CN113696991A - Robot leg structure - Google Patents
Robot leg structure Download PDFInfo
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- CN113696991A CN113696991A CN202111135181.5A CN202111135181A CN113696991A CN 113696991 A CN113696991 A CN 113696991A CN 202111135181 A CN202111135181 A CN 202111135181A CN 113696991 A CN113696991 A CN 113696991A
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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
- B62D57/028—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 having wheels and mechanical legs
Abstract
The invention relates to the technical field of robots, in particular to a leg structure of a robot, which comprises a fixing piece, wherein the fixing piece is provided with a first rotating connecting part; the first connecting rod comprises a first connecting end and a second connecting end, and the first connecting end is movably connected to the first rotating connecting part; the second connecting rod comprises a first driving connecting part and a third connecting end, and the second connecting end is provided with a second rotating connecting part connected to the second connecting rod; the third connecting rod is provided with a third rotating connecting part, the third rotating connecting part is rotatably connected with the third connecting end, and the third connecting rod is also provided with a second driving connecting part; the first driving assembly is arranged on the first driving connecting part; the second driving assembly is arranged on the fixing piece; the invention adopts a dual-drive structure, and the leg of the robot can make various actions by matching with the drive of the connecting rod structure, and the whole structure is stable and reliable.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a leg structure of a robot.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings.
With the progress of science and technology, robots are more and more widely used, for example, cleaning robots, cargo robots, inspection robots, etc., which can achieve intelligent control, and existing robots generally include a frame and a movable wheel set, some robots include leg structures and the movable wheel set cooperate to achieve various actions, and the leg structures and driving elements cooperate to perform various actions during the action process. The existing robot has a single structure and poor stability, and influences the robot to make various actions.
Disclosure of Invention
In order to solve the problems, the invention provides a leg structure of a robot, which adopts a dual-drive structure and is matched with the drive of a connecting rod structure, so that the leg of the robot can make various actions, and the whole structure is stable and reliable.
The technical scheme adopted by the invention is as follows: a robot leg structure comprises a fixing piece, wherein the fixing piece is provided with a first rotating connecting part; the first connecting rod comprises a first connecting end and a second connecting end, and the first connecting end is movably connected to the first rotating connecting part; the second connecting rod comprises a first driving connecting part and a third connecting end, and the second connecting end is provided with a second rotating connecting part connected to the second connecting rod; the third connecting rod is provided with a third rotating connecting part, the third rotating connecting part is rotatably connected with the third connecting end, and the third connecting rod is also provided with a second driving connecting part; the first driving assembly is arranged on the first driving connecting part and is used for driving the second connecting rod to move; the second driving assembly is arranged on the fixing piece and is in driving connection with the second driving connecting part; a third drive assembly for driving the fixture.
The further improvement of the scheme is that the first driving assembly comprises a base, a stator assembly arranged on the outer edge of the base, a rotating shaft assembly arranged in the base, and a tire connected to the rotating shaft assembly, covered by the rotor assembly of the stator assembly and sleeved on the outer edge of the rotor assembly, the base comprises a built-in end, an external end and a rotary arrangement cavity penetrating through the built-in end and the external end, the rotating shaft assembly is rotatably arranged in the rotary arrangement cavity, a first circuit board is arranged at the built-in end, a built-in groove is formed in the external end, a second circuit board is arranged in the built-in groove, and the first circuit board is connected with the second circuit board.
The fixing piece is provided with a supporting plate, the first rotating connecting part comprises a first rotating shaft arranged on the supporting plate and a first bearing arranged on the first connecting end, and the first bearing is connected with the first rotating shaft;
the scheme is further improved in that the first connecting end is provided with a first counter bore, the first bearing is arranged in the first counter bore, the second connecting end is provided with a second counter bore, and the second rotary connecting part is connected with the second connecting rod through the second counter bore; the first connecting rod is provided with a plurality of weight reduction grooves.
The first connecting rod comprises a first straight connecting part, a first bending part and a second bending part, the first straight connecting part, the first bending part and the second bending part are integrally formed, a limiting rib is arranged between the first bending part and the second bending part, the first connecting end is arranged at the first straight connecting part, and the second connecting end is arranged at the second bending part;
in a further improvement of the above aspect, an angle a is formed between the first straight connecting portion and the first bending portion, and an angle B is formed between the first bending portion and the second bending portion; the angle of the angle A is 120-170 degrees; the angle of the angle B is 110-140 degrees; an angle C is formed between the first straight connecting part and the second bending part, and the angle of the angle C is 70-110 degrees.
The first driving connecting part is provided with a first through groove, the second connecting rod is provided with a first wiring groove, the first wiring groove is communicated to the first through groove, a first penetrating groove is formed in the position, close to the third rotating connecting part, of the first wiring groove, and the first penetrating groove penetrates through the second connecting rod; a first lead hole is formed in one side of the first through groove and communicated to the first wiring groove; the first wiring groove is positioned on the outer edge of the first through groove and is provided with a sinking step, and the sinking step is annularly provided with a plurality of through holes by taking the first through groove as a center;
the further improvement of the scheme is that the first wiring groove is integrally formed with a connecting column, the second rotary connecting part is arranged on the first connecting column and comprises a second rotary shaft and a second bearing, the second bearing is connected with the second rotary shaft, and the second bearing is provided with two connecting rods which are respectively arranged on the first connecting rod and the second connecting rod.
