CN216401580U - Be applied to shank structure and robot of robot - Google Patents
Be applied to shank structure and robot of robot Download PDFInfo
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- CN216401580U CN216401580U CN202123340372.3U CN202123340372U CN216401580U CN 216401580 U CN216401580 U CN 216401580U CN 202123340372 U CN202123340372 U CN 202123340372U CN 216401580 U CN216401580 U CN 216401580U
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Abstract
The application relates to the technical field of robots, in particular to be applied to shank structure of robot includes: a knee, a first femur, and a second femur; the knee is provided with a first rotating connecting end and a second rotating connecting end; one end of the first femur is rotatably arranged on the first rotating connection end in a first preset plane, and the other end of the first femur is a first driving execution end; one end of the second femur is rotatably arranged on the second rotating connection end in a second preset plane, and the other end of the second femur is a second driving execution end; the first preset plane is parallel to or coplanar with the second preset plane. The embodiment of the application also provides a robot. The leg structure and the robot that are applied to the robot that this application embodiment provided can realize the diversified motion of knee.
Description
Technical Field
The embodiment of the application relates to the technical field of robots, in particular to a leg structure applied to a robot and the robot.
Background
With the development of science and technology, the robot technology has also been developed. For robots, the leg structure for realizing walking movement plays an important role in the movement of the robot.
However, the leg structure currently applied to the robot cannot achieve flexible movement of the knee.
SUMMERY OF THE UTILITY MODEL
An object of the embodiment of the application is to provide a leg structure applied to a robot and the robot, so as to realize flexible movement of knees.
In order to solve the above problem, an embodiment of the present application provides a leg structure applied to a robot, including: a knee, a first femur, and a second femur; the knee is provided with a first rotating connecting end and a second rotating connecting end; one end of the first femur is rotatably arranged on the first rotating connection end in a first preset plane, and the other end of the first femur is a first driving execution end; one end of the second femur is rotatably arranged on the second rotating connection end in a second preset plane, and the other end of the second femur is a second driving execution end; the first preset plane is parallel to or coplanar with the second preset plane.
In addition, this application embodiment still provides a robot, includes: the leg structure described above.
The leg structure and the robot that are applied to the robot that this application embodiment provided include: a knee, a first femur, and a second femur; the knee is provided with a first rotating connecting end and a second rotating connecting end; one end of the first femur is rotatably arranged on the first rotating connection end in a first preset plane, and the other end of the first femur is a first driving execution end; one end of the second femur is rotatably arranged on the second rotating connection end in a second preset plane, and the other end of the second femur is a second driving execution end; the first preset plane is parallel to or coplanar with the second preset plane. So, the accessible removes first drive execution end for first thighbone rotates for the knee, and drives first rotation link through first thighbone and remove, and the accessible removes second drive execution end simultaneously, makes the second thighbone rotate for the knee, and drives the second through the second thighbone and rotate the link and remove, thereby rotates the link through removing first rotation link and second, makes the knee realize the nimble motion that removes, swing or move ground simultaneous swing.
In addition, the second thigh bone comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably arranged on the second rotating connecting end, one end of the second connecting rod is fixedly connected with the other end of the first connecting rod, and the second connecting rod is bent and extends to the second driving execution end along the direction which is far away from the first connecting rod and is close to the first thigh bone.
In addition, the included angle between the first connecting rod and the second connecting rod is 155-175 degrees.
In addition, the second femur further comprises a first connecting piece, and the first connecting rod is fixedly connected with the second connecting rod through the first connecting piece.
In addition, one end of the first connecting piece is connected with one end of the first connecting rod, which is far away from the second rotating connecting end, in an interference fit manner; the other end of the first connecting piece is connected with one end, close to the first connecting rod, of the second connecting rod in an interference fit mode.
In addition, the second femur further comprises a second connecting piece and a third connecting piece, one end of the first connecting piece is fixed with the second connecting piece and is rotatably arranged on the second rotating connecting end through the second connecting piece, and the third connecting piece and one end of the second connecting piece, which is far away from the first connecting piece, are fixed and form a second driving execution end.
In addition, the first femur comprises a third connecting rod, a fourth connecting piece and a fifth connecting piece, one end of the third connecting rod is fixed with the fourth connecting piece and is rotatably arranged on the first rotating connecting end through the fourth connecting piece, and the fifth connecting piece is fixed with the other end of the third connecting rod and forms a first driving execution end.
In addition, the knee includes a knee actuator, a first bearing, a second bearing, a first bearing mount, and a second bearing mount, the first bearing being disposed on the knee actuator through the first bearing mount and forming a first rotational connection, the second bearing being disposed on the knee actuator through the second bearing mount and forming a second rotational connection.
