Wheel-foot structure and robot

Abstract

Provided in the present application are a wheel-foot structure and a robot, the wheel-foot structure being configured to be mounted on one side of a thoracic body structure. The thoracic body structure comprises a first driving member, and the wheel-foot structure comprises a thigh, a rocker, a link, a lower leg and a wheel assembly, wherein one end of the thigh is fixedly connected to a fixing portion of the first driving member, and the other end of the thigh is hinged to a non-end part of the lower leg; one end of the rocker is fixedly connected to a rotating portion of the first driving member, and the other end of the rocker is hinged to one end of the link; and one end of the lower leg is hinged to the other end of the link, and the other end of the lower leg is rotationally connected to the wheel assembly. The robot comprises the thoracic body structure and wheel-foot structures, wherein the thoracic body structure is movably connected to the wheel-foot structures. In the present application, by using equivalent structures of parallel four-bar mechanisms, upward displacement of knee-joint revolute joints of the robot is realized, thereby reducing the inertia of the wheel-foot structures relative to knee joints; moreover, the volume of the overall structure of the robot is reduced.

Description

Wheel-foot structure and robot

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on August 31, 2023, with application number 202311131280.5 and invention name “A wheel-foot structure and robot”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of robotics technology, and more specifically, relates to a wheel-foot structure and a robot. Background Art

[0003] The two-wheeled leg robot is an iteration of the bipedal robot. It abandons the seldom-used ability to adapt to complex terrain, increases the movement speed and stability, and the platform mounted on the two-wheeled leg can realize different functions according to different accessories.

[0004] Most robots in the prior art install motors at joints, which increases the inertia of the entire machine and makes it larger in size. Technical issues

[0005] The purpose of the embodiments of the present application is to provide a wheel-foot structure and a robot to solve the technical problem in the prior art of increasing the inertia of the entire robot by installing motors at the joints of the robot. Technical Solutions

[0006] To achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide a wheel-foot structure for being installed on one side of the chest main structure, the chest main structure includes a first driving member; the wheel-foot structure includes a thigh, a rocker, a connecting rod, a calf and a wheel assembly; one end of the thigh is fixedly connected to the fixed part of the first driving member, and the other end of the thigh is hinged to the non-end part of the calf; one end of the rocker is fixedly connected to the rotating part of the first driving member, and the other end of the rocker is hinged to one end of the connecting rod; one end of the calf is hinged to the other end of the connecting rod, and the other end of the calf is rotatably connected to the wheel assembly.

[0007] Optionally, the connecting rod includes a first straight portion and a second straight portion connected in sequence; the first straight portion and the second straight portion are arranged at an obtuse angle; the first straight portion is hinged to the rocker, and the second straight portion is hinged to the calf.

[0008] Optionally, the thigh includes a frame and a shell; one end of the frame is connected to the fixing part of the first driving member, and the other end of the frame is hinged to the non-end part of the calf; the shell covers the frame to form a accommodating cavity between the shell and the frame, and the rocker and the connecting rod are located in the accommodating cavity.

[0009] Optionally, a cable tie groove is provided on the calf, and the cable tie groove runs from one end of the calf to the other end of the calf.

[0010] Optionally, the cables of the wheel assembly pass through the calf into the cable duct, enter the accommodating cavity through the cable duct, and then pass through the skeleton into the main structure of the thoracic cavity.

[0011] Optionally, the wheel foot structure further includes a wire pressing member, which is arranged in the wire harness groove and / or the accommodating cavity, and is used for crimping the cable.

[0012] Optionally, the wheel assembly includes a wheel, a second drive member and a wheel-foot adapter; the second drive member includes a second drive member fixing portion and a second drive member rotating portion, and the second drive member rotating portion is connected to the wheel; the wheel-foot adapter is used to connect the fixing portion of the second drive member and the calf.

[0013] Optionally, the wheel-foot adapter includes a fixing member and a mounting member; the fixing member has a matching hole, the fixing part of the second driving member is connected to the fixing member, and the rotating part of the second driving member is placed in the matching hole; the mounting member is wrapped around the fixing part of the second driving member, one end of the mounting member is connected to the fixing member, and the other end of the mounting member is fixedly connected to the calf.

[0014] Optionally, the wheel-foot structure further includes a wire covering member, which is detachably connected to the calf at the opening of the wire harness groove to close the wire harness groove.

[0015] The present application also provides a robot comprising the above-mentioned wheel-foot structure and a thoracic main structure; the thoracic main structure is rotatably connected to the wheel-foot structure.

