CN115520300A - Leg structure based on line transmission and robot - Google Patents
Leg structure based on line transmission and robot Download PDFInfo
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- CN115520300A CN115520300A CN202210411132.8A CN202210411132A CN115520300A CN 115520300 A CN115520300 A CN 115520300A CN 202210411132 A CN202210411132 A CN 202210411132A CN 115520300 A CN115520300 A CN 115520300A
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- driving
- pull rope
- connecting rod
- driving device
- leg structure
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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
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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Abstract
The invention relates to the technical field of robots, in particular to a leg structure based on wire transmission and a robot, which comprises a first driving device, a driving bracket connected with the first driving device, a second driving device connected with the driving bracket, a pull rope driving disc connected with the second driving device, a first connecting rod connected with the pull rope driving disc, a second connecting rod connected with the first connecting rod, and a third driving device arranged on the second connecting rod, wherein the first driving device is connected with the first driving device; the pull rope driving disc is connected with a driving pull rope, and the driving pull rope is connected with one end of the second connecting rod. According to the robot leg joint motion driving device, the pull rope driving disc is connected to the second driving device, and the pull rope is driven by matching of the pull rope driving disc and the drive pull rope to drive the second connecting rod to move, so that the connecting position of the second connecting rod and the first connecting rod moves, the motion of the robot leg joint is driven, and the driving is stable.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a leg structure based on linear transmission and 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 leg structure of the existing robot is mostly single in structure, and the stability is poor when various actions are performed, so that the existing robot structure can be further improved.
Disclosure of Invention
In order to solve the problems, the invention provides a leg structure and a robot based on linear transmission, wherein a pull rope driving disc is connected to a second driving device, and a pull rope is driven by matching of the pull rope driving disc and the drive pull rope to drive a second connecting rod to move, so that the connecting position of the second connecting rod and a first connecting rod moves, the motion of the joint of the leg of the robot is driven, and the stable driving is realized.
The technical scheme adopted by the invention is as follows: a leg structure based on line transmission comprises a first driving device, a driving bracket connected with the first driving device, a second driving device connected with the driving bracket, a pull rope driving disc connected with the second driving device, a first connecting rod connected with the pull rope driving disc, a second connecting rod connected with the first connecting rod, and a third driving device arranged on the second connecting rod; the pull rope driving disc is connected with a driving pull rope, and the driving pull rope is connected with one end of the second connecting rod.
In a further improvement of the foregoing solution, the first driving device is an external rotor motor, the first driving device includes a first base and a first rotor housing connected to the first base, the second driving device is an external rotor motor, and the second driving device includes a second base and a second rotor housing connected to the second base.
The driving support comprises a first connecting panel, a second connecting panel and a connecting beam, the first connecting panel and the second connecting panel are connected by the connecting beam, the first connecting panel is connected with the first base, and the second connecting panel is connected with the second base.
The further improvement of the above scheme is that the pull rope driving disc is fixedly mounted on the second rotor shell, the pull rope driving disc is provided with a storage groove, and the driving pull rope is wound in the storage groove.
The further improvement of the above scheme is that the first connecting rod comprises a first rod piece and a second rod piece, one end of the first rod piece is connected with the first rotor shell, the other end of the first rod piece is connected with the second connecting rod, one end of the second rod piece is connected with the pull rope driving disc, and the other end of the second rod piece is connected with the second connecting rod; a connecting column is arranged between the first rod piece and the second rod piece, the second rod piece is provided with a first rotating shaft, and the first rotating shaft is connected with a pull rope driving disc.
The further improvement of the scheme is that a first movable guide groove and a second movable guide groove are respectively formed in two sides of the second connecting rod, the first rod piece is provided with a second rotating shaft, the second rotating shaft is connected to the first movable guide groove, the second rod piece is provided with a third rotating shaft, and the third rotating shaft is connected to the second movable guide groove.
The further improvement of the scheme is that the second connecting rod is positioned at two sides of the first connecting rod and movably hinged with a first connecting piece and a second connecting piece, and the first connecting piece and the second connecting piece are respectively connected with two ends of the driving pull rope.
