CN116000907B - Drive equipment and legged robot - Google Patents

Abstract

The present application provides a driving device and a legged robot, the driving device comprising a first frame, a second frame and a first driving mechanism; the first frame comprises a first main body, a first extension member and a second extension member, the first extension member and the second extension member are both protruded from the first main body, and the first frame is used to connect the head or body of the robot; the second frame is rotatably connected to the first extension member, the first end of the second frame is spaced apart from the second extension member, and the second end of the second frame is connected to the second extension member through a first rotating shaft; the first driving mechanism comprises a first driving member and a first transmission assembly, the first driving member is installed on one side of the second frame, the first driving member is a rotating driving member with a driving shaft, and the first transmission assembly comprises a first transmission belt, a first transmission wheel and a second transmission wheel; the first transmission wheel is fixed on the driving shaft of the first driving member, the second transmission wheel is fixedly connected to the first rotating shaft, and the first transmission belt is wound around the first transmission wheel and the second transmission wheel.

Description

Driving device and foot robot

Technical Field

The application relates to the technical field of robots, in particular to a driving device and a foot type robot.

Background

In the field of biomimetic robots, robots may include a head and a body, and a driving device may be provided on the body, the driving device being connected to the head, the driving device may drive the head to move in one or more directions. The driving device may include a push rod motor, and the push rod motor may extend and retract through the push rod to realize driving of the head rotation.

When the robot is impacted in the advancing process, plastic deformation is easy to occur on the parts of the push rod motor and the connecting part of the push rod motor and the head of the robot under the action of impact force, and the service life of the driving equipment is influenced. Therefore, improving the impact resistance of the driving device to improve the working life of the driving device is still an important issue to be continuously solved in the technical field of robots.

Disclosure of Invention

In view of the foregoing, it is necessary to provide a driving apparatus and a foot robot, in which a synchronous belt is used as a transmission member to drive a frame to rotate, and when the robot is impacted, the elastic synchronous belt can elastically deform under the impact force, so as to achieve buffering, reduce the damage probability of the driving apparatus and the robot, and improve the service lives of the driving apparatus and the robot.

In a first aspect, an embodiment of the present application provides a driving device, which is applied to a robot, where the driving device includes a first frame, a second frame and a first driving mechanism, where the first frame includes a first main body, a first extension member and a second extension member, where the first extension member and the second extension member are both convexly disposed on the first main body, the first extension member and the second extension member are disposed at intervals, a first gap is formed between the first extension member and the second extension member, the first frame is used to connect the head or the body of the robot, the second frame is located in the first gap and is rotatably connected with the first extension member, the second end of the second frame is connected with the second extension member through a first rotating shaft, and the first driving mechanism includes a first driving member and a first transmission wheel, where the first driving member is mounted on the first frame and is opposite to the first main body, and the first transmission wheel is rotatably connected with the first rotating shaft, and the first driving wheel is located on the first rotating frame and the first rotating shaft, and the first driving mechanism includes a first driving belt.

Optionally, the second frame body comprises a second main body, a first connecting part and a second connecting part, the first driving part is arranged on the second main body, the first connecting part is convexly arranged on one side, deviating from the first driving part, of the second main body, the first end of the second frame body is located on the first connecting part, the first connecting part is located in the first gap, the second connecting part is convexly arranged on one side, deviating from the first driving part, of the second main body, the second end of the second frame body is located on the second connecting part, and the second connecting part is located in the first gap and is arranged at intervals with the first connecting part.

The driving device comprises a first frame body, a second frame body, a first driving part, a second driving part, a third driving part, a second transmission assembly and a third driving part, wherein the first frame body and the second driving part are arranged on the same side of the first frame body, the second frame body is arranged in the first gap, the first driving part is arranged in the first gap, the second driving part is arranged in the second gap, the third frame body is used for being connected with the body of the robot, the second driving part comprises a second driving part and a second transmission assembly, the second driving part is arranged on the same side of the second frame body, the second transmission assembly is connected with the second driving part and the second frame body, the second driving part is used for driving the second frame body to rotate, and the second frame body is enabled to rotate relative to the third frame body.

Optionally, the second frame body comprises a second main body and two third connecting parts, the first driving part is installed on the second main body, the third connecting parts are convexly arranged on one side, away from the first driving part, of the second main body, the two third connecting parts are arranged at intervals, and at least one third connecting part is rotationally connected with the third extending part.

The second driving part is a rotation driving part with a driving shaft, the second transmission assembly comprises a second transmission belt, a third transmission wheel and a fourth transmission wheel, the third transmission wheel is fixed on the driving shaft of the second driving part, the fourth transmission wheel is in rotation connection with a third extension part through a second rotation shaft, the second rotation shaft is fixed with the fourth transmission wheel, the second rotation shaft penetrates through the third extension part and is in rotation connection with the third extension part, at least part of the second rotation shaft enters the third gap and is fixedly connected with a third connecting part, and the second transmission belt is wound on the third transmission wheel and the fourth transmission wheel.

Optionally, the third frame body further includes a fourth extension piece, the fourth extension piece is located along protruding the third main part, and the extension direction of fourth extension piece with the extension direction of third extension piece intersects, the second driving piece install in the fourth extension piece is towards one side of second frame body.

