CN112141238A - Robot prevent pressing prevent sitting and prevent falling disconnected shank structure and robot - Google Patents
Robot prevent pressing prevent sitting and prevent falling disconnected shank structure and robot Download PDFInfo
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- CN112141238A CN112141238A CN202011162588.2A CN202011162588A CN112141238A CN 112141238 A CN112141238 A CN 112141238A CN 202011162588 A CN202011162588 A CN 202011162588A CN 112141238 A CN112141238 A CN 112141238A
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- spring
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- 230000033001 locomotion Effects 0.000 claims abstract description 24
- 210000002414 leg Anatomy 0.000 claims description 150
- 210000001503 joint Anatomy 0.000 claims description 23
- 230000005540 biological transmission Effects 0.000 claims description 16
- 230000008602 contraction Effects 0.000 claims description 12
- 210000001217 buttock Anatomy 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 5
- 230000008569 process Effects 0.000 claims description 3
- 206010061599 Lower limb fracture Diseases 0.000 abstract description 4
- 210000001699 lower leg Anatomy 0.000 description 10
- 238000010586 diagram Methods 0.000 description 6
- 210000000689 upper leg Anatomy 0.000 description 4
- 244000309466 calf Species 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of robots, in particular to a pressure-proof, sitting-proof, falling-proof and broken leg structure of a robot and the robot. Wherein, the pressure-resistant of robot is prevented sitting and is prevented falling disconnected shank structure and include: the leg fixing block is fixedly arranged on the leg rotating positioning plate and moves together with the leg rotating positioning plate; the limiting block is fixedly arranged on the body part of the robot and is used for limiting the movement of the leg fixing block; when the legs of the robot rotate to the unfolding limit, the leg fixing blocks are in contact with the limiting blocks, and the limiting blocks block the leg fixing blocks from moving towards the unfolding direction of the legs of the robot; when the shank of robot rotates to the state of shrink limit, the leg fixed block with the stopper contacts, just the stopper blocks the leg fixed block to the direction motion of the shank shrink of robot.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a pressure-proof, sitting-proof, falling-proof and broken leg structure of a robot and the robot.
Background
At present, the leg structure of a robot is complex, and the leg of the robot is generally transmitted by a gear and a leg rotating positioning plate arranged in the robot, so that the direct relative motion of the leg of the robot and the body of the robot is matched with the motion of the joint (the joint of the thigh and the shank) of the leg of the robot.
However, in the use of the robot, especially when children play with the robot toy, the legs of the robot may be violently driven to move directly relative to the body of the robot, and the joints of the legs of the robot may move accordingly. However, the design of the leg joint of the robot generally enables the motion of the joint part to have a range, and if the joint part reaches the limit of the motion range, the leg part of the robot is still violently driven to directly move relative to the body of the robot, so that the transmission gear is subjected to a large force, and the gear is subjected to a load beyond the tooth root of the gear, so that the gear is broken, and the product is damaged. Similar situations also include: a robot pressed situation, a robot seated situation and a robot dropped situation.
Disclosure of Invention
In view of this, the present application provides a pressure-proof, sitting-proof and breaking-proof leg structure of a robot and a robot, so as to solve the problems in the related art.
The invention adopts the following technical scheme:
in a first aspect, embodiments of the present invention provide a pressure-proof, sitting-proof and breaking-proof leg structure of a robot. This robot prevent pressing prevent sitting and prevent falling disconnected shank structure includes:
the leg fixing block is fixedly arranged on the leg rotating positioning plate and moves together with the leg rotating positioning plate; the limiting block is fixedly arranged on the body part of the robot and is used for limiting the movement of the leg fixing block; when the legs of the robot rotate to the unfolding limit, the leg fixing blocks are in contact with the limiting blocks, and the limiting blocks block the leg fixing blocks from moving towards the unfolding direction of the legs of the robot; when the shank of robot rotates to the state of shrink limit, the leg fixed block with the stopper contacts, just the stopper blocks the leg fixed block to the direction motion of the shank shrink of robot.
