CN113635989B

CN113635989B - Integrated multi-legged robot

Info

Publication number: CN113635989B
Application number: CN202110682951.1A
Authority: CN
Inventors: 徐文福; 康鹏; 牟相如; 袁晗
Original assignee: Shenzhen Graduate School Harbin Institute of Technology
Current assignee: Shenzhen Graduate School Harbin Institute of Technology
Priority date: 2021-06-18
Filing date: 2021-06-18
Publication date: 2023-03-28
Anticipated expiration: 2041-06-18
Also published as: CN113635989A

Abstract

The invention relates to an integrated multi-legged robot, which comprises a rack assembly, a power device and a control device, wherein the rack assembly is provided with a plurality of power devices; a lifting wheel type mechanism fixed below the rack component; a plurality of leg structures, each leg structure connected to the rotor of each power plant on the frame assembly. The robot adopts the joints which rotate in all angles, so that the problem of interference of the legged robot in the leg movement process can be solved, the movement flexibility of the legged robot is improved, and the legged robot can complete more complex tasks, such as upward obstacle crossing, climbing and the like. The invention uses the retractable wheel type structure which is arranged in front and at the back, so that the foot type robot can be changed into a wheel type robot, and meanwhile, the foot type movement of the multi-foot robot is ensured not to be interfered by any wheel mechanism.

Description

Integrated multi-legged robot

Technical Field

The invention relates to an integrated multi-legged robot, and belongs to the technical field of mobile robots.

Background

The motion mechanism of the current mobile robot mainly adopts a wheel type mechanism, a crawler type mechanism, a foot type (or leg type) mechanism, a composite mechanism of the wheel type mechanism, the crawler type mechanism and the leg type mechanism, and the like. However, the wheeled robot has difficulty in sufficiently satisfying application requirements under complicated environmental conditions, and has extremely poor performance in obstacle crossing. The crawler-type robot has strong environment adaptability, but the energy consumption is quite large, and the application range is also quite limited. Therefore, the legged robot gradually shows the superiority, has lower requirements on the environment, has stronger obstacle-crossing capability and moderate energy consumption, but has certain complexity in the aspect of motion control.

With the continuous development of mobile robot technology, the requirement on the motion flexibility of the robot is higher and higher, especially in the field of foot robots. However, the motion angles of the joints of the existing foot-type robot are extremely limited, and only the rotation motion within a small angle range can be realized, which undoubtedly greatly limits the application scenarios of the foot-type robot.

In consideration of the functional requirements of a mobile robot system working in a complex environment, the mobile robot system can move more flexibly while crossing obstacles, so that a more flexible leg motion joint and leg structure are needed, and obstacle crossing and operation control are more convenient to realize.

In addition, in the legged robot, since the degree of freedom of the leg is large and the movement space is large, the moving wheels mounted on the body interfere with the leg of the legged robot. Therefore, a retractable wheel type structure suitable for the foot type bionic robot is needed to be designed.

Disclosure of Invention

The invention provides an integrated multi-legged robot, which aims to at least solve one of the technical problems in the prior art.

The technical scheme of the invention is an integrated multi-legged robot, which comprises: a frame assembly mounted with a plurality of power units; the lifting wheel type mechanism is fixed below the rack assembly; a plurality of leg structures, each leg structure connected to the rotor of each power plant on the frame assembly, each leg structure comprising: the hip adaptor comprises a first mounting part and a second mounting part, wherein the first mounting part and the second mounting part are vertical; the hip assembly is provided with a power device and is fixedly connected with the second mounting part of the hip adapter; a leg adapter having a hip interface disc and a thigh interface ring, the hip interface disc and the thigh interface ring being perpendicular, the hip interface disc being fixedly connected to a rotor of a power plant of the hip assembly; a thigh assembly having a power device, the thigh assembly being fixedly connected with a thigh connecting ring of the leg adapter; the full-angle rotary joint is provided with a power input shaft and a power output shaft, the power input shaft is vertical to the power output shaft, and the power input shaft is fixedly connected with a rotor of a power device of the thigh assembly; the lower leg assembly is provided with a length, the lower leg assembly is connected with the power output shaft of the full-angle rotary joint, and the length direction of the lower leg assembly is perpendicular to the power output shaft; the hip component rotating shaft and the thigh component rotating shaft are vertical in the same plane, and the shank component rotating shaft and the thigh component rotating shaft are parallel in the same plane.

The beneficial effects of the invention are as follows.

The robot adopts the joints which rotate in a full angle, so that the problem of interference of the legged robot in the motion process of the leg part can be solved, the motion flexibility of the legged robot is improved, and the legged robot can complete more complex tasks, such as upward obstacle crossing, climbing and the like. The invention uses the retractable wheel type structure which is arranged in the front and back, can change the foot type robot into the wheel type robot, and simultaneously ensures that the foot type movement of the multi-foot robot is not interfered by any wheel mechanism.

