Quadruped robot wheel-foot structure and quadruped robot

Abstract

The utility model discloses a four -legged robot wheel foot structure and four -legged robot relates to four -legged robot technical field, wherein four -legged robot wheel foot structure includes: leg part, drive unit is installed to the bottom one side of leg part, drive wheel is installed to the bottom other side of leg part, connecting piece is connected with drive unit one end, and the other end is connected with drive wheel, wherein, drive unit and connecting piece realize the positioning through concave -convex cooperation structure to be connected through the screw thread connecting piece. Also disclose four -legged robot, including preceding four -legged robot wheel foot structure, the utility model solves the technical problem that wheel foot position motor and tire connecting place stability are poor in the prior art.

Description

Technical Field

[0001] This utility model relates to the field of quadruped robot technology, and in particular to a quadruped robot wheel-foot structure and a quadruped robot. Background Technology

[0002] Quadruped robots are mobile robots with four legs, widely used in rescue, exploration, military, and entertainment fields. Wheel-legged quadruped robots combine the efficiency of wheeled locomotion with the adaptability of legged locomotion, with the wheel-leg structure being a key component, using motors to drive the tires for movement. In the design of quadruped robots, the motor torque requirements differ at different joint locations: the motors at the wheel-leg positions are mainly used to drive the tire rotation, and their required output torque is typically lower than that of other high-load joints (such as the hip and elbow joints).

[0003] Therefore, provided that basic performance parameters (such as speed and power) are met, smaller and lower-cost motors can be used in existing wheel positions to optimize the overall weight of the robot. However, due to the smaller size of the motor, the couplings, flanges or fasteners are also smaller, resulting in insufficient strength at the connection, which can easily lead to problems such as loosening, wear, deformation or even breakage, affecting the reliability of the robot's movement. Utility Model Content

[0004] The purpose of this invention is to provide a quadruped robot wheel and foot structure and a quadruped robot, which solves the technical problem of poor stability at the connection between the motor and the tire at the wheel and foot position in the prior art.

[0005] This application discloses a quadruped robot wheeled leg structure, including: Leg components; A drive unit is installed on one side of the bottom of the leg component; A drive wheel is mounted on the other side of the bottom of the leg component; The connector has one end connected to the drive unit and the other end connected to the drive wheel; The drive unit and the connector are positioned by a convex-concave mating structure and connected by a threaded connector.

[0006] This application designs the connector, which not only achieves positioning and force transmission through a concave-convex mating structure, but also further strengthens it through a threaded connector, thereby ensuring the stability of the connection between the drive unit and the drive wheel.

[0007] Based on the above technical solution, the present application can be further improved as follows: Furthermore, the concave-convex mating structure includes a groove and a protrusion. One of the groove and the protrusion is disposed at the output end of the drive unit, and the other is disposed on the side of the connector facing the drive unit. The beneficial effect of this step is that positioning and force transmission are achieved through the mating form of the groove and the protrusion.

[0008] Furthermore, the concave-convex mating structure includes at least two pairs of grooves and protrusions. The advantage of this step is that multiple pairs of grooves and protrusions can further ensure the stability of the connection.

[0009] Furthermore, in the concave-convex mating structure, at least one pair of grooves and protrusions constitutes a rigid connection; the remaining grooves and protrusions constitute an elastic connection. The beneficial effect of this step is that a stable connection can be achieved while reducing vibration through the combination of elastic and rigid connections.

[0010] Furthermore, the rigid connection is achieved through an interference fit; The elastic connection is achieved by at least one of the following methods: the inner wall of the groove is provided with an elastic layer, or the protrusion is an elastic element, or the outer side of the protrusion is covered with an elastic layer. The beneficial effect of this step is that vibration reduction and energy absorption can be achieved through the elastic layer or the elastic element.

[0011] Furthermore, a through hole is provided at the bottom of the leg component; The connector is a cylindrical component, and the connector passes through the through hole.

[0012] Furthermore, the outer diameter of the connector is smaller than the inner diameter of the through hole. The advantage of this step is that it avoids friction between the connector and the through hole when the connector rotates, thus preventing it from affecting the service life.

[0013] Furthermore, the drive unit is a motor with a flat output end face.

[0014] This application also discloses a quadruped robot, including the aforementioned quadruped robot wheel-leg structure.

[0015] One or more technical solutions provided in the embodiments of this application have at least the following technical effects or advantages: 1. This application provides a connector between the drive unit and the drive wheel to ensure the stability of the connection.

[0016] 2. This application designs the connection method between the drive unit and the connector, which not only has a concave-convex fit structure, but also a threaded connector, thereby further ensuring the stability and strength of the connection.

