CN216269606U - Robot leg connecting rod structure - Google Patents
Robot leg connecting rod structure Download PDFInfo
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- CN216269606U CN216269606U CN202122354396.8U CN202122354396U CN216269606U CN 216269606 U CN216269606 U CN 216269606U CN 202122354396 U CN202122354396 U CN 202122354396U CN 216269606 U CN216269606 U CN 216269606U
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Abstract
The utility model relates to the technical field of robots, in particular to a leg connecting rod structure of a robot, which comprises a fixing piece, wherein the fixing piece is provided with a first rotating connecting part; the first connecting rod comprises a first connecting end and a second connecting end, and the first connecting end is movably connected to the first rotating connecting part; the second connecting rod comprises a first driving connecting part and a third connecting end, and the second connecting end is provided with a second rotating connecting part connected to the second connecting rod; the third connecting rod is provided with a third rotating connecting part, the third rotating connecting part is rotatably connected with the third connecting end, and the third connecting rod is also provided with a second driving connecting part; the utility model can adapt to various actions of the robot, realizes the movement of the connecting rod and has stable and reliable structure.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a leg connecting rod structure of a robot.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capacity range of the human beings.
Along with the progress of science and technology, the application of robot is more and more generalized, for example cleaning robot, freight transportation robot, patrol and examine 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, and need the fuselage of auxiliary wheel cooperation robot to remove in the action process, so have the auxiliary wheel on the fuselage of robot, and general auxiliary wheel is universal transmission wheelset. The frame of the robot is an indispensable structure of the structure, and the existing robot and the structure thereof are single and poor in stability, so that the robot is influenced to make various actions.
SUMMERY OF THE UTILITY MODEL
In order to solve the above problems, the present invention provides a leg link structure of a robot, in which three sets of links are connected by a fixing member, a first link is used as a movable connecting member, a second link is used as a wheel set driving connecting member, and a third link is used as another movable connecting member, so that the leg link structure of the robot can adapt to various motions of the robot, realizes the movement of the links, and has a stable and reliable structure.
The technical scheme adopted by the utility model is as follows: a robot leg connecting rod structure comprises a fixing piece, wherein the fixing piece is provided with a first rotating connecting part; the first connecting rod comprises a first connecting end and a second connecting end, and the first connecting end is movably connected to the first rotating connecting part; the second connecting rod comprises a first driving connecting part and a third connecting end, and the second connecting end is provided with a second rotating connecting part connected to the second connecting rod; the third connecting rod, the third connecting rod is equipped with third rotation connecting portion, third rotation connecting portion and third link rotatable coupling, the third connecting rod still is equipped with second drive connecting portion, second drive connecting portion correspond with the axle center of mounting and are connected, the outer edge of mounting is located to first rotation connecting portion.
The fixing piece is provided with a supporting plate, the first rotating connecting part comprises a first rotating shaft arranged on the supporting plate and a first bearing arranged on the first connecting end, and the first bearing is connected with the first rotating shaft.
The scheme is further improved in that the first connecting end is provided with a first counter bore, the first bearing is arranged in the first counter bore, the second connecting end is provided with a second counter bore, and the second rotary connecting part is connected with the second connecting rod through the second counter bore; the first connecting rod is provided with a plurality of weight reduction grooves.
The first connecting rod comprises a first straight connecting part, a first bending part and a second bending part, the first straight connecting part, the first bending part and the second bending part are integrally formed, a limiting rib is arranged between the first bending part and the second bending part, the first connecting end is arranged at the first straight connecting part, and the second connecting end is arranged at the second bending part.
The scheme is further improved in that an angle A is formed between the first straight connecting part and the first bending part, an angle B is formed between the first bending part and the second bending part, and the angle of the angle A is 120-170 degrees; the angle B is 110-140 degrees, an angle C is formed between the first straight connecting part and the second bending part, and the angle C is 70-110 degrees.