Drawings

Fig. 1 is a front view of the multi-legged robot according to the present invention.

Fig. 2 is a front view of the polypod robot according to the present invention in which a wheel type mechanism is hidden.

Fig. 3 is a perspective view of the multi-legged robot according to the present invention, in which a wheel type mechanism is hidden.

Fig. 4 is a perspective view of the wheel type mechanism of the multi-legged robot in a descending position according to the present invention.

Figure 5 is an enlarged detail view of the wheel mechanism of figure 4 in perspective view in area a.

Fig. 6 is a partial plan view of the wheel mechanism of the multi-legged robot according to the present invention.

Figure 7 is a cross-sectional view of the wheel mechanism of figure 4 taken along section line B-B with the straight shaft hidden.

Fig. 8 is a perspective view of the wheel type mechanism of the multi-legged robot according to the present invention at a raised position.

Fig. 9 is a partial front view of the wheel mechanism of the multi-legged robot according to the present invention, in which the wheel mechanism is located at a descending position.

Fig. 10 is a partial front view of the wheel mechanism of the multi-legged robot according to the present invention, in which the wheel mechanism is located at the raised position.

Fig. 11 is a perspective view of a wheel frame member of the wheel mechanism of the multi-legged robot according to the present invention.

Fig. 12 is a cross-sectional perspective view of a robot joint in the multi-legged robot according to the present invention.

Fig. 13 is an enlarged detail view of region C of fig. 12.

Fig. 14 is a cross-sectional view of a robot joint housing and a power take-off shaft in an embodiment of the multi-legged robot according to the present invention.

Fig. 15 is a perspective view of a robot joint in another perspective view in an embodiment of a multi-legged robot according to the present invention.

Fig. 16 is a perspective view of a leg adapter of a leg structure in an embodiment of the multi-legged robot according to the present invention.

Fig. 17 is a diagram of the action of the leg structure during the passage of an obstacle in an embodiment of the multi-legged robot according to the invention.

Fig. 18 is an action diagram of changing leg configuration in an embodiment of the multi-legged robot according to the present invention.

Fig. 19 is a schematic view of an embodiment of the multi-legged robot according to the present invention when carrying an article.

Detailed Description

Referring to fig. 1 to 3, in some embodiments, the integrated multi-legged robot according to the present invention includes: a frame assembly with multiple power units mounted thereon, multiple (preferably four) leg structures with the mounting portion of hip adapter 7000 of each leg structure fixedly attached to the rotor of each power unit on frame assembly 8000, and hip assemblies 6000 of all leg structures with their axes parallel or coincident with each other, and a lifting and lowering wheel mechanism. The following describes embodiments of the respective partial structures of the integrated multi-legged robot and the operation thereof, respectively, in conjunction with the accompanying drawings to help understand the advantages and features of the present invention.

Lifting mechanism

Referring to fig. 4 and 8, in some embodiments, the wheel mechanism according to the embodiments of the present invention includes a main bar assembly 1100, a plurality of wheel frame assemblies 1300, and four-link assemblies 1200 respectively connected to both ends of the main bar assembly 1100, wherein the four-link assemblies 1200 are connected to the wheel frame assemblies 1300, and the four-link assemblies 1200 enable the wheel frame assemblies 1300 to be lifted.

Referring to fig. 3 to 8, in some embodiments, the main rod assembly 1100 includes a pair of main rods 1140, a plurality of pairs of first clamp pieces 1110, a plurality of pairs of second clamp pieces 1120, a plurality of pairs of third clamp pieces 1130, and a pair of main rod fixing plates 1150. The first clip 1110 has a first through hole 1113 and a first slit portion 1111 extending to the first through hole 1113; the second clip 1120 has a second through hole 1123 and a second slit portion 1121 extending to the second through hole 1123; the third clip member 1130 has a third through hole 1133 and a third slit portion 1131 extending to the third through hole 1133. The plurality of main rods 1140 are arranged in parallel with each other, and the main rod fixing plate 1150 is arranged perpendicularly to the main rods 1140.

The diameters of the first, second, and third through

holes

1113, 1123, and 1133 are matched to the diameter of the main rod 1140 to allow each main rod 1140 to simultaneously pass through the first, second, and third through

holes

1113, 1123, and 1133, and pass through a fastener (e.g., a screw) mounted on the first, second, and

third slit portions

1111, 1121, and 1131, so that the first, second, and

third clamps

1110, 1120, and 1130 are firmly clamped to the main rod 1140 after the fastener is tightened. The main lever assembly 1100 fixedly clamps a pair of first clamps 1110 at both end portions, respectively. An adjacent pair of second clamping members 1120 is fixedly connected to the main rod fixing plate 1150. The third clip 1130 is provided with a mounting hole for connection with the robot body.

