CN216401576U

CN216401576U - Leg structure and mechanical device

Info

Publication number: CN216401576U
Application number: CN202121946372.5U
Authority: CN
Inventors: 宋佩恒; 高峰
Original assignee: Qingdao New Generation Artificial Intelligence Technology Research Institute
Current assignee: Qingdao New Generation Artificial Intelligence Technology Research Institute
Priority date: 2021-08-18
Filing date: 2021-08-18
Publication date: 2022-04-29
Anticipated expiration: 2031-08-18

Abstract

The utility model discloses a leg structure and a mechanical device, wherein the leg structure comprises a driving assembly, a driving arm, a driven arm and a buffering assembly, wherein the buffering assembly is arranged on the driving arm or the driven arm in a switchable manner between an initial state and a deformation state; the buffer assembly is used for being in the initial state when the reaction force transmitted to the driving assembly by the ground contact end is smaller than the preset reaction force; when the reaction force transmitted to the driving assembly by the grounding end is larger than the preset reaction force, the driving assembly is in a deformation state so as to relieve the reaction force transmitted to the driving assembly by the grounding end. When the foot rod of the leg structure provided by the utility model is impacted by external force, the instant impact of the external force on the foot rod is sequentially transmitted to the buffer assembly so as to counteract the reaction force acting on the driving shaft of the driving assembly, so that the first motor and the second motor are prevented from being damaged, the service life of the driving assembly is prolonged, and the whole leg structure is more flexible and stable in operation while being not easy to damage.

Description

Leg structure and mechanical device

Technical Field

The utility model relates to the technical field of robots, in particular to a leg structure and a mechanical device.

Background

After ground is touch from the eminence to the sufficient pole of the shank structure of robot among the prior art, ground can cause powerful reaction force to the motor on transmitting driving motor to the reaction force power of sufficient pole in the twinkling of an eye, leads to the motor to damage easily, when having high expectations to the motor performance, do not utilize daily use.

SUMMERY OF THE UTILITY MODEL

The utility model mainly aims to provide a leg structure, and aims to solve the problem that in the prior art, the ground contact end of a leg of a robot touches the ground from a high position, and a driving motor is damaged.

In order to achieve the above object, the present invention provides a leg structure, which includes a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod;

the first connecting rod and the second connecting rod are in rotary connection and form a first rotary fulcrum;

the third connecting rod is rotatably connected with the second connecting rod and forms a second rotating fulcrum;

the third connecting rod and the fourth connecting rod are in rotary connection and form a third rotary fulcrum;

the second connecting rod and the fourth connecting rod are rotatably connected through a connecting piece and respectively form a fourth rotating fulcrum and a fifth rotating fulcrum;

the connecting line of the second rotating fulcrum, the third rotating fulcrum, the fourth rotating fulcrum and the fifth rotating fulcrum is quadrilateral;

one end of the fifth connecting rod is rotatably connected with the first connecting rod to form a sixth rotating fulcrum, the other end of the fifth connecting rod is a first driving end which is in driving connection with a first motor, the third connecting rod is provided with a second driving end which is in driving connection with a second motor, and the rotating axes of the first driving end and the second driving end are parallel;

and the connecting line of the first rotating fulcrum, the second rotating fulcrum, the sixth rotating fulcrum, the first driving end and the second driving end is pentagonal.

Optionally, the first link has a first input end and a first output end opposite to each other, the second link has a second input end and a second output end opposite to each other, the first output end and the second input end are rotatably connected to form the first rotation fulcrum, the second rotation fulcrum is located between the second input end and the second output end, and the third rotation fulcrum is located between the second driving end and the second rotation fulcrum.

Optionally, a connecting line of the second rotation fulcrum, the third rotation fulcrum, the fourth rotation fulcrum and the fifth rotation fulcrum is a parallelogram,

optionally, the third fulcrum is located between the second fulcrum and the second driving end.

Optionally, the connecting piece extends from the fourth pivot point to the fifth pivot point to form a support rod.

Optionally, the fifth connecting rod includes a first section and a second section, the first section and the second section are connected in a bending manner, the first driving end is disposed at the first section, and the second section is rotatably connected with the first connecting rod to form the sixth rotation fulcrum.

The utility model also provides another leg structure which comprises a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod and a fifth connecting rod;

the second connecting rod and the fourth connecting rod are rotatably connected through a connecting piece and respectively form a fourth rotating fulcrum and a fifth rotating fulcrum; the second fulcrum is located between the first fulcrum and the fifth fulcrum;

one end of the fifth connecting rod is rotatably connected with the third connecting rod to form a seventh rotating fulcrum, the other end of the fifth connecting rod is a second driving end which is in driving connection with a second motor, the first connecting rod is provided with a first driving end which is in driving connection with a first motor, and the rotating axes of the first driving end and the second driving end are parallel;

and the connecting line of the first rotating fulcrum, the second rotating fulcrum, the seventh rotating fulcrum, the first driving end and the second driving end is pentagonal.

Optionally, a line connecting the second rotation fulcrum, the third rotation fulcrum, the fourth rotation fulcrum, and the fifth rotation fulcrum is a parallelogram.

Optionally, one end of the first connecting rod, which is far away from the second driving end, is an output end, the output end is rotatably connected with one end of the second connecting rod to form the first rotation fulcrum, and the first rotation fulcrum and the fourth rotation fulcrum are respectively located at two ends of the second connecting rod.