In addition, the robot further includes: the driving actuator is provided with a central axis, a first driving output end and a second driving output end, the first driving output end can rotate clockwise and rotate anticlockwise around the central axis, the first driving output end is connected with the first driving execution end, the second driving output end can rotate clockwise and rotate anticlockwise around the central axis, and the second driving output end is connected with the second driving execution end.
Drawings
Fig. 1 is a schematic view of a leg structure applied to a robot according to an embodiment of the present disclosure.
Detailed Description
The embodiment of the application provides a leg structure for robot includes: a knee, a first femur, and a second femur; the knee is provided with a first rotating connecting end and a second rotating connecting end; one end of the first femur is rotatably arranged on the first rotating connection end in a first preset plane, and the other end of the first femur is a first driving execution end; one end of the second femur is rotatably arranged on the second rotating connection end in a second preset plane, and the other end of the second femur is a second driving execution end; the first preset plane is parallel to or coplanar with the second preset plane. So, the accessible removes first drive execution end for first thighbone rotates for the knee, and drives first rotation link through first thighbone and remove, and the accessible removes second drive execution end simultaneously, makes the second thighbone rotate for the knee, and drives the second through the second thighbone and rotate the link and remove, thereby rotates the link through removing first rotation link and second, makes the knee realize the nimble motion that removes, swing or move ground simultaneous swing.
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the following describes each embodiment of the present application in detail with reference to the accompanying drawings. However, it will be appreciated by those of ordinary skill in the art that numerous technical details are set forth in various embodiments of the present application in order to provide a better understanding of the present application. However, the technical means claimed in the present application can be realized by various changes and modifications of the following embodiments.
Referring to fig. 1, a leg structure applied to a robot according to an embodiment of the present application includes: a knee 110, a first femur 120, and a second femur 130; the knee 110 has a first rotational connection end 111 and a second rotational connection end 112; one end of the first femur 120 is rotatably disposed on the first rotation connection end 111 in a first preset plane, and the other end of the first femur 120 is a first driving execution end 121; one end of the second femur 130 is rotatably disposed on the second rotation connection end 112 in a second predetermined plane, and the other end of the second femur 130 is a second driving execution end 131; the first preset plane is parallel to or coplanar with the second preset plane.
Specifically, since one end of the first femur 120 is rotatably disposed on the first rotation connection end 111 in the first predetermined plane, the first femur 120 can rotate relative to the knee 110 in the first predetermined plane by moving the first driving execution end 121, and the first rotation connection end 111 can be driven by the first femur 120 to move.
Accordingly, since one end of the second femur 130 is rotatably disposed on the second rotation connection end 112 in the second predetermined plane, the second rotation connection end 112 can be driven by the second femur 130 to move by moving the second driving execution end 131 so that the second femur 130 rotates relative to the knee 110 in the second predetermined plane.
At this time, since the first rotation connection end 111 and the second rotation connection end 112 are located at different positions, at least one of the first rotation connection end 111 and the second rotation connection end 112 can move, so that the knee 110 can flexibly move, swing or swing while moving. It should be noted that, when the first rotation connecting end 111 and the second rotation connecting end 112 move simultaneously, the displacement of the first rotation connecting end 111 and the displacement of the second rotation connecting end 112 may be different, so that the knee 110 may realize more complicated movements.
In this embodiment, the first predetermined plane and the second predetermined plane are coplanar. In an alternative embodiment, the first predetermined plane and the second predetermined plane are parallel and not coplanar.
In some embodiments, the second femur 130 comprises a first connection rod 132 and a second connection rod 133, one end of the first connection rod 132 is rotatably disposed on the second rotation connection end 112, one end of the second connection rod 133 is fixedly connected to the other end of the first connection rod 132, and the second connection rod 133 is bent and extended to the second driving execution end 131 in a direction away from the first connection rod 132 and close to the first femur 120.
When the first driving executing end 121 and the second driving executing end 131 move in the direction approaching to each other, one and the other of the first rotating connecting end 111 and the second rotating connecting end 112 can be sequentially arranged in the direction away from the first driving executing end 121, so that the leg structure performs the leg stretching action.
When the leg structure performs a leg stretching operation, the second connecting rod 133 extends to the second driving execution end 131 along a direction away from the first connecting rod 132 and close to the first femur 120, so that the interference between the first driving execution end 121 and the second driving execution end 131 can be avoided, and the interference between the driving output end of the robot for driving the first driving execution end 121 to move and the driving output end of the robot for driving the second driving execution end 131 to move can be avoided.
In this embodiment, the length dimension of the first femur 120 is smaller than the length dimension of the second femur 130, so that the first rotation connecting end 111 and the second rotation connecting end 112 are sequentially arranged in a direction away from the first driving executing end 121 when the first driving executing end 121 and the second driving executing end 131 are moved in a direction approaching each other.