Optionally, the leg fixing block includes: the device comprises an annular main body and a bulge arranged on the annular main body;
the annular main body is sleeved on the leg rotating positioning plate; the protrusions are in contact with the limiting blocks to limit in the process that the leg fixing blocks rotate along with the leg rotating positioning plates.
Optionally, the method further comprises:
the stopper includes: a contraction limit projection and an expansion limit projection;
when the leg of the robot rotates to the state of the expansion limit, the leg fixing block is contacted with the expansion limit protrusion;
when the leg of the robot rotates to the state of the contraction limit, the leg fixing block is contacted with the contraction limiting protrusion.
Optionally, the method further comprises: a return spring;
a spring groove is formed in the leg rotating positioning plate;
the return spring is positioned in the spring groove and controls the leg rotating positioning plate to reset.
Optionally, a spring return bump is arranged on the leg rotation positioning plate; a spring limiting lug is arranged on a support frame inside the robot;
when the leg rotating positioning plate rotates actively, the spring limiting lug and the spring resetting lug prop open the spring;
when the leg rotating positioning plate loses the external force of active rotation, the reset spring is reset and contracted, and the leg rotating positioning plate is driven to reset through the limiting lug and the spring reset lug.
Optionally, a channel for the movement of the leg fixing block is arranged inside the robot.
Optionally, the limiting block is disposed between the body shell of the robot and a protrusion inside the body shell to reinforce the mechanical strength of the limiting block.
Optionally, a protrusion inside the body shell is used to fix a support frame of the robot.
Optionally, a leg joint gear, a hip drive gear, and a hip potentiometer gear;
the hip transmission gear is used for transmission between the leg joint gear and the hip potentiometer gear;
the buttock potentiometer gear is fixed with the leg rotating positioning plate.
In a second aspect, embodiments of the present invention provide a robot, including a pressure-proof, sitting-proof and breaking-proof leg structure of the robot according to the first aspect of the present application.
By adopting the technical scheme, when the robot is influenced by external force and the joint part reaches the limit of the movement range, the leg fixing block is contacted with the limiting block, and if the limiting block blocks the leg fixing block to move, the main stressed part is the limiting block and the leg fixing block, and the gear is hardly stressed, so that the load born by the tooth root of the gear cannot be exceeded, and the gear cannot break teeth to cause product damage.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a cross-sectional view of a robot leg structure for preventing pressing, sitting and breaking according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a pressure-proof, sitting-proof and broken-proof leg structure of a robot according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a pressure-proof, sitting-proof and broken-proof leg structure of a robot according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a pressure-proof, sitting-proof and breaking-proof leg structure of a robot according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a structure of a robot for preventing pressing, sitting and breaking legs according to an embodiment of the present invention.
Reference numerals:
1-leg joint gear, 2-hip transmission gear, 3-hip potentiometer gear, 4-leg rotary positioning plate, 41-spring return bump, 5-leg fixing block, 6-limiting block, 7-supporting frame, 71-spring stop bump, 8-return spring and 9-shell.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be described in detail below. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the examples given herein without any inventive step, are within the scope of the present invention.
First, an application scenario of the embodiment of the present invention is explained, and robots are more and more present in the market and in life at present. Taking the example of a toy robot, the toy robot comprises: dog-shaped toy robots, human-shaped toy robots, pig-shaped toy robots; the leg structures of these robots are complicated. The legs of the robot are generally transmitted through gears and leg rotating positioning plates 4 arranged inside the robot, so that the direct relative motion of the legs of the robot and the body of the robot is matched with the motion of the joints of the legs of the robot (joints of thighs and calves). However, in the use of the robot, especially when children play with the robot toy, the legs of the robot may be violently driven to move directly relative to the body of the robot, and the joints of the legs of the robot may move accordingly. However, the design of the leg joint of the robot generally enables the motion of the joint part to have a range, and if the joint part reaches the limit of the motion range, the leg part of the robot is still violently driven to directly move relative to the body of the robot, so that the transmission gear is subjected to a large force, and the gear is subjected to a load beyond the tooth root of the gear, so that the gear is broken, and the product is damaged. Similar situations also include: a robot pressed situation, a robot seated situation and a robot dropped situation.
