CN109591909B

CN109591909B - Robot leg structure and robot device

Info

Publication number: CN109591909B
Application number: CN201811642996.0A
Authority: CN
Inventors: 熊友军; 刘梅春
Original assignee: Shenzhen Ubtech Technology Co ltd
Current assignee: Beijing Youbixuan Intelligent Robot Co ltd; Shenzhen Ubtech Technology Co ltd
Priority date: 2018-12-29
Filing date: 2018-12-29
Publication date: 2020-08-25
Anticipated expiration: 2038-12-29
Also published as: CN109591909A

Abstract

The invention is suitable for the technical field of robots and provides a robot leg structure and a robot device. According to the invention, the rotation body is limited by the bearing outer sleeve and the bearing inner liner, the ankle support and the first steering engine component rotate relatively while being connected, the rotation body is limited and arranged between the outer side of the bearing and the bearing inner liner, and the rotation body does not move in the radial direction and the axial direction, so that the output stability of the output shaft of the first steering engine is ensured, the service life is prolonged, the joint movement of the leg part of the robot is more coherent and flexible, and the moving performance of the robot is improved.

Description

Robot leg structure and robot device

Technical Field

The invention belongs to the technical field of robots, and particularly relates to a leg structure of a robot and a robot device.

Background

The humanoid robot has a similar limb structure with a human, and comprises a head, a trunk, two arms, two legs and the like, and flexible joints are further arranged at the positions of the two arms, the two legs and the like to realize the completion of a plurality of actions of the humanoid robot.

The foot plate and the ankle joint on the leg of the existing humanoid robot can swing in a plurality of directions, so that the robot has high flexibility, and meanwhile, the swing in the plurality of directions needs the cooperation of complex bearings, rotating shafts and driving components (such as steering engines). The bearing and the output shaft of the steering engine are relatively fixed in the radial direction, but are difficult to fix in the axial direction, axial float is easily caused in the rotating process of the output shaft of the steering engine, the output of the steering engine is unstable, the service life of the steering engine is influenced, and the bearing is easy to fall off, so that the movement of joints and four limbs of the humanoid robot is inconsistent and inflexible.

Therefore, it is necessary to provide a structure capable of ensuring stable output of the steering engine to improve the motion stability of the humanoid robot.

Disclosure of Invention

The invention aims to provide a robot leg structure and a robot device, and aims to solve the technical problem that axial movement is easy to occur when a bearing is connected with a steering engine in the robot leg structure.

The present invention is achieved as described above, and a robot leg structure includes:

the first steering engine component comprises a first case and a first steering engine arranged in the first case, and the first steering engine is provided with an output end;

the two ends of the ankle support are respectively connected with the two ends of the first machine shell in a rotating manner; and

the lower leg framework comprises a mounting frame, and two ends of the mounting frame are rotatably connected to two sides of the periphery of the first shell; the connecting line of the two ends of the mounting rack is vertical to the connecting line of the two ends of the ankle support;

one side of the first shell, which is far away from the output end, is connected with one end of the ankle support through a bearing assembly, and the other end of the ankle support is connected with the output end; the bearing assembly comprises a bearing outer sleeve fixedly mounted on the ankle support, a bearing inner lining fixedly mounted on the first shell, and a rotating body which is arranged between the outer side of the bearing and the bearing inner lining in a limiting mode and can rotate.

In an embodiment, the bearing housing includes a housing body and a stop portion connected to an inner edge of one side of the housing body, the bearing lining includes a lining body and a limit portion connected to an outer edge of one side of the lining body, the rotor is limited between the housing body and the lining body in a radial direction, and the rotor is limited between the stop portion and the limit portion in an axial direction.

In one embodiment, the bearing outer sleeve further comprises a mounting part connected to the outer edge of the other side of the outer sleeve body, and the mounting part is fixedly mounted with the ankle support.

In an embodiment, a plurality of first screw holes are formed in the mounting portion, a plurality of first mounting holes are formed in the ankle support, and the screw holes correspond to the mounting holes one to one.

In an embodiment, the bearing lining is provided with a plurality of second screw holes penetrating through the limiting part and the lining body, one side of the first casing, which is far away from the output end, is provided with a mounting boss, the mounting boss is provided with a plurality of second mounting holes, and the second screw holes correspond to the second mounting holes one to one.