The third connecting rod comprises a second straight connecting part, a third bending part and a fourth bending part, the third rotary connecting part is arranged on the second straight connecting part and is connected with the third connecting end, and the second straight connecting part, the third bending part and the fourth bending part are integrally formed;
in a further improvement of the above aspect, an angle D is formed between the second straight connecting portion and the third bending portion, an angle E is formed between the third bending portion and the fourth bending portion, and an angle F is formed between the second straight connecting portion and the fourth bending portion; the angle D is 120-150 degrees; the angle E is 120-160 degrees; the angle of the angle F is 80-120 degrees.
The further improvement of the above scheme is that the second drive connecting part is provided with a second through groove, the third connecting rod is provided with a second wiring groove, the second wiring groove is communicated with the second through groove, a second through groove is arranged at the position, close to the third connecting end, of the second wiring groove, and the second through groove penetrates through the third connecting rod.
The scheme is further improved in that one side of the second circuit board, corresponding to the built-in groove, is provided with a first sensing component, one side of the second circuit board, corresponding to the rotary mounting cavity, is provided with a second sensing component, the first sensing component is correspondingly provided with a sensing element, and the sensing element is connected to the rotating shaft assembly; the first sensing component is one or a combination of more than two of a detection sensor, a luminous sensor, a buzzer or an infrared sensor; the second sensing component is a Hall sensor, and the sensing element is a magnetic sensing element; the built-in end is provided with a mounting table, a convex ring is arranged on the outer edge of the mounting table, a mounting hole is formed in the convex ring, and a through hole is formed in the first circuit board corresponding to the mounting hole; the mounting table is provided with a plurality of clearance positions, at least one clearance position is used for connecting the first circuit board and the second circuit board through a connecting wire, the first circuit board is a control circuit board, and the second circuit board is an induction circuit board.
The scheme is further improved in that the external end is provided with a through hole which is communicated to the vacancy avoiding position and used for penetrating a connecting wire to be connected with the first circuit board; the through hole is positioned at one side of the built-in groove; the built-in groove is provided with a cover plate through which an induction signal can pass; the cover plate is a transparent or semitransparent cover plate.
The stator assembly comprises an iron core and coils uniformly distributed on the iron core, wherein a plurality of solar ribs are uniformly distributed in the circumferential direction of the iron core, and the coils are wound on the solar ribs; the outer diameter of the built-in end is provided with a plurality of fastening grooves corresponding to the inner diameter of the iron core; the rotating shaft assembly comprises a bearing piece arranged in the rotating installation cavity and a rotating shaft rotatably arranged on the bearing piece, one end of the rotating shaft is connected with the rotor assembly, the other end of the rotating shaft is provided with a fixing element, and the fixing element faces the second circuit board; first spacing groove and second spacing groove have been seted up to rotatory arrangement chamber, the bearing spare is equipped with two bearings, and two bearings are installed respectively in first spacing groove and second spacing groove.
The rotor assembly comprises an outer end cover connected with the rotating shaft assembly, a connecting ring connected with the outer end cover and corresponding to the outer edge of the stator assembly, and a rotor element arranged on the connecting ring and corresponding to the stator assembly, wherein one side of the connecting ring, which is far away from the outer end cover, is connected with an inner end cover, and the inner end cover can be rotatably connected with the outer diameter of the outer end part; the outer end cover is provided with a reinforcing platform, the reinforcing platform is provided with a connecting hole, the connecting hole is provided with a limiting platform, and the outer end cover is connected with the rotating shaft assembly through the connecting hole; the inner end cover is connected with a connecting bearing, and the connecting bearing is sleeved on the outer diameter of the external end;
in a further improvement of the above solution, the second and third drive assemblies have the same structure as the first drive assembly for removing the tire.