The driving device comprises a first frame body, a second frame body, a connecting shaft, a connecting frame and a third driving mechanism, wherein the connecting frame is arranged on one side, far away from the second frame body, of the third main body, is arranged at intervals with the third main body and is used for being connected with the head or the body of the robot, the connecting shaft is fixed with the third main body and is rotationally connected with the connecting frame, the third driving mechanism comprises a third driving piece and a third transmission assembly, the third driving piece is arranged on the connecting frame and is arranged between the connecting frame and the third main body, the third transmission assembly is connected with the third driving piece and the third main body, and the third driving piece is used for driving the third frame body to rotate so as to enable the third frame body to rotate relatively to the connecting frame.

Optionally, the rotation center axis of the first frame body, the rotation center axis of the second frame body, and the rotation center axis of the third frame body intersect at a point.

Optionally, the connecting frame is protruding to be equipped with the location axle, the location axle is located the third main part with between the connecting frame, the location axle is kept away from one side of connecting frame is provided with the pedestal, the connecting axle wears to establish the pedestal, the connecting axle with the pedestal rotates to be connected.

In a second aspect, an embodiment of the present application provides a foot robot comprising a body, a drive device as claimed in any one of the preceding claims mounted to the body, and a head connected to the drive device for producing relative movement with the body in response to actuation of the drive device.

According to the driving device and the foot-type robot, the synchronous belt can be used as the transmission piece to drive the frame body to rotate, and when the robot is impacted, the elastic synchronous belt can elastically deform under the impact force, so that buffering is achieved, the damage probability of the driving device and the robot is reduced, and the service lives of the driving device and the robot are prolonged.

Drawings

Fig. 1 is a schematic diagram of a foot robot system according to an embodiment of the present application.

Fig. 2 is a schematic structural view of a foot robot according to an embodiment of the present application.

Fig. 3 is a schematic diagram of a driving apparatus in an embodiment of the present application.

Fig. 4 is a schematic partial structure of a driving apparatus in an embodiment of the present application.

Fig. 5 is another partial structural schematic diagram of the driving apparatus in the embodiment of the present application.

Fig. 6 is another partial structural schematic diagram of the driving apparatus in the embodiment of the present application.

Description of the main reference signs

Foot robot 100

Mechanical unit 101

Driving plate 1011

Motor 1012

Mechanical structure 1013

Body 1014

Head 1015

Drive device 1016

Leg 1017

Foot 1018

Tail structure 1019

Carrying structure 1020

Saddle structure 1021

Communication unit 102

Sensing unit 103

Interface unit 104

Storage unit 105

Display unit 106

Display panel 1061

Input unit 107

Touch panel 1071

Input device 1072

Touch inspection device 1073

Touch controller 1074

Control module 110

Power supply 111

First frame 10

First body 11

First extension 12

Second extension 13

First gap 14

Second frame 20

A second body 21

First connecting portion 22

Second connecting portion 23

Third connecting portion 24

Second gap 25

First drive mechanism 30

First driving member 31

First belt 32

First drive wheel 33

Second drive wheel 34

First rotation shaft 40

Third frame 50

Third body 51

Third extension piece 52

Fourth extension 53

Third gap 54

Fifth extension 55

Second drive mechanism 60

Second driving member 61

Second belt 62

Third drive wheel 63

Fourth drive wheel 64

Second rotation shaft 70

Connecting frame 80

Positioning shaft 81

Seat 82

Connecting shaft 90

Third drive mechanism 120

Third driving member 121

Third belt 122

Fifth driving wheel 123

Sixth drive wheel 124

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, and it is apparent that the described embodiments are only some of the embodiments of the present application, not all of the embodiments.

In the following description, suffixes such as "module", "component", or "unit" for representing components are used only for facilitating the description of the present application, and have no specific meaning in themselves. Thus, "module," "component," or "unit" may be used in combination.

Referring to fig. 1, fig. 1 is a schematic hardware structure of a foot robot 100 according to one embodiment of the application. In the embodiment shown in fig. 1, the foot robot 100 may include a mechanical unit 101, a communication unit 102, a sensing unit 103, an interface unit 104, a storage unit 105, a display unit 106, an input unit 107, a control module 110, and a power source 111. The various components of foot robot 100 may be connected in any manner, including wired or wireless connections, and the like. It will be appreciated by those skilled in the art that the specific structure of the legged robot 100 shown in fig. 1 does not constitute a limitation of the legged robot 100, the legged robot 100 may include more or less components than illustrated, and that some components do not necessarily constitute the legged robot 100, may be omitted entirely within the scope of not changing the essence of the application, or may be combined with some components, as desired.

Referring to fig. 2, the following details of the components of the foot robot 100 are described with reference to fig. 2:

The mechanical unit 101 is hardware of the foot robot 100. As shown in fig. 1, mechanical unit 101 may include a drive plate 1011, a motor 1012, a mechanical structure 1013, as shown in fig. 2, mechanical structure 1013 may include a body 1014, a head 1015, and a drive device 1016 connected between body 1014 and head 1015. In other embodiments, the mechanical structure 1013 may also include extendable legs 1017, feet 1018, extendable robotic arms (not shown), a swingable tail structure 1019, a carrying structure 1020, a saddle structure 1021, and the like. It should be noted that, the number of the component modules of the machine unit 101 may be one or plural, and may be set according to the specific situation, for example, the number of the legs 1017 may be four, each leg 1017 may be configured with three motors 1012, and the number of the corresponding motors 1012 may be twelve.