Optionally, the fifth connecting rod includes a first section and a second section, the first section and the second section are connected in a bending manner, the first driving end is disposed at the first section, and the second section is rotatably connected with one end of the first connecting rod, which is far away from the second rotation, so as to form the seventh rotation fulcrum.

The utility model also provides a mechanical device which comprises the leg structure, wherein the mechanical device comprises a robot, a robot dog, a robot bird, a robot fish, a driving part and a connecting part.

The leg structure provided by the utility model comprises a driving assembly, a driving arm, a driven arm and a buffer assembly, wherein the driving assembly comprises a first motor and a second motor; the driving arm is provided with a first driving end and a second driving end, the first driving end is connected with the first motor, and the second driving end is connected with the second motor; the driven arm is in transmission connection with the driving arm and moves along with the driving arm, and the driven arm is provided with a grounding end; the buffer assembly is arranged on the driving arm or the driven arm in a switchable manner between an initial state and a deformation state; the buffer assembly is used for being in an initial state when the reaction force transmitted to the driving assembly by the ground contact end is smaller than the preset reaction force. The reaction force that transmits for drive assembly at the end of touching the earth is greater than and is in the deformation state when predetermineeing the reaction force, in order to alleviate the end of touching the earth and transmit the reaction force for drive assembly, make the connecting piece of shank structure receive the impact force when, the end of touching the earth of driven arm takes place the contact with ground, this ground is in the twinkling of an eye the reaction force of touching the earth end and is greater than the predetermined reaction force size of buffering subassembly, and first motor and second motor do not provide the turning force for the drive arm at this twinkling of an eye, the buffering subassembly takes place the reaction force of deformation in order to offset ground this moment, prevent to alleviate the reaction force that transmits for drive assembly from the end of touching the earth, play the effect of protection drive assembly, avoid first motor and second motor impaired. The service life of the driving assembly is prolonged, the driving assembly is not easy to damage, the whole leg structure cannot deform, and the operation is more stable.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

FIG. 1 is a schematic structural view of an embodiment of a leg structure of the present invention;

FIG. 2 is a schematic structural view of another embodiment of a leg structure of the present invention;

FIG. 3 is a schematic view of the leg bar length configuration of FIG. 1;

fig. 4 is a schematic view of a buffering structure of an embodiment of the leg structure of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				10	Drive assembly	101	First motor
102	Second electric machine	20	Driving arm
				30	Driven arm	21	Third connecting rod
22	The fifth connecting rod	31	First connecting rod
				32	Second connecting rod	33	The fourth connecting rod
201	First driving end	202	Second driving end
				40	Buffer assembly	34	Connecting piece
311	First pivot	321	Second pivot point
				211	Third pivot	322	Fourth pivot
331	Fifth pivot	221	Sixth pivot
				212	Seventh pivot	312	First connecting part
313	Second connecting part	41	Elastic piece
				42	Guide rod	43	Guide sleeve
341	Grounding end	431	Guide groove
				432	First barrier part	433	Second barrier part
434	Linear bearing	421	Spacing protrusion
				342	Connecting rod	103	Shell body
2011	A first active terminal	2012	First connecting end

The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It should be noted that, if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture (as shown in the drawing), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is 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 addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.

The ground end that touches to robot shank among the prior art touches ground from the eminence, and ground leads to the problem of motor damage easily on the transmission to driving motor to the reaction force in the twinkling of an eye of sufficient pole.

The utility model provides a leg structure.

In one embodiment of the present invention, as shown, the leg structure includes a drive assembly 10, a drive arm 20, a driven arm 30, and a damping assembly 40, the drive assembly 10 including a first motor 101 and a second motor 102. The driving arm 20 has a first driving end 201 and a second driving end 202, the first driving end 201 is connected with the first motor 101, and the second driving end 202 is connected with the second motor 102; the driven arm 30 is in transmission connection with the driving arm 20 and follows the driving arm 20, and the driven arm 30 is provided with a grounding end 341 for abutting against the ground. The buffer assembly 40 is arranged on the driving arm 20 or the driven arm 30 in a switchable manner between an initial state and a deformation state; the damping assembly 40 is configured to be in an initial state when a reaction force transmitted to the driving assembly 10 by the ground contacting end 341 is smaller than a preset reaction force. When the reaction force transmitted to the driving assembly 10 from the ground contacting end 341 is greater than the preset reaction force, the driving assembly 10 is in a deformation state to relieve the reaction force transmitted to the driving assembly 10 from the ground contacting end 341, so that when the leg structure jumps from a high place, the ground contacting end 341 of the driven arm 30 contacts with the ground, the reaction force of the ground contacting end 341 at this moment is far greater than the preset reaction force of the buffer assembly 40, at this moment, the buffer assembly 40 deforms to offset the reaction force of the ground, the reaction force transmitted to the driving assembly 10 from the ground contacting end 341 is relieved, the driving assembly 10 is protected, and the damage to the rotating shafts of the first motor 101 and the second motor 102 is avoided. The service life of the driving assembly 10 is prolonged, the driving assembly is not easy to damage, the whole leg structure cannot deform, and the operation is more stable.

