wrapped around the second strap support arm.

[0012] Beneficial effects: When leg fixation is required, one end of the strap is looped or attached to the first strap arm on the side of the robot's body. Then, the other end of the strap is tightened, wrapped around the folded leg, and passed through the second strap hole on the lower leg before being secured on the second strap arm. This binds the thigh and lower leg to the side of the robot body, preventing them from drooping or retracting due to gravity when not in use.

[0013] The aforementioned structure, by incorporating fixing units with support arms and strap holes on both the robot's body and lower legs, and engaging with straps, forms a reliable and easy-to-operate leg-binding structure. This structure allows for quick folding and securing of the leg structure, effectively preventing the inconvenience caused by the leg structure swinging arbitrarily when handling or moving the robot.

[0014] In one alternative embodiment, both the first strap hole and the second strap hole are waist-shaped holes.

[0015] Beneficial effects: The waist-shaped holes provide a certain dimensional space along their length, allowing for fine-tuning. This enables operators to tighten and secure the straps more flexibly and conveniently, optimizing the binding and securing effect.

[0016] In one optional embodiment, a first buffer slope is provided on the side of the first strap support arm near the first strap hole; The second strap support arm has a second buffer slope on the side near the second strap hole.

[0017] Beneficial effects: During tensioning or loosening, the strap will contact and rub against the first and second strap support arms. The buffer ramp located on the side of the support arm near the strap hole provides a smooth transition surface for the strap. As the strap passes through the strap hole and wraps around the strap support arm, this buffer ramp guides the strap, allowing it to slide more smoothly into and out of the fixed area formed by the strap hole and the support arm, preventing hard collisions or jamming between the strap edge and the sharp angle of the support arm. Furthermore, when the strap is tensioned and pressed against the support arm, the ramp structure can disperse the concentrated stress on the strap, reducing wear in localized areas.

[0018] In one alternative implementation, the strap is a Velcro strap.

[0019] Beneficial effects: The hook and loop fasteners consist of a hook side and a loop side that allow for repeated adhesion and separation. When securing leg structures, the fastener is looped around the second fastener hole, and the hook and loop sides are pressed together to quickly secure and tighten the fastener. The tightness of the fastener can be steplessly adjusted by changing the adhesive position. To loosen, simply apply a separating force to tear the hook and loop sides apart.

[0020] In one alternative embodiment, the robot body is further provided with a receiving cavity for accommodating the strap.

[0021] Beneficial effect: When it is not necessary to use straps to secure the legs, the user can untie the straps, organize them, and tuck them into or press them into the storage cavity provided in the body for storage.

[0022] This effectively prevents the harness from accidentally interfering with other components during robot movement or operation, thus improving the safety and reliability of robot operation.

[0023] In one optional embodiment, a limiting member is provided inside the receiving cavity, the limiting member being used to fix and limit the strap within the receiving cavity. Attached Figure Description

[0024] To more clearly illustrate the specific embodiments of this utility model or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this utility model. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is a schematic diagram of the overall structure of a foot-binding robot according to an embodiment of the present utility model; Figure 2 This is a schematic diagram of the structure of the first strap fixing unit in this embodiment of the present invention; Figure 3 This is a schematic diagram of the structure of the second strap fixing unit in an embodiment of the present invention; Explanation of reference numerals in the attached figures: 1. Robot body; 2. Leg structure; 21. Thigh; 22. Calf; 3. Strap structure; 31. First strap fixing unit; 311. First strap support arm; 312. First strap hole; 32. Second strap fixing unit; 321. Second strap support arm; 322. Second strap hole; 4. Receiving cavity. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0027] Wheeled-legged robots, as a hybrid mobile platform combining wheeled and legged locomotion, have significant advantages in adaptability to complex terrain and maneuverability, and are widely used in fields such as inspection, rescue, and logistics. In existing technologies, the leg structure 2 of wheeled-legged robots typically adopts an articulated design, with the extension and retraction of the legs driven by motors or servo motors.