In embodiments of the present application, head 1015 may effect relative movement with body 1014 in response to actuation of actuation device 1016.

The communication unit 102 may be used for receiving and transmitting signals, or may be used for communicating with a network and other devices, for example, receiving command information sent by the remote controller or other foot robot 100 to move in a specific direction at a specific speed value according to a specific gait, and then transmitting the command information to the control module 110 for processing. The communication unit 102 may include, for example, a WiFi module, a 4G module, a 5G module, a bluetooth module, an infrared module, etc.

The sensing unit 103 is used for acquiring information data of the surrounding environment of the foot robot 100 and monitoring parameter data of various components inside the foot robot 100, and sending the information data to the control module 110. The sensing unit 103 may include various sensors such as a laser radar (for long range object detection, distance determination, and/or speed value determination), a millimeter wave radar (for short range object detection, distance determination, and/or speed value determination), a camera, an infrared camera, a global navigation satellite system (GNSS, global Navigation SATELLITE SYSTEM), and the like, which acquire surrounding information. Such as sensors for monitoring the various components within the foot robot 100, inertial measurement units (IMUs, inertial Measurement Unit) (for measuring values of velocity, acceleration and angular velocity values), plantar sensors (for monitoring plantar force point position, plantar posture, touchdown force magnitude and direction), and temperature sensors (for detecting component temperatures). As for other sensors such as load sensors, touch sensors, motor angle sensors, torque sensors, etc. that may also be configured for the foot robot 100, the detailed description thereof will be omitted.

The interface unit 104 can be used to receive input (e.g., data information, power, etc.) from an external device and transmit the received input to one or more components within the foot robot 100, or can be used to output (e.g., data information, power, etc.) to an external device. The interface unit 104 may include a power port, a data port (e.g., a USB port), a memory card port, a port for connecting devices having identification modules, an audio input/output (I/O) port, a video I/O port, and the like.

The storage unit 105 is used to store a software program and various data. The storage unit 105 may mainly include a program storage area, which may store an operating system program, a motion control program, an application program (such as a text editor), etc., and a data storage area, which may store data generated by the foot robot 100 in use (such as various sensing data acquired by the sensing unit 103, log file data), etc. In addition, the storage unit 105 may include high-speed random access memory, and may also include nonvolatile memory, such as disk memory, flash memory, or other volatile solid state memory.

The display unit 106 is used to display information input by a user or information provided to the user. The display unit 106 may include a display panel 1061, and the display panel 1061 may be configured in the form of a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), an Organic Light-Emitting Diode (OLED), or the like.

The input unit 107 may be used to receive input numeric or character information. In particular, the input unit 107 may include a touch panel 1071 and other input devices 1072. The touch panel 1071, also referred to as a touch screen, may collect touch operations of a user (e.g., operations of the user on the touch panel 1071 or in the vicinity of the touch panel 1071 using a palm, a finger, or a suitable accessory), and drive the corresponding connection device according to a preset program. The touch panel 1071 may include a touch inspection device 1073 and a touch controller 1074. The touch inspection device 1073 detects the touch orientation of the user, detects a signal caused by the touch operation, and transmits the signal to the touch controller 1074, and the touch controller 1074 receives touch information from the touch inspection device 1073, converts the touch information into touch point coordinates, and transmits the touch point coordinates to the control module 110, and can receive and execute a command sent by the control module 110. The input unit 107 may include other input devices 1072 in addition to the touch panel 1071. In particular, other input devices 1072 may include, but are not limited to, one or more of a remote control handle or the like, as is not limited herein.

Further, the touch panel 1071 may cover the display panel 1061, and when the touch panel 1071 detects a touch operation thereon or thereabout, the touch operation is transmitted to the control module 110 to determine the type of touch event, and then the control module 110 provides a corresponding visual output on the display panel 1061 according to the type of touch event. Although in fig. 1, the touch panel 1071 and the display panel 1061 are two independent components to implement the input and output functions, in some embodiments, the touch panel 1071 may be integrated with the display panel 1061 to implement the input and output functions, which is not limited herein.

The control module 110 is a control center of the foot robot 100, connects the respective components of the entire foot robot 100 using various interfaces and lines, and performs overall control of the foot robot 100 by running or executing a software program stored in the storage unit 105 and calling data stored in the storage unit 105.

The power supply 111 is used to supply power to the various components, and the power supply 111 may include a battery (not shown) and a power control board (not shown) for controlling functions of battery charging, discharging, and power consumption management. In the embodiment shown in fig. 1, the power source 111 is electrically connected to the control module 110, and in other embodiments, the power source 111 may be electrically connected to the sensing unit 103 (such as a camera, a radar, a speaker, etc.), and the motor 1012, respectively. It should be noted that each component may be connected to a different power source 111, or may be powered by the same power source 111.

On the basis of the above embodiments, specifically, in some embodiments, the communication connection with the legged robot 100 may be performed through a terminal device, instruction information may be transmitted to the legged robot 100 through the terminal device when the terminal device communicates with the legged robot 100, the legged robot 100 may receive the instruction information through the communication unit 102, and the instruction information may be transmitted to the control module 110 in case of receiving the instruction information, so that the control module 110 may process to obtain the target speed value according to the instruction information. The terminal equipment comprises, but is not limited to, a mobile phone, a tablet personal computer, a server, a personal computer, a wearable intelligent device and other electrical equipment with an image shooting function.

