CN212373549U - Deformable leg structure and robot - Google Patents
Deformable leg structure and robot Download PDFInfo
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- CN212373549U CN212373549U CN202020698948.XU CN202020698948U CN212373549U CN 212373549 U CN212373549 U CN 212373549U CN 202020698948 U CN202020698948 U CN 202020698948U CN 212373549 U CN212373549 U CN 212373549U
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Abstract
The utility model relates to the technical field of robot, a deformable shank structure and robot is disclosed. The leg structure comprises a first power source, a second power source, a four-bar linkage mechanism and wheels, wherein the first power source is arranged on the robot body; the first power source drives the body of the second power source and the four-bar mechanism to rotate together, and an output shaft of the second power source is connected with the four-bar mechanism shaft so as to enable four connecting bars of the four-bar mechanism to rotate to realize deformation; the wheels are detachably arranged on the four-bar mechanism. When the four-bar linkage mechanism is deformed to a compressed folding state, the wheels touch the ground; when the four-bar linkage mechanism is deformed to an extended standing state, the wheels leave the ground, and the end of one of the four-bar linkage mechanism is grounded. The utility model discloses an effectual running state of having solved present robot's shank structure of shank structure and robot is comparatively single problem.
Description
Technical Field
The utility model relates to the technical field of robot, concretely relates to deformable shank structure and robot.
Background
At present, the wheel-leg or foot type robot has a single motion state, for example, the robot can only stably operate in a standing state, or can only stably operate in a folded state, which results in a single use scene. How to enable the wheel-leg or foot type robot to stably operate not only in a standing state but also in a folded state becomes a research hotspot in the field.
SUMMERY OF THE UTILITY MODEL
In view of this, in order to solve the problem that the running state of the current robot is single, the utility model provides a deformable leg structure.
The utility model also provides an use the robot of above-mentioned deformable shank structure.
The method is realized by adopting the following technical scheme:
a deformable leg structure for a robot comprises a first power source installed on a robot body, a second power source connected with the first power source, and a four-bar linkage connected with the second power source;
the first power source drives the body of the second power source and the four-bar mechanism to rotate together, and the output shaft of the second power source is connected with the four-bar mechanism shaft so that the four connecting bars of the four-bar mechanism rotate to realize extending standing or compressing folding.
In the utility model, the body of the second power source can be driven by the first power source to rotate together with the four-bar linkage, so that the functions of advancing, retreating, crossing and the like of the leg structure can be realized by controlling the first power source; the output shaft of the second power source is connected with the shaft of the four-bar linkage mechanism so that the four connecting bars of the four-bar linkage mechanism rotate to realize extending standing or compressing folding, so that the deformation of the four-bar linkage mechanism can be realized by controlling the second power source, and further the deformation of the leg structure is realized;
that is the utility model discloses a leg structure drives four-bar linkage through two power supplies, makes four-bar linkage have two degrees of freedom of motion, through mutually supporting between two degrees of freedom of motion of four-bar linkage, makes the utility model discloses a leg structure can enough realize the steady operation under the state of standing, can realize the steady operation under fold condition again, has effectually solved the comparatively single problem of running state of present wheel leg formula or sufficient formula robot.
Preferably, the four-bar linkage comprises a first connecting bar connected with the body, a second connecting bar connected with the output shaft, a third connecting bar and a fourth connecting bar; the third connecting rod is hinged with the fourth connecting rod, the third connecting rod is hinged with the first connecting rod, and the fourth connecting rod is hinged with the second connecting rod.
The utility model discloses a first power supply drive second power supply to drive four-bar linkage through first connecting rod and rotate with the body together, cooperate second power supply drive second connecting rod to rotate around the output shaft simultaneously and realize four-bar linkage's deformation, and then make the utility model discloses a stable operation under the state of standing can enough be realized to the shank structure, can also realize the stable operation under fold condition, the effectual shank structure running state problem comparatively single of having solved present wheel leg formula or sufficient formula robot.
Preferably, one end of the second connecting rod, which is far away from the output shaft, is hinged to one end of the fourth connecting rod, the other end of the fourth connecting rod is hinged to one end of the third connecting rod, and the end of the third connecting rod, which is hinged to the fourth connecting rod, is also hinged to the first connecting rod.
Preferably, one end of the first connecting rod far away from the body is hinged to one end of the third connecting rod, the other end of the third connecting rod is hinged to the middle of the fourth connecting rod, and one end of the fourth connecting rod is hinged to the second connecting rod.
Preferably, be formed with in the first connecting rod and hold the chamber, the second connecting rod with the fourth connecting rod is located hold the intracavity, make the outward appearance of shank structure pleasing to the eye, the shape more has imitative nature.