[0016] Optionally, the chest cavity main structure further includes a third driving member; the third driving member is arranged in series with the first driving member; and the rotating part of the third driving member is connected to the fixed part of the first driving member. Beneficial effects

[0017] The beneficial effects of the wheel-foot structure and robot provided in the present application are: compared with the existing technology, in the present application, the thigh, rocker, connecting rod and calf constitute an equivalent structure of a parallel four-bar mechanism, and at the same time, the first end of the thigh is connected to the fixed part of the first driving member; the first end of the rocker is connected to the rotating part of the first driving member, and the first driving member is located in the main structure of the chest cavity. Combined with the equivalent structure of the parallel four-bar mechanism, the upward movement of the robot's knee joint rotation pair is realized, the inertia of the wheel-foot structure relative to the knee joint is reduced, the volume of the overall structure of the robot is compressed, and it is conducive to the miniaturization design of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0019] FIG1 is a schematic diagram of the three-dimensional structure of a wheel-foot structure (excluding the housing) provided in an embodiment of the present application;

[0020] FIG2 is a schematic diagram of the three-dimensional structure of the wheel foot structure (excluding the cover wire member) provided in an embodiment of the present application;

[0021] FIG3 is a schematic diagram of an equivalent structure of a four-bar mechanism in a wheel-foot structure provided in an embodiment of the present application;

[0022] FIG4 is a first perspective structural diagram of a wheel-foot structure provided in an embodiment of the present application;

[0023] FIG5 is a schematic diagram of an exploded structure of a wheel-foot adapter and a second driving member in the wheel-foot structure provided by an embodiment of the present application;

[0024] FIG6 is a second schematic diagram of the three-dimensional structure of the wheel-foot structure provided in an embodiment of the present application;

[0025] FIG7 is a schematic diagram of the three-dimensional structure of a robot provided in an embodiment of the present application;

[0026] FIG8 is a schematic diagram of an exploded structure of the main chest structure of the robot provided in an embodiment of the present application;

[0027] FIG9 is a partial schematic diagram of the main structure of the chest cavity of the robot provided in an embodiment of the present application;

[0028] In the figures, the following reference numerals are designated: 1-chest main structure; 2-wheel-foot structure; 10-chest front panel; 11-chest top cover; 12-image sensor assembly; 13-positioning and navigation assembly; 14-chest left main shell; 15-chest right main shell; 16-chest left cover; 17-chest right cover; 18-third driving member; 19-first mounting member; 191-limiting member; 192-first zeroing hole; 20-connecting bracket; 21-connecting member; 211-protruding structure; 212-second zeroing hole; 22-zeroing auxiliary pin; 100-first driving member; 200-thigh; 201-skeleton; 202-housing; 203-first pressure plate; 300-rocker; 400-connecting rod; 401-first straight portion; 402-second straight portion; 500-calf; 501-cable trough; 502-second cable clamp; 503-cable cover; 600-wheel assembly; 601-wheel; 602-second drive member; 603-wheel-foot adapter; 631-fixing member; 632-mounting member; 633-cable hole; 700-cable. Modes for Carrying Out the Invention

[0029] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0030] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0031] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0032] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0033] The two-wheeled leg robot is an iteration of the bipedal robot. It abandons the seldom-used ability to adapt to complex terrain, increases the movement speed and stability, and the platform mounted on the two-wheeled leg can realize different functions according to different accessories.

[0034] Most robots in the existing technology install motors at the joints, which increases the inertia of the entire machine and makes it larger in size. On the other hand, the wires of the plantar drive wheels are often exposed outside the body, which can easily interfere with the body's movement during complex movements.

[0035] Please refer to Figures 1 and 2 together. The embodiment of the present application provides a wheel-foot structure for installation on one side of the chest main structure 1. Two wheel-foot structures are installed on opposite sides of the chest main structure 1. The wheel-foot structure cooperates with the chest main structure 1 to realize the robot's forward movement, jump, backward movement, and other movements. The chest main structure 1 includes a first driving member 100; the wheel-foot structure includes a thigh 200, a rocker 300, a connecting rod 400, a shank 500, and a wheel assembly 600; one end of the thigh 200 is fixedly connected to the fixed portion of the first driving member 100, and the other end of the thigh 200 is hinged to the non-end portion of the shank 500; one end of the rocker 300 is fixedly connected to the rotating portion of the first driving member 100, and the other end of the rocker 300 is hinged to one end of the connecting rod 400; one end of the shank 500 is hinged to the other end of the connecting rod 400, and the other end of the shank 500 is rotatably connected to the wheel assembly 600.

[0036] In this embodiment, after the first driving member 100 is energized, the rotating part of the first driving member 100 rotates, driving the rocker 300 to rotate, and then driving the connecting rod 400 to swing; the connecting rod 400 is hinged to the calf 500, driving the calf 500 to swing, thereby cooperating with the chest main structure 1 to realize the jumping action of the robot.