The instruction information may be determined according to preset conditions. In one embodiment, the foot robot 100 may include a sensing unit 103, and the sensing unit 103 may generate instruction information according to the current environment in which the foot robot 100 is located. The control module 110 may determine whether the current speed value of the foot robot 100 meets the corresponding preset condition according to the instruction information. If the preset condition is not met, the target speed value and the corresponding target gait are determined according to the corresponding preset condition, so that the foot robot 100 can be controlled to move at the target speed value and the corresponding target gait. The environmental sensor may include a temperature sensor, a barometric pressure sensor, a visual sensor, an acoustic sensor. The instruction information may include temperature information, air pressure information, image information, sound information. The communication mode between the environment sensor and the control module 110 may be wired communication or wireless communication. The wireless communication modes include, but are not limited to, wireless networks, mobile communication networks (3G, 4G, 5G, etc.), bluetooth, infrared.

Referring to fig. 3, fig. 3 illustrates a driving device 1016 according to an embodiment of the present application. The driving device 1016 may include a first chassis 10, a second chassis 20, and a first driving mechanism 30.

The first frame 10 may include a first body 11, a first extension 12, and a second extension 13. The first extending member 12 and the second extending member 13 are disposed on the first side of the first main body 11 in a protruding manner, the first extending member 12 and the second extending member 13 are disposed at intervals, and the direction of spacing between the first extending member 12 and the second extending member 13 is the first direction. A first gap 14 is formed between the first extension 12 and the second extension 13. The first body 11 is for fixed connection with the body 1014 or the head 1015.

In the embodiment of the present application, the first direction is not particularly limited. For example, the first direction may be an X direction and a reverse direction thereof as shown in fig. 3.

The second frame 20 is spaced apart from the first body 11. The second housing 20 may be coupled to the head 1015 or the body 1014. The second frame 20 may be disposed in the first gap 14, and a first end of the second frame 20 is rotatably connected to the first extension 12. The second end of the second frame 20 is spaced from the second extension 13, and a second gap 25 is formed between the second section of the second frame 20 and the second extension 13. The second extension member 13 may be penetrated with a first rotation shaft 40, where the first rotation shaft 40 is fixedly connected with the second extension member 13 coaxially, and the first rotation shaft 40 is rotatably connected with the second frame 20. The second extension 13 may be rotatably coupled to the second end of the second frame 20 by a first rotation shaft 40.

In the embodiment of the present application, the fixing manner of the fixing installation and the fixing connection is not particularly limited. For example, the fixing means may include, but is not limited to, screw fixing, welding fixing, integrally formed fixing, key connection fixing, and the like.

It will be appreciated that the rotational connection may be a connection achieved by a rotational connection, and that the rotational connection may be rotated relative to each other. In the embodiment of the present application, the type of the rotary joint is not particularly limited. For example, the rotational connection may include, but is not limited to, a shaft, a bearing, a hinge, and the like.

It is understood that the first end and the second end may be opposite ends. In the embodiment of the present application, the relative directions of the first end and the second end are not particularly limited. For example, the relative direction of the first and second ends may be a first direction, i.e., the X direction and its opposite direction as shown in fig. 3.

It will be appreciated that one of the first and second housings 10, 20 is connected to the body 1014 and the other is connected to the head 1015. The connection may be direct connection or indirect connection.

In the embodiment of the present application, the shape of the first frame body 10 is not particularly limited. For example, as shown in fig. 3, the first body 11, the first extension member 12, and the second extension member 13 may each be a plate body having a rectangular cross section. The first extension member 12 and the second extension member 13 may be located on two short sides of the first main body 11, respectively, and the spacing direction between the first extension member 12 and the second extension member 13 is the length direction of the first main body 11. The first extension 12 and the second extension 13 may be identically shaped components.

In this embodiment, the first driving mechanism 30 may include a first driving member 31 and a first transmission assembly. Wherein the first driving member 31 is fixedly installed at one side of the second frame body 20. The first driving member 31 is a rotation driving member having a driving shaft. The first transmission assembly may be an assembly that is driven away from the object to effect movement linkage by a belt. The first drive assembly may include a first drive belt 32, a first drive wheel 33, and a second drive wheel 34. The first transmission wheel 33 is fixedly connected coaxially with the drive shaft of the first drive member 31. The second driving wheel 34 is located in the second gap 25, and the second driving wheel 34 is fixedly connected with the first rotating shaft 40 coaxially. The first belt 32 is wound around a first pulley and a second pulley 34.

For example, the first rotating shaft 40 may be connected to the second extending member 13 by a connecting key (not shown), and then the first rotating shaft 40, the connecting key and the second extending member 13 are fixedly connected by a jackscrew (not shown) penetrating the second extending member 13, the connecting key and the first rotating shaft 40, i.e. the first rotating shaft 40 and the second extending member 13 are fixedly connected. Similarly, the first rotary shaft 40 may be fixedly connected to the second drive wheel 34 by means of a connecting key and a jackscrew.

It will be appreciated that in the embodiment of the present application, the position where the first driving member 31 is fixedly mounted on the second frame body 20 is not particularly limited. For example, as shown in fig. 3, the first driving member 31 may be fixedly installed at a side of the second frame body 20 facing away from the first body 11.