Preferably, the main rod 1140 may be a carbon fiber rod to provide high strength and modulus in the axial direction (fiber axis direction) and to make the main body structure light. The first, second and

third clips

1110, 1120, 1130 are also adapted to be secured to the carbon fiber main bar 1140 without damaging the carbon fiber.

Further, referring to fig. 5-7, in some embodiments, each first clip member 1110 includes a first planar portion 1112, and the two first planar portions 1112 of each pair of first clip members 1110 are disposed in parallel facing each other. The main rod assembly 1100 is further provided with a pair of horizontal bearing members 1160 at both ends, respectively, and each pair of the first clamping members 1110 is fixedly connected to each pair of the horizontal bearing members 1160, such that the bottom surface 1162 of the bearing seat is positioned by the first planar portion 1112 of the first clamping member 1110, and the bearing holes 1161 of each pair of the horizontal bearing members 1160 are coaxial. Between each pair of first clamp members 1110 is a straight shaft member 1170, and the straight shaft member 1170 is engaged with the bearing hole 1161 of the horizontal bearing member 1160 of the same pair (e.g., mechanical hole-to-shaft transition engagement). Therefore, the straight shaft 1170 is smoothly rotated relative to the first clamping member 1110 by the bearing, and the structure is compact and reliable.

Referring to fig. 5-10, in some embodiments, the four-bar linkage assembly 1200 includes a first linkage 1210, a second linkage 1220, a third linkage 1230, a fourth linkage 1240, and a linear actuator 1250.

The first link 1210 includes a first shaft portion 1211 and a first sleeve portion 1212, and the first sleeve portion 1212 of the first link 1210 has a hole that is adapted to mate with (e.g., tightly fit) the shaft of the straight shaft 1170 and can be fastened by a fastener to fixedly connect the first sleeve portion 1212 to the straight shaft 1170. Thus, the first link 1210 can be rotated relative to the end of the primary rod assembly 1100 by the straight shaft 1170.

Further, referring to fig. 9 and 10, the first rod portion 1211 includes a first upper mounting hole 1213 and a first lower mounting hole 1214 provided at the first rod portion 1211. The wheel carrier assembly 1300 is fixedly coupled to the first stem 1211 via the fastener and the first lower mounting hole 1214. A first end (left end in fig. 9) of the second link 1220 is fixedly coupled (e.g., fastened with a screw) to the first upper mounting hole 1213 of the first rod portion 1211 of the first link 1210. A first end (left end as viewed in fig. 9) of the third link 1230 is pivotally connected to a second end (right end as viewed in fig. 9) of the second link 1220. The end of the fourth link 1240 is pivotally connected to a second end (the right end as viewed in FIG. 9) of the third link 1230. The linear actuator 1250 is fixedly connected to the main rod fixing plate 1150, the linear actuator 1250 is disposed parallel to the main rod 1140, and the linear actuator 1250 drives the fourth link 1240 to linearly move such that the moving direction of the fourth link 1240 is parallel to the main rod 1140. The linear actuator 1250 is, for example, an electric push rod, a cylinder actuator, or the like.

Thus, referring to the arrow in fig. 9, as the linear actuator 1250 retracts the fourth link 1240, the four-link assembly 1200 brings the carriage assembly 1300 down. Referring to the arrows in fig. 10, the four-bar linkage assembly 1200 brings the carriage assembly 1300 up as the linear actuator 1250 pushes on the fourth link 1240. Preferably, in order to achieve a better transmission effect of the four-bar linkage assembly 1200 to the wheel carrier assembly 1300, and to allow the wheel carrier assembly 1300 to be designed to fully cover the lowest vertical descending position and the horizontal ascending position, the distance between the first end and the second end of the second link 1220 is smaller than the distance between the first end and the second end of the third link 1230, and is smaller than the distance between the first upper mounting hole 1213 of the first link 1210 and the straight shaft 1170.

Referring to FIG. 6, in a preferred embodiment, the second end of the third link 1230 is provided with a fork 1231. The end of the fourth link 1240 is provided with a rod end block 1241, wherein the rod end block 1241 is pivotally connected with the fork 1231, and a thrust ball bearing 1260 is provided between the fork 1231 and the rod end block 1241. Therefore, mechanical wear between the third link 1230 and the fourth link 1240 can be reduced and accommodate the impact of the large push-pull force generated by the actuator, thereby increasing part life.

Referring to fig. 7 and 11, in some embodiments, the wheel carriage assembly 1300 may include: an L-shaped frame connector 1310, wherein the frame connector 1310 is fixedly connected with the first connecting rod 1210; a wheel frame member 1320 fixedly connected to the frame joint member 1310. The frame member 1320 has a frame portion 1324, and a plurality of rollers 1330 may be installed on the frame portion 1324. Preferably, a wheel hub motor may be provided in the roller 1330.