In one embodiment, the ankle support is provided with an extension hole corresponding to the bearing assembly, and the bearing assembly is arranged in the extension hole.

In one embodiment, a groove is formed in the ankle bracket corresponding to the bearing assembly, the protruding hole is formed in the groove, and a bottom surface of the groove is located on a side of the mounting portion adjacent to the abutting portion.

In one embodiment, the ankle support further comprises a side end cap for covering the groove.

In one embodiment, the mounting bracket is U-shaped, the first side boss and the second side boss are respectively arranged on two sides of the outer periphery of the first casing, and two ends of the mounting bracket are rotatably mounted on the first side boss and the second side boss.

It is another object of the present invention to provide a robotic device comprising a leg, a torso, two arms, and a head, the leg comprising the robotic leg structure of the embodiments described above, and a foot plate assembly connected to the ankle support.

The invention provides a robot leg structure which comprises a first steering engine component, a shank skeleton and an ankle support, wherein a bearing assembly is arranged between the ankle support and the first steering engine component, the bearing assembly comprises a bearing outer sleeve fixedly arranged on the ankle support, a bearing inner liner fixedly arranged on one end, far away from an output end, of a first shell, and a rotating body which is arranged between the outer side of the bearing and the bearing inner liner in a limiting mode and can rotate, the rotating body can rotate relatively while being connected, the rotating body is arranged between the outer side of the bearing and the bearing inner liner in a limiting mode and cannot move in the radial direction and the axial direction, the output stability of an output shaft of the first steering engine is guaranteed, the service life of the first steering engine is guaranteed, joint movement of the leg of a robot can be more continuous and flexible, and the moving performance of the robot.

Drawings

FIG. 1 is a front view of a robot leg configuration in an embodiment of the present invention;

FIG. 2 is a side view of a robot leg structure in an embodiment of the invention;

FIG. 3 is an oblique angle view of a leg structure of a robot in an embodiment of the invention;

FIG. 4 is an exploded view of the leg structure of the robot in the embodiment of the present invention;

FIG. 5 is a block diagram of a first steering engine and bearing assembly of a leg structure of a robot according to an embodiment of the invention;

FIG. 6 is a block diagram of another angle of the first steering engine and bearing assembly of the robot leg structure in an embodiment of the invention;

FIG. 7 is a cross-sectional view taken along line A-A of FIG. 1;

FIG. 8 is an enlarged view of FIG. 7 within the dashed circle;

fig. 9 is a schematic structural diagram of a bearing assembly of a robot leg structure in an embodiment of the invention.

The designations in the figures mean:

leg 200, robot leg structure 100;

the steering engine comprises a first steering engine component 1, a shell 10, a front shell 101, a rear shell 102, a first machine shell 11, a first steering engine 12, an output shaft 121, a mounting boss 111, a first side boss 114 and a second side boss 116;

the ankle support 2, the support body 20, the side end cover 21, the groove 22 and the first mounting hole 220;

the lower leg framework 3, the mounting frame 31, the steering engine frame 32, the steering engine mounting part 321, the connecting part 322, the link mechanism 33, the transmission part 331 and the connecting rod 332;

a second steering engine component 4 and a mounting component 6;

bearing assembly

5, 5 ', 5 ", bearing

outer sleeve

51, 51', 51", bearing

inner lining

52, 52 ', 52 ",

rotor

53, 53', 53";

the outer sleeve comprises a jacket body 510, a resisting part 511, a mounting part 512, a first screw hole 5120, a lining body 520, a limiting part 521 and a second screw hole 522;

a foot plate assembly 300.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the patent. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

In order to explain the technical solution of the present invention, the following detailed description is made with reference to the specific drawings and examples.

The following describes an implementation of a robot leg structure 100 provided by the present invention in detail with reference to fig. 1 to 9. Of course, the figures are all described with reference to a leg 200 of a robotic device to further characterize the robotic leg structure 100 in relation to the relationship between the leg 200 structure and the components connected thereto, such as a foot plate assembly 300 and the like.