It can be appreciated that the first driving member 31 drives the first driving wheel 33 to rotate, so as to drive the first driving belt 32, the second driving wheel 34 and the first frame 10 to rotate, thereby realizing the relative rotation between the first frame 10 and the second frame 20. The axial direction of the rotation center axis when the first frame body 10 and the second frame body 20 relatively rotate may be the same as the direction of the interval between the first extension member 12 and the second extension member 13, for example, the axial direction of the rotation center axis when the first frame body 10 and the second frame body 20 relatively rotate may be the same as the X direction and the opposite direction as shown in fig. 3.

It will be appreciated that relative rotation of the first frame 10 and the second frame 20 may allow for relative rotation of the head 1015 and the body 1014 of the foot robot 100. The relative rotation of the head 1015 and the body 1014 of the foot robot 100 can be realized by driving the rotation driving member and the belt transmission mechanism, so that the flexibility of the foot robot 100 is improved, and when the foot robot 100 is impacted, the elastic synchronous belt can elastically deform under the impact force, so that buffering is realized, the damage probability of the driving device 1016 and the foot robot 100 is reduced, and the service lives of the driving device 1016 and the foot robot 100 are prolonged.

Referring to fig. 4, in an embodiment, the second frame 20 may include a second main body 21, a first connecting portion 22 and a second connecting portion 23. The second body 21 is spaced from the first body 11, and the first driving member 31 is fixedly installed at one side of the second body 21. The first connecting portion 22 and the second connecting portion 23 are both disposed on a side of the second subject facing away from the first driving member 31 in a protruding manner, and the first connecting portion 22 and the second connecting portion 23 are disposed at intervals. The first connection portion 22 may be located at a first end of the second body 21, i.e., at a first end of the second frame 20. The second connection part 23 may be located at the second end of the second body 21, i.e., at the second end of the second frame 20. The first connecting portion 22 and the second connecting portion 23 are both located in the first gap 14, and the second connecting portion 23 and the second extension member 13 form a second gap 25.

It will be appreciated that the second connection portion 23 may be rotatably connected to the first rotation shaft 40, thereby enabling the rotation connection of the first rotation shaft 40 and the second frame body 20. The first connection portion 22 and the second connection portion 23 can provide a connection position for a connection member connected to the second frame 20 and the first frame 10, and can reduce the thickness of the second main frame, thereby realizing the weight reduction of the second frame 20, that is, the weight reduction of the foot robot 100.

In some embodiments, the second frame 20 may further include two third connecting portions 24. The two third connecting portions 24 are convexly arranged on one side of the second main body 21, which faces away from the first driving piece 31, and the two third connecting portions 24 are arranged at intervals. The two third connection parts 24 may be located at the third and fourth ends of the second body 21, respectively.

It will be appreciated that the third and fourth ends may be opposite ends in the second direction. In the embodiment of the present application, the second direction is not particularly limited. For example, the second direction may be the Y direction and the opposite direction as shown in fig. 3.

In the embodiment of the present application, the shape of the second frame body 20 is not particularly limited. For example, the second body 21 may be a plate body having a rectangular cross section, and the first, second and third connection portions 22, 23 and 24 may each be a bump having a rectangular cross section. The first, second and third connection portions 22, 23 and 24 have the same shape. The first connecting portion 22, the second connecting portion 23, and the two third connecting portions 24 are located on four sides of the second body 21, respectively.

Referring to fig. 5, in some embodiments, the driving device 1016 may further include a third frame 50 and a second driving mechanism 60. Wherein the third frame 50 may be connected with the head 1015 or the body 1014 of the foot robot 100. The third frame 50 may include a third main body 51, two third extension pieces 52, and a fourth extension piece 53. The third body 51 may be spaced from the second body 21, and the third body 51 and the first body 11 are respectively located at two sides of the second body 21. The two third extension pieces 52 are protruded on one side of the third body 51 facing the second body 21, and the two third extension pieces 52 are disposed at intervals in the second direction. A third gap 54 is formed between the two third extensions 52. The second frame 20 and the first driving member 31 may be located in the third gap 54.

The fourth extension piece 53 is protruding on one side of the third main body 51, and the extension direction of the fourth extension piece 53 is perpendicular to the extension direction of the third extension piece 52.

In the embodiment of the present application, the extending direction of the fourth extending member 53 is not particularly limited. For example, the extending direction of the fourth extension piece 53 may be the X direction as shown in fig. 3.

In the embodiment of the present application, the shape of the third frame 50 is not particularly limited. For example, the third body 51 and the two third extension pieces 52 may each be a plate body having a rectangular cross section. Two third extension pieces 52 are respectively located at both short sides of the third body 51. The length direction of the third extension piece 52 is the spacing direction of the second body 21 and the third body 51.

In some embodiments, the third frame body may further include a fifth extension member 55, where the fifth extension member 55 is protruding on a side of the fourth extension member 53 near the third body 51, and the fifth extension member 55 extends along a direction in which the third body 51 approaches the second body 21.