The invention has the beneficial effects that:
compared with the existing robot leg structure, the robot leg structure has the advantages that the double-driving structure is adopted, the leg structure of the robot can make various actions by being matched with the driving of the connecting rod structure, the whole structure is stable and reliable, meanwhile, the first driving assembly is used as a moving wheel set to drive the whole leg structure to move, the robot can make various actions and move, and the intelligence is high. Specifically, a fixed part is arranged, and the fixed part is provided with a first rotating connecting part; the first connecting rod comprises a first connecting end and a second connecting end, and the first connecting end is movably connected to the first rotating connecting part; the second connecting rod comprises a first driving connecting part and a third connecting end, and the second connecting end is provided with a second rotating connecting part connected to the second connecting rod; the third connecting rod is provided with a third rotating connecting part, the third rotating connecting part is rotatably connected with the third connecting end, and the third connecting rod is also provided with a second driving connecting part; the first driving assembly is arranged on the first driving connecting part and is used for driving the second connecting rod to move; the second driving assembly is arranged on the fixing piece and is in driving connection with the second driving connecting part; a second drive assembly for driving the fixture. In addition, the three groups of connecting rods are connected through the fixing piece, the first connecting rod serves as a movable connecting piece, the second connecting rod serves as a wheel set driving connecting piece, the third connecting piece serves as another movable connecting piece, the robot can be adapted to make various actions, the connecting rod movement is achieved, the structure is stable and reliable, the rotary connecting piece is adopted for rotary connection, a movable joint is formed, the movement is stable, in use, the second connecting rod is connected with the driving assembly, the driving assembly serves as a material taking wheel set of the robot to drive the robot to move, and the movement is stable. Use the mounting as fixed connection structure, in the course of the work, mounting and second connecting rod are connected to first connecting rod and third connecting rod, have realized joint linkage work, guarantee stability at structure activity in-process, are fit for the robot and make various actions, such as stand, lie down etc..
First drive assembly is equipped with the base, locates the stator module on the outer edge of base, locates the pivot subassembly in the base, and connect in the pivot subassembly and cover the rotor subassembly of locating stator module, the base includes built-in end, external end, and link up in the rotatory chamber of settling of built-in end and external end, the rotatable installation in rotatory chamber of settling of pivot subassembly, first circuit board is installed to the built-in end, built-in groove has been seted up to external end, the second circuit board is installed to built-in groove, first circuit board is connected with the second circuit board. In the course of the work, as main control circuit board through first circuit board, control motor drive, through stator module and active cell subassembly cooperation among the motor drive process, guarantee driven equilibrium and stability under the effect of pivot subassembly, overall structure is reliable, in addition, sets up the second circuit board and is used for responding to the interdynamic and listening, and overall structure is simple compact, and the practicality is strong. The problem of traditional motor structure singleness, the function singleness is solved, with circuit control structure integration inside the motor, still set up the response in that the motor is inside simultaneously and listen the circuit board, realized double circuit integrated structure, the motor is used stability good in the use on equipment such as intelligent device, intelligent robot, and intelligent strong does not need exterior space installation controller, also can save installation interactive induction space, overall structure is reliable, the practicality is strong.
Drawings
FIG. 1 is a schematic perspective view of a leg structure of a robot according to the present invention;
FIG. 2 is a schematic perspective view of the leg structure of the robot of FIG. 1 in another state;
FIG. 3 is an exploded view of the leg structure of the robot of FIG. 1;
FIG. 4 is a perspective view of the robot leg structure of FIG. 1 with a first drive assembly removed;
FIG. 5 is an exploded view of the robot leg structure of FIG. 1 with the first drive assembly removed;
FIG. 6 is an exploded view of the robot leg structure of FIG. 1 with the first drive assembly removed;
FIG. 7 is a schematic diagram of a first drive assembly of the leg structure of the robot of FIG. 1;
FIG. 8 is a perspective view of the base of the first drive assembly of FIG. 7;
FIG. 9 is a schematic exploded view of the base of FIG. 8;
FIG. 10 is an exploded view of the base of FIG. 8 from another perspective;
FIG. 11 is an exploded view of the first drive assembly of FIG. 7;
FIG. 12 is a front view of the first drive assembly of FIG. 7;
fig. 13 is a sectional view taken along line a-a in fig. 12.
Description of reference numerals: the fixing member 1, the first rotation connecting portion 11, the first rotation shaft 111, the first bearing 112, the supporting plate 12, the connecting disc 13, the limiting baffle 131, the positioning pin 132, the limiting block 14, the limiting step 141, the first connecting rod 2, the first connecting end 21, the first counter bore 211, the second connecting end 22, the second rotation connecting portion 23, the second rotation shaft 231, the second bearing 232, the first straight portion 24, the first bending portion 25, the second bending portion 26, the limiting rib 27, the second connecting rod 3, the first driving connecting portion 31, the first through groove 311, the first lead hole 311a, the first wiring groove 312, the sinking step 312a, the connecting post 312b, the first through groove 313, the third connecting end 32, the third connecting rod 4, the third rotation connecting portion 41, the second driving connecting portion 42, the second through groove 421, the second wiring groove 422, the second through groove 423, the second straight connecting portion 43, the third bending portion 44, the fourth bending portion 45, the third connecting rod 4, the third rotation connecting portion 41, the second rotation connecting portion 21, the