[0037] Compared with the prior art, the wheel-foot structure provided in the present application is as follows: in the present application, the thigh 200, the rocker 300, the connecting rod 400 and the calf 500 constitute an equivalent structure of a parallel four-bar mechanism, and at the same time, the first end of the thigh 200 is connected to the fixed part of the first driving member 100; the first end of the rocker 300 is connected to the rotating part of the first driving member 100, and the first driving member 100 is located in the chest main structure 1. Combined with the equivalent structure of the parallel four-bar mechanism, the upward movement of the robot's knee joint rotation pair is realized, the inertia of the wheel-foot structure relative to the knee joint is reduced, the volume of the overall structure of the robot is compressed, and it is conducive to the miniaturization design of the robot.

[0038] In one embodiment of the present application, referring to FIG3 , the connecting rod 400 includes a first straight portion 401 and a second straight portion 402 connected in sequence; the first straight portion 401 and the second straight portion 402 are arranged at an obtuse angle; the first straight portion 401 is hinged to the rocker 300 , and the second straight portion 402 is hinged to the calf 500 .

[0039] In one embodiment of the present application, referring to Figures 1 and 3 , the first straight portion 401 and the second straight portion 402 of the connecting rod 400 are arranged at an obtuse angle, making the connecting rod 400 as a whole a bent rod. While the connecting rod 400 in the prior art is typically a straight rod, this embodiment uses a bent rod as the connecting rod 400, which, together with the thigh 200, the rocker 300, and the calf 500, forms an equivalent structure of a parallelogram. Compared to a straight rod, the bent rod can further reduce the angle between the rocker 300 and the connecting rod 400, thereby increasing the original motion space due to mechanical structural limitations and further improving the range of motion of the robot when squatting. As shown in Figure 3 , A in the figure represents the angle between the rocker 300 and the connecting rod 400 in this embodiment, and B in the figure represents the angle between the rocker 300 and the connecting rod 400 in the prior art. It can be intuitively seen from the figure that A is smaller than B.

[0040] In one embodiment of the present application, the first end of the rocker arm 300 is provided with a plurality of through holes, and the rotating part of the first driving member 100 is provided with a plurality of threaded holes corresponding to the through holes. The connection between the rocker arm 300 and the rotating part of the first driving member 100 is achieved by screwing bolts into the through holes and the threaded holes.

[0041] In one embodiment of the present application, a pin hole is provided at the second end of the rocker arm 300, and an assembly hole is provided at the first end of the connecting rod 400, in which a bushing is provided. By inserting a pin shaft into the pin hole and the bushing, the connecting rod 400 and the rocker arm 300 are hinged, wherein the pin hole and the pin shaft have an interference fit, and the pin shaft and the bushing can rotate relative to each other. The pin shaft can be used in conjunction with an E-type retaining spring to limit the axial movement of the pin shaft.

[0042] In one embodiment of the present application, a pin hole is provided at the first end of the calf 500, and an assembly hole is provided at the second end of the connecting rod 400, in which a bushing is provided. By inserting a pin shaft into the pin hole and the bushing, the connecting rod 400 and the calf 500 are hinged, wherein the pin hole and the pin shaft have an interference fit, and the pin shaft and the bushing can rotate relative to each other. The pin shaft can be used in conjunction with an E-type retaining spring to limit the axial movement of the pin shaft.

[0043] In one embodiment of the present application, referring to FIG4 , the thigh 200 includes a skeleton 201 and a shell 202; one end of the skeleton 201 is connected to the fixed portion of the first driving member 100, and the other end of the skeleton 201 is hinged to the non-end portion of the calf 500; the shell 202 covers the skeleton 201, so that a receiving cavity is formed between the shell 202 and the skeleton 201, and the rocker 300 and the connecting rod 400 are located in the receiving cavity.

[0044] Specifically, the edge of the frame 201 is provided with multiple threaded holes, and the edge of the housing 202 is provided with multiple countersunk holes corresponding to the threaded holes. Bolts are screwed into the countersunk holes and the threaded holes to achieve the connection between the housing 202 and the frame 201. The first end of the frame 201 is provided with multiple through holes, and the fixing portion of the first driving member 100 is provided with multiple threaded holes corresponding to the through holes. Bolts are screwed into the through holes and the threaded holes to achieve the connection between the frame 201 and the fixing portion of the first driving member 100.

[0045] Furthermore, after the shell 202 is connected to the frame 201 by bolts, a hole plug can be placed in the countersunk hole so that the upper surface of the hole plug is flush with the outer surface of the shell 202. On the one hand, it can avoid dust accumulation in the countersunk hole causing problems such as bolt rust, and on the other hand, it can also improve the aesthetics of the shell 202.