In some embodiments, the second driving mechanism 60 may include a second driving member 61 and a second transmission assembly. Wherein the second driving member 61 is fixed at a side of the fourth extension member 53 facing the second frame body 20, and at a side of the fifth extension member 55 near the second body 21. The second driving member 61 may be fixedly connected to the fourth extension member 53 and the fifth extension member 55. The second driving member 61 is a rotation driving member having a driving shaft. The second transmission assembly may be an assembly that is driven away from the object to effect movement linkage by a belt. The second drive assembly may include a second drive belt 62, a third drive wheel 63 and a fourth drive wheel 64. The third transmission wheel 63 is fixedly connected coaxially with the drive shaft of the second drive member 61. The fourth drive wheel 64 is fixedly connected coaxially with a second rotary shaft 70. The second rotating shaft 70 is disposed through a third extension member 52 and fixedly connected to a third connecting portion 24. The second belt 62 is wound around the fourth drive wheel 64 and the second drive wheel 34.

It will be appreciated that the second driving member 61 drives the third driving wheel 63 to rotate, so as to drive the second driving belt 62, the fourth driving wheel 64 and the second frame 20 to rotate, thereby realizing the relative rotation between the second frame 20 and the third frame 50. The axial direction of the rotation center axis of the second frame 20 and the third frame 50 when they rotate relatively may be the same as the direction of the interval between the two third extension members 52, for example, the axial direction of the rotation center axis of the second frame 20 and the third frame 50 when they rotate relatively may be the same as the Y direction and the opposite direction as shown in fig. 3.

In the embodiment of the present application, the beneficial effects of the third connecting portion 24 are similar to those of the second connecting portion 23 and the first connecting portion 22, and will not be described herein.

For example, the second rotating shaft 70 may be connected to a third connecting portion 24 by a connecting key (not shown), and then the third connecting portion 24, the connecting key and the second rotating shaft 70 are fixedly connected by a jackscrew (not shown) penetrating through the third connecting portion 24, the connecting key and the second rotating shaft 70, that is, the second rotating shaft 70 is fixedly connected to the third connecting portion 24. Similarly, the second rotary shaft 70 may be fixedly connected to the fourth drive wheel 64 by a connecting key and a jackscrew.

It will be appreciated that, of the two third extension members 52, one third extension member 52 is rotatably connected to one third connecting portion 24 through the second rotation shaft 70, and the other third extension member 52 can be rotatably connected to the other third connecting portion 24 through the other rotation connecting member, so as to improve the stability of the connection between the third frame 50 and the second frame 20.

It will be appreciated that relative rotation of the second frame 20 and the third frame 50 may effect relative rotation of the head 1015 and the body 1014 of the foot robot 100 in a second direction. The relative rotation of the head 1015 and the body 1014 of the foot robot 100 can be realized by driving the rotation driving member and the belt transmission mechanism, so that the flexibility of the foot robot 100 is improved, and when the foot robot 100 is impacted, the elastic synchronous belt can elastically deform under the impact force, so that buffering is realized, the damage probability of the driving device 1016 and the foot robot 100 is reduced, and the service lives of the driving device 1016 and the foot robot 100 are prolonged.

It will be appreciated that the rotation axis of the first frame 10 when rotated relative to the second frame 20 intersects the rotation axis of the second frame 20 when rotated relative to the third frame 50.

It is understood that the second frame 20 is accommodated in the third gap 54, and the first driving member 31 mounted to the second frame 20 may be accommodated in the third gap 54. Thus, the space for the mechanism in the driving device 1016 can be saved, more space is provided for the wiring of the staff, the convenience of the staff in wiring the driving device 1016 is improved, and the convenience of the staff in producing and manufacturing the driving device 1016 and the foot robot 100 is improved.

Referring also to fig. 6, in some embodiments, the drive device 1016 may further include a connection frame 80, a connection shaft 90, and a third drive mechanism 120. Wherein the connection frame 80 may be fixedly connected with the head 1015 or the body 1014 of the foot robot 100. The connecting frame 80 is spaced from the third body 51 on a side of the third body 51 away from the second frame 20. The connection shaft 90 is rotatably connected to the connection frame 80 and fixedly connected to the third body 51. The third driving mechanism 120 may include a third driving member 121 and a third transmission assembly. Wherein, the third driving member 121 is fixedly installed at a side of the connection frame 80 facing the third frame body 50. The third driving member 121 is a rotation driving member having a driving shaft. The third drive assembly may be an assembly that is driven away from the belt to effect movement of the object. The third slave transmission assembly may be located between the connection frame 80 and the third frame body 50, and on a side of the third driving member 121 facing away from the connection frame 80. The third drive assembly may include a third drive belt 122, a fifth drive wheel 123, and a sixth drive wheel 124. The fifth driving wheel 123 is fixedly connected coaxially with the driving shaft of the third driving member 121. The sixth driving wheel 124 is fixedly connected with the connecting shaft 90 coaxially, and the connecting shaft 90 penetrates through the sixth driving wheel 124. The third timing belt is wound around the fifth and sixth driving wheels 123 and 124.

For example, the connection shaft 90 may be connected to the third body 51 by a connection key (not shown), and then the connection shaft 90, the connection key and the third body 51 are fixedly connected by a jackscrew (not shown) penetrating through the connection shaft 90, the connection key and the third body 51, that is, the connection shaft 90 and the third body 51 are fixedly connected. Similarly, the connecting shaft 90 may be fixedly connected to the sixth drive wheel 124 by a connecting key and a jackscrew.

It will be appreciated that the spacing direction of the connecting frame 80 and the third frame 50 is the same as the axial direction of the connecting shaft 90.