In one embodiment, the damping assembly 40 is provided to the driven arm 30, and the driving arm 20 includes a third link 21 and a fifth link 22. The first driving end 201 of the third link 21 is rotatably connected to the first motor 101, the second driving end 202 of the second link 32 is rotatably connected to the second motor 102, and the driven arm 30 includes a first link 31, a second link 32, and a fourth link 33. Wherein, the first link 31 and the second link 32 are rotatably connected and form a first rotation fulcrum 311; the third link 21 and the second link 32 are rotatably connected and form a second rotation fulcrum 321. The third link 21 is rotatably connected with the fourth link 33 and forms a third rotation fulcrum 211; the second link 32 and the fourth link 33 are rotatably connected by a connecting member 34 and form a fourth rotation fulcrum 322 and a fifth rotation fulcrum 331, respectively, wherein the ground contact portion is located at one end of the connecting member 34; the connecting line of the second rotation fulcrum 321, the third rotation fulcrum 211, the fourth rotation fulcrum 322 and the fifth rotation fulcrum 331 is a quadrangle.

One end of the fifth connecting rod 22 is rotatably connected with the first connecting rod 31 to form a sixth rotating fulcrum 221, the other end of the fifth connecting rod 22 is a first driving end 201 for driving connection with the first motor 101, the third connecting rod 21 is provided with a second driving end 202 for driving connection with the second motor 102, and the rotating axes of the first driving end 201 and the second driving end 202 are parallel; the connecting line of the first rotation fulcrum 311, the second rotation fulcrum 321, the sixth rotation fulcrum 221, the first driving end 201, and the second driving end 202 is a pentagon.

When the first driving end 201 of the fifth link 22 is driven by the first motor 101, the fifth link 22 rotates about the rotation center line of the first driving end 201, and sequentially drives the first link 31 to rotate about the sixth rotation fulcrum 221, the second link 32 to rotate about the first rotation fulcrum 311, the fourth link 33 to rotate about the third rotation fulcrum 211, the connecting member 34 respectively follows the fourth link 33 about the fifth rotation fulcrum 331, follows the second link 32 about the fourth rotation fulcrum 322, and the third link 21 follows the second link 32. When one of them drive end is driven, whole connecting rod structure can both be driven to need not to add driving piece or electronic component on the pole body, make the structure of whole shank constitute by pure machinery, the reliability is high, and easy to maintain. According to the use requirement, when the first driving end 201 of the fifth link 22 is driven, the second driving end 202 of the third link 21 can be driven simultaneously, the two independent driving motors control the leg link structures, and through the combination of two groups of independent motions, the leg structure can output any required motion and trajectory within the limit range, and the motion is more flexible. And the first driving end 201 and the second driving end 202 are located at two adjacent ends of a pentagon formed by connecting lines of the first rotating fulcrum 311, the second rotating fulcrum 321, the sixth rotating fulcrum 221, the first driving end 201 and the second driving end 202, so that the driving mechanism of the whole leg structure can be arranged together, and the connecting rods of the whole leg structure are lighter and more convenient to move and are more flexible and reliable to move.

It should be noted that the rotational connection between the links is a hinge.

The second connecting rod 32, the third connecting rod 21, the fourth connecting rod 33 and the fifth connecting rod 22 are rigid rods, and the connecting rods are not subjected to deformation such as extension or compression due to change of stress in the rotating process, so that the motion track of the whole leg structure in the motion process is more accurate, and the motion is more stable.

Further, the first link 31 has a first input end and a first output end opposite to each other, the second link 32 has a second input end and a second output end opposite to each other, the first output end and the second input end are rotatably connected to form a first rotation fulcrum 311, the second output end is hinged to the connecting member 34 to form a fourth rotation fulcrum 322, the second rotation fulcrum 321 is located between the second input end and the second output end, and the third rotation fulcrum 211 is located between the second driving end 202 and the second rotation fulcrum 321. The rotation pivot of each connecting rod is arranged at the end of each connecting rod, so that the driving arm 20 and the driven arm 30 of the leg structure cannot interfere in the rotation process, the movement range is wider, and the structure is more simplified and reliable.

In one embodiment, the first link 31 includes a first connection portion 312 and a second connection portion 313 separated from each other, the first connection portion 312 is connected to the fifth link 22 to form a sixth rotation pivot 221, and the second connection portion 313 is connected to the second link 32 to form a first rotation pivot 311. The buffering assembly 40 comprises an elastic part 41, one end of the elastic part 41 is connected with the first connecting part 312, the other end of the elastic part 41 is connected with the second connecting part 313, so that when the leg structure falls down from a high position to receive the external reaction force, the motor does not rotate, the elastic part 41 is elongated, the distance between the first connecting part 312 and the second connecting part 313 is increased, the reaction force of the grounding end 341 is buffered, the connecting rod 342 is prevented from being acted on the output shaft of the first motor 101 or the second motor 102 by the ground moment, the motor is protected, and the driving failure rate of the leg of the machine is reduced.