Referring to fig. 11, the wheel carrier 1320 may include: a plane connecting part 1323 arranged at an included angle with the wheel frame part 1324, and the upper side of the plane connecting part 1323 is fixedly connected with the frame connecting piece 1310; a first convex portion 1321 extending downward from a bottom side of the planar connection portion 1323; and a second projection 1322 extending upward from the wheel portion 1324, the second projection 1322 being held close to or in contact with the first projection 1321. At least one of the wheel frame 1324, the first protrusion 1321 and the second protrusion 1322 or the entire wheel frame 1320 may include an elastic material (e.g., rubber) to absorb an impact of the roller 1330 rolling on the ground.

Therefore, the two-wheel front-back arrangement of the foot-type bionic robot provided with the lifting wheel type mechanism 1000 can be realized, as shown in fig. 1. The four wheels can also be driven by the hub motor, and the structure is compact. The four-bar mechanism is driven by the electric push rod, and when the electric push rod extends out, the wheels are positioned in front and back of the robot and cannot interfere with the movement of the legs. As the power pushrod retracts, the wheel descends and is then allowed to turn.

Robot joint

Referring to fig. 12 to 15, in some embodiments, a full-angle rotation robot joint according to an embodiment of the present invention includes a joint housing 2300, a power input portion 2100, and a power output portion 2200. The power input portion 2100 includes a power input shaft 2110 for coupling to a power plant and a power input bevel gear 2130 for engaging an end of the power input shaft 2110. The power output portion 2200 includes a power output shaft 2210 and a power output bevel gear 2220 engaged with the power output shaft 2210. The axis of the power input shaft 2110 is perpendicular to the axis of the power output shaft 2210, and the power input bevel gear 2130 meshes with the power output bevel gear 2220. In the embodiments, the power device is generally a robot joint motor (a joint motor with or without a frame), a steering engine, a hydraulic device, and the like, and may be matched with a speed reducer to output power torque, or may be a direct drive motor to directly output torque. The output torque is transmitted to the power input bevel gear 2130 through the power input shaft 2110, and the power input bevel gear 2130 and the power output bevel gear 2220 are engaged to transmit the power torque to the power output bevel gear 2220. The power output bevel gear 2220 is fixedly connected with the power output shaft 2210 to complete the power output of the joint. There may be a gear ratio (e.g., between 1.

Referring to fig. 12 and 14, the joint housing 2300 includes a disc portion 2310, a cylindrical portion 2320 extending from the disc portion 2310, and first and second forked

portions

2330 and 2340 arranged in parallel, wherein the first and second forked

portions

2330 and 2340 are connected with the cylindrical portion 2320 by a flat plate portion 2350.

The disc portion 2310 has a plurality of mounting holes for fixedly coupling with a member of the robot, such as a housing of the thigh assembly 4000.

The cylindrical portion 2320 receives the power input shaft 2110 therein, wherein the end of the power input shaft 2110 may be keyed to engage the power input bevel gear 2130. Further, the cylindrical portion 2320 further includes an annular inner protrusion 2321, a groove 2323, and an inner bearing hole 2322 provided between the inner protrusion 2321 and the groove 2323. The outer race of the power input end bearing 2120 of the power input portion 2100 mates with the inner bearing bore 2322 and the inner race mates with the power input shaft 2110. A retainer ring 2150 is disposed in the groove 2323 to define that the outer race of the power input end bearing 2120 fits within the inner bearing bore 2322.

Referring to fig. 13, a power input end bushing 2160 is preferably disposed between the end of the power input shaft 2110 and the power input end bearing 2120. The power input end cap 2140 is fixedly attached to the end of the power input shaft 2110 by screws to define the inner race of the power input bevel gear 2130 and the power input end boss 2160 together against the power input end bearing 2120. During actual mechanical assembly, the thickness of the power input end shaft sleeve 2160 can be adjusted, and further the accuracy of the installation position of the power input bevel gear 2130 is realized.

Referring to fig. 12 and 14, the joint housing 2300 first and

second bifurcations

2330 and 2340 are used to support the power output shaft 2210 with the portion of the output end of the power output shaft 2210 protruding out of the first bifurcation 2330 being used to connect the moving part of the robot, such as the lower leg assembly 3000. A central line of the first and

second bifurcations

2330 and 2340 is parallel to and spaced apart from the central axis of the cylindrical portion 2320 such that the first bifurcation 2330 is farther from the central axis of the cylindrical portion 2320 than the second bifurcation 2340, thereby more preventing interference of moving parts of the robot connected to the output end of the power output shaft 2210 and achieving full-angle rotation.

First prong 2330 includes a first prong inner edge 2332 and an outwardly opening first prong bearing bore 2331, and second prong 2340 includes a second prong inner edge 2342 and an outwardly opening second prong bearing bore 2341. In a preferred embodiment, the joint housing 2300 is integrally molded, so that the coaxiality of the bearing holes of the first and second

bifurcated portions

2330 and 2340 is ensured, and the frictional influence caused by the misalignment of the bearings can be reduced.

