CN214565780U - Leg assembly for foot robot and foot robot - Google Patents
Leg assembly for foot robot and foot robot Download PDFInfo
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- CN214565780U CN214565780U CN202023328684.8U CN202023328684U CN214565780U CN 214565780 U CN214565780 U CN 214565780U CN 202023328684 U CN202023328684 U CN 202023328684U CN 214565780 U CN214565780 U CN 214565780U
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- leg
- leg member
- assembly
- legged robot
- shell
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- 230000002093 peripheral effect Effects 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 230000003014 reinforcing effect Effects 0.000 claims description 5
- 238000005728 strengthening Methods 0.000 abstract 1
- 230000005540 biological transmission Effects 0.000 description 4
- 238000009434 installation Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 239000003351 stiffener Substances 0.000 description 2
- 230000004075 alteration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000033001 locomotion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a leg subassembly and sufficient robot for sufficient robot, a leg subassembly for sufficient robot includes first leg component, second leg component and casing, the second leg component with but first leg component pivot ground links to each other, the casing is located first leg component and/or on the second leg component, the casing is used for strengthening first leg component and/or second leg component. The utility model discloses a leg subassembly for sufficient robot's simple structure and intensity are higher.
Description
Technical Field
The utility model relates to a technical field of robot, concretely relates to a sufficient robot that is used for leg subassembly of sufficient robot and has this leg subassembly.
Background
Legged robots, which may also be referred to as legged robots, generally include a torso assembly and leg assemblies including upper legs pivotally connected to the torso assembly and lower legs pivotally connected to the upper legs. The leg assembly in the related art has low strength, which results in poor load-carrying capacity, so that the leg assembly in the related art cannot meet the requirements of different occasions, and has poor applicability.
SUMMERY OF THE UTILITY MODEL
The present invention aims at solving at least one of the technical problems in the related art to a certain extent.
Therefore, the embodiment of the utility model provides a leg subassembly for sufficient robot that simple structure and intensity are high.
The embodiment of the utility model also provides a sufficient robot.
According to the utility model discloses a leg subassembly for sufficient robot includes: a first leg member; a second leg member pivotally connected to the first leg member; a shell disposed on the first leg member and/or the second leg member, the shell for reinforcing the first leg member and/or the second leg member.
According to the utility model discloses a leg subassembly for sufficient robot of embodiment is through establishing the casing on first leg member and/or second leg member to improve the intensity of first leg member and/or second leg member, prolonged the life of leg subassembly, and the utility model discloses a leg subassembly for sufficient robot of embodiment's simple structure, easily processing and manufacturing.
In some embodiments, the housing is disposed on the first leg member.
In some embodiments, a lightening hole is formed on the housing.
In some embodiments, the housing is provided with stiffeners and/or reinforcing plates.
In some embodiments, the outer peripheral wall of the housing is a smoothly transitioning curved surface.
In some embodiments, the first end of the first leg member is provided with a motor mount, and the housing is provided with a mounting groove that mates with an outer peripheral wall of the motor mount.
In some embodiments, the first leg member tapers in width in a direction from the first end of the first leg member toward the second end of the first leg member.
In some embodiments, the shell includes a first shell and a second shell, the first shell and the second shell encasing the first leg member along a circumference of the first leg member.
In some embodiments, the first shell and the second shell are provided on both sides of the first leg member in the thickness direction thereof, respectively.
In some embodiments, the first shell is removably coupled to the first leg member, and/or the second shell is removably coupled to the first leg member.
In some embodiments, the side wall of the first leg member is provided with a clamping block, and the first shell and the second shell are provided with clamping grooves which can be matched with the clamping block.
In some embodiments, the snap-in block is an annular snap strip that encircles the sidewall of the first leg member.
In some embodiments, the outer circumferential surface of the clamping block and the inner circumferential surface of the clamping groove are mutually matched curved surfaces.
According to the utility model discloses a sufficient robot of embodiment, including trunk subassembly and a plurality of leg subassembly, the leg subassembly be any above-mentioned embodiment leg subassembly for sufficient robot, the first leg component of leg subassembly with trunk subassembly pivot ground links to each other.