Further, the damping assembly 40 further includes a guide rod 42 and a guide sleeve 43, one of the guide rod 42 and the guide sleeve 43 is disposed at the first connection portion 312, and the other of the guide rod 42 and the guide sleeve 43 is disposed at the second connection portion 313. The guide rod 42 is inserted into the guide sleeve 43 and is slidably fitted with the guide sleeve 43. That is, the guide rod 42 is fixed to the first connection portion 312, and the guide bush 43 is fixed to the second connection portion 313. Or the guide rod 42 is fixed to the second coupling portion 313, and the guide sleeve 43 is fixed to the first coupling portion 312. The guide sleeve 43 is internally provided with a guide groove 431 for the guide rod 42 to perform piston motion, so that when the leg structure is subjected to reverse acting force of the driven arm 30, the guide rod 42 performs stretching motion along the direction of the guide groove 431, a stress deformation direction is provided for the buffer, and the buffer is prevented from bending to cause axial deformation of the first connecting rod 31, and the plane motion stability of the whole leg structure is prevented from being influenced. In the present embodiment, the guide rod 42 is fixed to the second connection portion 313, and the guide sleeve 43 is fixed to the first connection portion 312, so that when the ground contact end 341 of the robot leg receives a reaction force, the guide rod 42 moves in the guide groove 431, and compared with the movement effect of the guide sleeve 43 along the guide rod 42, the guide effect is more obvious and simple.

In one embodiment, the guide sleeve 43 is provided with a first blocking portion 432, the elastic member 41 has an initial state and a stretched state, when the elastic member 41 is in the initial state, the guide rod 42 is abutted against the first blocking portion 432, and when the elastic member 41 is in the stretched state, the guide rod 42 is separated from the first blocking portion 432. Specifically, the first blocking portion 432 and the guide sleeve 43 are integrally formed, and are a protrusion protruding into the guide groove 431 to limit the movement of the guide rod 42. When the leg structure is in normal movement and the ground contact end 341 is not subjected to instantaneous reaction force of the ground to the leg structure, one end of the guide rod 42 far away from the second connecting part 313 is abutted to the first blocking part 432, so that the length of the leg structure in the normal movement process is ensured not to be subjected to contraction change, the length ratio of the driving arm 20 and the driven arm 30 is kept not to be subjected to change, and the leg structure is more stable and reliable in movement. Or when the leg structure is empty, the external reaction force disappears at the moment, the elastic element 41 recovers under the action of its own elastic force, and drives the guide rod 42 to abut against the first blocking portion 432, so that the rod length of the first connecting rod 342 recovers to the normal length at the moment when the external reaction force disappears, and the leg structure is more stable and controllable during movement.

Further, the guide bush 43 is provided with a second stopper 433, and the second stopper 433 is provided at a distance from the first stopper 432 on the guide bush 43, that is, a distance between the first stopper 432 and the second stopper 433 is a moving distance of the guide rod 42 along the guide groove 431. Correspondingly, the guide rod 42 is provided with a limit protrusion 421 to limit the limit protrusion 421 of the guide rod 42 to abut against the second blocking portion 433 when the elastic member 41 is in the stretching state, so as to prevent the guide rod 42 from being released from the guide sleeve 43. In a preferred embodiment, the limit protrusion 421 is formed by protruding the peripheral edge of one end of the guide rod 42 in contact with the first stopper 432, and when the length of the guide groove 431 is the same as that of the limit protrusion 421 of the guide rod 42 provided at another portion of the guide rod 42, the movement distance of the guide rod 42 in the guide sleeve 43 is longer, so that the tensile force to the elastic member 41 is larger, the buffering effect is better, and the motor is further protected.

Further, the second blocking portion 433 is an end portion of the guide sleeve 43 facing the first blocking portion 432, that is, the second blocking portion 433 is located at an end of the guide sleeve 43 close to the guide rod 42, and accordingly, when the length of the first link 31 is not changed, the first blocking portion 432 is located at the end portion of the guide sleeve 43 so that the sliding distance of the guide rod 42 in the guide sleeve 43 is further increased, so that the pulling force on the elastic member 41 is greater, and the buffering effect thereof can be further improved.

In a preferred embodiment, the guide sleeve 43 further includes a linear bearing 434, the guide rod 42 passes through the linear bearing 434, the linear bearing 434 has a through hole for the guide rod 42 to pass through and slide, the guide rod 42 passes through the linear bearing 434 and extends into the guide groove 431, wherein the linear bearing 434 is located at the end of the guide sleeve 43 and is made of metal or other rigid materials, so that the guide rod 42 is not worn during long-term use, and the service life is longer.

Wherein, the number of the elastic elements 41 is one, the elastic elements 41 are sleeved on the guide rod 42, or the elastic elements 41 are sleeved on the guide sleeve 43; alternatively, the number of the elastic members 41 is one, and the elastic members 41 are disposed on one side of the guide sleeve 43; alternatively, the number of the elastic members 41 is not less than two, and at least two elastic members 41 are oppositely disposed on both sides of the guide sleeve 43. Specifically, when the elastic member 41 is one, the elastic member 41 is a compression spring, the compression spring is sleeved on the portion, where the guide rod 42 is disposed in the guide groove 431 of the guide sleeve 43, so that when the leg structure receives a reaction force, the guide rod 42 moves in the wire guide groove in the direction away from the first blocking portion 432, the compression spring compresses to counteract the reaction force of the leg structure, so that the torque of the grounding end 341 does not act on the output shaft of the first motor 101 or the second motor 102, thereby protecting the motors and reducing the drive failure rate of the legs of the machine. When the connecting piece 34 of the leg structure is not subjected to a large external counterforce, the compression spring recovers deformation and drives the guide rod 42 to recover to the original position, so that the length of the first connecting rod 31 is kept unchanged in the movement process, and the movement of the whole leg structure is more stable. It should be noted that, the strength and the material of the tension spring can be selected according to the magnitude of the different reaction forces, so as to achieve the corresponding buffering effect, and the limitation is not made herein.