The further improvement of the above scheme is that the second connecting rod is provided with a movable mounting position, and the third driving device is mounted on the movable mounting position.
In a further improvement of the above scheme, the third driving device is an external rotor motor, the third driving device includes a third base and a third rotor housing rotatably connected to the third base, the third rotor housing is sleeved with a wheel sleeve, and the third base is mounted at the movable mounting position.
A robot comprises the leg structure based on the wire transmission.
The invention has the beneficial effects that:
compared with the existing robot leg structure, the robot leg structure has the advantages that the stay cord driving disc is connected to the second driving device, the stay cord is driven by the cooperation of the stay cord driving disc and is used for driving the second connecting rod to move, so that the connecting position of the second connecting rod and the first connecting rod moves, the robot leg joint movement is driven, the driving is stable, the structure is reliable, and the motor load is reduced. The device comprises a first driving device, a driving bracket connected with the first driving device, a second driving device connected with the driving bracket, a pull rope driving disc connected with the second driving device, a first connecting rod connected with the pull rope driving disc, a second connecting rod connected with the first connecting rod and a third driving device arranged on the second connecting rod; the pull rope driving disc is connected with a driving pull rope, and the driving pull rope is connected with one end of the second connecting rod. The first connecting rod is driven to move by the first driving device, the pull rope driving disc is driven by the second driving device to drive the second connecting rod to move, the third driving device is used for driving the leg structure to move, and the whole structure is stable in movement.
Drawings
FIG. 1 is a schematic perspective view of a leg structure based on a wire drive according to the present invention;
FIG. 2 is a perspective view of the wire drive based leg structure of FIG. 1 from another perspective;
FIG. 3 is an exploded view of the leg structure of FIG. 1 based on a wire drive;
fig. 4 is a schematic exploded view of the leg structure of fig. 1 from another perspective based on a wire drive.
Description of reference numerals: the driving device comprises a first driving device 1, a first base 11, a first rotor housing 12, a driving bracket 2, a first connecting panel 21, a second connecting panel 22, a connecting beam 23, a second driving device 3, a second base 31, a second rotor housing 32, a pull rope driving disc 4, a driving pull rope 41, a storage groove 42, a first connecting rod 5, a first rod 51, a second rotating shaft 511, a second rod 52, a first rotating shaft 521, a third rotating shaft 522, a connecting column 53, a second connecting rod 6, a first movable guide groove 61, a second movable guide groove 62, a first connecting piece 63, a second connecting piece 64, a movable mounting position 65, a third driving device 7, a third base 71, a third rotor housing 72 and a wheel sleeve 73.
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 4, a leg structure based on wire transmission includes a first driving device 1, a driving bracket 2 connected to the first driving device 1, a second driving device 3 connected to the driving bracket 2, a rope driving disc 4 connected to the second driving device 3, a first link 5 connected to the rope driving disc 4, a second link 6 connected to the first link 5, and a third driving device 7 mounted on the second link 6; the pull rope driving disc 4 is connected with a driving pull rope 41, and the driving pull rope 41 is connected with one end of the second connecting rod 6.
The first driving device 1 is an outer rotor motor, the first driving device 1 comprises a first base 11 and a first rotor shell 12 connected to the first base 11, the second driving device 3 is an outer rotor motor, the second driving device 3 comprises a second base 31 and a second rotor shell 32 connected to the second base 31, an outer rotor is used as a driving device of a leg structure of the robot, and the structural driving stability is good.
The pull rope driving disc 4 is fixedly installed on the second rotor housing 32, the storage groove 42 is formed in the pull rope driving disc 4, the driving pull rope 41 is wound on the storage groove 42, the pull rope driving disc 4 is driven to rotate through the second rotor housing 32, and the pull rope driving disc 4 drives the storage groove 42 to store and unreel the driving pull rope 41.
The first connecting rod 5 comprises a first rod 51 and a second rod 52, one end of the first rod 51 is connected with the first rotor shell 12, the other end of the first rod is connected with the second connecting rod 6, one end of the second rod 52 is connected with the pull rope driving disc 4, and the other end of the second rod is connected with the second connecting rod 6; set up spliced pole 53 between first member 51 and the second member 52, second member 52 is equipped with first pivot 521, first pivot 521 is connected with stay cord driving-disc 4, through the cooperation of first member 51 and second member 52, guarantees the stability of connecting rod activity, especially acts as robot leg structure activity, and the structure is reliable, and stability is good, sets up the pivot cooperation simultaneously and rotates, and is rotatory stable.