The first driving connecting part is provided with a first through groove, the second connecting rod is provided with a first wiring groove, the first wiring groove is communicated to the first through groove, a first penetrating groove is formed in the position, close to the third rotating connecting part, of the first wiring groove, and the first penetrating groove penetrates through the second connecting rod; a first lead hole is formed in one side of the first through groove and communicated to the first wiring groove; the first wiring groove is located on the outer edge of the first through groove and is provided with a sinking step, and the sinking step is annularly provided with a plurality of through holes by taking the first through groove as a center.
The further improvement of the scheme is that the first wiring groove is integrally formed with a connecting column, the second rotary connecting part is arranged on the first connecting column and comprises a second rotary shaft and a second bearing, the second bearing is connected with the second rotary shaft, and the second bearing is provided with two connecting rods which are respectively arranged on the first connecting rod and the second connecting rod.
The third connecting rod comprises a second straight connecting part, a third bending part and a fourth bending part, the third rotary connecting part is arranged on the second straight connecting part and is connected with the third connecting end, and the second straight connecting part, the third bending part and the fourth bending part are integrally formed.
A further improvement of the above solution is that an angle D is formed between the second straight connecting portion and the third curved portion, an angle E is formed between the third curved portion and the fourth curved portion, an angle F is formed between the second straight connecting portion and the fourth curved portion, the angle D is 120 ° to 150 °, the angle E is 120 ° to 160 °, and the angle F is 80 ° to 120 °.
The further improvement of the above scheme is that the second drive connecting part is provided with a second through groove, the third connecting rod is provided with a second wiring groove, the second wiring groove is communicated with the second through groove, a second through groove is arranged at the position, close to the third connecting end, of the second wiring groove, and the second through groove penetrates through the third connecting rod.
The utility model has the beneficial effects that:
compared with the traditional robot leg connecting rod structure, the three groups of connecting rods are connected through the fixing piece, the first connecting rod is used as a movable connecting piece, the second connecting rod is used as a wheel set driving connecting piece, and the third connecting piece is used as another movable connecting piece, so that the robot leg connecting rod structure can adapt to various actions of the robot, the connecting rod movement is realized, the structure is stable and reliable, the rotary connecting parts are adopted for rotary connection to form movable joints, and the movement is stable. Specifically, a fixed part is arranged, and the fixed part is provided with a first rotating connecting part; the first connecting rod comprises a first connecting end and a second connecting end, and the first connecting end is movably connected to the first rotating connecting part; the second connecting rod comprises a first driving connecting part and a third connecting end, and the second connecting end is provided with a second rotating connecting part connected to the second connecting rod; the third connecting rod, the third connecting rod is equipped with third rotation connecting portion, third rotation connecting portion and third link rotatable coupling, the third connecting rod still is equipped with second drive connecting portion, second drive connecting portion correspond with the axle center of mounting and are connected, the outer edge of mounting is located to first rotation connecting portion. Use the mounting as fixed connection structure, in the course of the work, mounting and second connecting rod are connected to first connecting rod and third connecting rod, have realized joint linkage work, guarantee stability at structure activity in-process, are fit for the robot and make various actions, such as stand, lie down etc..
Drawings
FIG. 1 is a schematic perspective view of a leg link structure of a robot according to the present invention;
FIG. 2 is an exploded view of the leg link structure of the robot of FIG. 1;
FIG. 3 is an exploded view of the leg link structure of the robot of FIG. 1 from another perspective;
FIG. 4 is a schematic perspective view of the leg link structure of the robot shown in FIG. 1 in another state;
FIG. 5 is a view showing a standing state of the leg link structure of the robot according to the present invention;
fig. 6 is a horizontal use state diagram of the robot leg link structure of the present invention.