Preferably, the first connecting rod comprises a connecting plate connected with the body, and a cover body covering the connecting plate to form the accommodating cavity; one end of the connecting plate far away from the second power source is hinged with a third connecting rod and a fourth connecting rod; one end of the cover body is fixedly connected with one side face of the second power source.
Preferably, the four-bar linkage mechanism further comprises wheels, and the wheels are detachably mounted on the four-bar linkage mechanism; when the four-bar linkage is in a compressed and folded state, the wheels land; when the four-bar linkage is in an extended standing state, the wheels are off the ground while the end of one of the four-bar linkages is grounded.
Because the wheels of the utility model are detachably arranged on the four-bar mechanism, the wheels can be detached when not needed; when the wheel is used, the wheel can be installed on the four-bar mechanism, thus enlarging the application scene of the leg structure of the utility model. The problem that the running state of the leg structure of the existing wheel-leg type or foot type robot is single can be effectively solved no matter the leg structure is provided with wheels or the leg structure is not provided with wheels.
Preferably, when the four-bar linkage mechanism is deformed to the extended standing state, an elastic part or a rolling part is arranged at one grounded end of the four-bar linkage mechanism.
When the elastic part is arranged at the grounded end, the elastic part can avoid the damage of larger impact force to the leg structure, and a sensor is usually arranged in the elastic part so as to realize the detection of the contact of the elastic part to the ground.
When the grounded end is provided with a rolling portion, the rolling portion enables the leg structure to roll on the ground like a trolley, whether in an extended deployed state or a compressed folded state.
Preferably, the rolling part is a powered wheel; the rolling part may be a rubber wheel with a power source hidden inside the wheel, such as a motor wheel set.
Preferably, the deformable leg structure further comprises a connecting member, one side of the connecting member is connected with the first power source, and the other side of the connecting member is connected with the second power source.
The utility model also provides a robot, this robot includes the utility model discloses a deformable shank structure to and the robot body, deformable shank structrual installation is in on the robot body.
Compared with the prior art, adopt above-mentioned scheme the beneficial effects of the utility model are that:
the utility model discloses a deformable shank structure drives four-bar linkage through two power supplies, makes four-bar linkage have two degrees of freedom of motion, through mutually supporting between two degrees of freedom of motion of four-bar linkage, makes the utility model discloses a shank structure can enough realize the steady operation under the state of standing, can realize the steady operation under fold condition again, the effectual comparatively single problem of shank structure running state of having solved present wheel leg formula or sufficient formula robot.
Because the utility model discloses a robot adopts the utility model discloses a deformable shank structure, so the utility model discloses a robot is also effectual to have solved present wheel leg formula or the comparatively single problem of sufficient formula robot running state.
Drawings
Fig. 1 is a schematic structural view of a deformable leg structure provided in embodiment 1 of the present invention in a deployed standing state;
FIG. 2 is a schematic diagram of the exploded structure of FIG. 1;
FIG. 3 is an enlarged schematic view of the structure at A in FIG. 2;
fig. 4 is a schematic structural view of the deformable leg structure provided in embodiment 1 of the present invention after the rolling part is installed;
fig. 5 is a schematic structural view of a deformable leg structure provided in embodiment 1 of the present invention in a compressed and folded state;
fig. 6 is a schematic structural view of a deformable leg structure provided in embodiment 2 of the present invention in a deployed standing state;
fig. 7 is a schematic structural view of the deformable leg structure provided in embodiment 2 of the present invention after being assembled with the rolling part;
fig. 8 is a schematic structural view of a robot to which a deformable leg structure according to embodiment 2 is applied in an expanded standing state according to embodiment 3 of the present invention, and the robot is not provided with a rolling part;
fig. 9 is a schematic view of a first structure of a robot in a semi-deployed standing state, to which a deformable leg structure according to embodiment 2 is applied, according to embodiment 3 of the present invention, and the robot is provided with a rolling part;
fig. 10 is a schematic structural view of a robot applying the deformable leg structure of embodiment 2 in a compressed and folded state, which is provided in embodiment 3 of the present invention and is provided with a rolling part;
fig. 11 is a schematic diagram of a second structure of a robot in a semi-deployed standing state, to which the deformable leg structure of embodiment 2 is applied, according to embodiment 3 of the present invention, and the robot is provided with a rolling part;
fig. 12 is a schematic view of a third structure of a robot in a semi-deployed standing state, to which the deformable leg structure of embodiment 2 is applied, according to embodiment 3 of the present invention, and the robot is provided with a rolling part;
fig. 13 is a schematic structural view of a robot to which the deformable leg structure of embodiment 2 is applied in a fully-unfolded standing state according to embodiment 3 of the present invention, the robot being provided with a rolling part;
fig. 14 is a schematic structural view of a robot applying the deformable leg structure of embodiment 1 in a compressed and folded state, which is provided in embodiment 4 of the present invention, and has no rolling part and a wheel set detached;
fig. 15 is a schematic structural view of a robot to which the deformable leg structure of embodiment 1 is applied in a semi-deployed standing state according to embodiment 4 of the present invention, the robot being not provided with a rolling part and a wheel set being detached;
fig. 16 is a schematic structural view of a robot to which the deformable leg structure of embodiment 1 is applied in a fully-unfolded standing state according to embodiment 4 of the present invention, the robot being not provided with a rolling part and a wheel set being detached;
in the figure: 1. a first power source; 2. a second power source; 3. a four-bar linkage; 4. a wheel; 5. a connecting member; 31. a first link; 32. a second link; 33. a third link; 34. a fourth link; 311. a connecting plate; 312. a cover body.