Referring to fig. 12 and 14, the power take-off first bearing 2230 fits in the first bifurcation bearing bore 2331 and is positioned by the first bifurcation inner edge 2332; the power take-off second bearing 2240 fits in the second branch portion bearing hole 2341 and is positioned by the second branch portion inner edge 2342. The power take-off bevel gear 2220 has a through hole that mates with the power take-off shaft 2210 and may be keyed. The power take-off shaft 2210 has a shoulder by which the power take-off bevel gear 2220 is positioned between the power take-off first bearing 2230 and the axis of the power take-off shaft 2110 so that the power take-off bevel gear 2220 meshes with the power take-in bevel gear 2130 to complete the power transfer for 90 degree steering. Since the power output shaft 2210 is supported by double bearings, the power transmission rigidity of the power output bevel gear 2220 is strong. The power take off shaft 2210 may have radial pin holes that mate with radial pin holes of the power take off bevel gear 2220 for pin locating and securing the power take off bevel gear 2220 to the power take off shaft 2210.

The power output portion 2200 further includes: an output end connector 2250, wherein an inner hole of the output end connector 2250 is in mating connection with the shaft end of the power output shaft 2210 extending out of the first bifurcation 2330; a first cover 2260 of power take-off 2260, fixedly connected to the shaft end of the power take-off shaft 2210 extending out of the first fork 2330, and pressing the take-off interface 2250; a second, power-output-end, second cover 2270 and a third, power-output-end, cover 2290, the second, power-output-end, second cover 2270 and the third, power-output-end, cover 2290 being connected to the outer sides of the first, second,

bifurcation

2330 and 2340, respectively, such that the power-output-end, first, bearing 2230 and the power-output-end, second bearing 2240 are confined in the first, second, bifurcation bearing bore 2331 and 2341, respectively; a power take-off shaft sleeve 2280 is disposed between the output interface 2250 and the power take-off first bearing 2230, the power take-off shaft sleeve 2280 passing through the power take-off second cover 2270. When the first power output end cover 2260 is fixedly connected to the power output shaft 2210, the output end connector 2250, the power output end shaft sleeve 2280 and the inner ring of the first power output end bearing 2230 abut together. Therefore, the degree of engagement of the power input bevel gear 2130 and the power output bevel gear 2220 can be adjusted by the positioning of the power input housing and the input end shaft sleeve and the output end shaft sleeve to meet different friction requirements.

Referring to fig. 15, the output side interface 2250 includes: a docking piece root 2251 with a threaded hole; a connector end 2252 with a screw hole that is coaxially paired with the threaded hole, a mast mounting hole 2254 and a gap extending from the mast mounting hole 2254 being provided between the connector end 2252 and the connector root 2251; a connector sleeve 2253 having a through hole, wherein the axis of the through hole of the connector sleeve 2253 is perpendicular to the axis of the post mounting hole 2254. The post mounting hole 2254 of the output-side interface 2250 is connected to the lower leg assembly 3000 of the legged mobile robot to allow the interface end 2252 and the interface root 2251 to clamp the lower leg assembly 3000 when the interface end 2252 and the interface root 2251 are screwed tight.

Referring to fig. 14 and 15, in a further embodiment, the power input shaft 2110 and the power input shaft 2110 are hollow inside, so that the mass of the leg joint can be reduced, and the flexibility of the movement can be improved. And the length of the power input shaft 2110 can be flexibly adjusted according to technical requirements so as to meet different functional requirements. Gear external baffles may be installed on the first and second diverging

parts

2330 and 2340 of the joint housing 2300 to prevent dust and the like from entering the interior of the transmission joint and affecting the frictional force of the movement.

Leg structure

Referring to fig. 2 and 3, in some embodiments, a leg structure in accordance with embodiments of the present invention includes: a hip assembly 6000 with power means; thigh assembly with motive device 4000; a full-angle rotary joint 2000 having a power input shaft 2110 and a power output shaft 2210; a lower leg assembly 3000 having a length; hip assembly 6000 is connected with the robot through hip adapter 7000, thigh assembly 4000 is connected with hip assembly 6000 through leg adapter 5000, and full-angle rotary joint 2000 is connected between shank assembly 3000 and thigh assembly 4000. In the embodiments, the power device is generally a robot joint motor (a joint motor with or without a frame), a steering engine, a hydraulic device, and the like, and may be matched with a speed reducer to output power torque, or may be a direct drive motor to directly output torque. The power plant has a stator and a rotor which are switched relative to each other, i.e. the rotor rotates relative to the stator when the stator is generally a relatively fixed part, it being understood that if the rotor is fixed, the stator may also rotate relative to the rotor. The full-angle rotation joint 2000 is a full-angle rotation robot joint described in the above-described embodiment.