Examples
Fig. 1 is a cross-sectional view of a robot leg structure for preventing pressing, sitting and breaking according to an embodiment of the present invention; fig. 2 is a schematic structural diagram of a pressure-proof, sitting-proof and broken-proof leg structure of a robot according to an embodiment of the present invention; fig. 3 is a schematic structural diagram of a pressure-proof, sitting-proof and broken-proof leg structure of a robot according to an embodiment of the present invention; referring to fig. 1-3, the pressure-proof sitting-proof broken leg-breaking structure of the robot specifically comprises:
a leg fixing block 5 fixedly arranged on the leg rotating positioning plate 4 and moves together with the leg rotating positioning plate 4;
the limiting block 6 is fixedly arranged on the body part of the robot and used for limiting the movement of the leg fixing block 5;
when the legs of the robot rotate to the unfolding limit, the leg fixing blocks 5 are in contact with the limiting blocks 6, and the limiting blocks 6 block the leg fixing blocks 5 from moving towards the unfolding direction of the legs of the robot;
when the leg of the robot is rotated to the state of the contraction limit, the leg fixing block 5 is in contact with the limiting block 6, and the limiting block 6 blocks the leg fixing block 5 to move in the direction in which the leg of the robot contracts.
By adopting the technical scheme, when the robot is influenced by external force and the joint part reaches the limit of the movement range, the leg fixing block 5 is in contact with the limiting block 6, and if the limiting block 6 blocks the leg fixing block 5 to move, the main stressed part is the limiting block 6 and the leg fixing block 5, and the gear is hardly stressed, so that the load born by the tooth root of the gear cannot be exceeded, and the gear cannot break teeth to cause product damage.
Specifically, there are two main types of motions of the robot leg. One is retracted and one is deployed. Namely: flexion and extension in the conventional parlance. When the legs of the robot are bent and extended, the movement of the crotch is often accompanied. To achieve this effect, the gears inside the robot comprise: a leg joint gear 1, a hip transmission gear 2 and a hip potentiometer gear 3; the hip transmission gear 2 is responsible for transmission between the leg joint gear 1 and the hip potentiometer gear 3; the buttock potentiometer gear 3 is fixed with the leg rotating positioning plate 4.
When the leg joint bends and stretches, the leg joint gear 1 is driven by the leg joint to rotate. The leg joint gear 1 drives the hip potentiometer gear 3 to rotate through the hip transmission gear 2. The hip potentiometer gear 3 and the leg rotating positioning plate 4 rotate together, so that the leg of the robot and the body of the robot move relatively. In practical application, generally, the motor rotates the electric gear to drive the leg of the robot to move.
Under the condition that the robot is pressed, the robot is seated or the robot is thrown, the legs of the robot can move relative to the body of the robot under the action of external force, and during movement, the hip potentiometer gear 3 and the leg rotating positioning plate 4 rotate along with the legs; if the joints of the thigh and the calf of the robot are in the limit state of contraction (or expansion), the movement direction of the hip potentiometer gear 3 and the leg rotating positioning plate 4 which move to drive the leg joint gear 1 is the contraction (or expansion) direction, and is limited by the structure of the leg of the robot, the leg joint gear 1 cannot rotate continuously, the hip potentiometer gear 3 throws away the hip transmission gear 2 to drive the leg joint gear 1 to rotate, so that the hip transmission gear 2 is stressed, and if the hip transmission gear 2 is subjected to large force and exceeds the load born by the gear tooth root, the gear can break, and the product is damaged.
In the scheme provided by the application, if joints of thighs and crus of the robot are in a contracted (or expanded) extreme state, at the moment, the leg fixing blocks 5 arranged on the leg rotating positioning plate 4 are contacted with the limiting blocks 6, and the limiting blocks 6 block the leg fixing blocks 5 from moving towards the contracted (or expanded) direction of the legs of the robot; at the moment, the leg fixing block 5 cannot move, so that the leg rotating positioning plate 4 cannot move, and further the hip potentiometer gear 3 cannot rotate, and the leg joint gear 1, the hip transmission gear 2 and the hip potentiometer gear 3 are not stressed.