[0028] However, this design has a common problem: when the robot is lifted while it is powered off or not in operation, the legs will naturally droop and retract due to gravity and the degree of freedom of the joint structure, causing the wheel feet to deviate from the initial posture, which is not conducive to the robot's start-up.

[0029] To solve the above technical problems, the following will be combined with... Figures 1 to 3 The following describes embodiments of the present invention.

[0030] According to an embodiment of the present invention, a foot-binding robot is provided, comprising a robot body 1, a leg structure 2, and a foot-binding structure 3.

[0031] A foot-binding robot includes a robot body 1 and two leg structures 2, which are located on both sides of the robot body 1. The foot-binding structure 3 includes a strap, one end of which is attached to the robot body 1, and the other end is connected to the leg structure.

[0032] When it is necessary to fix the robot's legs, for example, during transport or power-off storage, the operator can use straps to form a flexible binding loop, thereby gathering and fixing the leg structure 2 to the body. This will tightly bind the thigh 21 and lower leg 22 to the side of the body, preventing them from drooping naturally due to gravity.

[0033] With the aforementioned foot restraint structure 3, when the wheeled robot needs to be moved in a non-working state, its leg structure 2 can be quickly and reliably fixed, effectively avoiding the inconvenience caused by the leg structure 2 drooping and retracting, making it convenient to move the robot without having to manually adjust the position of the leg structure 2 before each start-up.

[0034] In one embodiment, two foot-binding structures 3 are provided corresponding to two leg structures 2. The two leg structures 2 are located on both sides of the robot body 1, and the two foot-binding structures 3 are also located on both sides of the robot body 1.

[0035] The specific structure is illustrated by taking one of the foot binding structures 3 and the leg structure 2 as an example. The leg structure 2 includes a thigh 21 and a lower leg 22. The thigh 21 is mounted on the robot body 1, and the lower leg 22 is hinged to the thigh 21.

[0036] The foot fastening structure 3 includes not only the strap but also a first strap fixing unit 31 and a second strap fixing unit 32. The first strap fixing unit 31 is disposed on the robot body 1 and includes a first strap support arm 311 and a first strap hole 312. The first strap hole 312 is located on one side of the robot body 1, and the first strap support arm 311 is formed on one side of the first strap hole 312. The second strap fixing unit 32 is disposed on the lower leg 22 and includes a second strap support arm 321 and a second strap hole 322. The second strap hole 322 is located on the outer side of the lower leg 22, and the second strap support arm 321 is formed on the outer side of the first strap hole 312.

[0037] When leg fixation is required, one end of the strap is looped or attached to the first strap arm 311 on the side of the robot body 1. Then, the other end of the strap is tightened, wrapped around the folded leg, and passed through the second strap hole 322 on the lower leg 22 before being wrapped around the second strap arm 321 for securing. This binds the thigh 21 and lower leg 22 to the side of the robot body, preventing them from drooping or retracting due to gravity when not in use.

[0038] The aforementioned structure, by setting fixing units with support arms and strap holes on the robot body 1 and lower leg 22 respectively, and cooperating with straps, forms a reliable and easy-to-operate foot-binding structure 3. This structure can quickly retract and fix the leg structure 2, effectively avoiding the inconvenience caused by the leg structure 2 swinging randomly when handling or moving the robot.

[0039] In one embodiment, the first strap hole 312 and the second strap hole 322 are waist-shaped holes. The waist-shaped holes provide a certain dimensional space along their length, allowing for fine-tuning. This enables the operator to tighten and secure the straps more flexibly and conveniently, optimizing the binding and securing effect.

[0040] In one embodiment, the first belt support arm 311 is provided with a first buffer slope on the side near the first belt hole 312; the second belt support arm 321 is provided with a second buffer slope on the side near the second belt hole 322.

[0041] During tensioning or loosening, the strap will come into contact and rub against the first strap support arm 311 and the second strap support arm 321. A buffer ramp, located on the side of the support arm near the strap hole, provides a smooth transition surface for the strap. As the strap passes through the strap hole and wraps around the strap support arm, this buffer ramp guides the strap, allowing it to slide more smoothly into or out of the fixed area formed by the strap hole and the support arm, preventing the strap edge from colliding hard with or getting stuck at the sharp angle of the support arm. Furthermore, when the strap is tensioned and pressed against the support arm, the ramp structure can disperse the concentrated stress on the strap, reducing wear in localized areas.