[0017] 3. This application designs the concave-convex mating structure as a combination of rigidity and elasticity, which can reduce vibration and ensure the stability of the connection. Attached Figure Description

[0018] 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.

[0019] Figure 1 This is a schematic diagram of the wheel-foot structure of a quadruped robot according to a specific embodiment 1 of this utility model; Figure 2 for Figure 1 A structural diagram from another angle; Figure 3 for Figure 1 Schematic diagram of the middle leg component; Figure 4 for Figure 1 A schematic diagram of the mating structure, drive unit, and connectors; The attached figures are labeled as follows: 1-Leg component; 2-Drive unit; 3-Drive wheel; 4-Connector; 5-Match structure; 6-Threaded connector; 7-Through hole; 501 - Groove; 502 - Protrusion. Detailed Implementation

[0020] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative of the present invention and should not be construed as limiting the scope of protection of the present invention. It should be noted that, unless otherwise stated, the technical or scientific terms used in this application shall have the ordinary meaning as understood by one of ordinary skill in the art to which this utility model pertains.

[0021] In the description of this application, it should be understood that the terms "upper", "lower", "top", "bottom", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this 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, and therefore should not be construed as a limitation of this utility model.

[0022] In this application, unless otherwise expressly specified and limited, the terms "installation," "setup," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0023] To better understand the above technical solutions, the following will provide a detailed description of the technical solutions in conjunction with the accompanying drawings and specific embodiments.

[0024] Example 1: like Figure 1-4 As shown in the figure, this application discloses a quadruped robot wheel and foot structure. The design of the robot's feet mainly focuses on improving the connection between the motor and the tire, so as to ensure that the tire can still operate stably after a long period of work.

[0025] like Figure 1 , 2 As shown, its specific structure is as follows, including: Leg component 1, which is an existing quadruped robot leg component, is used to connect other components; Drive unit 2 is installed on one side of the bottom of the leg component 1. Drive unit 2 serves as a power element to provide power. When in use, it is connected to a power source, which is installed in the robot's torso, and will not be described in detail here. The drive wheel 3 is installed on the other side of the bottom of the leg component 1. The drive wheel 3 is an existing component, which facilitates subsequent transportation. Connector 4 is connected at one end to the drive unit 2 and at the other end to the drive wheel 3; The drive unit 2 and the connecting piece 4 are positioned by a convex-concave mating structure 5 and connected by a threaded connecting piece 6. This application improves the connection method between the drive unit 2 and the drive wheel 3 by using a connecting piece 4 for transition connection. When the connecting piece 4 is assembled with the drive unit 2, part of the force is transmitted through the convex-concave mating structure 5, reducing the torque borne by the threaded connecting piece 6 (bolt part) and thus improving stability.

[0026] The concave-convex mating structure 5 can be further explained in the following way: Method 1: The output end of the drive unit 2 has a groove 501, and the connector 4 has a protrusion 502 on the side facing the drive unit. The protrusion 502 and the connector 4 are integrally formed parts. During processing, certain local heat treatment processes can be performed to meet the performance requirements of force transmission, such as... Figure 4 As shown; Method 2: The output end of the drive unit 2 is provided with a protrusion, and the connector 4 is provided with a groove on the side facing the drive unit. In this case, the positioning and matching of the protrusion and the groove can still be achieved.

[0027] The concave-convex mating structure 5 in this application may have several pairs of grooves 501 and protrusions 502, at least two pairs; preferably, the concave-convex mating structure includes two or three pairs of grooves and protrusions.

[0028] In the aforementioned concave-convex mating structure 5, at least one pair of grooves 501 and protrusions 502 form a rigid connection; the remaining grooves 501 and protrusions 502 form an elastic connection. Since the subsequent drive wheel 3 moves stably under the drive of the drive unit 2, at least one pair of grooves 501 and protrusions 502 are mated, which can further ensure the stability of the drive wheel 3's movement.

[0029] Further explanation is given regarding the rigid connection and the flexible connection method. The rigid connection is achieved through an interference fit. The groove 501 and the protrusion 502 are both made of rigid materials, which can ensure stability after the connection is made. The elastic connection is achieved through at least one of the following methods: the inner wall of the groove 501 is provided with an elastic layer, or the protrusion 502 is an elastic element, or the outer side of the protrusion 502 is fitted with an elastic layer. This elastic connection means that at least a portion of the groove 501 and the protrusion 502 is elastic or has an elastic layer. Specifically, it can be categorized into the following situations: ① The inner wall of the groove 501 is provided with an elastic layer; ② The protrusion 502 is an elastic element; ③ The outer side of the protrusion 502 is fitted with an elastic layer; ④ The inner wall of the groove 501 is provided with an elastic layer, and the protrusion 502 is an elastic element; ⑤ The inner wall of the groove 501 is provided with an elastic layer, and the outer side of the protrusion 502 is fitted with an elastic layer; ⑥ The inner wall of the groove 501 is provided with an elastic layer, the protrusion 502 is an elastic element, and the outer side of the protrusion 502 is fitted with an elastic layer.