Description of reference numerals: the fixing element comprises a fixing element 1, a first rotary connecting part 11, a first rotary shaft 111, a first bearing 112, a supporting plate 12, a first connecting rod 2, a first connecting end 21, a first counter bore 211, a second connecting end 22, a second rotary connecting part 23, a second rotary shaft 231, a second bearing 232, a first straight connecting part 24, a first bending part 25, a second bending part 26, a limiting rib 27, a second connecting rod 3, a first driving connecting part 31, a first through groove 311, a first lead hole 311a, a first wiring groove 312, a sinking step 312a, a connecting column 312b, a first through groove 313, a third connecting end 32, a third connecting rod 4, a third rotary connecting part 41, a second driving connecting part 42, a second through groove 421, a second wiring groove 422, a second through groove 423, a second straight connecting part 43, a third bending part 44 and a fourth bending part 45.
Detailed Description
To facilitate an understanding of the utility model, the utility model 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 utility model herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model.
As shown in fig. 1 to 6, a robot leg connecting rod structure includes a fixing member 1, where the fixing member 1 is provided with a first rotating connection portion 11; the first connecting rod 2 comprises a first connecting end 21 and a second connecting end 22, and the first connecting end 21 is movably connected to the first rotating connecting part 11; the second connecting rod 3 comprises a first driving connecting part 31 and a third connecting end 32, and the second connecting end 22 is provided with a second rotating connecting part 23 connected to the second connecting rod 3; the third connecting rod 4, the third connecting rod 4 is equipped with third rotation connecting portion 41, third rotation connecting portion 41 and third link 32 rotatable coupling, the third connecting rod 4 still is equipped with second drive connecting portion 42, second drive connecting portion 42 corresponds with the axle center of mounting 1 and is connected, the outer edge of mounting 1 is located to first rotation connecting portion 11.
The fixed member 1 is provided with a supporting plate 12, the first rotary connecting part 11 comprises a first rotary shaft 111 mounted on the supporting plate 12 and a first bearing 112 mounted on the first connecting end 21, the first bearing 112 is connected with the first rotary shaft 111, and is used as a movable element of a joint under the matching of the first rotary shaft 111 and the first bearing 112, so that the structure is stable in movement, uniform in stress, high in impact strength, strong in abrasion resistance and long in service life.
The first connecting end 21 is provided with a first counter bore 211, the first bearing 112 is arranged in the first counter bore 211, the second connecting end 22 is provided with a second counter bore, and the second rotary connecting part 23 is connected with the second connecting rod 3 through the second counter bore; the first connecting rod 2 is provided with a plurality of weight reduction grooves, the first bearing 112 is installed through the first counter bore 211 and the second counter bore, and the joint is stable in stress, high in assembly precision and stable and reliable in joint movement in use.
The first connecting rod 2 comprises a first straight connecting part 24, a first bending part 25 and a second bending part 26, the first straight connecting part 24, the first bending part 25 and the second bending part 26 are integrally formed, a limiting rib 27 is arranged between the first bending part 25 and the second bending part 26, the first connecting end 21 is arranged on the first straight connecting part 24, the second connecting end 22 is arranged on the second bending part 26, the first connecting rod 2 is integrally formed, the structural strength is high, the abrasion resistance is high, meanwhile, the plurality of bending parts are arranged for connection, the stability and reliability are achieved in the robot action process, the limiting rib 27 is arranged to enhance the connection strength and limiting of the structure, and structural deformation is prevented.
In the present embodiment, an angle a is formed between the first straight connecting portion 24 and the first bending portion 25, and an angle B is formed between the first bending portion 25 and the second bending portion 26; the angle of the angle A is 120-170 degrees; the angle of the angle B is 110-140 degrees; an angle C is formed between the first straight connecting part 24 and the second bending part 26, and the angle of the angle C is 70-110 degrees; the leg structure is selected as the optimal angle design, so that the leg structure is suitable for making various actions and structures to avoid each other, and the overall structure is reliable.
The first driving connecting part 31 is provided with a first through groove 311, the second connecting rod 3 is provided with a first wiring groove 312, the first wiring groove 312 is communicated with the first through groove 311, a first penetrating groove 313 is formed at the position, close to the third rotating connecting part 41, of the first wiring groove 312, and the first penetrating groove 313 penetrates through the second connecting rod 3; a first lead hole 311a is formed in one side of the first through slot 311, and the first lead hole 311a is communicated with the first wiring slot 312; the first wiring groove 312 is located on the outer edge of the first through groove 311 and is provided with a sinking step 312a, the sinking step 312a is annularly provided with a plurality of through holes by taking the first through groove 311 as a center, and a control circuit of a driving structure for connection, which is provided with the first through groove 311 and the first wiring groove 312, moves towards the control circuit, so that the scattered circuit is prevented, the connection is convenient, and the structure is reliable.