According to the utility model discloses a sufficient robot's simple structure, and intensity is higher.
In some embodiments, the legged robot further includes a motor coupled to the motor mount, the motor configured to drive the second leg member to rotate relative to the first leg member.
In some embodiments, the legged robot further includes a foot assembly disposed at an end of the second leg member facing away from the first leg member.
In some embodiments, the legged robot further includes a head assembly disposed at a front end of the torso assembly and a tail assembly disposed at a rear end of the torso assembly.
Drawings
Fig. 1 is a schematic view of a legged robot according to an embodiment of the present invention.
Fig. 2 is an exploded view of a first leg member and a housing of a leg assembly of a legged robot in accordance with an embodiment of the present invention.
Fig. 3 is an installation schematic diagram of a first leg member and a housing of a leg assembly of a legged robot according to an embodiment of the present invention.
Reference numerals:
100. a leg assembly; 200. a torso assembly; 300. a foot assembly; 400. a head assembly; 500. a tail assembly;
1. a first leg member; 11. a motor mounting seat; 12. a clamping block;
2. a second leg member;
3. a housing; 31. a first housing; 311. mounting grooves; 32. a second housing; 33. a clamping groove;
4. an electric motor.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.
A leg assembly for a legged robot and a legged robot having the same according to embodiments of the present invention will be described below with reference to the accompanying drawings.
As shown in fig. 1 to 3, a leg assembly 100 for a legged robot according to an embodiment of the present invention includes a first leg member 1, a second leg member 2, and a housing 3. The second leg member 2 is pivotally connected to the first leg member 1, a shell 3 is provided on the first leg member 1 and/or the second leg member 2, and the shell 3 is used to reinforce the first leg member 1 and/or the second leg member 2.
It will be appreciated that the housing 3 may be provided on the first leg member 1, or the housing 3 may be provided on the second leg member 2, or the housing 3 may be provided on both the first and second leg members 1, 2.
According to the utility model discloses a leg subassembly for sufficient robot is through establishing casing 3 on first leg member 1 and/or second leg member 2 to improve the intensity of first leg member 1 and/or second leg member 2, prolonged the life of leg subassembly 100, and the utility model discloses a leg subassembly for sufficient robot of embodiment's simple structure, easily processing and manufacturing.
Specifically, as shown in fig. 2, the housing 3 is provided on the first leg member 1.
Optionally, the shell 3 is provided with lightening holes, and it is understood that the surface of the shell 3 is hollowed out, or the thickness of the shell 3 is thinner, so as to reduce the weight of the leg assembly 100.
Optionally, the housing 3 is provided with stiffeners and/or reinforcing plates. It is understood that the surface of the housing 3 is provided with a reinforcing rib for improving the strength of the housing 3, or the surface of the housing 3 is coated with a thickened plate for improving the strength of the housing 3, thereby further improving the strength of the leg assembly 100.
Further, as shown in fig. 2, the outer peripheral wall of the housing 3 is a smoothly-transiting curved surface. For example, the splices of the peripheral wall of the housing 3 are provided with rounded corners, thereby reducing the risk of the leg assembly 100 injuring the user when in use.
In some embodiments, as shown in fig. 2, the first end of the first leg member 1 (e.g., the upper end of the first leg member 1 in fig. 2) is provided with a motor mount 11, and the housing 3 is provided with a mounting slot 311 that mates with the outer peripheral wall of the motor mount 11. For example, the motor mount 11 is cylindrical, and the upper end of the housing 3 is provided with an arc-shaped mounting groove 311 that fits the outer peripheral wall of the motor mount 11, thereby improving the sealing performance of the housing 3.
Further, as shown in fig. 2, the width of the first leg member 1 in the direction of the first end of the first leg member 1 toward the second end of the first leg member 1 is gradually reduced. In other words, as shown in fig. 2, the width of the first leg member 1 in the direction from top to bottom is gradually reduced, and the width of the housing 3 in the direction from top to bottom is also gradually reduced. It can be understood that the utility model discloses a leg subassembly for sufficient robot designs through bionical principle, simulates the structure of real human shank to further improve the utility model discloses a intensity of leg subassembly for sufficient robot.