[0046] In one embodiment of the present application, a pin hole is provided at the second end of the skeleton 201, and an assembly hole is provided in the middle of the calf 500, in which a bearing is provided. By inserting a pin shaft into the pin hole and the bearing, the thigh 200 and the calf 500 are hinged, wherein the pin hole and the pin shaft have an interference fit, the pin shaft has an interference fit with the hole of the inner ring of the bearing, and the outer ring of the bearing has an interference fit with the assembly hole. The pin shaft can be used in conjunction with a locking bolt to limit the axial movement of the pin shaft.

[0047] In one embodiment of the present application, referring to FIG. 2 , a cable duct 501 is provided on the calf 500 , and the cable duct 501 extends from a first end of the calf 500 to a second end of the calf 500 .

[0048] In this embodiment, a cable duct 501 is provided on the calf 500 , and the cable 700 can be buried in the cable duct 501 , which protects the cable 700 while preventing the cable 700 from interfering with the movement of the wheel-foot structure.

[0049] In one embodiment of the present application, referring to FIG. 2 , the cables of the wheel assembly 600 pass through the calf 500 into the cable duct 501 , enter the accommodating cavity through the cable duct 501 , and then pass through the skeleton 201 into the chest cavity main structure 1 .

[0050] In one embodiment of the present application, the wheel foot structure further includes a wire pressing member, which is disposed in the cable bundle groove 501 and / or the accommodating cavity, and the wire pressing plate is used for crimping cables.

[0051] In this embodiment, please refer to Figure 1 and Figure 2 together. The wire pressing member includes a first wire pressing plate 203 and a second wire pressing plate 502; the first wire pressing plate 203 is arranged in the accommodating cavity, and the first wire pressing plate 203 is connected to the skeleton 201 so that the cable 700 is crimped between the first wire pressing plate 203 and the skeleton 201.

[0052] Specifically, the position of the first cable pressing plate 203 is determined based on the routing of the cable 700. The cable 700 enters the accommodating cavity from the calf 500 and then enters the interior of the thoracic main structure 1 from the accommodating cavity, generally following the shortest path. It is understood that multiple first cable pressing plates 203 may be provided to ensure that the cable 700 can fully fit the skeleton 201 within the accommodating cavity.

[0053] In this embodiment, the first wire pressing plate 203 is provided to fix the cable 700 passing through the accommodating cavity, thereby preventing the cable 700 from interfering with the movement of components such as the connecting rod 400 and the rocker 300 when the wheel-foot structure moves.

[0054] The second wire pressing plate 502 is disposed in the cable duct 501 , and the second wire pressing plate 502 is connected to the calf 500 , so that the cable 700 is crimped between the second wire pressing plate 502 and the calf 500 .

[0055] In this embodiment, the second wire pressing plate 502 is provided to fix the cable 700 passing through the wire trough 501, thereby preventing the cable 700 from shaking in the wire trough 501 when the wheel foot structure moves, thereby reducing interference of the cable 700 on the movement of the wheel foot structure.

[0056] In one embodiment of the present application, referring to FIG2 , the wheel assembly 600 includes a wheel 601 , a second driving member 602 and a wheel-foot adapter 603 ; the rotating portion of the second driving member 602 is connected to the wheel 601 ; the wheel-foot adapter 603 is used to connect the fixed portion of the second driving member 602 and the calf 500 .

[0057] In one embodiment of the present application, please refer to Figure 5, the wheel-foot adapter 603 includes a fixing member 631 and a mounting member 632; the fixing member 631 has a matching hole, the fixing portion of the second driving member 602 is connected to the fixing member 631, and the rotating portion of the second driving member 602 is placed in the matching hole; the mounting member 632 is wrapped around the fixing portion of the second driving member 602, one end of the mounting member 632 is connected to the fixing member 631, and the other end of the mounting member 632 is fixedly connected to the calf 500.

[0058] In this embodiment, the wheel-foot adapter 603 is provided, which not only facilitates the connection between the wheel assembly 600 and the calf 500, but also protects the second driving member 602 to prevent the second driving member 602 from being exposed.

[0059] In one embodiment of the present application, referring to FIG. 5 , a wire hole 633 is provided at one end of the mounting member 632 connected to the calf 500 , and the wire hole 633 is communicated with the cable tie groove 501 .

[0060] In this embodiment, the cable 700 can be directly inserted into the cable groove 501 of the calf 500 by providing the cable hole 633 , thereby preventing the cable 700 from being exposed.