When the elastic member 41 is one and is disposed on one side of the guiding sleeve 43, the elastic member 41 is a tension spring, one end of the tension spring is fixedly connected to the first connecting portion 312, and the other end of the tension spring is fixedly connected to the second connecting portion 313, and the preferred tension spring is disposed directly above or entirely below the guiding sleeve 43, so that when the leg mechanism receives the counterforce force, the stress on each part of the tension spring is more uniform. In view of the weight of the first link 31, the buffering effect and the production cost, in the embodiment, as shown in the figure, the number of the tension springs is two, and the tension springs are symmetrically arranged on both sides of the guide sleeve 43, so that compared with a single tension spring or more than one tension spring, the weight of the leg structure is reduced without excessively swelling the first link 31 while the buffering effect is good.

In an embodiment, a first connection hole is formed at a rotation connection portion of the first connection rod 31 and the second connection rod 32, a first matching hole is formed at a matching portion of the second connection rod 32 and the first matching hole, the first connection hole and the second connection hole are aligned, the first rotation rod sequentially penetrates through the first connection hole and the second connection hole, the first connection rod 31 and the second connection rod 32 are connected in a rotation mode, the first rotation rod is fixed through screws, the connection and the disassembly between the connection rods are more convenient, and the rotation rod serves as the first rotation fulcrum 311. The rotary connection modes formed among all the connecting rods are consistent. The first link 31 may be one side rotatably connected to the second link 32, or may be wedged into the second link 32, and the specific rotation mode may be set according to the use requirement, which is not limited herein.

It should be further noted that the first driving end 201 and the second driving end 202 may be disposed on the same horizontal plane, the same vertical plane, and two different planes spaced at intervals as required, and as long as the rotation axes thereof are disposed in parallel, they may be adjusted accordingly according to different application scene positions of the five-bar structure.

In an embodiment, as shown in the drawings, wherein the length of the center point of the first driving end 201 and the sixth rotation fulcrum 221 is L1, the length of the sixth rotation fulcrum 221 and the first rotation fulcrum 311 is L2, the length of the first rotation fulcrum 311 and the second rotation fulcrum 321 is L3, the length of the second rotation fulcrum 321 and the center point of the second driving end 202 is L4, the length between the center point of the second driving end 202 and the center point of the first driving end 201 is L5, and the length of the third rotation fulcrum 211 and the fifth rotation fulcrum 331 is L6. Through repeated experiments of the inventor, when the lengths of the rotating fulcrums of the links are different, the working space of the leg structure and the corner space of the links are also different, and when L5 is equal to L6, the motion of the whole leg structure in the motion process can be more coordinated. According to different working scenes and use requirements, the length of each connecting rod can be set correspondingly. Repeated experiments of the inventor prove that when the lengths of the L1, the L2, the L3, the L4 and the L5 are changed, the working space and the corner space of each connecting rod are correspondingly changed, and the length of each connecting rod can be automatically adjusted according to actual use.

It should be noted that, according to the size of the application scenario, the values of L1, L2, L3, L4, and L5 may be set accordingly, and it is feasible to scale the values proportionally, or set their lengths to other values.

It can be understood that, when the five-bar mechanism according to different work scenes, through change the long connecting rod looks adaptation of different poles can for when the installation effectiveness of shank structure is high, the suitability of shank structure is better, and can apply to multiple work scenes in a flexible way, here does not limit the long length of pole one by one.

In an embodiment, the connecting lines of the second rotation fulcrum 321, the third rotation fulcrum 211, the fourth rotation fulcrum 322, and the fifth rotation fulcrum 331 are parallelograms, that is, when the leg structure moves, the motion tracks of the connecting piece 34 and the third connecting rod 21 are always in a parallel state, one end of the third connecting rod 21 is connected with the driving piece, when in actual use, according to the use requirement, the motion track of the connecting piece 34 can be calculated through the linear relationship between the rotation angle of the servo motor and the connecting rod mechanism, when the connecting lines of the second rotation fulcrum 321, the third rotation fulcrum 211, the fourth rotation fulcrum 322, and the fifth rotation fulcrum 331 are parallelograms, when the first motor 101 and the second motor 102 drive the leg structure to rotate, each connecting rod makes regular motion in a plane, the rotation angle of the servo motor and the motion route between each connecting rod of the leg structure are in a linear relationship, the real-time angle and position of the connecting rod in the motion process can be calculated more conveniently by a control system, so that the control algorithm is simpler, and the requirement on a computer is reduced when the leg structure is controlled to move at a high speed, thereby reducing the control cost.

Note that the second rotation fulcrum 321 is located between the first rotation fulcrum 311 and the fifth rotation fulcrum 331, and the third rotation fulcrum 211 is located between the second driving end 202 and the second rotation fulcrum 321. Compared with the case where the second rotation fulcrum 321 is located between the third rotation fulcrum 211 and the second driving end 202, the third rotation fulcrum 211 is located between the second driving end 202 and the second rotation fulcrum 321 in this embodiment, so that the leg structure is more compact and the movement range is wider.

Further, the connecting element 34 extends from the fifth rotation fulcrum 331 to the fourth rotation fulcrum 322 to form a connecting rod 342, one end of the connecting rod 342 away from the fourth rotation fulcrum 322 is a grounding end 341 for contacting with the ground, and according to the use requirement, a cushion and a rubber sleeve can be added at the grounding end 341 to increase the contact area between the grounding end 341 and the ground, so as to reduce the reaction force of the ground to the ground.