In a further embodiment, the hip adaptor 7000 has a first mounting part and a second mounting part, which are perpendicular. The hip module 6000 is fixedly connected to the second mounting part of the hip adapter 7000. The leg adapter 5000 has a hip land 5010 and a thigh link, the hip land 5010 being perpendicular to the thigh link, the hip land 5010 being fixedly connected to the rotor of the power unit of the hip assembly 6000. Thigh assembly 4000 is fixedly connected to a thigh attachment ring of leg adapter 5000. The power input shaft 2110 and the power output shaft 2210 of the full-angle rotary joint 2000 are perpendicular, and the power input shaft 2110 is fixedly connected with a rotor of a power device of the thigh assembly 4000.

The lower leg assembly 3000 is connected to a power output shaft 2210 of the full-angle revolute joint 2000, and the length direction of the lower leg assembly 3000 is perpendicular to the power output shaft 2210. Thus, referring to fig. 2 and 3, hip assembly 6000 axis of rotation (R1) is perpendicular to thigh assembly 4000 axis of rotation (R2) in the same plane, and lower leg assembly 3000 axis of rotation (R3) is parallel to thigh assembly 4000 axis of rotation (R2) in the same plane. In this way, leg assembly 3000 and thigh assembly 4000 in a leg configuration can achieve rotation at any joint angle. And hip assembly 6000 may also be rotated through a range of angles relative to frame assembly 8000 of the robot, as shown in figure 19.

In some embodiments, hip adapter 7000 and leg adapter 5000 are substantially identical in structure and configuration for ease of manufacture and design. The leg adapter 5000 is described in detail below as an example.

Referring to fig. 16, the leg adaptor 5000 may further include: a reinforcing rib 5030 connected between the hip land 5010 and the thigh connecting ring; a cable box 5050 is provided in the thigh link ring for protecting the electrical interface of the power unit in the thigh assembly 4000. A scalloped notch 5040 is provided at the edge of the thigh link ring to allow passage of electrical interfaces and cables. Preferably, the control circuitry of the power unit and the cables of the power circuit are located at the end of the power unit (see figure 15) to reduce the effect of the control wires on the articulation. In combination with the scallops 5040 of the leg adapter 5000, cables from the power unit of the thigh assembly 4000 can be conveniently stored and interference and winding obstruction to the rotation of the thigh assembly 4000 can be minimized.

Working mode of multi-legged robot

Based on the characteristics of the leg structure, the multi-legged robot according to the invention can realize the operations of crossing obstacles (such as figure 17), switching multi-legged configuration (such as figure 18) and lifting objects (such as figure 19).

Referring to fig. 17, since the height of the obstacle is too high, it is difficult to perform a flip operation or the like due to the limitation of the movement angle of the conventional robot joint. The multi-legged robot can put the tail end of the lower leg component 3000 above an obstacle by raising the motion angle of the thigh component 4000 to complete obstacle crossing operation, and the specific robot motion control method comprises the following steps: before the multi-legged robot approaches the obstacle, the power device in hip component 6000 of the leg structure near the obstacle is triggered, so that thigh component 4000 of the leg structure near the obstacle rotates backwards to lift lower leg component 3000; activating a power device in thigh assembly 4000 of the leg structure adjacent the obstacle to rotate lower leg assembly 3000 of the leg structure adjacent the obstacle in a direction opposite to the direction of rotation of thigh assembly 4000 and to maintain lower leg assembly 3000 above or against the obstacle; and controlling the motion of the rest leg structures of the multi-legged robot to make the multi-legged robot advance.

Fig. 18 is a method of changing a configuration of a single leg of the multi-legged robot according to the present invention, including the steps of: triggering a power device in a thigh assembly 4000 of the leg structure to drive the shank assembly 3000 to rotate upwards to the vertical position of the shank assembly 3000; simultaneously triggering a power device in hip component 6000 of the leg structure to drive thigh component 4000 to rotate downwards to the vertical position of thigh component 4000; activation of the power means in thigh assembly 4000 and/or the power means in hip assembly 6000 of the leg structure rotates thigh assembly 4000 and lower leg assembly 3000 to the target positions.

Fig. 19 is a schematic view of the object clamped by the front legs of the multi-legged robot according to the present invention. After the dual anterior thigh assembly 4000 is rotated above the robot frame assembly 8000, the hip assemblies 6000 swing in opposite directions relative to the robot frame assembly 8000 so that the two lower leg assemblies 3000 can be used to grip and raise an object.

The present invention is not limited to the above embodiments, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present disclosure should be included in the scope of the present disclosure as long as the technical effects of the present invention are achieved by the same means. Are intended to fall within the scope of the present invention. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.