[0042] In one embodiment, the strap is a hook and loop fastener. The hook and loop fastener consists of a hook side and a loop side that can be repeatedly bonded and detached. When securing the leg structure 2, the strap is wrapped around the second strap hole 322, and the hook and loop sides are pressed together to quickly secure and tighten the strap. The tightness of the strap can be steplessly adjusted by adjusting the bonding position. To loosen, simply apply a separating force to tear the hook and loop sides apart.

[0043] In one embodiment, the robot body 1 is also provided with a receiving cavity 4. There are two receiving cavities 4, which are respectively located below the first strap fixing unit 31 in the two foot structures 3. The receiving cavity 4 is used to receive the strap.

[0044] When the straps are not needed to secure the legs, the user can untie them, organize them, and tuck them into or press them into the designated receiving cavity 4 on the robot body for storage. This effectively prevents the straps from accidentally interfering with other components during robot movement or operation, improving the safety and reliability of robot operation.

[0045] Furthermore, a limiting element (not shown in the figure) can be provided in the receiving cavity 4. The limiting element can be a buckle located in the receiving cavity 4 or an end cap located at the opening of the receiving cavity 4, so as to fix and limit the strap in the receiving cavity 4.

[0046] Although embodiments of the present invention have been described in conjunction with the accompanying drawings, those skilled in the art can make various modifications and variations without departing from the spirit and scope of the present invention, and such modifications and variations all fall within the scope defined by the appended claims.

Claims

1. A robot with adjustable legs, characterized in that, include: Robot body (1), the robot body (1) is equipped with leg structures (2); The foot restraint structure (3) includes a strap, one end of which is mounted on the robot body (1), and the other end can be connected to the leg structure (2) to fix the leg structure (2) to the robot body (1).

2. The leg-bound robot according to claim 1, characterized in that, The foot structure (3) also includes: The first strap fixing unit (31) is disposed on the robot body (1); The second strap fixing unit (32) is disposed on the leg structure (2); The strap has one end connected to the first strap fixing unit (31) and the other end connected to the second strap fixing unit (32) to fix the leg structure (2).

3. The leg-bound robot according to claim 2, characterized in that, The leg structure (2) includes a thigh (21) and a lower leg (22), the thigh (21) is mounted on the robot body (1), and the lower leg (22) is hinged to the thigh (21); The second strap fixing unit (32) is disposed on the lower leg (22).

4. The leg-bound robot according to claim 3, characterized in that, The first strap fixing unit (31) includes: a first strap support arm (311) and a first strap hole (312), the first strap hole (312) is opened on the robot body (1), and the first strap support arm (311) is formed on one side of the first strap hole (312). One end of the strap is fitted onto the first strap support arm (311).

5. The legged robot according to claim 4, characterized in that, The second strap fixing unit (32) includes: a second strap support arm (321) and a second strap hole (322), the second strap hole (322) being opened on the lower leg (22), and the second strap support arm (321) being formed on one side of the first strap hole (312); The end of the strap away from the first strap fixing unit (31) is adapted to pass through the second strap hole (322) and be wrapped around the second strap support arm (321).

6. The legged robot according to claim 5, characterized in that, Both the first strap hole (312) and the second strap hole (322) are waist-shaped holes.

7. The legged robot according to claim 5, characterized in that, The first strap support arm (311) is provided with a first buffer slope on the side near the first strap hole (312); The second strap arm (321) is provided with a second buffer slope on the side near the second strap hole (322).

8. The leg-bound robot according to claim 1, characterized in that, The strap is a Velcro strap.

9. The legged robot according to claim 1, characterized in that, The robot body (1) is also provided with a receiving cavity (4), which is used to receive the strap.

10. The legged robot according to claim 9, characterized in that, A limiting member is provided in the receiving cavity (4), and the limiting member is used to fix and limit the strap in the receiving cavity (4).

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