In some embodiments, as shown in fig. 2, the shell 3 includes a first shell 31 and a second shell 32, and the first shell 31 and the second shell 32 enclose the first leg member 1 along the circumference of the first leg member 1. For example, the first shell 31 and the second shell 32 are arranged along the circumference of the first leg member 1 to enclose a containing cavity, and the first leg member 1 is located in the containing cavity, so that the leg assembly for a foot robot of the embodiment of the present invention can avoid the first leg member 1 from being directly exposed to the outside, and further prolong the service life of the leg assembly 100.
Alternatively, as shown in fig. 2, the first shell 31 and the second shell 32 are provided on both sides of the first leg member 1 in the thickness direction thereof (the left-right direction of the first leg member 1 in fig. 2), respectively.
Further, as shown in fig. 2, the first shell 31 is detachably connected to the first leg member 1, or the second shell 32 is detachably connected to the first leg member 1, or both the first shell 31 and the second shell 32 are detachably connected to the first leg member 1.
Specifically, as shown in fig. 2 and 3, the side wall of the first leg member 1 is provided with a clamping block 12, and the first shell 31 and the second shell 32 are provided with clamping grooves 33 which can be matched with the clamping block 12. It will be appreciated that the first housing 31 and the second housing 32 are releasably connected to the first leg member 1 by a snap-fit arrangement. When the first shell 31 and the second shell 32 need to be repaired and replaced, the first shell 31 and the second shell 32 can be directly detached from the first leg member 1, thereby improving the efficiency of installation and repair of the leg assembly 100.
Alternatively, as shown in fig. 2 and 3, the clamping block 12 is an annular clamping strip which surrounds the side wall of the first leg member 1, and the clamping groove 33 also surrounds the outer edges of the first shell 31 and the second shell 32, so that when the clamping block 12 is clamped into the clamping groove 33, the first shell 31 and the second shell 32 can enclose a relatively sealed cavity, thereby improving the sealing performance of the leg assembly 100.
Further, as shown in fig. 2 and 3, the outer peripheral surface of the catching block 12 and the inner peripheral surface of the catching groove 33 are curved surfaces that fit each other. For example, the outer peripheral surface of the engaging block 12 and the inner peripheral surface of the engaging groove 33 are arc surfaces, so that the contact area of the engaging block 12 and the engaging groove 33 can be increased, and the firmness of the engaging block 12 and the engaging groove 33 when connected can be increased.
As shown in fig. 1, a legged robot according to an embodiment of the present invention includes a body assembly 200 and a leg assembly 100, and the leg assembly 100 is the leg assembly 100 of the embodiment of the present invention. There are four leg assemblies 100, and four leg assemblies 100 are connected to the torso assembly 200. The first leg member 1 of the leg assembly 100 is rotatable with respect to the torso assembly 200, and the second leg member 2 is rotatable with respect to the first leg member 1, thereby performing motions such as walking of the legged robot. According to the utility model discloses sufficient robot, leg assembly 100's simple structure and intensity are higher.
Specifically, as shown in fig. 1 and 2, the legged robot further includes a motor 4 and a transmission part (not shown), the motor 4 is installed in the motor installation seat 11, the transmission part is disposed in the first leg member 1, the transmission part is connected to the motor 4 and the second leg member 2, and the motor 4 can drive the transmission part to move, so that the second leg member 2 rotates relative to the first leg member 1, thereby realizing actions such as walking of the legged robot.
Further, as shown in fig. 1, the legged robot further includes a foot assembly 300, the foot assembly 300 is disposed at an end of the second leg member 2 facing away from the first leg member 1 (e.g., a lower end of the second leg member 2 in fig. 1), and the foot assembly 300 is adapted to contact with the ground. For example, the surface of the foot assembly 300 may be covered with grounding parts made of different materials, so that the foot robot can switch between different grounding parts for different working occasions, thereby improving the compatibility of the foot robot.