Detailed Description
In order to make the objects, features and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and the detailed description. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited by the specific embodiments disclosed below.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate medium, or they may be connected through two component parts or in an interactive relationship between two components. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Example 1
The embodiment provides a deformable leg structure for a robot, which comprises a first power source 1, a second power source 2, a four-bar linkage 3 and wheels 4, wherein the first power source 1, the second power source 2, the four-bar linkage 3 and the wheels 4 are arranged on a robot body;
the first power source 1 drives the body of the second power source 2 and the four-bar mechanism 3 to rotate together, the output shaft of the second power source 2 is also connected with the four-bar mechanism 3 through a shaft so that the four-bar mechanism 3 can rotate around the output shaft, and wheels 4 are detachably arranged on the four-bar mechanism 3;
as shown in fig. 1-5, one end of the second link 32 far from the output shaft is hinged with one end of the fourth link 3, the other end of the fourth link 34 is hinged with one end of the third link 33, and the end of the third link 33 hinged with the fourth link 34 is also hinged with the first link 31; and the wheel 4 is arranged at the hinge joint of the first connecting rod 31 and the third connecting rod 33;
the first connecting rod 31 comprises a connecting plate 311 connected with the body, and a cover 312 covering the connecting plate 311 to form a containing cavity; one end of the connecting plate 311 far away from the second power source is hinged with the third connecting rod 33 and the fourth connecting rod 34; one end of the cover 312 is fixedly connected to one side of the second power source 2, and the other end is hinged to the wheel 4, and the wheel 4 is located between the connecting plate 311 and the cover 312.
When the four-bar linkage 3 is deformed to the compressed folding state, the wheels 4 land;
when the four-bar linkage 3 is deformed to the extended standing state, the wheels 4 are separated from the ground, and one end of the third link 33, which is away from the first link 31, is grounded.
In this embodiment, the wheels 4 may be universal wheels, which enables the deformable leg structure of this embodiment to stably perform a turning motion or the like.
In this embodiment, an end of the third link 33 away from the first link 31 may be provided with an elastic portion, or may be provided with a wheel having a power source. Wherein the damage of great impact force to leg structure can be avoided to the elastic component, has the sensor in the elastic component usually to realize the detection of elastic component to the ground touching. The wheels with power source may be rubber wheels with power source or motor wheel sets, as shown in fig. 4, when a rolling part is provided at one end of the third link 33 away from the first link 31, but the deformable leg structure of this embodiment can stably run on the ground like a trolley when it is folded.
The deformable leg structure of the present embodiment, when the second power source 2 drives the second link 32 of the four-bar linkage 3 to rotate around the output shaft, the four-bar linkage 3 deforms, when the four-bar linkage 3 deforms to the compressed folded state, as shown in fig. 5, the wheel 4 lands at this time, and the leg structure of the present embodiment can realize the rolling of the leg structure on the ground through the wheel 4 at this time, so that the robot equipped with the leg structure of the present embodiment can stably run on the ground like a trolley; when the four-bar linkage 3 is deformed to the extended state, as shown in fig. 1, when the wheels 4 are separated from the ground while the end of the third link 33 of the four-bar linkage 3 is grounded, the leg structure can be completely or semi-stood by the third link 33.
After the first power source 1 is started, the body of the second power source 2 can be driven to drive the four-bar linkage 3 to rotate together through the first connecting rod 31, so that the deformable leg structure can realize stable forward, backward, crossing and other actions.