second driving connecting portion 42, the second through groove 421, the second through groove 423, the second through groove 43, the third through groove 44, the third through groove, and the fourth through groove 23, The driving device comprises a first driving assembly 5, a base 51, an internal end 511, a mounting table 5111, a convex ring 5111a, a mounting hole 5111b, a clearance 5111c, a fastening groove 5112, an external end 512, an internal groove 5121, a through hole 5122, a cover plate 5123, a rotary mounting cavity 513, a first limiting groove 5131, a second limiting groove 5132, a first circuit board 514, a through hole 5141, a second circuit board 515, a first induction component 5151, a second induction component 5152, an induction component 5153, a stator assembly 52, an iron core 521, a coil 522, a sun rib 523, a rotating shaft assembly 53, a bearing member 531, a rotating shaft 532, a fixing element 533, a rotor assembly 54, an external end cover 541, a reinforcing table 5411, a connecting hole 5412, a connecting ring 542, a rotor element 543, an internal end cover 544, a connecting bearing 5441, a tire 55, a second driving assembly 6 and a third driving assembly 7.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
As shown in fig. 1 to 13, a robot leg structure is provided with a fixing member 1, wherein the fixing member 1 is provided with a first rotary connecting part 11; the first connecting rod 2 comprises a first connecting end 21 and a second connecting end 22, and the first connecting end 21 is movably connected to the first rotating connecting part 11; the second connecting rod 3 comprises a first driving connecting part 31 and a third connecting end 32, and the second connecting end 22 is provided with a second rotating connecting part 23 connected to the second connecting rod 3; the third connecting rod 4 is provided with a third rotating connecting part 41, the third rotating connecting part 41 is rotatably connected with the third connecting end 32, the third connecting rod 4 is further provided with a second driving connecting part 42, the second driving connecting part 42 is correspondingly connected with the axis of the fixing part 1, and the first rotating connecting part 11 is arranged at the outer edge of the fixing part 1; the first driving assembly 5, the first driving assembly 5 is mounted on the first driving connecting part 31, and the first driving assembly 5 is used for driving the second connecting rod 3 to move; the second driving assembly 6 is arranged on the fixing piece 1, and the second driving assembly 6 is in driving connection with the second driving connecting part 42; a third driving assembly 7, wherein the third driving assembly 7 is used for driving the fixing member 1.
Referring to fig. 3 to 6, the fixing member 1 is provided with a supporting plate 12, the first rotation connecting portion 11 includes a first rotation shaft 111 mounted on the supporting plate 12 and a first bearing 112 mounted on the first connecting end 21, the first bearing 112 is connected to the first rotation shaft 111, and the first rotation shaft 111 and the first bearing 112 cooperate to serve as a movable element of a joint, so that the fixing member has stable structure and movement, uniform stress, high impact strength, strong wear resistance and long service life. In this structure, the bearing that the joint position of robot shank structure adopted is plane thrust bearing, is used for connecting through plane thrust bearing and forms robot shank joint, and the structure is reliable, and stability is good.
The fixing piece 1 is connected with a connecting disc 13, the connecting disc 13 is provided with a limiting baffle 131, the second driving assembly 6 is provided with a limiting block 14 corresponding to the limiting baffle 131, and limiting steps 141 are arranged on two sides of the limiting block 14 and used for limiting the limiting baffle 131; the connecting disc 13 is provided with a plurality of positioning pins 132, the fixing member is provided with a plurality of positioning holes corresponding to the positioning pins 132, and the positioning pins 132 are inserted into the positioning holes. Fixing piece 1 is connected with second drive assembly 6 through the effect of connection pad 13 to set up the cooperation of limit baffle 131 and stopper 14 and be used for the rotational position spacing, the prevention action excessively causes the hindrance, and the structure is reliable, in addition, still sets up locating pin 132 and locating hole cooperation location installation, and structure simple to operate fixes a position effectually.
The first connecting end 21 is provided with a first counter bore 211, the first bearing 112 is arranged in the first counter bore 211, the second connecting end 22 is provided with a second counter bore, and the second rotary connecting part 23 is connected with the second connecting rod 3 through the second counter bore; the first connecting rod 2 is provided with a plurality of weight reduction grooves, the first bearing 112 is installed through the first counter bore 211 and the second counter bore, and the joint is stable in stress, high in assembly precision and stable and reliable in joint movement in use.
The first connecting rod 2 comprises a first straight connecting part 24, a first bending part 25 and a second bending part 26, the first straight connecting part 24, the first bending part 25 and the second bending part 26 are integrally formed, a limiting rib 27 is arranged between the first bending part 25 and the second bending part 26, the first connecting end 21 is arranged on the first straight connecting part 24, the second connecting end 22 is arranged on the second bending part 26, the first connecting rod 2 is integrally formed, the structural strength is high, the abrasion resistance is high, meanwhile, the plurality of bending parts are arranged for connection, the stability and reliability are achieved in the robot action process, the limiting rib 27 is arranged to enhance the connection strength and limiting of the structure, and structural deformation is prevented.
In the present embodiment, an angle a is formed between the first straight connecting portion 24 and the first bending portion 25, and an angle B is formed between the first bending portion 25 and the second bending portion 26; the angle of the angle A is 120-170 degrees; the angle of the angle B is 110-140 degrees; an angle C is formed between the first straight connecting part 24 and the second bending part 26, and the angle of the angle C is 70-110 degrees; the leg structure is selected as the optimal angle design, so that the leg structure is suitable for making various actions and structures to avoid each other, and the overall structure is reliable.