Further, as shown in fig. 1, the legged robot further includes a head assembly 400 and a tail assembly 500, the head assembly 400 is disposed at the front end of the torso assembly 200, and the tail assembly 500 is disposed at the rear end of the torso assembly 200. For example, the head assembly 400 is internally provided with a vision module, and the legged robot can detect an obstacle in front of the legged robot through the vision module, so that the obstacle avoidance success rate of the legged robot is improved. For another example, an indicator lamp may be installed in the tail assembly 500, and the indicator lamp may indicate the electric quantity information, the steering information, the operating state information, and the like of the foot robot to the outside, thereby improving the practicability of the foot robot.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship indicated based on the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; may be mechanically coupled, may be electrically coupled or may be in communication with each other; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the present disclosure, the terms "one embodiment," "some embodiments," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.
Claims (16)
1. A leg assembly for a legged robot, comprising:
a first leg member;
a second leg member pivotally connected to the first leg member;
a shell disposed on the first leg member and/or the second leg member, the shell for reinforcing the first leg member and/or the second leg member.
2. The leg assembly for a legged robot according to claim 1, characterized in that said shell is provided with lightening holes.
3. The leg assembly for a legged robot according to claim 1, characterized in that the housing is provided with stiffening ribs and/or plates.
4. The leg assembly for a legged robot according to claim 1, characterized in that the peripheral wall of the housing is a smoothly transitioning curved surface.
5. The leg assembly for a legged robot according to claim 1, wherein the first end of the first leg member is provided with a motor mount and the housing is provided with a mounting slot that mates with a peripheral wall of the motor mount.
6. The leg assembly for a legged robot according to claim 1, wherein the first leg member tapers in width in a direction toward the second end of the first leg member from the first end of the first leg member.
7. The leg assembly for a legged robot according to claim 1, wherein said housing includes a first housing and a second housing, said first housing and said second housing encasing said first leg member in a circumferential direction of said first leg member.
8. The leg assembly for a legged robot according to claim 7, characterized in that the first shell and the second shell are provided on both sides of the first leg member in its thickness direction, respectively.
9. The leg assembly for a legged robot according to claim 8, characterized in that the first shell is detachably connected with the first leg member and/or the second shell is detachably connected with the first leg member.
10. The leg assembly for a legged robot according to claim 9, wherein the side wall of the first leg member is provided with a catch block, and the first shell and the second shell are provided with catch grooves that can be fitted with the catch block.
11. The leg assembly for a legged robot according to claim 10, in which the snap-in block is an annular snap-in strip encircling the side wall of the first leg member.
12. The leg assembly for a legged robot according to claim 10, characterized in that the outer peripheral surface of said catching piece and the inner peripheral surface of said catching groove are curved surfaces that fit each other.
13. A legged robot comprising a torso assembly and a plurality of leg assemblies, the leg assemblies being as claimed in any one of claims 1 to 12 for a legged robot, a first leg member of the leg assemblies being pivotally connected to the torso assembly.
14. The legged robot according to claim 13, wherein the leg assembly is according to claim 5, further comprising a motor coupled to the motor mount for driving the second leg member in rotation relative to the first leg member.
15. The legged robot according to claim 13, further comprising a foot assembly provided at an end of the second leg member facing away from the first leg member.
16. The legged robot according to claim 13, further comprising a head assembly disposed at a front end of the torso assembly and a tail assembly disposed at a rear end of the torso assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023328684.8U CN214565780U (en) | 2020-12-30 | 2020-12-30 | Leg assembly for foot robot and foot robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023328684.8U CN214565780U (en) | 2020-12-30 | 2020-12-30 | Leg assembly for foot robot and foot robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214565780U true CN214565780U (en) | 2021-11-02 |
Family
ID=78344559
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023328684.8U Active CN214565780U (en) | 2020-12-30 | 2020-12-30 | Leg assembly for foot robot and foot robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214565780U (en) |
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2020
- 2020-12-30 CN CN202023328684.8U patent/CN214565780U/en active Active
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231011 Address after: Room 602, 6th Floor, Building 5, Building 15, Kechuang 10th Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing, 100176 Patentee after: Beijing Xiaomi Robot Technology Co.,Ltd. Address before: No.018, 8th floor, building 6, No.33 yard, middle Xierqi Road, Haidian District, Beijing 100085 Patentee before: BEIJING XIAOMI MOBILE SOFTWARE Co.,Ltd. |