First movable guide slot 61 and second movable guide slot 62 have been seted up respectively to second connecting rod 6 both sides, first member 51 is equipped with second pivot 511, second pivot 511 connects in first movable guide slot 61, second member 52 is equipped with third pivot 522, third pivot 522 is connected in second movable guide slot 62, sets up movable guide slot cooperation pivot and is used for the member activity, and the structure activity is reliable and stable.
The second connecting rod 6 is positioned on two sides of the first connecting rod 5 and movably hinged with a first connecting piece 63 and a second connecting piece 64, the first connecting piece 63 and the second connecting piece 64 are respectively connected with two ends of the driving stay cord 41, the two connecting pieces are arranged to be respectively matched with two ends of the driving stay cord 41 for connection, the two connecting pieces are driven to stretch under the action of the stay cord driving disc 4, the action of the second connecting rod 6 is realized, at least one circle of the stay cord driving disc 4 is wound, and the stability is further ensured.
The second connecting rod 6 is provided with a movable mounting position 65, the third driving device 7 is mounted on the movable mounting position 65, the improvement is that the third driving device 7 is an outer rotor motor, the third driving device 7 comprises a third base 71 and a third rotor shell 72 which is rotatably connected with the third base 71, the third rotor shell 72 is sleeved with a wheel sleeve 73, and the third base 71 is mounted on the movable mounting position 65; the third driving device 7 is a hub motor, and drives the leg structure to move under the action of the hub motor.
The utility model provides a robot, the robot of shank structure more than adopting for second connecting rod 6 and the activity of 5 hookup locations of first connecting rod realize the drive of robot shank joint activity, and the drive is stable, and the structure is reliable, reduces motor load.
According to the invention, the pull rope driving disc 4 is connected to the second driving device 3, and the pull rope 41 is driven by matching the pull rope driving disc 4 to drive the second connecting rod 6 to move, so that the connecting position of the second connecting rod 6 and the first connecting rod 5 moves, the movement of the leg joint of the robot is driven, the driving is stable, the structure is reliable, and the motor load is reduced. Specifically, a first driving device 1, a driving bracket 2 connected to the first driving device 1, a second driving device 3 connected to the driving bracket 2, a pull rope driving disc 4 connected to the second driving device 3, a first connecting rod 5 connected to the pull rope driving disc 4, a second connecting rod 6 connected to the first connecting rod 5, and a third driving device 7 mounted on the second connecting rod 6 are provided; the pull rope driving disc 4 is connected with a driving pull rope 41, and the driving pull rope 41 is connected with one end of the second connecting rod 6. The first connecting rod 5 is driven to move by the first driving device 1, the second driving device 3 drives the pull rope 41 to drive the driving disk 4 to drive the second connecting rod 6 to move, and the third driving device 7 is used for driving the leg structure to move, so that the whole structure moves stably.
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 should be subject to the appended claims.
Claims (10)
1. A leg structure based on line drive which characterized in that: the device comprises a first driving device, a driving bracket connected with the first driving device, a second driving device connected with the driving bracket, a pull rope driving disc connected with the second driving device, a first connecting rod connected with the pull rope driving disc, a second connecting rod connected with the first connecting rod and a third driving device arranged on the second connecting rod; the pull rope driving disc is connected with a driving pull rope, and the driving pull rope is connected with one end of the second connecting rod.
2. The wire drive based leg structure of claim 1, wherein: the first driving device is an outer rotor motor, the first driving device comprises a first base and a first rotor shell connected to the first base, the second driving device is an outer rotor motor, and the second driving device comprises a second base and a second rotor shell connected to the second base.
3. The wire drive based leg structure of claim 2, wherein: the driving support comprises a first connecting panel, a second connecting panel and a connecting beam, the first connecting panel and the second connecting panel are connected through the connecting beam, the first connecting panel is connected with the first base, and the second connecting panel is connected with the second base.