As shown in fig. 1 to 3, the present invention firstly provides a robot leg structure 100, which has a lower end for connecting with a foot plate assembly 300 and an upper end for connecting with a trunk of a robot apparatus, thereby being applied to a complete robot apparatus. As shown in fig. 3 and 4, the leg structure 100 of the robot includes a first steering gear assembly 1, an ankle support 2 in a "U" shape, and a calf framework 3, wherein the first steering gear assembly 1 is connected to the ankle support 2 and is used for driving the ankle support 2 to rotate in one direction, and the calf framework 3 is rotatably connected to the first steering gear assembly 1 and is used for driving the first steering gear assembly 1 and the ankle support 2 to rotate in another direction under the driving of a knee steering gear (described in detail later) arranged on the calf framework 3.

Referring to fig. 3 to 5, the first steering engine assembly 1 includes a first housing 11 and a first steering engine 12 disposed in the first housing 11, the first steering engine 12 has an output shaft 121, which extends or does not extend from one side of the first housing 11 to serve as an output end, and the other side of the first steering engine is used as a fixed end. At the output end, it is connected to one end of the ankle support 2 by a rotation connecting member 9 or the like to rotate the ankle support 2. The other end of the first housing 11 is rotatably coupled to the other end of the ankle support 2 to perform a driven rotation with the active rotation of one end of the ankle support 2, wherein the rotational coupling of the other end of the first housing 11 to the other end of the ankle support 2 is performed by the bearing assembly 5.

Specifically, the bearing assembly 5 includes a bearing housing 51 fixedly installed on the ankle support 2, a bearing lining 52 fixedly installed on a side of the first housing 11 away from the output end, and a rotator 53 rotatably installed between the bearing housing 51 and the bearing lining 52 in a limited manner. The bearing outer sleeve 51 and the bearing inner lining 52 rotate relatively along with the rotation of the rotating body 53, so that the rotation of the ankle support 2 relative to the first housing 11 is realized, namely, the ankle support 2 can rotate relative to the first steering engine assembly 1.

According to the leg structure 100 of the robot, the bearing assembly 5 is arranged between the ankle support 2 and the first steering engine assembly 1, the bearing assembly 5 comprises the bearing outer sleeve 51 fixedly installed on the ankle support 2, the bearing inner liner 52 fixedly installed on one end, far away from the output end, of the first machine shell 11, and the rotating body 53 which is installed between the bearing outer sleeve 51 and the bearing inner liner 52 in a limiting mode and can rotate, connection is achieved, relative rotation can be achieved, the rotating body 53 is installed between the bearing outer sleeve 51 and the bearing inner liner 52 in a limiting mode and cannot move in the radial direction and the axial direction, the output stability of the output shaft 121 of the first steering engine 12 is guaranteed, the service life of the first steering engine 12 is guaranteed, joint movement of the leg 200 of the robot can be enabled to be more continuous and flexible, and the moving performance of the robot is improved.

As shown in fig. 7 to 9, the bearing housing 51 includes a housing body 510 and a stopping portion 511 connected to an inner edge of one side of the housing body 510, an inner diameter of the stopping portion 511 is smaller than an inner diameter of the housing body 510, the bearing lining 52 includes a lining body 520 and a limiting portion 521 connected to an outer edge of one side of the lining body 520, an outer diameter of the limiting portion 521 is larger than an outer diameter of the lining body 520, the stopping portion 511 and the limiting portion 521 are disposed away from each other, and the rotating body 53 is limited between the housing body 510 and the lining body 520 and between the stopping portion 511 and the limiting portion 521, so that the rotating body 53 does not move axially in an axial direction by the stopping portion 511 and the limiting portion 521, and the rotating body 53 does not move radially by the housing body 510 and the lining body 520.

The bearing housing 51 further includes a mounting portion 512 connected to the other side outer edge of the housing body 510, the mounting portion 512 being adapted to be fixedly mounted with the ankle bracket 2. The stopper 521 of the bearing liner 52 is also used for connection with the first housing 11.

Specifically, as shown in fig. 7 and 8 (the cross-sectional view of fig. 7 is inclined at a small angle to clarify the characteristics of the bearing assembly 5 as much as possible), a groove 22 is formed at one end of the ankle bracket 2 corresponding to the fixed end of the first steering engine 12, and an extending hole (not shown) is further formed in the groove 22, so that the bottom surface of the groove 22 is annularly arranged rather than circularly arranged, the bottom surface of the groove 22 is arranged on one side of the mounting portion 512 close to the blocking portion 511, correspondingly, a plurality of first screw holes 5120 are formed on the mounting portion 512, a plurality of first mounting holes 220 are formed on the bottom surface of the groove 22 of the ankle bracket 2, and the first screw holes 5120 are in one-to-one correspondence with the mounting holes, thereby realizing the connection between the ankle bracket 2 and the bearing.