In an alternative embodiment, the length dimension of the first femur 120 is greater than the length dimension of the second femur 130, so that the second rotation connection end 112 and the first rotation connection end 111 are sequentially arranged in a direction away from the first driving execution end 121 when the first driving execution end 121 and the second driving execution end 131 are moved in a direction approaching each other.
The first femur 120 has a length dimension equal to the distance between the first rotation connection end 111 and the first driving execution end 121, and the second femur 130 has a length dimension equal to the distance between the second rotation connection end 112 and the second driving execution end 131.
Preferably, the angle between the first connecting rod 132 and the second connecting rod 133 is between 155 ° and 175 °. Thus, it is ensured that the first driving executing end 121 and the second driving executing end 131 can be prevented from interfering when the leg structure performs the leg stretching operation. Meanwhile, when the length of the second femur 130 is a predetermined value, the length of the first connecting rod 132 in the extending direction thereof and the length of the second connecting rod 133 in the extending direction thereof can be reduced, thereby reducing the material consumption of the first connecting rod 132 and the second connecting rod 133 and reducing the manufacturing cost of the leg structure.
More preferably, the angle between the first connecting rod 132 and the second connecting rod 133 is between 170 ° and 175 °. In the embodiment, the angle between the first connecting rod 132 and the second connecting rod 133 is 172 °.
In some embodiments, the second femur 130 further comprises a first connector 134, and the first connector 132 is fixedly connected with the second connector 133 via the first connector 134.
Specifically, one end of the first connecting element 134 is connected to one end of the first connecting rod 132 away from the second rotating connecting end 112 in an interference fit manner; the other end of the first connecting member 134 is connected with one end of the second connecting rod 133 close to the first connecting rod 132 in an interference fit manner. Thus, the first connecting rod 132 is fixedly connected to the second connecting rod 133 through the first connecting member 134.
In this embodiment, the first connecting rod 132 is disposed on one end of the first connecting element 134 in an interference fit manner; the second connecting rod 133 is fitted over the other end of the first connecting member 134 in an interference fit manner. In an alternative embodiment, one end of the first connecting element 134 is fitted over the first connecting rod 132 with an interference fit; the other end of the first connecting member 134 is fitted over the second connecting rod 133 in an interference fit manner.
In some embodiments, the second femur 130 further includes a second connecting element 135, and a third connecting element, one end of the first connecting rod 132 is fixed with the second connecting element 135 and is rotatably disposed on the second rotating connection end 112 through the second connecting element 135, and the third connecting element is fixed with one end of the second connecting rod 133 away from the first connecting rod 132 and forms a second driving execution end 131.
In some embodiments, the first femur 120 includes a third connecting rod 122, a fourth connecting rod 123, and a fifth connecting rod, one end of the third connecting rod 122 is fixed with the fourth connecting rod 123 and rotatably disposed on the first rotation connecting end 111 through the fourth connecting rod 123, and the fifth connecting rod is fixed with the other end of the third connecting rod 122 and forms a first driving performing end 121.
In some embodiments, knee 110 includes a knee actuator 113, a first bearing 114, a second bearing 115, a first bearing mount 116, and a second bearing mount 117, the first bearing 114 disposed on knee actuator 113 via first bearing mount 116 and forming a first rotational connection 111, and the second bearing 115 disposed on knee actuator 113 via second bearing mount 117 and forming a second rotational connection 112.
In this manner, one end of the first femur 120 can be rotatably disposed on the first bearing fixing member 116 through the first bearing 114, so that the first femur 120 can be rotatably connected with the first rotation connection end 111. Accordingly, one end of the second femur 130 may be rotatably disposed on the second bearing fixing member 117 through the second bearing 115, so that the second femur 130 and the second rotation connection end 112 may be rotatably connected.
In the embodiment, the first connecting rod 132, the second connecting rod 133 and the third connecting rod 122 are all hollow rods, so that the material consumption of the first connecting rod 132, the second connecting rod 133 and the third connecting rod 122 can be reduced, the weight of the first connecting rod 132, the second connecting rod 133 and the third connecting rod 122 can be reduced, and the manufacturing cost of the leg structure can be reduced.
Preferably, the first connecting rod 132, the second connecting rod 133 and the third connecting rod 122 are made of carbon fibers, so that the weight of the first connecting rod 132, the second connecting rod 133 and the third connecting rod 122 is further reduced while the rigidity of the first connecting rod 132, the second connecting rod 133 and the third connecting rod 122 is ensured to be high.
An embodiment of the present application provides a robot, including: a leg structure.