Specifically, the leg fixing block 5 includes: the device comprises an annular main body and a bulge arranged on the annular main body;
the annular main body is sleeved on the leg rotating positioning plate 4; the protrusions are contacted with the limiting blocks 6 to limit in the process that the leg fixing blocks 5 rotate along with the leg rotating positioning plates 4.
The stopper 6 includes: a contraction limit projection and an expansion limit projection;
when the leg of the robot rotates to the state of the expansion limit, the leg fixing block 5 is contacted with the expansion limit protrusion;
when the leg of the robot rotates to the state of the contraction limit, the leg fixing block 5 contacts with the contraction limiting protrusion.
And a channel for the movement of the leg fixing block 5 is arranged in the robot.
By the arrangement, other parts in the robot body can not limit the movement of the leg fixing block 5 in normal use.
Specifically, the limit block 6 is disposed between the body shell 9 of the robot and a protrusion inside the body shell 9, so as to reinforce the mechanical strength of the limit block 6.
Wherein the protrusions inside the body shell 9 are used for fixing the support frame 7 of the robot.
So set up, the temple compact structure of whole robot can be in the saving material of the basis that reaches fixed purpose.
Referring to fig. 4 and 5, further, the robot provided by the present application further includes a leg structure for preventing pressing, sitting and breaking, and further includes: a return spring 8;
a spring groove is formed in the leg rotating positioning plate 4;
the return spring 8 is positioned in the spring groove and controls the leg rotating positioning plate 4 to return.
So set up, under the effect of external force, the structure of robot shank changes the back, can be under reset spring 8's influence for the shank of robot restores original state.
Specifically, a spring return bump 41 is arranged on the leg rotation positioning plate 4; a spring limiting lug 71 is arranged on a support frame 7 in the robot;
when the leg rotation positioning plate 4 actively rotates, the spring is spread by the spring limiting lug 71 and the spring return lug 41;
when the leg rotation positioning plate 4 loses the external force of active rotation, the return spring 8 is reset and contracted, and the leg rotation positioning plate 4 is driven to reset by the limiting lug and the spring return lug 41.
So set up, when not influenced by external force, reset spring 8 can reset, and then drive spring limit lug 71 with spring reset lug 41 returns original position, because support frame 7 can't remove, spring limit lug 71 can't remove, so when reset spring 8 can reset, can drive spring reset lug 41 returns original position, drives simultaneously the rotatory locating plate of shank 4 resets, and then drives shank joint gear 1, buttock drive gear 2 and buttock potentiometre gear 3 and resets for the original gesture is replied to the robot.
The embodiment of the application also provides a robot, which comprises the pressure-proof, sitting-proof and broken leg-part-preventing structure of the robot according to any embodiment of the application.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. The utility model provides a robot prevent pressing prevent sitting and prevent falling disconnected shank structure which characterized in that includes:
the leg fixing block is fixedly arranged on the leg rotating positioning plate and moves together with the leg rotating positioning plate;
the limiting block is fixedly arranged on the body part of the robot and is used for limiting the movement of the leg fixing block;
when the legs of the robot rotate to the unfolding limit, the leg fixing blocks are in contact with the limiting blocks, and the limiting blocks block the leg fixing blocks from moving towards the unfolding direction of the legs of the robot;
when the shank of robot rotates to the state of shrink limit, the leg fixed block with the stopper contacts, just the stopper blocks the leg fixed block to the direction motion of the shank shrink of robot.
2. The robot anti-press anti-sitting anti-falling anti-breaking leg structure according to claim 1,
the leg fixing block includes: the device comprises an annular main body and a bulge arranged on the annular main body;
the annular main body is sleeved on the leg rotating positioning plate; the protrusions are in contact with the limiting blocks to limit in the process that the leg fixing blocks rotate along with the leg rotating positioning plates.
3. The robot of claim 1, further comprising:
the stopper includes: a contraction limit projection and an expansion limit projection;
when the leg of the robot rotates to the state of the expansion limit, the leg fixing block is contacted with the expansion limit protrusion;
when the leg of the robot rotates to the state of the contraction limit, the leg fixing block is contacted with the contraction limiting protrusion.