The first driving connecting part 31 is provided with a first through groove 311, the second connecting rod 3 is provided with a first wiring groove 312, the first wiring groove 312 is communicated with the first through groove 311, a first penetrating groove 313 is formed at the position, close to the third rotating connecting part 41, of the first wiring groove 312, and the first penetrating groove 313 penetrates through the second connecting rod 3; a first lead hole 311a is formed in one side of the first through slot 311, and the first lead hole 311a is communicated with the first wiring slot 312; the first wiring groove 312 is located on the outer edge of the first through groove 311 and is provided with a sinking step 312a, the sinking step 312a is annularly provided with a plurality of through holes by taking the first through groove 311 as a center, and a control circuit of a driving structure for connection, which is provided with the first through groove 311 and the first wiring groove 312, moves towards the control circuit, so that the scattered circuit is prevented, the connection is convenient, and the structure is reliable.
The third connecting rod 4 comprises a second straight connecting part 42, a third bending part 43 and a fourth bending part 44, the third rotary connecting part 41 is arranged on the second straight connecting part 42 and is connected with the third connecting end 32, the second straight connecting part 42, the third bending part 43 and the fourth bending part 44 are integrally formed, the third connecting rod 4 adopting an integral structure is stable in structure, the third bending part 43 and the fourth bending part 44 are arranged to cooperate with the structure to avoid, the structural connection is stable and reliable, and the rotary connecting rod is suitable for making various actions.
In this embodiment, an angle D is formed between the second straight connecting portion 43 and the third bending portion 44, an angle E is formed between the third bending portion 44 and the fourth bending portion 45, and an angle F is formed between the second straight connecting portion 43 and the fourth bending portion 45; the angle D is 120-150 degrees; the angle E is 120-160 degrees; the angle of the angle F is 80-120 degrees, the optimal angle design is selected according to the leg structure, the leg structure is suitable for making various actions and structures to avoid each other, and the overall structure is reliable.
The second drive connecting part 42 is provided with a second through groove 421, the third connecting rod 4 is provided with a second wire trough 422, the second wire trough 422 is communicated with the second through groove 421, a second wire trough 423 is arranged at a position, close to the third connecting end 32, of the second wire trough 422, the second wire trough 423 penetrates through the third connecting rod 4, the second wire trough 422 and the second through groove 421 are arranged to act on connecting wire trends of the drive structure, the connecting wires are prevented from being scattered, the connection is convenient, the structure is stable, and the mutual interference cannot occur when the structure makes various actions.
Referring to fig. 8 to 13, the first driving assembly 5 includes a base 51, a stator assembly 52 disposed on an outer edge of the base 51, a rotating shaft assembly 53 disposed in the base 51, a rotor assembly 54 connected to the rotating shaft assembly 53 and covering the stator assembly 52, and a tire 55 sleeved on an outer edge of the rotor assembly 54, wherein the base 51 includes an inner end 511, an outer end 512, and a rotation installation cavity 513 penetrating the inner end 511 and the outer end 512, the rotating shaft assembly 53 is rotatably mounted in the rotation installation cavity 513, the inner end 511 is mounted with a first circuit board 514, the outer end 512 is provided with an inner groove 5121, the inner groove 5121 is mounted with a second circuit board 515, and the first circuit board 514 is connected to the second circuit board 515. In the process of doing, through first circuit board 514 as main control circuit board, control motor drive, through stator module 52 and active cell subassembly cooperation among the motor drive process, guarantee driven equilibrium and stability under the effect of pivot subassembly 53, overall structure is reliable, in addition, sets up second circuit board 515 and is used for the interactive detection of response, and overall structure is simple compact, and the practicality is strong. The problem of traditional motor structure singleness, the function singleness is solved, with circuit control structure integration inside the motor, still set up the response in that the motor is inside simultaneously and listen the circuit board, realized double circuit integrated structure, the motor is used stability good in the use on equipment such as intelligent device, intelligent robot, and intelligent strong does not need exterior space installation controller, also can save installation interactive induction space, overall structure is reliable, the practicality is strong.
In this embodiment, built-in end 511 is equipped with arrangement platform 5111, and arrangement platform 5111 is outer along being equipped with bulge loop 5111a, mounting hole 5111b has been seted up to bulge loop 5111a, first circuit board 514 corresponds mounting hole 5111b and has seted up through-hole 5141, has raised upward through bulge loop 5111a and has formed a unsettled position, can keep away the installation to less miniature electronic component on the first circuit board 514 for the better heat dissipation of electronic component, in addition, can penetrate the screw through mounting hole 5111b cooperation through-hole 5141 and carry out fixed mounting, simple to operate, fixed stability is good.
The arrangement table 5111 is provided with a plurality of clearance positions 5111c, at least one clearance position 5111c is used for penetrating a connecting wire to connect the first circuit board 514 with the second circuit board 515, the clearance position 5111c can be used for a larger electronic element to avoid clearance, so that the electronic element on the first circuit board 514 can be conveniently installed and cooled, and meanwhile, the first circuit board 514 and the second circuit board 515 are fixedly connected through the connecting wire, and the structure is simple and reliable.