In fact, the leg structure of the robot provided in the second embodiment of the present application is the same as the leg structure provided in the first embodiment of the present application, and therefore, the leg structure of the robot provided in the second embodiment of the present application has the same beneficial effects as the leg structure provided in the first embodiment of the present application, and is not described again here.
In this embodiment, the robot further includes: the driving actuator is provided with a central axis, a first driving output end and a second driving output end, the first driving output end can rotate clockwise and rotate anticlockwise around the central axis, the first driving output end is connected with the first driving execution end, the second driving output end can rotate clockwise and rotate anticlockwise around the central axis, and the second driving output end is connected with the second driving execution end.
Therefore, the first driving output end can rotate and the second driving output end can rotate, so that the knee is driven to move, swing or swing flexibly while moving. Exemplarily, the leg structure can perform leg stretching action by rotating the first driving output end and the second driving output end in opposite directions and in directions close to each other; the first driving output end and the second driving output end can rotate along opposite directions and far away from each other, so that the leg structure can lift legs.
It will be understood by those of ordinary skill in the art that the foregoing embodiments are specific examples for carrying out the present application, and that various changes in form and details may be made therein without departing from the spirit and scope of the present application in practice. Various changes and modifications may be effected therein by one skilled in the art without departing from the spirit and scope of the application, and it is intended that the scope of the application be limited only by the claims appended hereto.
Claims (10)
1. A leg structure for a robot, comprising:
a knee, a first femur, and a second femur;
the knee has a first rotational connection end and a second rotational connection end;
one end of the first femur is rotatably arranged on the first rotating connection end in a first preset plane, and the other end of the first femur is a first driving execution end;
one end of the second femur is rotatably arranged on the second rotating connection end in a second preset plane, and the other end of the second femur is a second driving execution end;
the first preset plane is parallel to or coplanar with the second preset plane.
2. The leg structure according to claim 1, wherein the second femur comprises a first connecting rod and a second connecting rod, one end of the first connecting rod is rotatably disposed on the second rotating end, one end of the second connecting rod is fixedly connected to the other end of the first connecting rod, and the second connecting rod extends to the second driving execution end while being bent in a direction away from the first connecting rod and close to the first femur.
3. A leg structure according to claim 2, wherein the angle between the first and second connecting bars is between 155 ° -175 °.
4. The leg structure of claim 2, wherein the second femur further comprises a first connector, the first connector being fixedly connected with the second connector via the first connector.
5. The leg structure of claim 4, wherein an end of the first link is in interference fit connection with an end of the first link remote from the second swivel connection end; the other end of the first connecting piece is connected with one end, close to the first connecting rod, of the second connecting rod in an interference fit mode.
6. The leg structure according to claim 2, wherein the second femur further comprises a second link, and a third link, one end of the first link being fixed to the second link and rotatably provided on the second rotation link via the second link, the third link being fixed to an end of the second link remote from the first link and forming the second drive execution end.
7. The leg structure according to claim 1, wherein the first femur includes a third connecting rod, a fourth connecting member, and a fifth connecting member, one end of the third connecting rod being fixed to the fourth connecting member and rotatably provided on the first rotation connecting end via the fourth connecting member, the fifth connecting member being fixed to the other end of the third connecting rod and forming the first driving execution end.
8. The leg structure of any of claims 1-7, wherein the knee comprises a knee actuator, a first bearing disposed on the knee actuator by the first bearing mount and forming the first rotational connection, a second bearing disposed on the knee actuator by the second bearing mount and forming the second rotational connection, a first bearing mount, and a second bearing mount.
9. A robot, comprising: the leg structure of any one of claims 1-8.
10. The robot of claim 9, further comprising: the driving actuator is provided with a central axis, a first driving output end and a second driving output end, the first driving output end can rotate clockwise and anticlockwise rotate around the central axis, the first driving output end is connected with the first driving execution end, the second driving output end can rotate clockwise and anticlockwise rotate around the central axis, and the second driving output end is connected with the second driving execution end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123340372.3U CN216401580U (en) | 2021-12-27 | 2021-12-27 | Be applied to shank structure and robot of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123340372.3U CN216401580U (en) | 2021-12-27 | 2021-12-27 | Be applied to shank structure and robot of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216401580U true CN216401580U (en) | 2022-04-29 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202123340372.3U Active CN216401580U (en) | 2021-12-27 | 2021-12-27 | Be applied to shank structure and robot of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216401580U (en) |
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2021
- 2021-12-27 CN CN202123340372.3U patent/CN216401580U/en active Active
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| CP01 | Change in the name or title of a patent holder |
Address after: 200245 Building 8, No. 207, Zhongqing Road, Minhang District, Shanghai Patentee after: Dayu robot Co.,Ltd. Address before: 200245 Building 8, No. 207, Zhongqing Road, Minhang District, Shanghai Patentee before: Dalu Robot Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |