CN216002828U - Rotatory limit structure of robot shank and robot - Google Patents
Rotatory limit structure of robot shank and robot Download PDFInfo
- Publication number
- CN216002828U CN216002828U CN202122367639.1U CN202122367639U CN216002828U CN 216002828 U CN216002828 U CN 216002828U CN 202122367639 U CN202122367639 U CN 202122367639U CN 216002828 U CN216002828 U CN 216002828U
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- Prior art keywords
- driving
- connecting frame
- assembly
- robot
- fixing piece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The utility model relates to the technical field of robots, in particular to a rotation limiting structure of a robot leg and a robot, which comprises a first driving component, wherein the first driving component comprises a first fixing part and a first driving part connected with the first fixing part; the rotating limiting block is arranged on the outer edge of the first fixing piece; the driving connecting frame is connected with the first driving piece, a limit stop block is arranged on the outer edge of the driving connecting frame and is matched with the rotating limit block for limiting; the second driving assembly comprises a second fixing piece and a second driving piece connected to the second fixing piece, and the second fixing piece is connected with the driving connecting frame; the utility model discloses set up rotatory stopper and limit stop cooperation real new shank action between first drive assembly and drive link and carried on spacingly, the prevention is rotatory excessive, and is effectual to the spacing protection of structure, and the robot drive is stable, and the structure is reliable.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a rotatory limit structure of robot shank and 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.
Along with the progress of science and technology, the application of robot is more and more generalized, for example cleaning robot, freight transportation robot, patrolling and examining robot etc. can realize intelligent control, and current robot generally includes frame and removal wheelset, and some robots include shank structure and remove the wheelset cooperation and realize various actions. The existing robot has poor stability and influences the robot to make various actions.
SUMMERY OF THE UTILITY MODEL
In order to solve the problem, the utility model provides a set up between first drive assembly and drive link rotatory stopper and limit stop cooperation real new shank action and carry on spacingly, the prevention is rotatory excessive, and is effectual to the spacing protection of structure, and the robot drive is stable, the rotatory limit structure of robot shank and robot of reliable structure.
The utility model adopts the technical proposal that: a rotation limiting structure for a leg of a robot comprises a first driving assembly, a second driving assembly and a third driving assembly, wherein the first driving assembly comprises a first fixing piece and a first driving piece connected to the first fixing piece; the rotating limiting block is arranged on the outer edge of the first fixing piece; the driving connecting frame is connected with the first driving piece, a limit stop block is arranged on the outer edge of the driving connecting frame and is matched with the rotating limit block for limiting; and the second driving assembly comprises a second fixing piece and a second driving piece connected to the second fixing piece, and the second fixing piece is connected with the driving connecting frame.
The further improvement of the above scheme is that the first driving assembly is a motor, a first rotating shaft assembly is arranged in the first driving piece, and the first rotating shaft assembly is connected with the first fixing piece.
In a further improvement of the above scheme, a first stator assembly is arranged on the outer edge of the first driving part, a first rotor assembly is arranged on the inner diameter of the first fixing part, and the first rotor assembly is matched with the first stator assembly.
The further improvement of the scheme is that the rotary limiting block is fixedly installed on the outer edge of the first fixing piece through a screw, and is provided with a limiting step, and the limiting step is used for limiting of the limiting stop.
The further improvement of the above scheme is that the driving connection frame comprises a first connection frame and a second connection frame, the first connection frame is fixedly connected to the first fixing piece, the second connection frame is fixedly arranged on the first connection frame, and the second fixing piece of the second driving assembly is arranged on the second connection frame.
The further improvement of the scheme is that the first connecting frame is provided with a plurality of positioning pins, and the second connecting frame is provided with positioning holes corresponding to the positioning pins.
The further improvement of the scheme is that the second connecting frame is provided with a bottom support which is integrally formed on the second connecting frame.
The further improvement of the above scheme is that the second driving assembly is a motor, a second rotating shaft assembly is arranged in the second driving piece, and the second rotating shaft assembly is connected with the second fixing piece.