Because the connecting line of the second rotation fulcrum 321, the third rotation fulcrum 211, the fourth rotation fulcrum 322 and the fifth rotation fulcrum 331 is a parallelogram, it can be understood that, during the motion of the leg structure, the motion trajectory of the third link 21 is consistent with the motion trajectory of the connecting piece 34, and by extending the length of the connecting piece 34, the length of the shank of the leg structure is equivalent to that of the shank of the robot when the leg structure is used for the leg of the robot, so that the motion range of the leg structure in one rotation round is wider, and the speed of the leg structure is increased.

It should be further noted that when the leg structure is used in other mechanical devices, the connecting member 34 includes a first rod portion and a second rod portion connected to each other, and the first rod portion is pivotally connected to the second link 32 and the fourth link 33 to form a fourth pivot 322 and a fifth pivot 331. In this case, the second rod portion of the connecting member 34 may be a link, a straight rod, a bent rod, or a multi-joint member, which is not limited herein.

As a preferred embodiment, the fifth connecting rod 22 includes a first section and a second section that are integrally formed, the first section and the second section are connected in a bending manner, that is, the fifth connecting rod 22 is not a straight rod but a bent shaped rod, the first driving end 201 is disposed at the first section, the second section is rotatably connected to the first connecting rod 31 to form a sixth rotation pivot 221, and the corresponding third connecting rod 21 also includes a third section and a fourth section that are integrally formed, and the third section and the fourth section are connected in a bending manner, wherein a bending direction between the third section and the fourth section is the same as a bending direction between the first section and the second section of the fifth connecting rod 22, so that when the first motor 101 and the second motor 102 respectively drive the fifth connecting rod 22 and the first connecting rod 31 to rotate in the same direction, the entire leg structure can be contracted more tightly, and the occupied space is smaller. And compare in the straight-bar, set fifth connecting rod 22 into the pole of buckling of utensil first section and second section for when the shank structure moved arbitrary one angle, other connecting rods can not be to the junction direct action reaction force of fifth connecting rod 22 with first motor 101, thereby reduce the reaction force power of first motor 101 in the drive fifth connecting rod 22 in-process, make the rotation of whole shank structure more nimble reliable. Compared with a straight rod, the third connecting rod 21 adopts a bending rod, and when the connecting piece 34 rotates at the same angle, the rotating amplitude of the driving piece is smaller, so that the performance requirement on the first motor 101 can be further reduced, and the cost is saved.

It should be noted that the fifth link 22 may also be an arc-shaped rod, a bent rod or other shapes, and it is feasible that the two end points are respectively connected with the first motor 101 and the first link 31 in a rotating manner, and the shape of the fifth link 22 is not limited herein. The other corresponding connecting rods may be straight rods, curved rods, bent rods or other shaped rods, which are not limited herein.

The driving assembly 10 further comprises a shell 103, the shell 103 is provided with mounting grooves for the first motor 101 and the second motor 102 to be fixedly mounted, and the shell, the first motor, the second motor and the third motor are integrally formed, so that the whole driving assembly is simpler to manufacture, the driving assembly is integrally formed, when one of the motors in the driving assembly breaks down, the driving assembly can be integrally detached and rapidly replaced, and the maintenance efficiency of the driving assembly can be effectively improved. Preferably, the whole shell is a sealed shell, and the shell is provided with a first reserved opening for the rotating shaft of the first motor to extend out and a second reserved opening for the rotating shaft of the second motor to extend out. Through set up axle sleeve, the waterproof gasket with pivot looks adaptation in each reservation mouth department, when the motor was waterproof motor, can realize whole drive assembly's waterproof completely, and whole mechanical leg is pure mechanical structure, can use in extreme environment and the environment under water.

It should be noted that, first motor, second motor can be unipolar motor, also can be the biax motor, can select for use by oneself according to the size and the concrete motion requirement of arm, in this embodiment, consider the cost of motor to and the size of a dimension and the cost of whole mechanical action arm, first motor and second motor select for use to be unipolar motor.

In another embodiment, as shown in fig. 2, when the first motor 101 and the second motor 102 are single-shaft motors, and the leg structure is large, in order to prevent the rotating shafts of the motors from being damaged, one side of the housing 103 away from the rotating shaft of the first motor 101 has a first pair of side shafts having the same rotating axis as the rotating shaft of the first motor 101, and the first driving end 201 includes a first driving end 2011 connected to the rotating shaft of the first motor 101 and a first connecting end 2012 connected to the first pair of side shafts, i.e. the first driving end 201 of the driving arm is branched into a first driving end 2011 and a first connecting end 2012 arranged at intervals, and is rotatably connected to the rotating shaft of the first motor 101 and the first pair of side shafts, so as to improve the bearing capacity of the rotating shaft of the first motor 101, so that when the whole leg structure is large, the rotating shaft of the first motor is more balanced by gravity, and when the rotating shaft of the motor is subjected to the reaction force of the external force, the stability of the whole mechanical arm structure can also be improved, and the rigid reaction force of the driven arm of the mechanical arm to the motor rotating shaft during high-speed motion grounding can be reduced. The connection mode of the corresponding second motor is consistent with that of the first motor, which is not repeated herein.

In other embodiments, the first motor, the second motor, and the third motor may be dual-shaft motors according to actual use requirements, which is not limited herein.