It is understood that the thickness of the fifth driving wheel 123 and the thickness of the sixth driving wheel 124 may be smaller than the spacing distance between the third driving member 121 and the third main body 51 in the third direction. In this way, the fifth driving wheel 123 and the sixth driving wheel 124 may be disposed at intervals from the third main body 51, so as to reduce the influence of friction between the third main body 51 and the third driving mechanism on the rotation of the third frame 50. The third direction may be a relative direction between the connection frame 80 and the third body 51, for example, a Z direction and a reverse direction thereof shown in fig. 3.

Similarly, the fifth driving wheel 123 and the sixth driving wheel 124 may be spaced apart from the third driving member 121 in the third direction, which is not limited in the embodiment of the present application.

It can be understood that the first driving member 31, the second driving member 61 and the third driving member 121 are all electronic devices having a rotation driving function. In the embodiment of the present application, the types of the first driving member 31, the second driving member 61, and the third driving member 121 are not particularly limited. For example, the first driving member 31, the second driving member 61, and the third driving member 121 may be, but are not limited to, steering engines.

In the embodiment of the present application, the shape of the connection frame 80 is not particularly limited. For example, the connecting frame 80 may be a waist-shaped plate. For another example, the connecting frame 80 may be a rectangular plate.

It can be appreciated that the third driving member 121 drives the fifth driving wheel 123 to rotate, so as to drive the third driving belt 122, the sixth driving wheel 124 and the third frame 50 to rotate, thereby realizing the relative rotation between the third frame 50 and the connecting frame 80. The axial direction of the rotation center axis when the third frame 50 and the link 80 are rotated relative to each other may be the same as the axial direction of the link 90, for example, the axial direction of the rotation center axis when the third frame 50 and the link 80 are rotated relative to each other may be the same as the Z direction and the opposite direction as shown in fig. 3.

It will be appreciated that the connection frame 80 may be fixedly connected to the head 1015 or the body 1014 of the foot robot 100, and that the connection of the third frame 50, the second frame 20, and the head 1015 or the body 1014 of the foot robot 100 may be achieved. One of the first frame 10 and the connection frame 80 is fixedly connected to the head 1015 of the foot robot 100, and the other is fixedly connected to the body 1014 of the foot robot 100.

It will be appreciated that relative rotation of the third frame 50 and the link 80 may effect relative rotation of the head 1015 and the body 1014 of the foot robot 100 in a third direction. The relative rotation of the head 1015 and the body 1014 of the foot robot 100 can be realized by driving the rotation driving member and the belt transmission mechanism, so that the flexibility of the foot robot 100 is improved, and when the foot robot 100 is impacted, the elastic synchronous belt can elastically deform under the impact force, so that buffering is realized, the damage probability of the driving device 1016 and the foot robot 100 is reduced, and the service lives of the driving device 1016 and the foot robot 100 are prolonged.

In the embodiment of the present application, the rotation center axis of the first housing 10, the rotation center axis of the second housing 20, and the rotation center axis of the third housing 50 intersect at one point. In this manner, the smoothness with which the drive device 1016 operates to drive the head 1015 of the foot robot 100 to rotate in multiple directions can be improved, as well as the structural stability of the drive device 1016.

In some embodiments, a positioning shaft 81 is convexly provided at a side of the connection frame 80 toward the third frame body 50. The axial direction of the positioning shaft 81 is the same as the axial direction of the connecting shaft 90. The positioning shaft 81 is spaced from the connecting shaft 90, and the length of the positioning shaft 81 is smaller than the length of the connecting shaft 90. The end of the positioning shaft 81 away from the connecting frame 80 is fixedly connected with a seat 82. The connecting shaft 90 penetrates through the base 82, and the connecting shaft 90 is rotatably connected with the base 82. Wherein, there is the interval between the one end of locating shaft 81 far away from link 80 and sixth drive wheel 124, and pedestal 82 is located between sixth drive wheel 124 and locating shaft 81.

It will be appreciated that the housing 82 and the positioning shaft 81 can support the connecting shaft 90 when the connecting shaft 90 rotates, thereby improving the structural stability of the driving device 1016.

In the embodiment of the present application, the number of the positioning shafts 81 is not particularly limited. When the positioning shafts 81 are provided in plurality, the positioning shafts 81 are fixedly connected with the base 82.

In the foot robot 100 provided by the embodiment of the present application, the head 1015 may move relative to the body 1014 under the driving of the driving device 1016. When the driving device 1016 drives the head 1015 to move, one or more of the first driving member 31, the second driving member 61, and the third driving member 121 are operated, thereby driving the head 1015 to move in a designated direction. The first, second and third driving members 31, 61 and 121 may drive the head 1015 of the foot robot 100 to rotate in three different directions. While the first driving member 31, the second driving member 61 and the third driving member 121 all drive the head 1015 to rotate through the belt transmission mechanism. The timing belt having elasticity when the foot robot 100 is impacted may be elastically deformed under an impact force to achieve buffering, reduce the probability of damage to the driving device 1016 and the foot robot 100, and improve the working lives of the driving device 1016 and the foot robot 100.