In this embodiment, the external terminal 512 is provided with a through hole 5122, the through hole 5122 is communicated to the space-avoiding position 5111c and is used for penetrating a connection line to connect with the first circuit board 514, and the through hole 5122 can be used for penetrating a data line connected with the first circuit board 514 so as to connect with an intelligent device.
In another embodiment, the through hole 5122 is located at one side of the built-in groove 5121, and the built-in groove 5121 is arranged in the middle, so that the through hole 5122 is arranged at one side, wiring can be facilitated, and the structure is simple and reliable.
In this embodiment, the built-in groove 5121 is provided with a cover plate 5123 capable of passing through the sensing signal, and the cover plate 5123 can be used for passing through the sensing signal to conveniently realize intelligent sensing and interactive operation.
In another embodiment, the cover 5123 is a transparent or translucent cover 5123, which facilitates detection sensing and interaction through the sensing signal.
In this embodiment, the first circuit board 514 is a control circuit board, the second circuit board 515 is an induction circuit board, the control circuit board is mainly used for controlling the operation of the direct drive motor, and the second circuit board 515 is used for induction detection.
In this embodiment, the second circuit board 515 is provided with the first sensing component 5151 corresponding to the inner groove 5121, and is provided with the second sensing component 5152 corresponding to the rotary arrangement cavity 513, the first sensing component 5151 is provided with the sensing element 5153 corresponding to the rotary arrangement cavity, the sensing element 5153 is connected to the rotary shaft assembly 53, the first sensing component 5151 and the second sensing component 5152 are provided, the first sensing component 5151 is used for detecting external conditions, the intelligent interactive sensing is realized, the intelligence is strong, the second sensing component 5152 is matched with the sensing element 5153 for sensing transmission stroke and position, and the whole structure is stable and reliable.
Wherein, first response components and parts 5151 is for detecting one or the combination more than two in sensor, light emitting sensor, bee calling organ or the infrared inductor, selects suitable response components and parts according to smart machine's demand, and the practicality is strong, and application scope is wide.
The second sensing element 5152 is a hall sensor, the sensing element 5153 is a magnetic sensing element 5153, and a magnetic field detection manner is adopted to sense the rotation position.
In this embodiment, the stator assembly 52 includes an iron core 521 and coils 522 uniformly distributed on the iron core 521, a plurality of sun ribs 523 are uniformly distributed around the iron core 521, and the coils 522 are wound around the sun ribs 523, the iron core 521 and the coils 522 are matched so as to cooperate with the rotor assembly 54 to realize the output transmission of the motor.
The outer diameter of the built-in end 511 corresponds to the inner diameter of the iron core 521 and is provided with a plurality of fastening grooves 5112, and the fastening grooves 5112 are used for fastening and assembling the iron core 521 and the built-in end 511, so that the structure is stable and reliable.
In this embodiment, the rotating shaft assembly 53 includes a bearing member 531 installed in the rotating installation chamber 513 and a rotating shaft 532 rotatably installed on the bearing member 531, one end of the rotating shaft 532 is connected to the rotor assembly 54, and the other end of the rotating shaft 532 is installed with a fixing element 533, the fixing element 533 faces the second circuit board 515, and the rotating shaft 532 is used for rotating and fixing the rotating shaft 532 through the bearing member 531, and is engaged with the rotor assembly 54 for transmission, so that the stability is good and the precision is high. Further, the sensing element 5153 is disposed on the fixing element 533 and cooperates with the second sensing element 5152 to rotate along with the rotation axis 532.
In this embodiment, the rotor assembly 54 includes an outer end cap 541 connected to the rotating shaft assembly 53, a connection ring 542 connected to the outer end cap 541 and corresponding to an outer edge of the stator assembly 52, and a rotor element 543 mounted on the connection ring 542 and corresponding to the stator assembly 52, one side of the connection ring 542 away from the outer end cap 541 is connected to an inner end cap 544, the inner end cap 544 is rotatably connected to an outer diameter of the outer end, a fixing structure with two surfaces is formed by the inner end cap 544 and the outer end cap 541, and the connection ring 542 is used for connecting and fixing the two, so that the stability during operation is good.
The outer end cover 541 is provided with a reinforcing table 5411, the reinforcing table 5411 is provided with a connecting hole 5412, the connecting hole 5412 is provided with a limiting table, the outer end cover 541 is connected with the rotating shaft assembly 53 through the connecting hole 5412, the connection stability is improved through the reinforcing table 5411, and the stability is better in the transmission process.
The inner end cover 544 is connected with a connecting bearing 5441, the connecting bearing 5441 is sleeved on the outer diameter of the external end 512, and the connecting bearing 5441 is matched with the inner end cover 544 and the external end 512 to rotate, so that the load of the rotating shaft 532 is reduced, the stability is improved, and the service life is prolonged.