The third connecting rod 4 comprises a second straight connecting part 43, a third bending part 44 and a fourth bending part 45, the third rotary connecting part 41 is arranged on the second straight connecting part 43 and is connected with the third connecting end 32, the second straight connecting part 43, the third bending part 44 and the fourth bending part 45 are integrally formed, the third connecting rod 4 adopting an integral structure is stable in structure, the third bending part 44 and the fourth bending part 45 are arranged to match with each other to avoid the structure, the structural connection is stable and reliable, and the rotary connecting rod is suitable for making various actions.
In this embodiment, an angle D is formed between the second straight connecting portion 43 and the third bending portion 44, an angle E is formed between the third bending portion 44 and the fourth bending portion 45, and an angle F is formed between the second straight connecting portion 43 and the fourth bending portion 45; the angle D is 120-150 degrees; the angle E is 120-160 degrees; the angle of the angle F is 80-120 degrees, the optimal angle design is selected according to the leg structure, the leg structure is suitable for making various actions and structures to avoid each other, and the overall structure is reliable.
The second drive connecting part 42 is provided with a second through groove 421, the third connecting rod 4 is provided with a second wire trough 422, the second wire trough 422 is communicated with the second through groove 421, a second wire trough 423 is arranged at a position, close to the third connecting end 32, of the second wire trough 422, the second wire trough 423 penetrates through the third connecting rod 4, the second wire trough 422 and the second through groove 421 are arranged to act on connecting wire trends of the drive structure, the connecting wires are prevented from being scattered, the connection is convenient, the structure is stable, and the mutual interference cannot occur when the structure makes various actions.
The three groups of connecting rods are connected through the fixing piece 1, the first connecting rod 2 is used as a movable connecting piece, the second connecting rod 3 is used as a wheel set driving connecting piece, the third connecting piece is used as another movable connecting piece, various actions of the robot can be adapted to, the connecting rods can move, the structure is stable and reliable, the rotary connecting pieces are adopted for rotary connection, movable joints are formed, and the movement is stable. Specifically, a fixed part 1 is provided, and the fixed part 1 is provided with a first rotary connecting part 11; the first connecting rod 2 comprises a first connecting end 21 and a second connecting end 22, and the first connecting end 21 is movably connected to the first rotating connecting part 11; the second connecting rod 3 comprises a first driving connecting part 31 and a third connecting end 32, and the second connecting end 22 is provided with a second rotating connecting part 23 connected to the second connecting rod 3; the third connecting rod 4, the third connecting rod 4 is equipped with third rotation connecting portion 41, third rotation connecting portion 41 and third link 32 rotatable coupling, the third connecting rod 4 still is equipped with second drive connecting portion 42, second drive connecting portion 42 corresponds with the axle center of mounting 1 and is connected, the outer edge of mounting 1 is located to first rotation connecting portion 11. Use mounting 1 as fixed connection structure, in the course of the work, mounting 1 and second connecting rod 3 are connected to first connecting rod 2 and third connecting rod 4, have realized joint linkage work, guarantee stability at structure activity in-process, are fit for the robot and make various actions, like stand, lie down etc..
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. The utility model provides a robot shank connecting rod structure which characterized in that: comprises that
The fixing piece is provided with a first rotating connecting part;
the first connecting rod comprises a first connecting end and a second connecting end, and the first connecting end is movably connected to the first rotating connecting part;
the second connecting rod comprises a first driving connecting part and a third connecting end, and the second connecting end is provided with a second rotating connecting part connected to the second connecting rod;
the third connecting rod, the third connecting rod is equipped with third rotation connecting portion, third rotation connecting portion and third link rotatable coupling, the third connecting rod still is equipped with second drive connecting portion, second drive connecting portion correspond with the axle center of mounting and are connected, the outer edge of mounting is located to first rotation connecting portion.