Claims

1. An integrated multi-legged robot, comprising:

a frame assembly (8000) with a plurality of power units;

a lifting wheel type mechanism (1000) fixed below the frame component (8000),

liftable wheeled mechanism (1000) include:

a main rod assembly (1100),

At least two wheel carrier assemblies (1300) and

a pair of four-bar linkage assemblies (1200) respectively connected at both ends of the main bar assembly (1100), wherein the four-bar linkage assemblies (1200) are connected with the wheel carrier assembly (1300), wherein the four-bar linkage assemblies (1200) include:

a first link (1210), a portion of the first link (1210) being rotationally connected relative to at least a portion of the main rod assembly (1100);

a second link (1220), a first end of the second link (1220) being fixedly connected with another portion of the first link (1210);

a third link (1230), a first end of the third link (1230) being pivotally connected with a second end of the second link (1220);

a fourth link (1240), an end of the fourth link (1240) being pivotally connected to a second end of the third link (1230);

a linear actuator (1250), the linear actuator (1250) being fixedly connected to the main rod assembly (1100), and the linear actuator (1250) moving the fourth link (1240) linearly;

the wheel carriage assembly (1300) comprises: the L-shaped frame connecting piece is fixedly connected with the first connecting rod (1210); the wheel carrier part is fixedly connected with the erection part and is provided with a wheel carrier part; a plurality of rollers mounted on the wheel frame portion; the upper side of the plane connecting part (1323) is fixedly connected with the frame connecting piece; a first protrusion extending downward from a bottom side of the planar connection portion (1323); a second convex portion extending upward from the wheel frame portion, the second convex portion being held close to or in contact with the first convex portion; at least one of the wheel carrier portion, the first protrusion, and the second protrusion comprises an elastic material;

a plurality of leg structures, each leg structure connected to a rotor of each power plant on the frame assembly (8000), each leg structure comprising:

a hip adapter (7000) having a first mounting portion and a second mounting portion, the first and second mounting portions being perpendicular;

a hip assembly (6000) with a power device, the hip assembly (6000) being fixedly connected with the second mounting part of the hip adaptor (7000);

a leg adaptor (5000) having a hip joint disc (5010) and a thigh joint ring (5020), the hip joint disc (5010) and the thigh joint ring (5020) being perpendicular, the hip joint disc (5010) being fixedly connected to a rotor of a power plant of the hip assembly (6000);

a thigh assembly (4000) with a power device, wherein the thigh assembly (4000) is fixedly connected with a thigh connecting ring (5020) of the leg adaptor (5000);

a full-angle rotary joint (2000) having a power input shaft (2110) and a power output shaft (2210), the power input shaft (2110) and the power output shaft (2210) being perpendicular, the power input shaft (2110) being fixedly connected to a rotor of a power plant of the thigh assembly (4000);

a lower leg assembly (3000) having a length, said lower leg assembly (3000) being connected to a power output shaft (2210) of said full angle revolute joint (2000), and the length direction of said lower leg assembly (3000) being perpendicular to said power output shaft (2210);

the rotating shaft (R1) of the hip component (6000) is vertical to the rotating shaft (R2) of the thigh component (4000) in the same plane, and the rotating shaft (R3) of the shank component (3000) is parallel to the rotating shaft (R2) of the thigh component (4000) in the same plane.

2. The integrated multi-legged robot according to claim 1,

the first link (1210) includes a first stem portion (1211) and a first sleeve portion (1212);

a pair of first clamping pieces (1110) are fixedly connected to two end parts of the main rod assembly (1100) respectively;

a straight shaft (1170) is arranged between each pair of first clamping pieces (1110), and the straight shaft (1170) is rotatably connected relative to the first clamping pieces (1110);

wherein, the hole of the first sleeve part (1212) of the first connecting rod (1210) is matched with the shaft of the straight shaft element (1170), so that the first sleeve part (1212) is fixedly connected with the straight shaft element (1170);

the first stem portion (1211) includes a first upper mounting hole (1213) and a first lower mounting hole (1214) provided at the first stem portion (1211), wherein:

the first end of the second connecting rod (1220) is fixedly connected with the first rod part (1211) through a fastener and a first upper mounting hole (1213);

the wheel carrier assembly (1300) is fixedly connected with the first rod part (1211) through a fastener and a first lower mounting hole (1214).

3. The integrated multi-legged robot according to claim 2,

each first clip member (1110) includes a first planar portion (1112), and the two first planar portions (1112) of each pair of first clip members (1110) are disposed in parallel facing each other;

the two end parts of the main rod assembly (1100) are respectively provided with a pair of horizontal bearing pieces (1160), each pair of first clamping pieces (1110) is fixedly connected with each pair of horizontal bearing pieces (1160), so that the bottom surface (1162) of the bearing seat is positioned by the first plane part (1112) of the first clamping pieces (1110), and the bearing holes (1161) of each pair of horizontal bearing pieces (1160) are coaxial;

the straight shaft piece (1170) is matched with the bearing hole (1161) of the horizontal bearing piece (1160) of the same pair.