The robot adopts a dual-drive structure, and is matched with the drive of a connecting rod structure, so that the leg of the robot can make various actions, the whole structure is stable and reliable, meanwhile, the first drive component 5 is used as a moving wheel set to drive the whole leg structure to move, the robot can make various actions and movements, and the intelligence is strong; the three groups of connecting rods are connected through the fixing piece 1, the first connecting rod 2 is used as a movable connecting piece, the second connecting rod 3 is used as a wheel set driving connecting piece, the third connecting piece is used as another movable connecting piece, various actions of the robot can be adapted to be performed, the connecting rods can move, the structure is stable and reliable, the rotary connecting parts are adopted for rotary connection, movable joints are formed, and the movement is stable; in use, the connecting rod is connected with a driving component 5 through a second connecting rod 3, specifically, a fixing piece 1 is arranged, and the fixing piece 1 is provided with a first rotating connecting part 11; the first connecting rod 2 comprises a first connecting end 21 and a second connecting end 22, and the first connecting end 21 is movably connected to the first rotating connecting part 11; the second connecting rod 3 comprises a first driving connecting part 31 and a third connecting end 32, and the second connecting end 22 is provided with a second rotating connecting part 23 connected to the second connecting rod 3; the third connecting rod 4 is provided with a third rotating connecting part 41, the third rotating connecting part 41 is rotatably connected with the third connecting end 32, the third connecting rod 4 is further provided with a second driving connecting part 42, the second driving connecting part 42 is correspondingly connected with the axis of the fixing part 1, and the first rotating connecting part 11 is arranged at the outer edge of the fixing part 1; the first driving component 5 is used for driving the second connecting rod 3 to move; the second driving assembly 6 is arranged on the fixing piece 1, and the second driving assembly 6 is in driving connection with the second driving connecting part 42; a third driving assembly 7, wherein the third driving assembly 7 is used for driving the fixing member 1; in the working process, the first connecting rod 2 and the third connecting rod 4 are connected with the fixing part 1 and the second connecting rod 3, joint linkage work is realized, stability is guaranteed in the structure moving process, and the robot is suitable for making various actions such as standing, lying down and the like.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A robot leg structure which characterized in that: comprises that
The fixing piece is provided with a first rotating connecting part;
the first connecting rod comprises a first connecting end and a second connecting end, and the first connecting end is movably connected to the first rotating connecting part;
the second connecting rod comprises a first driving connecting part and a third connecting end, and the second connecting end is provided with a second rotating connecting part connected to the second connecting rod;
the third connecting rod is provided with a third rotating connecting part, the third rotating connecting part is rotatably connected with the third connecting end, and the third connecting rod is also provided with a second driving connecting part;
the first driving assembly is arranged on the first driving connecting part and is used for driving the second connecting rod to move;
the second driving assembly is arranged on the fixing piece and is in driving connection with the second driving connecting part;
a third drive assembly for driving the fixture;
the first driving assembly comprises a base, a stator assembly arranged on the outer edge of the base, a rotating shaft assembly arranged in the base, and a tire connected to the rotating shaft assembly and covered with a rotor assembly arranged on the stator assembly and sleeved on the outer edge of the rotor assembly, the base comprises a built-in end, a built-out end and a rotating arrangement cavity penetrating through the built-in end and the built-out end, the rotating shaft assembly is rotatably arranged in the rotating arrangement cavity, a first circuit board is arranged at the built-in end, a built-in groove is formed in the built-out end, a second circuit board is arranged in the built-in groove, and the first circuit board is connected with the second circuit board.
2. The robot leg structure of claim 1, wherein: the fixed piece is provided with a supporting plate, the first rotating connecting part comprises a first rotating shaft arranged on the supporting plate and a first bearing arranged on the first connecting end, and the first bearing is connected with the first rotating shaft;
the first connecting end is provided with a first counter bore, the first bearing is arranged in the first counter bore, the second connecting end is provided with a second counter bore, and the second rotary connecting part is connected with the second connecting rod through the second counter bore; the first connecting rod is provided with a plurality of weight reduction grooves.
3. The robot leg structure of claim 1, wherein: the first connecting rod comprises a first straight connecting part, a first bending part and a second bending part, the first straight connecting part, the first bending part and the second bending part are integrally formed, a limiting rib is arranged between the first bending part and the second bending part, the first connecting end is arranged at the first straight connecting part, and the second connecting end is arranged at the second bending part;
an angle A is formed between the first straight connecting part and the first bending part, and an angle B is formed between the first bending part and the second bending part; the angle of the angle A is 120-170 degrees; the angle of the angle B is 110-140 degrees; an angle C is formed between the first straight connecting part and the second bending part, and the angle of the angle C is 70-110 degrees.
4. The robot leg structure of claim 1, wherein: the first driving connecting part is provided with a first through groove, the second connecting rod is provided with a first wiring groove, the first wiring groove is communicated to the first through groove, a first penetrating groove is formed in the position, close to the third rotating connecting part, of the first wiring groove, and the first penetrating groove penetrates through the second connecting rod; a first lead hole is formed in one side of the first through groove and communicated to the first wiring groove; the first wiring groove is positioned on the outer edge of the first through groove and is provided with a sinking step, and the sinking step is annularly provided with a plurality of through holes by taking the first through groove as a center;
first trough integrated into one piece has the spliced pole, first spliced pole is located to second swivelling joint portion, second swivelling joint portion includes second rotation axis and second bearing, the second bearing is connected with the second rotation axis, the second bearing is equipped with two, arranges first connecting rod and second connecting rod in respectively.