2. The robot leg link structure of claim 1, wherein: the fixing piece is provided with a supporting plate, the first rotating connecting portion comprises a first rotating shaft and a first bearing, the first rotating shaft is installed on the supporting plate, the first bearing is installed at the first connecting end, and the first bearing is connected with the first rotating shaft.
3. The robot leg link structure of claim 2, wherein: the first connecting end is provided with a first counter bore, the first bearing is arranged in the first counter bore, the second connecting end is provided with a second counter bore, and the second rotary connecting part is connected with the second connecting rod through the second counter bore; the first connecting rod is provided with a plurality of weight reduction grooves.
4. The robot leg link structure of claim 1, wherein: the first connecting rod comprises a first straight connecting part, a first bending part and a second bending part, the first straight connecting part, the first bending part and the second bending part are integrally formed, a limiting rib is arranged between the first bending part and the second bending part, the first straight connecting part is arranged at the first connecting end, and the second bending part is arranged at the second connecting end.
5. The robot leg link structure of claim 4, wherein: an angle A is formed between the first straight connecting part and the first bending part, and an angle B is formed between the first bending part and the second bending part;
the angle of the angle A is 120-170 degrees;
the angle of the angle B is 110-140 degrees;
an angle C is formed between the first straight connecting part and the second bending part, and the angle of the angle C is 70-110 degrees.
6. The robot leg link structure of claim 1, wherein: the first driving connecting part is provided with a first through groove, the second connecting rod is provided with a first wiring groove, the first wiring groove is communicated to the first through groove, a first penetrating groove is formed in the position, close to the third rotating connecting part, of the first wiring groove, and the first penetrating groove penetrates through the second connecting rod; a first lead hole is formed in one side of the first through groove and communicated to the first wiring groove; the first wiring groove is located on the outer edge of the first through groove and is provided with a sinking step, and the sinking step is annularly provided with a plurality of through holes by taking the first through groove as a center.
7. The robot leg link structure of claim 6, wherein: first trough integrated into one piece has the spliced pole, first spliced pole is located to second swivelling joint portion, second swivelling joint portion includes second rotation axis and second bearing, the second bearing is connected with the second rotation axis, the second bearing is equipped with two, arranges first connecting rod and second connecting rod in respectively.
8. The robot leg link structure of claim 1, wherein: the third connecting rod comprises a second straight connecting part, a third bending part and a fourth bending part, the third rotary connecting part is arranged on the second straight connecting part and is connected with the third connecting end, and the second straight connecting part, the third bending part and the fourth bending part are integrally formed.
9. The robot leg link structure of claim 8, wherein: an angle D is formed between the second straight connecting part and a third bending part, an angle E is formed between the third bending part and a fourth bending part, and an angle F is formed between the second straight connecting part and the fourth bending part;
the angle D is 120-150 degrees;
the angle E is 120-160 degrees;
the angle of the angle F is 80-120 degrees.
10. The robot leg link structure of claim 9, wherein: the second drive connecting part is provided with a second through groove, the third connecting rod is provided with a second wiring groove, the second wiring groove is communicated with the second through groove, a second penetrating groove is arranged at the position, close to the third connecting end, of the second wiring groove, and the second penetrating groove penetrates through the third connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122354396.8U CN216269606U (en) | 2021-09-27 | 2021-09-27 | Robot leg connecting rod structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122354396.8U CN216269606U (en) | 2021-09-27 | 2021-09-27 | Robot leg connecting rod structure |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216269606U true CN216269606U (en) | 2022-04-12 |
Family
ID=81067192
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122354396.8U Active CN216269606U (en) | 2021-09-27 | 2021-09-27 | Robot leg connecting rod structure |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216269606U (en) |
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2021
- 2021-09-27 CN CN202122354396.8U patent/CN216269606U/en active Active
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