4. The robot of claim 1, further comprising: a return spring;
a spring groove is formed in the leg rotating positioning plate;
the return spring is positioned in the spring groove and controls the leg rotating positioning plate to reset.
5. The robot anti-pressure anti-sitting anti-falling anti-breaking leg structure according to claim 4, wherein a spring return bump is arranged on the leg rotation positioning plate; a spring limiting lug is arranged on a support frame inside the robot;
when the leg rotating positioning plate rotates actively, the spring limiting lug and the spring resetting lug prop open the spring;
when the leg rotating positioning plate loses the external force of active rotation, the reset spring is reset and contracted, and the leg rotating positioning plate is driven to reset through the limiting lug and the spring reset lug.
6. The structure of claim 1, wherein the robot is provided with a channel for the leg fixing block to move.
7. The robot of claim 1, wherein the stop block is disposed between the body shell of the robot and the protrusion inside the body shell to reinforce the mechanical strength of the stop block.
8. The robot of claim 1, wherein the protrusions inside the body shell are used to fix the support frame of the robot.
9. The robot of claim 1, wherein the gear inside the robot comprises:
a leg joint gear, a hip transmission gear and a hip potentiometer gear;
the hip transmission gear is used for transmission between the leg joint gear and the hip potentiometer gear;
the buttock potentiometer gear is fixed with the leg rotating positioning plate.
10. A robot comprising the pressure-proof, sitting-proof and breaking-proof leg structure of the robot according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011162588.2A CN112141238A (en) | 2020-10-27 | 2020-10-27 | Robot prevent pressing prevent sitting and prevent falling disconnected shank structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011162588.2A CN112141238A (en) | 2020-10-27 | 2020-10-27 | Robot prevent pressing prevent sitting and prevent falling disconnected shank structure and robot |
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| Publication Number | Publication Date |
|---|---|
| CN112141238A true CN112141238A (en) | 2020-12-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011162588.2A Pending CN112141238A (en) | 2020-10-27 | 2020-10-27 | Robot prevent pressing prevent sitting and prevent falling disconnected shank structure and robot |
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| CN (1) | CN112141238A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP4059817A1 (en) * | 2021-03-17 | 2022-09-21 | Beijing Xiaomi Mobile Software Co., Ltd. | Leg assembly for legged robot and legged robot |
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| JP2003127074A (en) * | 2001-10-22 | 2003-05-08 | Omron Corp | Rotary shaft mounting structure of robot leg part |
| CN205905014U (en) * | 2016-08-17 | 2017-01-25 | 尖叫智能科技（上海）有限公司 | Thigh and shank connecting device of ectoskeleton robot |
| CN208726734U (en) * | 2018-08-01 | 2019-04-12 | 实丰文化发展股份有限公司 | A kind of toy leg of stepless locking |
| CN209934070U (en) * | 2019-04-24 | 2020-01-14 | 东莞市华复实业有限公司 | Multi-section movable mechanical structure of machine dog |
| CN111166614A (en) * | 2020-01-20 | 2020-05-19 | 深圳市丞辉威世智能科技有限公司 | Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot |
| CN214057752U (en) * | 2020-10-27 | 2021-08-27 | 东莞市华复实业有限公司 | Robot prevent pressing prevent sitting and prevent falling disconnected shank structure and robot |
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2020
- 2020-10-27 CN CN202011162588.2A patent/CN112141238A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000202793A (en) * | 1999-01-18 | 2000-07-25 | Sony Corp | Articulated device, machinery, driving method therefor and robot device |
| JP2003127074A (en) * | 2001-10-22 | 2003-05-08 | Omron Corp | Rotary shaft mounting structure of robot leg part |
| CN205905014U (en) * | 2016-08-17 | 2017-01-25 | 尖叫智能科技（上海）有限公司 | Thigh and shank connecting device of ectoskeleton robot |
| CN208726734U (en) * | 2018-08-01 | 2019-04-12 | 实丰文化发展股份有限公司 | A kind of toy leg of stepless locking |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| EP4059817A1 (en) * | 2021-03-17 | 2022-09-21 | Beijing Xiaomi Mobile Software Co., Ltd. | Leg assembly for legged robot and legged robot |
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