[0030] In this application, during assembly, the drive unit 2 and the drive wheel 3 are located on both sides of the leg component 1, and then connected by a connector 4. The bottom of the leg component 1 is provided with a through hole 7. like Figure 3As shown, the connector 4 is a cylindrical part, and the connector 4 passes through the through hole 7. Because the connector 4 needs to rotate for a long time, the outer diameter of the connector 4 is smaller than the inner diameter of the through hole 7, which can reduce friction and ensure stability.

[0031] The drive unit 2 is a motor with a flat output end face. The drive unit 2 and the leg component 1 can be fixedly connected by bolts to ensure stability.

[0032] Further explanation is provided regarding this application: The drive unit 2 is a motor with an output end face. The output end face is located near the bottom of the leg component 1 and has an output end that connects to the subsequent connector 4. During subsequent assembly, the drive unit 2 and the drive wheel 3 are located on both sides of the leg component 1 to ensure uniform distribution and prevent one side from being too wide.

[0033] The output end of the drive unit 2 and the connector 4 are detachably connected, including the positioning of the concave-convex mating structure and the positioning and fastening of the subsequent threaded connector; wherein, the concave-convex mating structure can serve as a partial force transmission structure, enabling force transmission between the two, and can bear greater torque, making it more reliable and less prone to damage compared to the original connection method; The concave-convex mating structure in this application has three pairs of grooves and protrusions, which are evenly distributed in a triangular pattern. This allows for a better and more even distribution of the motor's output torque, rather than having the threaded connection bear all the torque. This application uses a flexible connection method, which can reduce the transmission of some vibrations to other components when the motor outputs torque, and has the effect of shock absorption and energy absorption. The outer contour surface of the protrusion has the same shape as the inner contour surface of the groove. The protrusion and the groove are quadrilateral structures, but can also be triangular or other polygonal structures.

[0034] Example 2: This application discloses a quadruped robot, including the quadruped robot wheel-leg structure in Embodiment 1. The quadruped robot also includes other existing components, which will not be described in detail here.

[0035] Numerous specific details are set forth in this specification. However, it will be understood that embodiments of this invention may be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification. In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and not to limit it. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this utility model, and they should all be covered within the scope of the claims and specification of this utility model.

Claims

1. A wheel-foot structure for a quadruped robot, characterized in that, include: Leg component (1); The drive unit (2) is installed on one side of the bottom of the leg component (1); The drive wheel (3) is installed on the other side of the bottom of the leg component (1); The connector (4) is connected at one end to the drive unit (2) and at the other end to the drive wheel (3); The drive unit (2) and the connector (4) are positioned by a convex-concave mating structure (5) and connected by a threaded connector (6).

2. The quadruped robot wheel-foot structure according to claim 1, characterized in that, The concave-convex mating structure (5) includes a groove (501) and a protrusion (502). One of the groove (501) and the protrusion (502) is disposed at the output end of the drive unit (2), and the other is disposed on the side of the connector (4) facing the drive unit (2).

3. The quadruped robot wheel structure according to claim 2, characterized in that, The concave-convex mating structure (5) includes at least two pairs of grooves (501) and protrusions (502).

4. The quadruped robot wheel structure according to claim 3, characterized in that, In the concave-convex mating structure (5), at least one pair of grooves (501) and protrusions (502) constitute a rigid connection; the remaining grooves (501) and protrusions (502) constitute an elastic connection.

5. The quadruped robot wheel structure according to claim 4, characterized in that, The rigid connection is achieved through an interference fit; The elastic connection is achieved by at least one of the following methods: the inner wall of the groove (501) is provided with an elastic layer, or the protrusion (502) is an elastic element, or the outer side of the protrusion (502) is covered with an elastic layer.

6. The quadruped robot wheel structure according to claim 1, characterized in that, The bottom of the leg component (1) is provided with a through hole (7); The connector (4) is a cylindrical part, and the connector (4) passes through the through hole (7).

7. The quadruped robot wheel structure according to claim 6, characterized in that, The outer diameter of the connector (4) is smaller than the inner diameter of the through hole (7).

8. The quadruped robot wheel-foot structure according to claim 1, characterized in that, The drive unit (2) is a motor with a flat output end face.

9. A quadruped robot, characterized in that, Includes the quadruped robot wheel-foot structure as described in any one of claims 1-8.

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