Meanwhile, the arrangement of the first gap 14, the second gap 25 and the third gap 54 provides a containing space for part of the component parts in the driving device 1016, provides more space for wiring operation in the driving device 1016, and improves convenience for wiring work of staff.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily recognize that variations or substitutions are within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (10)

1. A driving device applied to a robot, wherein the driving device comprises a first frame body, a second frame body and a first driving mechanism;

The first frame body comprises a first main body, a first extending piece and a second extending piece, the first extending piece and the second extending piece are both arranged on the first main body in a protruding mode, the first extending piece and the second extending piece are arranged at intervals, a first gap is formed between the first extending piece and the second extending piece, and the first frame body is used for being connected with the head or the body of the robot;

the second frame body is positioned in the first gap and is rotationally connected with the first extension piece, the first end of the second frame body is arranged at intervals with the second extension piece, and the second end of the second frame body is connected with the second extension piece through a first rotating shaft to form a second gap;

The first driving mechanism comprises a first driving piece and a first transmission assembly, the first driving piece is arranged on one side, deviating from the first main body, of the second frame body, the first driving piece is a rotation driving piece with a driving shaft, the first transmission assembly comprises a first transmission belt, a first transmission wheel and a second transmission wheel, the first transmission wheel is fixed on the driving shaft of the first driving piece, the second transmission wheel is located in the second gap and fixedly connected with the first rotation shaft, the first transmission belt is wound on the first transmission wheel and the second transmission wheel, and the first driving piece is used for driving the first frame body to rotate, so that the first frame body and the second frame body relatively rotate.

2. The drive apparatus according to claim 1, wherein the second frame body includes a second main body, a first connecting portion, and a second connecting portion;

The first driving piece is arranged on the second main body;

the first connecting part is convexly arranged on one side, away from the first driving piece, of the second main body, the first end of the second frame body is positioned at the first connecting part, and the first connecting part is positioned in the first gap;

The second connecting portion is arranged on one side, deviating from the first driving piece, of the second main body in a protruding mode, the second end of the second frame body is located at the second connecting portion, and the second connecting portion is located in the first gap and is arranged at intervals with the first connecting portion.

3. The drive apparatus of claim 1, further comprising a third frame and a second drive mechanism;

The third frame body comprises a third main body and two third extension pieces, the two third extension pieces are arranged on one side of the third main body, the two third extension pieces are arranged at intervals and form a third gap, the second frame body is positioned in the third gap and is rotationally connected with at least one third extension piece, the first driving piece is positioned in the third gap, and the third frame body is used for being connected with the body of the robot;

The second driving mechanism comprises a second driving piece and a second transmission assembly, the second driving piece is arranged on one side, far away from the second frame body, of the third main body, the second transmission assembly is connected with the second driving piece and the second frame body, and the second driving piece is used for driving the second frame body to rotate, so that the second frame body and the third frame body relatively rotate.

4. A driving apparatus as claimed in claim 3, wherein the second frame body comprises a second main body and two third connecting portions;

The first driving piece is arranged on the second main body;

The third connecting parts are arranged on one side, away from the first driving piece, of the second main body in a protruding mode, the two third connecting parts are arranged at intervals, and at least one third connecting part is connected with the third extending piece in a rotating mode.

5. The drive apparatus of claim 4, wherein the second drive member is a rotary drive member having a drive shaft, the second transmission assembly including a second belt, a third drive wheel, and a fourth drive wheel;

the third driving wheel is fixed on the driving shaft of the second driving piece;

The fourth driving wheel is rotationally connected with a third extending piece through a second rotating shaft, the second rotating shaft is fixed with the fourth driving wheel, the second rotating shaft penetrates through the third extending piece and is rotationally connected with the third extending piece, and the second rotating shaft at least partially enters the third gap and is fixedly connected with a third connecting part;

The second transmission belt is wound on the third transmission wheel and the fourth transmission wheel.

6. A driving apparatus as claimed in claim 3, wherein the third frame further comprises a fourth extension member provided along the projection to the third main body, and an extension direction of the fourth extension member intersects with an extension direction of the third extension member, and the second driving member is mounted to a side of the fourth extension member facing the second frame.

7. The drive apparatus of claim 4, further comprising a connection shaft, a connection frame, and a third drive mechanism;

The connecting frame is positioned on one side of the third main body far away from the second frame body, is arranged at intervals with the third main body and is used for being connected with the head or the body of the robot;

The connecting shaft is fixed with the third main body and is rotationally connected with the connecting frame;

The third driving mechanism comprises a third driving piece and a third transmission assembly, wherein the third driving piece is arranged on the connecting frame and positioned between the connecting frame and the third main body, the third transmission assembly is connected with the third driving piece and the third main body, and the third driving piece is used for driving the third frame body to rotate so as to enable the third frame body to rotate relative to the connecting frame.

8. The drive apparatus according to claim 7, wherein a rotation center axis of the first frame body, a rotation center axis of the second frame body, and a rotation center axis of the third frame body intersect at a point.

9. The driving device according to claim 7, wherein the connecting frame is provided with a positioning shaft in a protruding manner, the positioning shaft is located between the third main body and the connecting frame, a seat body is arranged on one side, away from the connecting frame, of the positioning shaft, the connecting shaft penetrates through the seat body, and the connecting shaft is connected with the seat body in a rotating manner.

10. A foot-type robot, which comprises a foot-type robot body, characterized by comprising the following steps:

A body;

The drive device of any one of claims 1 to 9, being mounted to the body;

A head connected to the drive device, the head being adapted to produce relative movement with the body in response to actuation of the drive device.