The further improvement of the above scheme is that the outer edge of the second driving piece is provided with a second stator assembly, the inner diameter of the second fixing piece is provided with a second rotor assembly, and the second rotor assembly is matched with the second stator assembly.
The robot comprises the robot leg rotation limiting structure.
The utility model has the advantages that:
compare traditional robot shank structure, the utility model discloses set up between first drive assembly and drive link rotatory stopper and limit stop cooperation real new shank action and carried on spacingly, the prevention is rotatory excessive, and is effectual to the spacing protection of structure, and the robot drive is stable, and the structure is reliable, and the practicality is strong. Specifically, a first driving assembly is arranged, and the first driving assembly comprises a first fixing piece and a first driving piece connected to the first fixing piece; the rotating limiting block is arranged on the outer edge of the first fixing piece; the driving connecting frame is connected with the first driving piece, a limit stop block is arranged on the outer edge of the driving connecting frame and is matched with the rotating limit block for limiting; and the second driving assembly comprises a second fixing piece and a second driving piece connected to the second fixing piece, and the second fixing piece is connected with the driving connecting frame. The first driving assembly is connected with the second driving assembly through the driving connecting frame, so that double-driving cooperation of the robot is realized, the driving is stable, the structure is reliable, and the robot is suitable for making various actions.
Drawings
Fig. 1 is a schematic perspective view of a rotation limiting structure of a leg of a robot according to the present invention;
fig. 2 is an exploded view of the leg rotation limiting structure of the robot in fig. 1;
fig. 3 is a schematic front view of a leg rotation limiting structure of the robot in fig. 1;
fig. 4 is a cross-sectional view a-a of fig. 3.
Description of reference numerals: the first driving assembly 1, the first fixing member 11, the first driving member 12, the first rotating shaft assembly 13, the first stator assembly 14, the first rotor assembly 15, the rotation limiting block 2, the limiting step 21, the driving connecting frame 3, the limiting stopper 31, the first connecting frame 32, the positioning pin 321, the second connecting frame 33, the positioning hole 331, the bottom bracket 332, the second driving assembly 4, the second fixing member 41, the second driving member 42, the second rotating shaft assembly 43, the second stator assembly 44 and the second rotor assembly 45.
Detailed Description
In order to facilitate understanding of the present invention, the present invention will be described more fully hereinafter with reference to the accompanying drawings. The preferred embodiments of the present invention are shown in the drawings. The 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 robot leg rotation limiting structure includes a first driving assembly 1, where the first driving assembly 1 includes a first fixing member 11 and a first driving member 12 connected to the first fixing member 11; the rotating limiting block 2 is arranged on the outer edge of the first fixing piece 11; the driving connecting frame 3 is connected with the first driving piece 12, a limit stop 31 is arranged on the outer edge of the driving connecting frame 3, and the limit stop 31 is matched with the rotating limit block 2 for limiting; and the second driving assembly 4 comprises a second fixing part 41 and a second driving part 42 connected to the second fixing part 41, and the second fixing part 41 is connected with the driving connecting frame 3.
The first driving assembly 1 is a motor, a first rotating shaft assembly 13 is arranged in the first driving part 12, the first rotating shaft assembly 13 is connected with the first fixing part 11, and the first rotating shaft assembly 13 is used for connecting the first fixing part 11, so that the first driving part 12 and the first fixing part 11 can be rotatably connected.
The outer edge of the first driving part 12 is provided with a first stator assembly 14, the inner diameter of the first fixing part 11 is provided with a first rotor assembly 15, the first rotor assembly 15 is matched with the first stator assembly 14, and under the matching of the first stator assembly 14 and the first rotor assembly 15, the first driving part 12 and the first fixing part 11 are driven in a rotating mode, and the structure driving is stable and reliable.