[0061] In one embodiment of the present application, referring to FIG. 6 , the wheel-foot structure further includes a wire cover 503 , which is connected to the calf 500 at the opening of the wire harness slot 501 to close the wire harness slot 501 .

[0062] In this embodiment, the wire covering member 503 can be a plate-shaped structure. By setting the wire covering member 503, the wire harness groove 501 can be closed, which can prevent dust accumulation in the wire harness groove 501 on the one hand, and improve the aesthetics of the calf 500 on the other hand.

[0063] The wiring scheme of the wheel-foot structure in this embodiment is as follows: the cable 700 enters the accommodating cavity of the thigh 200 from the through hole of the skeleton 201, and is fixed by the first wire pressing plate 203 to avoid interfering with the movement space of the connecting rod 400; a cable duct 501 is opened inside the calf 500, and the cable 700 is buried in the cable duct 501 of the calf 500 with the help of the wire covering member 503, and is connected to the second driving member 602 through the wire hole 633 of the end of the calf 500 and the wheel-foot adapter 603 to complete the wiring.

[0064] The transmission process of the wheel-foot structure in this embodiment is as follows: the skeleton 201 is installed on the fixed part of the first driving member 100, and the rocker 300 is installed on the rotating part of the first driving member 100. After the first driving member 100 is powered on, the thigh 200 and the rocker 300 rotate relative to each other. The parallelogram mechanism, as a telecentric mechanism, will transmit the above-mentioned rotational motion to the hinge of the calf 500 and the skeleton 201 through the connecting rod 400, thereby realizing the rotation of the knee joint.

[0065] The present application also provides a robot, please refer to Figure 7, which includes the above-mentioned wheel-foot structure 2 and a chest main structure 1; the chest main structure 1 is rotatably connected to the wheel-foot structure 2.

[0066] In one embodiment of the present application, please refer to Figure 8, the chest cavity main structure 1 also includes a third driving member 18; the third driving member 18 is arranged in series with the first driving member 100; the rotating part of the third driving member 18 is connected to the fixed part of the first driving member 100.

[0067] The chest cavity main structure 1 includes a chest cavity shell component, a drive component located in the chest cavity shell component, and an installation component that installs the drive component across the opposite sides of the chest cavity shell component; the drive component includes a third drive member 18 and a first drive member 100 connected in series, and the rotating part of the third drive member 18 is fixedly connected to the fixed part of the first drive member 100; the installation component includes a connecting bracket 20, two first mounting members 19 and a second mounting member installed on the connecting bracket 20, the two first mounting members 19 are respectively fixedly connected to the opposite sides of the chest cavity shell component, the fixed part of the third drive member 18 is fixedly connected to the second mounting member, the rotating part of the first drive member 100 passes through one of the first mounting members 19, and the connecting bracket 20 is installed across the opposite sides of the chest cavity shell component through the first mounting member 19.

[0068] In this embodiment, the connecting bracket 20 is installed across the opposite sides of the chest shell assembly through the first mounting member 19, and the fixed part of the third driving member 18 of the driving assembly is connected to the connecting bracket 20 through the second mounting member, and the fixed part of the third driving member 18 is relatively fixedly connected to the chest shell assembly through the second mounting member and the connecting bracket 20. Because the first driving member 100 and the third driving member 18 are connected in series, the position of the first driving member 100 and the chest shell assembly is also relatively fixed. In this way, the present application realizes the installation of the driving member across the chest shell assembly through the mounting assembly, and the driving member is suspended in the chest shell assembly. There is no need to set up an additional seat to support the driving member, nor is there any need to set up an additional bearing between the third driving member 18 and the first driving member 100. At the same time, the driving member is suspended in the chest shell assembly to form the core weight of the chest main structure 1. Other components that need to be set in the chest shell assembly can be set around this core, so that the structural layout is reasonable and miniaturization is effectively achieved through layout design.

[0069] Specifically, the first mounting member 19 is provided with a mounting hole, through which bolts are inserted to connect to the chest shell assembly. The second mounting member is annular. The second mounting member is perpendicular to each connecting bracket 20. The rotation axis of the third driving member 18 coincides with the center of the annular shape of the second mounting member. The connecting member 21 is annular and perpendicular to each connecting bracket 20. The rotation axis of the first driving member 100 coincides with the center of the annular shape of the connecting member 21.

[0070] In one embodiment of the present application, the rotating part of the third driving member 18 is fixedly connected to the fixed part of the first driving member 100 by a connecting member 21; the connecting member 21 includes a first mounting portion mounted on the rotating part of the third driving member 18 and a second mounting portion extending from the outer periphery of the first mounting portion toward the fixed part of the first driving member 100 and wrapped around one end of the fixed part of the first driving member 100, and one end of the rotating part of the first driving member 100 extends into the second mounting portion.