Furthermore, when the first motor and the second motor are both single-shaft motors, one side of the housing away from the rotating shaft of the first motor is provided with a first pair of side shafts which have the same rotating axis with the rotating shaft of the first motor, the first driving end comprises a first driving end connected with the rotating shaft of the first motor and a first connecting end connected with the first pair of side shafts respectively, namely, the first driving end of the driving arm is branched into a first driving end and a first connecting end which are arranged at intervals and are respectively and rotationally connected with the rotating shaft of the first motor and the first pair of side shafts to improve the bearing capacity of the rotating shaft of the first motor, when the whole mechanical arm is large, the rotating shaft of the first motor is more balanced by gravity, and the rotating shaft of the motor is not easy to damage under the reaction force of external force, and the stability of the whole mechanical arm structure can be improved, and the force of the driven arm of the mechanical arm reacting to the motor rotating shaft and the rigidity when the driven arm moves to touch the ground at high speed can be reduced. The connection mode of the corresponding second motor is consistent with that of the first motor, which is not repeated herein.

In another embodiment, as shown in the figures, when the buffer assembly 40 of the leg structure is disposed on the driving arm 20, the driving arm 20 includes a first link 31 and a fifth link 22, a first driving end 201 of the first link 31 is rotatably connected to the first motor 101, and a second driving end 202 of the fifth link 22 is rotatably connected to the second motor 102. The driven arm 30 includes a second link 32, a third link 21, and a fourth link 33; the first link 31 and the second link 32 are rotatably connected and form a first rotation fulcrum 311; the third link 21 is rotatably connected with the second link 32 and forms a second rotation fulcrum 321; the third link 21 is rotatably connected with the fourth link 33 and forms a third rotation fulcrum 211; the second link 32 and the fourth link 33 are rotatably connected by a connecting piece 34 and form a fourth rotation fulcrum 322 and a fifth rotation fulcrum 331 respectively; the second rotation fulcrum 321 is located between the first rotation fulcrum 311 and the fifth rotation fulcrum 331; the connecting line of the second rotating fulcrum 321, the third rotating fulcrum 211, the fourth rotating fulcrum 322 and the fifth rotating fulcrum 331 is quadrilateral; one end of the fifth connecting rod 22 is rotatably connected with the third connecting rod 21 to form a seventh rotating fulcrum 212, the third rotating fulcrum 211 is positioned between the second rotating fulcrum 321 and the seventh rotating fulcrum 212, the other end of the fifth connecting rod 22 is a first driving end 201 for driving connection with the first motor 101, the first connecting rod 31 is provided with a second driving end 202 for driving connection with the second motor 102, and the rotating axes of the first driving end 201 and the second driving end 202 are parallel; the connecting line of the first rotation fulcrum 311, the second rotation fulcrum 321, the seventh rotation fulcrum 212, the first driving end 201 and the second driving end 202 is pentagonal, and the cushion assembly 40 is also mounted on the first link 31.

Correspondingly, the fifth connecting rod 22 includes a first section and a second section which are integrally formed, the first section and the second section are connected in a bending manner, that is, the fifth connecting rod 22 is not a straight rod and is a bent special-shaped rod, the first driving end 201 is disposed at the first section, the second section is rotatably connected with the first connecting rod 31 to form a sixth rotating fulcrum 221, the corresponding first connecting rod 31 also includes a third section and a fourth section which are integrally formed, and the third section and the fourth section are connected in a bending manner, wherein the bending direction between the third section and the fourth section is consistent with the bending direction between the first section and the second section of the fifth connecting rod 22, so that when the first motor 101 and the second motor 102 respectively drive the fifth connecting rod 22 and the first connecting rod 31 to rotate in the same direction, the whole leg structure can be contracted more tightly, and the occupied space is smaller. And compare in the straight-bar, set fifth connecting rod 22 into the pole of buckling of utensil first section and second section for when the shank structure moved arbitrary one angle, other connecting rods can not be to the junction direct action reaction force of fifth connecting rod 22 with first motor 101, thereby reduce the reaction force power of first motor 101 in the drive fifth connecting rod 22 in-process, make the rotation of whole shank structure more nimble reliable. Compared with a straight rod when the first connecting rod 31 adopts a bent rod, when the connecting piece 34 rotates in the same range, the rotating amplitude of the driving piece is smaller, the performance requirement on the first motor 101 can be further reduced, and the cost is saved. It is easily understood that the position of the fifth link 22 in this embodiment is changed compared to the previous embodiment, and the other link structures and characteristics are not changed.

The present invention further provides a mechanical apparatus, which includes a leg structure, and the specific structure of the leg structure refers to the above embodiments, and since the mechanical apparatus adopts all technical solutions of all the above embodiments, the mechanical apparatus at least has all beneficial effects brought by the technical solutions of the above embodiments, and details are not repeated herein.

The mechanical device is a single-foot or multi-foot robot, for example, the mechanical device is a biped robot, a robot dog, a robot horse, or the like, and may also be an underwater robot or an aerial robot, which is not limited herein.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A leg structure, comprising:

a drive assembly including a first motor and a second motor;

the driving arm is provided with a first driving end and a second driving end, the first driving end is connected with the first motor, and the second driving end is connected with the second motor;

the driven arm is in transmission connection with the driving arm and moves along with the driving arm, and the driven arm is provided with a ground contact end;

the buffer assembly is arranged on the driving arm or the driven arm in a switchable manner between an initial state and a deformation state; the buffer assembly is used for being in the initial state when the reaction force transmitted to the driving assembly by the ground contact end is smaller than a preset reaction force; when the reaction force transmitted to the driving assembly by the grounding end is greater than the preset reaction force, the driving assembly is in a deformation state, so that the reaction force transmitted to the driving assembly by the grounding end is relieved.