The rotary limiting block 2 is fixedly installed on the outer edge of the first fixing piece 11 through a screw, the rotary limiting block 2 is provided with a limiting step 21, the limiting step 21 is used for limiting the limiting of the limiting stop 31, the limiting stop 31 is matched with the limiting step 21 for limiting, and the structure is limited and stable and reliable.
The first connecting frame 32 is provided with a plurality of positioning pins 321, the second connecting frame 33 is provided with positioning holes 331 corresponding to the positioning pins 321, and the positioning pins 321 and the positioning holes 331 are matched for positioning and mounting the first connecting frame 32 and the second connecting frame 33, so that the positioning accuracy of the first connecting frame 32 and the second connecting frame 33 is high, and the stability is good.
The second connecting frame 33 is provided with a mounting 332, the mounting 332 is integrally formed on the second connecting frame 33, and the mounting 332 can be used for structural support to ensure the stability of the installation of the second driving assembly 4.
The second driving component 4 is a motor, a second rotating shaft component 43 is arranged in the second driving component 42, the second rotating shaft component 43 is connected with the second fixing component 41, and the second rotating shaft component 43 is used for connecting the second fixing component 41, so that the second driving component 42 and the second fixing component 41 can be rotatably connected.
A second stator assembly 44 is arranged at the outer edge of the second driving member 42, a second rotor assembly 45 is arranged at the inner diameter of the second fixed member 41, and the second rotor assembly 45 is matched with the second stator assembly 44; under the cooperation of the second stator assembly 44 and the second rotor assembly 45, the second driving member 42 and the second fixed member 41 are driven to rotate, and the structural driving is stable and reliable.
The utility model provides a robot, adopts the robot of above structure, shank stable in structure has limiting displacement when the activity, and the prevention is excessive, and the structure is reliable.
The utility model discloses it is spacing to have set up rotatory stopper 2 and spacing dog 31 cooperation real new shank action between first drive assembly 1 and drive link 3, and the prevention is rotatory excessive, and is effectual to the spacing protection of structure, and the robot drive is stable, and the structure is reliable, and the practicality is strong. Specifically, a first driving assembly 1 is provided, wherein the first driving assembly 1 comprises a first fixing part 11 and a first driving part 12 connected to the first fixing part 11; the rotating limiting block 2 is arranged on the outer edge of the first fixing piece 11; the driving connecting frame 3 is connected with the first driving piece 12, a limit stop 31 is arranged on the outer edge of the driving connecting frame 3, and the limit stop 31 is matched with the rotating limit block 2 for limiting; and the second driving assembly 4 comprises a second fixing part 41 and a second driving part 42 connected to the second fixing part 41, and the second fixing part 41 is connected with the driving connecting frame 3. The first driving assembly 1 is connected with the second driving assembly 4 through the driving connecting frame 3, so that double-driving cooperation of the robot is realized, the driving is stable, the structure is reliable, and the robot is suitable for making various actions.
The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the spirit of the present invention, several variations and modifications can be made, which are within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (10)
1. The utility model provides a rotatory limit structure of robot shank which characterized in that: comprises that
The first driving assembly comprises a first fixing piece and a first driving piece connected to the first fixing piece;
the rotating limiting block is arranged on the outer edge of the first fixing piece;
the driving connecting frame is connected with the first driving piece, a limit stop block is arranged on the outer edge of the driving connecting frame and is matched with the rotating limit block for limiting;
and the second driving assembly comprises a second fixing piece and a second driving piece connected to the second fixing piece, and the second fixing piece is connected with the driving connecting frame.
2. The robot leg rotation limiting structure of claim 1, wherein: the first driving assembly is a motor, a first rotating shaft assembly is arranged in the first driving piece, and the first rotating shaft assembly is connected with the first fixing piece.
3. The robot leg rotation limiting structure of claim 2, wherein: the outer edge of the first driving piece is provided with a first stator assembly, the inner diameter of the first fixing piece is provided with a first rotor assembly, and the first rotor assembly is matched with the first stator assembly.