4. The integrated multi-legged robot according to claim 1, characterized in that the full-angle rotational joint (2000) of the leg structure comprises: a joint housing (2300); a power input portion (2100) provided in the joint housing (2300), the power input portion (2100) including a power input bevel gear (2130) engaged with an end of the power input shaft (2110); a power output portion (2200) at least partially provided in the joint housing (2300), the power output portion (2200) including a power output bevel gear (2220) engaged with the power output shaft (2210); wherein the power input bevel gear (2130) meshes with the power output bevel gear (2220).

5. The integrated multi-legged robot according to claim 4, characterized in that the joint housing (2300) comprises: a disc portion (2310) having a plurality of mounting holes for fixedly coupling with a member of the robot; a cylindrical portion (2320) extending from the disc portion (2310); a first and a second diverging part (2330, 2340) arranged in parallel, the first and second diverging part (2330, 2340) being connected with the cylindrical part (2320) through a flat plate part (2350), wherein the power output shaft (2210) is supported by the first and second diverging part (2330, 2340) and the output end of the power output shaft (2210) protrudes out of the first diverging part (2330), wherein a middle line of the first and second diverging part (2330, 2340) is parallel to and spaced apart from the central axis of the cylindrical part (2320) such that the first diverging part (2330) is farther from the central axis of the cylindrical part (2320) than the second diverging part (2340).

6. The integrated multi-legged robot according to claim 5,

the end of the power input shaft (2110) is engaged with the power input bevel gear (2130) through a key,

the cylindrical part (2320) includes an annular inner protrusion (2321), a groove (2323), and an inner bearing hole (2322) provided between the inner protrusion (2321) and the groove (2323),

the power input portion (2100) includes:

a power input end bearing (2120), an inner ring of the power input end bearing (2120) being engaged with the power input shaft (2110);

a retainer ring (2150) disposed in the groove (2323) to define an outer race of the power input end bearing (2120) to fit within the inner bearing bore (2322);

a power input end shaft sleeve (2160) disposed between the end of the power input shaft (2110) and the power input end bearing (2120);

a power input end cap (2140) fixedly attached to an end of the power input shaft (2110) to define the power input bevel gear (2130) and the power input end bushing (2160) together against the inner race of the power input end bearing (2120).

7. The integrated multi-legged robot according to claim 5,

said first crotch portion (2330) comprising a first crotch portion inner edge (2332) and a first crotch portion bearing bore (2331) opening outwardly,

the second branch part (2340) comprises a second branch part inner edge (2342) and a second branch part bearing hole (2341) which is opened outwards,

the power output portion (2200) further includes:

a power take-off first bearing (2230) that fits in the first bifurcation bearing bore (2331) and is positioned by the first bifurcation inner edge (2332);

a power take-off second bearing (2240) fitted in the second branch part bearing hole (2341) and positioned by the second branch part inner edge (2342);

an output end connector (2250), wherein an inner hole of the output end connector (2250) is in fit connection with a shaft end of the power output shaft (2210) extending out of the first fork part (2330);

a first cover (2260) of the power take-off (2260), which is fixedly connected to the shaft end of the power take-off shaft (2210) that protrudes through the first fork (2330), and presses the take-off interface (2250);

-a power-output-end second cover (2270) and a power-output-end third cover (2290), said power-output-end second cover (2270) and said power-output-end third cover (2290) being connected to the outside of said first bifurcation (2330) and said second bifurcation (2340) respectively, so that said power-output-end first bearing (2230) and said power-output-end second bearing (2240) are constrained in said first bifurcation bearing bore (2331) and said second bifurcation bearing bore (2341) respectively;

a power take-off shaft sleeve (2280) disposed between the take-off interface (2250) and the first power take-off bearing (2230), the power take-off shaft sleeve (2280) passing through the second power take-off cover (2270), wherein the take-off interface (2250), the power take-off shaft sleeve (2280), and the inner race of the first power take-off bearing (2230) abut together when the first power take-off cover (2260) is fixedly connected to the power take-off shaft (2210).

8. The integrated multi-legged robot according to claim 7, characterized in that the output port interface (2250) comprises: a docking piece root (2251) with a threaded hole; a docking piece end (2252) having a screw hole that is coaxially paired with the threaded hole, a mast mounting hole (2254) and a gap extending from the mast mounting hole (2254) being provided between the docking piece end (2252) and the docking piece root (2251); a docking sleeve (2253) with a through hole, wherein the axis of the through hole of the docking sleeve (2253) is perpendicular to the axis of the post mounting hole (2254), wherein the disc portion (2310) of the joint housing (2300) is connected to the thigh assembly (4000), wherein the post mounting hole (2254) of the output side docking (2250) is connected to the shank assembly (3000) to allow the docking end (2252) and the docking root (2251) to clamp the shank assembly (3000) when tightened by a screw, the docking end (2252) and the docking root (2251).