[0071] In this embodiment, the design of the connecting member 21 realizes the connection between the third driving member 18 and the first driving member 100. At the same time, the second mounting portion wraps one end of the fixed portion of the first driving member 100 and allows one end of the rotating portion of the first driving member 100 to extend therein, so that the core driving structure of the thoracic main structure 1 occupies less space in the axial direction, making the thoracic main structure 1 smaller in thickness and more miniaturized. At the same time, the second mounting portion can also play a positioning role in the installation of the first driving member 100, ensuring that the rotation axis of the third driving member 18 and the rotation axis of the first driving member 100 are on the same straight line.

[0072] In one embodiment of the present application, please refer to Figure 8, there are two drive assemblies, the two drive assemblies are arranged on an axis, the third drive members 18 in the two drive assemblies are close to each other, the first drive members 100 of the two drive assemblies are away from each other, and the rotating parts of the two first drive members 100 pass through the two first mounting members 19 respectively; there are two second mounting members, and the fixed parts of the two third drive members 18 are fixedly connected to the two second mounting members respectively.

[0073] This embodiment utilizes two annular second mounting members and a connecting member 21 to mount the third driver 18 and the first driver 100 within the mounting space formed by the connecting bracket 20, facilitating a lightweight design. The two first mounting members 19, the multiple connecting brackets 20 spanning between the two first mounting members 19, and the second mounting member and connecting member 21 disposed between the two first mounting members 19 collectively form the core mounting components of the thoracic main structure 1. Each connecting bracket 20 utilizes a hollow, lightweight design principle, reducing weight while maintaining structural mechanical properties.

[0074] Specifically, the fixed part of the third driving member 18 is assembled with the second mounting member by screws; one side of the connecting member 21 is connected to the rotating part of the third driving member 18 by screws, and the other side of the connecting member 21 is connected to the threaded hole of the fixed part of the first driving member 100 by screws. Through the above connection, the power of the third driving member 18 can be transmitted to the fixed part of the first driving member 100, thereby realizing the movement of the thigh part of the leg-shaped structure driven by the inner third driving member 18. The power distribution of the entire chest cavity main structure 1 is symmetrical on the left and right, and all related parts are symmetrical and universal. The power connection and fixation on the left and right sides are completed by assembling the four connecting brackets 20 with the second mounting members on the left and right sides by screws, and then the first mounting members 19 on both sides are respectively assembled to the corresponding holes of the four connecting brackets 20 by screws to realize the core structure support of the chest cavity main structure 1.

[0075] Specifically, the connecting bracket 20 is a hollow long frame structure, which is provided with multiple weight-reducing openings. The size and number of the weight-reducing openings can be set on the basis that the connecting bracket 20 meets the structural mechanical strength. The connecting bracket 20 adopts a hollow long frame structure, which is conducive to meeting the design requirements of lightweight overall structure.

[0076] For example, the connecting bracket 20 has a weight-reducing opening between the first mounting member 19 and its adjacent second mounting member, and two weight-reducing openings between the two second mounting members. The frame bars of the frame structure of the connecting bracket 20 can have uniform or unequal widths. It is understood that while meeting structural strength requirements, the width of the frame bars can be as narrow as possible. The narrower the width, the lighter the connecting bracket 20.

[0077] In one embodiment of the present application, the connecting bracket 20 includes a first portion connected between the two second mounting members and a second portion connected between the first mounting member 19 and the second mounting member. The first portion is closer to the rotation axis of the drive assembly than the second portion.

[0078] In this embodiment, the first portion of the connecting bracket 20 is closer to the rotation axis of the driving assembly than the second portion, which can make the connecting bracket 20 and the driving assembly more compact, save space, and facilitate the miniaturization design of the overall structure.

[0079] Specifically, the first part and the second part of the connecting bracket 20 are arranged in a stepped shape, that is, the first part of the connecting bracket 20 is sunken relative to the second part, and other components are arranged in the sunken part, which can effectively free up more installation space.

[0080] Multiple connecting brackets 20 are provided, and the multiple connecting brackets 20 are arranged around the periphery of the drive assembly. In one embodiment of the present application, the functional components include a battery assembly, a motherboard assembly, a hashboard assembly, and a power board assembly; the battery assembly, motherboard assembly, hashboard assembly, and power board assembly are respectively mounted on corresponding connecting brackets 20 and located outside the space; the battery assembly and the power board assembly are arranged opposite each other, and the hashboard assembly and the motherboard assembly are arranged opposite each other.