To sum up, the shank structure of this embodiment drives four-bar linkage 3 through two power supplies, first power supply 1 drive second power supply 2 drives four-bar linkage 3 through first connecting rod 31 and rotates together, cooperate 2 drive second connecting rod 32 of second power supply to drive four-bar linkage 3 simultaneously and rotate so that four-bar linkage 3 takes place deformation around the output shaft, and then the shank structure that makes this embodiment can enough realize the steady operation under the state of standing, can also steady operation under fold condition, the effectual shank structure running state problem of solving present wheel leg formula or sufficient formula robot is comparatively single.
In addition, since the wheels 4 of the present embodiment are detachably mounted on the four-bar linkage 3, application scenarios of the leg structure of the present embodiment are increased. For example, when the wheels 4 are not required to be used, as shown in fig. 14-16, they can be removed, and the leg structure from which the wheels 4 are removed, while not enabling the robot to which it is fitted to roll on the ground like a trolley, still allows deformation, i.e. still allows a compact, folded, extended standing.
Example 2
The embodiment provides a deformable leg structure for a robot, which comprises a first power source 1, a second power source 2, a four-bar linkage 3 and wheels 4, wherein the first power source 1, the second power source 2, the four-bar linkage 3 and the wheels 4 are arranged on a robot body;
the first power source 1 drives the body of the second power source 2 and the four-bar mechanism 3 to rotate together, the output shaft of the second power source 2 is also connected with the four-bar mechanism 3 through a shaft so that the four-bar mechanism 3 can rotate around the output shaft, and wheels 4 are detachably arranged on the four-bar mechanism 3;
as shown in fig. 6 and 7, one end of the first link 31 away from the body is hinged to one end of a third link 33, the other end of the third link 33 is hinged to the middle of a fourth link 34, one end of the fourth link 34 is hinged to the second link 32, and the wheel 4 is mounted at the hinge of the fourth link 34 and the second link 32;
when the four-bar linkage 3 is deformed to the compressed folding state, the wheels 4 land;
when the four-bar linkage 3 is deformed to the extended standing state, the wheels 4 leave the ground, and the end of the fourth link 34 remote from the second link 32 is grounded.
In this embodiment, the wheels 4 may be universal wheels, which enables the deformable leg structure of this embodiment to stably perform a turning motion or the like.
In this embodiment, an end of the fourth link 34 away from the second link 32 may be provided with an elastic portion, or may be provided with a wheel with a power source. Wherein the damage of great impact force to leg structure can be avoided to the elastic component, has the sensor in the elastic component usually to realize the detection of elastic component to the ground touching. The wheels with power source can be rubber wheels with power source, and also can be motor wheel set, as shown in fig. 7.
When a rolling portion is provided at an end of the fourth link 34 remote from the second link 32, the deformable leg structure of the present embodiment can be stably run on the ground like a vehicle in both the extended standing state and the compressed folded state, as shown in fig. 9 to 13.
In the same way, the shank structure of this embodiment drives four-bar linkage 3 through two power supplies, 1 drive second power supply 2 of first power supply drives four-bar linkage 3 through first connecting rod 31 and rotates together, cooperate 2 drive second connecting rod 32 of second power supply to drive four-bar linkage 3 simultaneously and rotate so that four-bar linkage 3 takes place deformation around the output shaft, and then the shank structure that makes this embodiment can enough realize the steady operation under the state of standing, can also steady operation under fold condition, the effectual shank structure running state problem of solving present wheel leg formula or sufficient robot is comparatively single.
In addition, since the wheels 4 of the present embodiment are detachably mounted on the four-bar linkage 3, application scenarios of the leg structure of the present embodiment are increased. For example, when the wheels 4 are not needed, they can be removed, and the leg structure with the wheels 4 removed cannot roll the robot equipped with the leg structure on the ground like a trolley, but still can be deformed, i.e. still can be folded in compression, extended and stood.
Example 3
This embodiment provides a robot, as shown in fig. 8 to 13, including the deformable leg structure of embodiment 2, and a robot body on which the deformable leg structure is mounted.
Since the deformable leg structure of embodiment 2 can perform stable operation in both the extended standing state and the compressed folded state, the robot using the same has the above-mentioned advantages, that is, the problem that the current robot has a relatively single operation state is solved.
Example 4
This embodiment provides a robot, as shown in fig. 14 to 16, including the deformable leg structure of embodiment 1, and a robot body on which the deformable leg structure is mounted.