4. The wire drive based leg structure of claim 3, wherein: the pull rope driving disc is fixedly installed on the second rotor shell, the pull rope driving disc is provided with an accommodating groove, and the driving pull rope is wound in the accommodating groove.
5. The wire drive based leg structure of claim 4, wherein: the first connecting rod comprises a first rod piece and a second rod piece, one end of the first rod piece is connected with the first rotor shell, the other end of the first rod piece is connected with the second connecting rod, one end of the second rod piece is connected with the pull rope driving disc, and the other end of the second rod piece is connected with the second connecting rod; a connecting column is arranged between the first rod piece and the second rod piece, the second rod piece is provided with a first rotating shaft, and the first rotating shaft is connected with the pull rope driving disc.
6. The wire drive based leg structure of claim 5, wherein: first movable guide slot and second movable guide slot have been seted up respectively to second connecting rod both sides, first member is equipped with the second pivot, the second pivot is connected in first movable guide slot, the second member is equipped with the third pivot, the third pivot is connected in second movable guide slot.
7. The wire drive-based leg structure of claim 6, wherein: the second connecting rod is positioned on two sides of the first connecting rod and movably hinged with a first connecting piece and a second connecting piece, and the first connecting piece and the second connecting piece are connected with two ends of the driving pull rope respectively.
8. The wire drive-based leg structure of claim 7, wherein: the second connecting rod is provided with a movable installation position, and the third driving device is installed on the movable installation position.
9. The wire drive based leg structure of claim 8, wherein: the third driving device is an outer rotor motor and comprises a third base and a third rotor shell which is rotatably connected with the third base, a wheel sleeve is sleeved on the third rotor shell, and the third base is installed at the movable installation position.
10. A robot, characterized by: comprising a wire drive based leg structure according to any of claims 1-9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210411132.8A CN115520300A (en) | 2022-04-19 | 2022-04-19 | Leg structure based on line transmission and robot |
| PCT/CN2022/119858 WO2023201982A1 (en) | 2022-04-19 | 2022-09-20 | Tendon-driven leg structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210411132.8A CN115520300A (en) | 2022-04-19 | 2022-04-19 | Leg structure based on line transmission and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115520300A true CN115520300A (en) | 2022-12-27 |
Family
ID=84695091
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210411132.8A Pending CN115520300A (en) | 2022-04-19 | 2022-04-19 | Leg structure based on line transmission and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115520300A (en) |
| WO (1) | WO2023201982A1 (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60186384A (en) * | 1984-03-07 | 1985-09-21 | 株式会社日立製作所 | Drive for robot |
| JP2007000957A (en) * | 2005-06-22 | 2007-01-11 | Oki Electric Ind Co Ltd | Legged robot |
| JP2012125847A (en) * | 2010-12-13 | 2012-07-05 | Canon Inc | Joint driving device |
| KR20150139056A (en) * | 2014-06-02 | 2015-12-11 | 대우조선해양 주식회사 | Wearable robot applied linear actuator |
| CN110802579B (en) * | 2019-11-12 | 2023-01-24 | 长沙理工大学 | Rope-driven ball coordinate robot |
| CN111846000A (en) * | 2020-07-30 | 2020-10-30 | 上海交通大学 | Wheel leg robot leg structure and mobile robot |
| CN214776235U (en) * | 2021-03-17 | 2021-11-19 | 四川大学锦城学院 | Leg structure of bionic frog robot |
| CN113264128A (en) * | 2021-05-24 | 2021-08-17 | 常州机电职业技术学院 | Locust-simulated jumping robot rear leg mechanism |
| CN217456166U (en) * | 2022-04-19 | 2022-09-20 | 东莞市本末科技有限公司 | Leg structure based on line transmission and robot |
-
2022
- 2022-04-19 CN CN202210411132.8A patent/CN115520300A/en active Pending
- 2022-09-20 WO PCT/CN2022/119858 patent/WO2023201982A1/en unknown
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| Publication number | Publication date |
|---|---|
| WO2023201982A1 (en) | 2023-10-26 |
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