4. The robot leg rotation limiting structure of claim 1, wherein: the rotary limiting block is fixedly installed on the outer edge of the first fixing piece through screws and is provided with limiting steps, and the limiting steps are used for limiting the limiting stop.
5. The robot leg rotation limiting structure of claim 1, wherein: the driving connecting frame comprises a first connecting frame and a second connecting frame, the first connecting frame is fixedly connected to the first fixing piece, the second connecting frame is fixedly installed on the first connecting frame, and the second fixing piece of the second driving assembly is installed on the second connecting frame.
6. The robot leg rotation limiting structure of claim 5, wherein: the first connecting frame is provided with a plurality of positioning pins, and the second connecting frame is provided with positioning holes corresponding to the positioning pins.
7. The robot leg rotation limiting structure of claim 6, wherein: the second link is equipped with the collet, collet integrated into one piece in the second link.
8. The robot leg rotation limiting structure of claim 1, wherein: the second driving assembly is a motor, a second rotating shaft assembly is arranged in the second driving piece, and the second rotating shaft assembly is connected with the second fixing piece.
9. The robot leg rotation limiting structure of claim 8, wherein: the outer edge of the second driving piece is provided with a second stator assembly, the inner diameter of the second fixing piece is provided with a second rotor assembly, and the second rotor assembly is matched with the second stator assembly.
10. A robot, characterized by: the robot leg rotation limiting structure comprises the robot leg rotation limiting structure as claimed in any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122367639.1U CN216002828U (en) | 2021-09-27 | 2021-09-27 | Rotatory limit structure of robot shank and robot |
| PCT/CN2022/112288 WO2023045615A1 (en) | 2021-09-27 | 2022-08-12 | Robot leg rotation limiting structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122367639.1U CN216002828U (en) | 2021-09-27 | 2021-09-27 | Rotatory limit structure of robot shank and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216002828U true CN216002828U (en) | 2022-03-11 |
Family
ID=80584342
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122367639.1U Active CN216002828U (en) | 2021-09-27 | 2021-09-27 | Rotatory limit structure of robot shank and robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN216002828U (en) |
| WO (1) | WO2023045615A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023045615A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Robot leg rotation limiting structure and robot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005297081A (en) * | 2004-04-06 | 2005-10-27 | Sony Corp | Robot device and joint device of robot |
| JP6538279B2 (en) * | 2015-12-28 | 2019-07-03 | アーベーベー・シュバイツ・アーゲー | Stopper device, rotary joint, and robot |
| CN106904226B (en) * | 2017-03-10 | 2022-12-23 | 杭州宇树科技有限公司 | Leg power system structure of electric drive quadruped robot |
| CN111166614A (en) * | 2020-01-20 | 2020-05-19 | 深圳市丞辉威世智能科技有限公司 | Leg limiting mechanism with knee hyperextension protection function and exoskeleton robot |
| CN112722111A (en) * | 2021-01-12 | 2021-04-30 | 杭州云深处科技有限公司 | Universal limiting mechanism for quadruped robot and quadruped robot |
| CN112874651B (en) * | 2021-02-04 | 2024-02-02 | 深圳逐际动力科技有限公司 | Four-foot robot |
| CN113147950A (en) * | 2021-05-08 | 2021-07-23 | 国铁工建（北京）科技有限公司 | Leg power system mechanism of leg-foot type robot and leg-foot type robot |
| CN216002828U (en) * | 2021-09-27 | 2022-03-11 | 东莞市本末科技有限公司 | Rotatory limit structure of robot shank and robot |
-
2021
- 2021-09-27 CN CN202122367639.1U patent/CN216002828U/en active Active
-
2022
- 2022-08-12 WO PCT/CN2022/112288 patent/WO2023045615A1/en unknown
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023045615A1 (en) * | 2021-09-27 | 2023-03-30 | 东莞市本末科技有限公司 | Robot leg rotation limiting structure and robot |
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| Publication number | Publication date |
|---|---|
| WO2023045615A1 (en) | 2023-03-30 |
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