2. The leg structure of claim 1 wherein the bumper assembly is disposed on the driven arm, the drive arm including a third link and a fifth link, the third link having a first drive end rotationally coupled to the first motor and a second drive end rotationally coupled to the second motor, the driven arm including a first link, a second link, and a fourth link;

the first connecting rod is rotatably connected with the second connecting rod and forms a first rotating fulcrum;

the third connecting rod is rotatably connected with the fourth connecting rod to form a third rotating fulcrum;

the connecting line of the first rotating fulcrum, the second rotating fulcrum, the seventh rotating fulcrum, the first driving end and the second driving end is pentagonal;

the first connecting rod is rotatably connected with the fifth connecting rod to form a sixth rotating fulcrum; the rotation axes of the first motor and the second motor are arranged in parallel;

the buffering component is mounted on the first connecting rod.

3. The leg structure of claim 1 wherein the bumper assembly is disposed on the drive arm, the drive arm including a first link and a fifth link, the first drive end of the first link being rotationally coupled to the first motor and the second drive end of the fifth link being rotationally coupled to the second motor; the driven arm comprises a second connecting rod, a third connecting rod and a fourth connecting rod;

the connecting line of the second rotating fulcrum, the third rotating fulcrum, the fifth rotating fulcrum and the fourth rotating fulcrum is quadrilateral;

one end of the fifth connecting rod is rotatably connected with the third connecting rod to form a seventh rotating fulcrum, the other end of the fifth connecting rod is a second driving end which is used for being in driving connection with the second motor, the first connecting rod is provided with a first driving end which is used for being in driving connection with the first motor, and rotating axes of the first driving end and the second driving end are parallel;

the buffering component is mounted on the first connecting rod.

4. A leg structure as claimed in claim 2 or 3, wherein the line connecting the second pivot point, the third pivot point, the fourth pivot point and the fifth pivot point is a parallelogram.

5. The leg structure according to claim 2 or 3, wherein the first link includes a first connecting portion and a second connecting portion separated from each other, the first connecting portion being connected to the fifth link, and the second connecting portion being connected to the second link;

the buffer assembly comprises an elastic piece, one end of the elastic piece is connected with the first connecting portion, and the other end of the elastic piece is connected with the second connecting portion.

6. The leg structure of claim 5, wherein the cushion assembly further comprises a guide bar and a guide sleeve, one of the guide bar and the guide sleeve being disposed at the first connection portion and the other of the guide bar and the guide sleeve being disposed at the second connection portion; the guide rod is inserted into the guide sleeve and is in sliding fit with the guide sleeve.

7. The leg structure of claim 6, wherein the guide sleeve is provided with a first stop, the elastic member having an initial state and a stretched state, the guide bar abutting the first stop when the elastic member is in the initial state, the guide bar being separated from the first stop when the elastic member is in the stretched state.

8. The leg structure of claim 7, wherein the guide sleeve is provided with a second stop, the second stop being spaced from the first stop on the guide sleeve; the guide rod is provided with a limiting bulge, and when the elastic piece is in the stretching state, the limiting bulge is in limited abutting connection with the second blocking part to limit the guide rod to be separated from the guide sleeve.

9. The leg structure of claim 8, wherein the second stop is an end of the guide sleeve facing the first stop.

10. The leg structure of claim 9, wherein the guide sleeve includes a linear bearing disposed therein, the guide rod being disposed through the linear bearing.

11. The leg structure according to claim 6, wherein the number of said elastic members is one, and said elastic members are fitted over said guide bar or said guide sleeve; alternatively, the first and second electrodes may be,

the number of the elastic pieces is one, and the elastic pieces are arranged on one side of the guide sleeve; alternatively, the first and second electrodes may be,

the number of the elastic pieces is not less than two, and at least two elastic pieces are oppositely arranged on two sides of the guide sleeve.

12. A leg structure as claimed in claim 2 or 3, wherein said connecting member is a connecting rod, or wherein said connecting member comprises a first rod portion and a second rod portion connected to each other, said first rod portion being pivotally connected to said second link and said fourth link to form said fourth pivot point and said fifth pivot point.

13. The leg structure of claim 1, wherein the driving assembly further comprises a housing, the housing has a mounting groove for mounting and fixing the first motor and the second motor, a side of the housing away from the output shaft of the first motor is provided with a first pair of side shafts having the same rotation axis with the output shaft of the first motor, and the first driving end comprises a first driving end connected with the output shaft of the first motor and a first connecting end connected with the first pair of side shafts respectively;

one side of the shell, which is far away from the output shaft of the second motor, is provided with a second pair of side shafts which share the same rotation axis with the output shaft of the second motor, and the second driving end comprises a second driving end connected with the output shaft of the second motor and a second connecting end connected with the second pair of side shafts.

14. A mechanical device comprising a leg structure according to any of claims 1-13.

15. The mechanical apparatus of claim 14, wherein the mechanical apparatus is a monopod or multiped robot.