Since the deformable leg structure of embodiment 1 can perform stable operation in both the extended standing state and the compressed folded state, the robot using the same has the above-mentioned advantages, i.e., the problem that the current robot is single in operation state is solved.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention should be covered by the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A deformable leg structure for a robot, comprising a first power source (1) mounted on the robot body, a second power source (2) connected to the first power source (1), and a four-bar linkage (3) connected to the second power source (2);
the first power source (1) drives the body of the second power source (2) and the four-bar mechanism (3) to rotate together, and an output shaft of the second power source (2) is connected with a shaft of the four-bar mechanism (3) so that four connecting bars of the four-bar mechanism (3) rotate to realize extending standing or compressing folding.
2. A deformable leg structure as claimed in claim 1, characterized in that said four-bar linkage (3) comprises a first bar (31) connected to said body, a second bar (32) connected to said output shaft, a third bar (33) and a fourth bar (34); the third connecting rod (33) is hinged with the fourth connecting rod (34), the third connecting rod (33) is hinged with the first connecting rod (31), and the fourth connecting rod (34) is hinged with the second connecting rod (32).
3. A deformable leg structure as claimed in claim 2, characterized in that the end of the second link (32) remote from the output shaft is hinged to one end of the fourth link (34), the other end of the fourth link (34) being hinged to one end of the third link (33), the end of the third link (33) hinged to the fourth link (34) being also hinged to the first link (31).
4. A deformable leg structure as claimed in claim 2, characterized in that the end of the first link (31) remote from the body is hinged to one end of the third link (33), the other end of the third link (33) is hinged to the middle of the fourth link (34), and one end of the fourth link (34) is hinged to the second link (32).
5. A deformable leg structure as claimed in claim 3, characterized in that a receiving cavity is formed in the first link (31), the second link (32) and the fourth link (34) being located in the receiving cavity.
6. A deformable leg structure as claimed in claim 5, characterized in that said first link (31) comprises a connecting plate (311) connected to said body, and a cover (312) covering said connecting plate (311) to form said housing cavity; one end of the connecting plate (311) far away from the second power source (2) is hinged with a third connecting rod (33) and a fourth connecting rod (34); one end of the cover body (312) is fixedly connected with one side surface of the second power source (2).
7. A deformable leg structure as claimed in any one of claims 1 to 6, further comprising a wheel (4), said wheel (4) being removably mounted on said four-bar linkage (3); when the four-bar linkage mechanism (3) is in a compressed and folded state, the wheels (4) are grounded; when the four-bar linkage (3) is in an extended standing state, the wheels (4) leave the ground, and the end of one of the four-bar linkage (3) is grounded.
8. A deformable leg structure as claimed in claim 7, characterized in that the grounded end of the four-bar linkage (3) is provided with an elastic or rolling part when the four-bar linkage (3) is deformed to an extended standing position.
9. A deformable leg structure as claimed in any of claims 1-6, wherein the deformable leg structure further comprises a connecting piece (5), the connecting piece (5) being connected on one side to the first power source (1) and on the other side to the second power source (2).
10. A robot comprising a deformable leg structure as claimed in any of claims 1-9, and a robot body; the deformable leg structure is mounted on the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020698948.XU CN212373549U (en) | 2020-04-30 | 2020-04-30 | Deformable leg structure and robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020698948.XU CN212373549U (en) | 2020-04-30 | 2020-04-30 | Deformable leg structure and robot |
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| CN212373549U true CN212373549U (en) | 2021-01-19 |
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| CN202020698948.XU Active CN212373549U (en) | 2020-04-30 | 2020-04-30 | Deformable leg structure and robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439319A (en) * | 2020-04-30 | 2020-07-24 | 东莞市本末禾叶科技有限公司 | Deformable leg structure and robot |
| WO2022199385A1 (en) * | 2021-03-26 | 2022-09-29 | 东莞市本末科技有限公司 | Wheel-legged structure and robot using same |
-
2020
- 2020-04-30 CN CN202020698948.XU patent/CN212373549U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111439319A (en) * | 2020-04-30 | 2020-07-24 | 东莞市本末禾叶科技有限公司 | Deformable leg structure and robot |
| WO2022199385A1 (en) * | 2021-03-26 | 2022-09-29 | 东莞市本末科技有限公司 | Wheel-legged structure and robot using same |
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Effective date of registration: 20220420 Address after: 523000 room 312, unit 1, building 17, No.4, Xinzhu Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee after: Dongguan benmo Technology Co.,Ltd. Address before: 523808 room 312, unit 1, building 17, No.4, Xinzhu Road, Songshanhu Park, Dongguan City, Guangdong Province Patentee before: Dongguan benmo Heye Technology Co.,Ltd. |
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