[0081] Specifically, the mounting assembly includes four connecting brackets 20, and the four connecting brackets are respectively located at the front, rear, top and bottom of the mounting assembly; wherein, the power board assembly and the battery assembly are respectively mounted on the connecting brackets 20 located at the top and bottom of the mounting assembly; the computing board assembly and the mainboard assembly are respectively mounted on the connecting brackets 20 located at the front and rear of the mounting assembly.

[0082] The chest cavity shell assembly includes two chest cavity shells that are docked to form a accommodating cavity. In this embodiment, please refer to Figure 8. The two chest cavity shells are a left chest cavity main shell 14 and a right chest cavity main shell 15; the left chest cavity main shell 14 is provided with multiple first hollow portions; the right chest cavity main shell 15 is provided with multiple second hollow portions.

[0083] In one embodiment of the present application, the chest cavity shell assembly further includes two chest cavity side covers, which are detachably connected to the two chest cavity shells, and the two chest cavity side covers respectively cover the hollow portions on the two chest cavity shells.

[0084] In this embodiment, the two chest cavity side covers are respectively the left chest cavity cover 16 and the right chest cavity cover 17; the left chest cavity cover 16 is detachably connected to the left chest cavity main shell 14 so that the left chest cavity cover 16 covers the first hollow portion; the right chest cavity cover 17 is detachably connected to the right chest cavity main shell 15 so that the right chest cavity cover 17 covers the second hollow portion.

[0085] In one embodiment of the present application, two chest shells are docked to close the bottom of the chest shell assembly, the front, rear and top of the chest shell assembly are hollowed out, and a support column is set at the hollow position between the two chest shells.

[0086] The support column can be set in the front hollow part of the chest shell assembly, or in the rear hollow part of the chest shell assembly, or in the top hollow part of the chest shell assembly, or even in all or part of these parts.

[0087] In this embodiment, the provision of support columns can further stabilize the assembly structure of the left and right thoracic main shells 14, 15, and reduce the possibility of external forces causing compression and deformation of the left and right thoracic main shells 14, 15. Specifically, the opposing ends of the support columns can be connected to the left and right thoracic main shells 14, 15, respectively, via fasteners (screws, bolts, etc.).

[0088] In one embodiment of the present application, referring to Figure 8, the chest cavity shell assembly further includes a chest cavity front panel 10 and a chest cavity top cover plate 11. The chest cavity front panel 10 is detachably mounted between the two chest cavity shells and covers the front of the chest cavity shell assembly. The chest cavity top cover plate 11 is detachably mounted between the two chest cavity shells and covers the top and rear of the chest cavity shell assembly.

[0089] Specifically, at the front of the accommodating chamber, opposite sides of the chest cavity front panel 10 are detachably connected to the left and right chest cavity main shells 14 and 15, respectively. At the top of the accommodating chamber, opposite sides of the chest cavity top cover 11 are detachably connected to the left and right chest cavity main shells 14 and 15, respectively. Together, the left and right chest cavity main shells 14 and 15, the left and right chest cavity covers 16 and 17, the chest cavity front panel 10, and the chest cavity top cover 11 form a closed enclosure whose internal structure is invisible.

[0090] It is understood that the functional components are installed in the accommodating cavity. If a functional component near the chest cavity front panel 10 is damaged, the chest cavity front panel 10 only needs to be removed, the front end of the accommodating cavity is opened, and the functional component can be plugged in, unplugged, or replaced. If a functional component near the chest cavity top cover 11 is damaged, the chest cavity top cover 11 only needs to be removed, the top of the accommodating cavity is opened, and the functional component can be plugged in, unplugged, or replaced. If a functional component near the chest cavity left cover 16 is damaged, the chest cavity left cover 16 only needs to be removed, the left side of the accommodating cavity is opened, and the functional component can be plugged in, unplugged, or replaced through the first hollow portion. If a functional component near the chest cavity right cover 17 is damaged, the chest cavity right cover 17 only needs to be removed, the right side of the accommodating cavity is opened, and the functional component can be plugged in, unplugged, or replaced through the second hollow portion. In this way, repairing the functional components in the chest cavity becomes so simple and easy to operate, which is not only convenient for professionals but also more user-friendly for non-professionals (ordinary consumers). The robot is more adapted to the needs of the general consumer and improves the product competitiveness of the robot.

[0091] In this embodiment, the chest left main shell 14, the chest right main shell 15, the chest left cover 16, the chest right cover 17, the chest front panel 10 and the chest top cover 11 can be connected by fixing parts (screws, bolts, etc.) to achieve detachable connection between the various components.

[0092] In one embodiment of the present application, please refer to Figure 8, the functional device also includes an image sensing component 12, a positioning navigation component 13 and a microphone component; the image sensing component 12 is installed on the inner front of the chest shell component, and the positioning navigation component 13 and the microphone component are installed on the inner top of the chest shell component.