Since the mounting portion 512 is disposed in the groove 22, the ankle support 2 further includes a side end cap 21 disposed corresponding to the groove 22 to completely cover the bearing assembly 5, thereby improving the overall aesthetic appearance. The jacket body 510, the bearing liner 52, and the rotor 53 are located in the protrusion holes.

The first housing 11 is provided with a mounting boss 111 at a corresponding fixed end, and the bearing liner 52 is fixedly connected with the mounting boss 111, so that the connection between the first housing 11 and the bearing assembly 5 is realized.

Specifically, the bearing liner 52 is provided with a plurality of second screw holes 522, the second screw holes 522 penetrate through the limiting portion 521 and the liner body 520, the mounting boss 111 is provided with second mounting holes (not shown), and the second screw holes 522 correspond to the second mounting holes in a one-to-one manner, so that the bearing liner can be mounted by screws, which is not described again.

When the bearing assembly 5 is assembled, the rolling body 53 is first pressed into the bearing outer shell 51, the bearing outer shell 51 is fixed to the ankle brace 2, and finally the bearing lining 52 is fitted, and the rolling body 53 is pressed by the stopper 521 of the bearing lining 52.

The bearing assembly 5 described above can be used in any position where relative rotation is required.

As shown in fig. 3 and 4, the lower leg frames 3 are rotatably connected to both sides of the outer circumference of the first housing 11, and the above-described bearing assemblies 5 may be used at the connection portions of the lower leg frames 3 and the first housing 11. In this embodiment, a connection line of both ends of the lower leg frame 3 is perpendicular to a connection line of both ends of the ankle support 2, that is, a plane in which the first housing 11 rotates relative to the lower leg frame 3 and a plane in which the first housing 11 rotates relative to the ankle support 2 are perpendicular to each other, so that the rotation of the foot board assembly 300 therebelow in two planes can be realized, and the flexibility is high.

Referring to fig. 3 and 4, the calf skeleton 3 includes an installation frame 31 connected to the first housing 11, a steering engine installation portion 321 located above the installation frame 31, and a connection portion 322 located above the steering engine installation portion, and the steering engine installation portion is used for installing the second steering engine assembly 4 (i.e., the above-mentioned knee steering engine). The mounting bracket 31 is also formed in a "U" shape, and both ends thereof are respectively connected to both sides of the outer circumference of the first housing 11, and the above-mentioned bearing assembly 5, such as the bearing assembly 5' and the bearing assembly 5 ″ shown in fig. 5 and 6, may be used on at least one side thereof.

The bearing assembly 5' and bearing assembly 5 "may be identical in construction and installation principles to the bearing assembly 5 described above for use at the ankle support 2. For example, the bearing housing 51 "of the bearing assembly 5" is fixedly installed on the mounting bracket 31, the bearing lining 52 "is installed on the second side boss 116 on the outer circumferential side surface of the first housing 11, and the rotator 53" is confined between the bearing housing 51 and the bearing lining 52. Other structures and installation are completely the same, so that the structure is easy to understand and is not described in detail.

Certainly, on the side where the second steering engine assembly 5 drives the first housing 11 to rotate actively, the lower leg frame 3 further includes a link mechanism 33, one end of the link mechanism 33 is connected to the output shaft 121 of the second steering engine assembly 4 through a rotation output assembly (not shown), the rotation output by the output shaft 121 can be transmitted to the link mechanism 33, and the other end of the link mechanism 33 is connected to the bearing lining 52.

As shown in fig. 4, the link mechanism 33 includes two transmission members 331 and two connecting rods 332, wherein one transmission member 331 is connected to the output shaft 121 of the second steering engine assembly 4, the other transmission member 331 is connected to one side of the outer periphery of the first housing 11, and the two connecting rods 332 are connected in parallel between the two transmission members 331.