5. The robot leg structure of claim 1, wherein: the third connecting rod comprises a second straight connecting part, a third bending part and a fourth bending part, the third rotary connecting part is arranged on the second straight connecting part and is connected with the third connecting end, and the second straight connecting part, the third bending part and the fourth bending part are integrally formed;
an angle D is formed between the second straight connecting part and a third bending part, an angle E is formed between the third bending part and a fourth bending part, and an angle F is formed between the second straight connecting part and the fourth bending part; the angle D is 120-150 degrees; the angle E is 120-160 degrees; the angle of the angle F is 80-120 degrees.
6. The robot leg structure of claim 5, wherein: the second drive connecting part is provided with a second through groove, the third connecting rod is provided with a second wiring groove, the second wiring groove is communicated with the second through groove, a second penetrating groove is arranged at the position, close to the third connecting end, of the second wiring groove, and the second penetrating groove penetrates through the third connecting rod.
7. The robot leg structure of claim 1, wherein: a first induction component is arranged on one side, corresponding to the built-in groove, of the second circuit board, a second induction component is arranged on one side, corresponding to the rotary mounting cavity, of the second circuit board, an induction element is correspondingly arranged on the first induction component, and the induction element is connected to the rotating shaft assembly; the first sensing component is one or a combination of more than two of a detection sensor, a luminous sensor, a buzzer or an infrared sensor; the second sensing component is a Hall sensor, and the sensing element is a magnetic sensing element; the built-in end is provided with a mounting table, a convex ring is arranged on the outer edge of the mounting table, a mounting hole is formed in the convex ring, and a through hole is formed in the first circuit board corresponding to the mounting hole; the mounting table is provided with a plurality of clearance positions, at least one clearance position is used for connecting the first circuit board and the second circuit board through a connecting wire, the first circuit board is a control circuit board, and the second circuit board is an induction circuit board.
8. The robot leg structure of claim 7, wherein: the external end is provided with a through hole which is communicated to the vacancy avoiding position and is used for penetrating a connecting wire to be connected with the first circuit board; the through hole is positioned at one side of the built-in groove; the built-in groove is provided with a cover plate through which an induction signal can pass; the cover plate is a transparent or semitransparent cover plate.
9. The robot leg structure of claim 8, wherein: the stator component comprises an iron core and coils uniformly distributed on the iron core, a plurality of solar ribs are uniformly distributed in the circumferential direction of the iron core, and the coils are wound on the solar ribs; the outer diameter of the built-in end is provided with a plurality of fastening grooves corresponding to the inner diameter of the iron core; the rotating shaft assembly comprises a bearing piece arranged in the rotating installation cavity and a rotating shaft rotatably arranged on the bearing piece, one end of the rotating shaft is connected with the rotor assembly, the other end of the rotating shaft is provided with a fixing element, and the fixing element faces the second circuit board; first spacing groove and second spacing groove have been seted up to rotatory arrangement chamber, the bearing spare is equipped with two bearings, and two bearings are installed respectively in first spacing groove and second spacing groove.
10. A robot leg structure according to claim 9, characterized in that: the rotor assembly comprises an outer end cover connected with the rotating shaft assembly, a connecting ring connected with the outer end cover and corresponding to the outer edge of the stator assembly, and a rotor element arranged on the connecting ring and corresponding to the stator assembly, wherein one side of the connecting ring, which is far away from the outer end cover, is connected with an inner end cover, and the inner end cover can be rotatably connected with the outer diameter of the outer end; the outer end cover is provided with a reinforcing platform, the reinforcing platform is provided with a connecting hole, the connecting hole is provided with a limiting platform, and the outer end cover is connected with the rotating shaft assembly through the connecting hole; the inner end cover is connected with a connecting bearing, and the connecting bearing is sleeved on the outer diameter of the external end;
the second drive assembly and the third drive assembly have the same structure as the first drive assembly for removing the tire.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111135181.5A CN113696991A (en) | 2021-09-27 | 2021-09-27 | Robot leg structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111135181.5A CN113696991A (en) | 2021-09-27 | 2021-09-27 | Robot leg structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113696991A true CN113696991A (en) | 2021-11-26 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111135181.5A Withdrawn CN113696991A (en) | 2021-09-27 | 2021-09-27 | Robot leg structure |
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| CN (1) | CN113696991A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023045132A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Dual-drive connecting rod structure for robot |
| WO2023045135A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Robot |
-
2021
- 2021-09-27 CN CN202111135181.5A patent/CN113696991A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023045132A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Dual-drive connecting rod structure for robot |
| WO2023045135A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Robot |
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Application publication date: 20211126 |
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