[0093] In one embodiment of the present application, referring to FIG. 9 , the connecting member 21 has a protruding structure 211 ; the first mounting member 19 is provided with two limiting members 191 , and when the connecting member 21 rotates forward and reverse, the protruding structure 211 can respectively abut against the two limiting members 191 .

[0094] Specifically, the limiting member 191 can be installed to the corresponding hole position of the first mounting member 19 through a threaded connection using a limiting stud, so as to limit the rotation range of the third driving member 18.

[0095] In one embodiment of the present application, please refer to Figure 9, a first homing hole 192 is provided on the first mounting member 19, and a second homing hole 212 is provided on the protruding structure 211. In the homing state, the axis of the first homing hole 192 and the axis of the second homing hole 212 are on the same straight line.

[0096] This embodiment provides a method for homing a servo. Homing a servo means providing a coordinate origin of a rotating coordinate system for each servo, facilitating a motion reference for subsequent motion control. During installation and commissioning, a homing auxiliary pin 22 is inserted through the first homing hole 192 and the second homing hole 212, respectively, to ensure that the two holes are coaxial. This position is used as the current servo position zero point. The current position is recorded upon power-up to achieve servo homing. Simultaneously, when the third drive member 18 rotates, the protruding structure 211 collides with the limiting member 191 fixed to the first mounting member 19, thereby limiting the range of motion of the rotating portion of the third drive member 18.

[0097] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application should be included in the scope of protection of the present application.

Claims

1. A wheel foot structure, used for installation on one side of a chest main structure, wherein the chest main structure comprises a first driving member; characterized in that: The wheel-foot structure includes a thigh, a rocker, a connecting rod, a calf and a wheel assembly; one end of the thigh is fixedly connected to the fixed part of the first driving member, and the other end of the thigh is hinged to the non-end part of the calf; one end of the rocker is fixedly connected to the rotating part of the first driving member, and the other end of the rocker is hinged to one end of the connecting rod; one end of the calf is hinged to the other end of the connecting rod, and the other end of the calf is rotationally connected to the wheel assembly.

2. The wheel foot structure according to claim 1, characterized in that: The connecting rod includes a first straight portion and a second straight portion connected in sequence; the first straight portion and the second straight portion are arranged at an obtuse angle; the first straight portion is hinged to the rocker, and the second straight portion is hinged to the calf.

3. The wheel foot structure according to claim 2, characterized in that: The thigh includes a frame and an outer shell; one end of the frame is connected to the fixing portion of the first driving member, and the other end of the frame is hinged to the non-end portion of the calf; the outer shell covers the frame to form a receiving cavity between the outer shell and the frame, and the rocker and the connecting rod are located in the receiving cavity.

4. The wheel foot structure according to claim 3, characterized in that: A cable tie groove is provided on the calf, and the cable tie groove runs through one end of the calf to the other end of the calf.

5. The wheel foot structure according to claim 4, characterized in that: The cables of the wheel assembly pass through the calf and enter the cable duct, and then enter the accommodating cavity through the cable duct, and then pass through the frame and enter the main structure of the thoracic cavity.

6. The wheel foot structure according to claim 5, characterized in that: The wheel foot structure further includes a wire pressing member, which is disposed in the wire harness groove and / or the accommodating cavity and is used for crimping the cable.

7. The wheel foot structure according to any one of claims 1 to 6, characterized in that: The wheel assembly includes a wheel, a second driving member and a wheel-foot adapter; the second driving member includes a second driving member fixing portion and a second driving member rotating portion, and the second driving member rotating portion is connected to the wheel; the wheel-foot adapter is used to connect the fixing portion of the second driving member and the calf.

8. The wheel foot structure according to claim 7, characterized in that: The wheel-foot adapter includes a fixing member and a mounting member; the fixing member has a matching hole, the fixing portion of the second driving member is connected to the fixing member, and the rotating portion of the second driving member is placed in the matching hole; the mounting member is wrapped around the fixing portion of the second driving member, one end of the mounting member is connected to the fixing member, and the other end of the mounting member is fixedly connected to the calf.

9. The wheel foot structure according to claim 4, characterized in that: The wheel-foot structure also includes a wire covering member, which is detachably connected to the calf at the opening of the wire harness groove to close the wire harness groove.

10. A robot, characterized in that: It comprises the wheel-foot structure and the thorax main structure as described in any one of claims 1 to 9; the thorax main structure is rotatably connected to the wheel-foot structure.

11. The robot according to claim 10, characterized in that: The chest cavity main structure also includes a third driving member; the third driving member is arranged in series with the first driving member; and the rotating part of the third driving member is connected to the fixed part of the first driving member.

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