In one embodiment, the transmission member 331 can be rotatably mounted to the first side boss 114 of the first housing 11 using the same bearing assembly 5 'as the bearing assembly 5 described above, wherein 3 sets of bearing assemblies (bearing assembly 5, bearing assembly 5' and bearing assembly 5 ") are used on the first steering engine assembly 1. A simpler mode can be adopted, as long as the transmission piece 331 drives the first housing 11 to rotate, without limitation, and at this time, 2 sets of bearing assemblies (bearing assembly 5 and bearing assembly 5 ") are used on the first steering engine assembly 1.

As shown in fig. 4, the first steering engine assembly 1 further includes a housing 10, the housing 10 includes a front housing 101 and a rear housing 102 which are installed oppositely, the front housing 101 is fixedly installed on one side of an output end of the first housing 11, and the rear housing 102 is fixedly installed on one side of a fixed end of the first housing 11, so that when the second steering engine assembly 4 drives the first housing 11 to rotate, the housing 10 rotates synchronously.

Another object of the present invention is to provide a robot apparatus comprising a leg part 200, a trunk, two arms and a head part, wherein the leg part 200 comprises the robot leg structure 100 according to the above embodiments, and a foot plate assembly 300 connected to the ankle support 2.

According to the robot device provided by the embodiment, the first steering engine component 1 and the ankle support 2 on the leg part 200 and the first steering engine component 1 and the shank framework 3 are connected through the bearing components (the bearing components 5, the bearing components 5 'and the bearing components 5'), and the bearing components can not move in the radial direction and the axial direction on the basis of realizing relative rotation, so that the flexibility and the continuity of joint movement of the robot device are improved, and the service life of the steering engines is prolonged.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A robot leg structure, comprising:

the first steering engine component comprises a first case and a first steering engine arranged in the first case, and the first steering engine is provided with an output end; and

the two ends of the ankle support are respectively connected with the two ends of the first machine shell in a rotating manner;

one side of the first shell, which is far away from the output end, is connected with one end of the ankle support through a bearing assembly, and the other end of the ankle support is connected with the output end; the bearing assembly comprises a bearing outer sleeve fixedly arranged on the ankle support, a bearing inner liner fixedly arranged on the first shell, and a rotating body which is arranged between the outer side of the bearing and the bearing inner liner in a limiting manner and can rotate;

the bearing outer sleeve comprises an outer sleeve body and a resisting part connected to the inner edge of one side of the outer sleeve body, the bearing lining comprises a lining body and a limiting part connected to the outer edge of one side of the lining body in the radial direction, the rotating body is limited to the outer sleeve body and between the lining bodies in the axial direction, and the rotating body is limited to the resisting part and between the limiting parts.

2. The robot leg structure of claim 1, wherein the bearing housing further includes a mounting portion coupled to an outer edge of the other side of the housing body, the mounting portion fixedly mounted to the ankle support.

3. The robot leg structure of claim 2, wherein the mounting portion is provided with a plurality of first screw holes, the ankle support is provided with a plurality of first mounting holes, and the first screw holes correspond to the first mounting holes one to one.

4. The robot leg structure of claim 1, wherein the bearing liner has a plurality of second screw holes extending through the position-limiting portion and the liner body, the first housing has a mounting boss on a side thereof away from the output end, the mounting boss has a plurality of second mounting holes, and the second screw holes are in one-to-one correspondence with the second mounting holes.

5. A robot leg structure according to claim 2, wherein said ankle support is provided with an extension hole corresponding to said bearing assembly, said bearing assembly being provided in said extension hole.

6. A robot leg structure of claim 5, wherein a groove is formed on the ankle support corresponding to the bearing assembly, the protruding hole is formed in the groove, and a bottom surface of the groove is located at a side of the mounting portion adjacent to the abutting portion.

7. The robot leg structure of claim 6, wherein the ankle brace further comprises a side end cap for covering the groove.

8. A robot leg structure as claimed in any of claims 1 to 7, further comprising a lower leg armature comprising a mounting bracket in the form of a "U", both ends of the mounting bracket being pivotally mounted to first and second side bosses on the first housing.

9. A robotic device comprising a leg, a torso, two arms, and a head, the leg comprising the robot leg structure of any of claims 1-8, and a foot plate assembly connected to the ankle support.