CN216830984U

CN216830984U - Straddle mechanism and robot

Info

Publication number: CN216830984U
Application number: CN202220048497.4U
Authority: CN
Inventors: 易港
Original assignee: Titanium Tiger Robot Technology Shanghai Co ltd
Current assignee: Titanium Tiger Robot Technology Shanghai Co ltd
Priority date: 2022-01-10
Filing date: 2022-01-10
Publication date: 2022-06-28
Anticipated expiration: 2032-01-10

Abstract

The utility model provides a span mechanism and robot, include: a first leg housing, a second leg housing, a span first motor, a span back connection, and a span second motor; the first motor of the striding part is connected and installed on the backspan of the striding part, the first motor of the striding part is in transmission connection with the first leg shell and drives the first leg shell to rotate, one end of the second leg shell is in rotation connection with the first leg shell, the other end of the second leg shell is fixedly provided with the leg mechanism, the second motor of the striding part is installed in the first leg shell, and the second motor of the striding part is in rotation connection with the second leg shell and drives the second leg shell to rotate. The design provides a multi-degree-of-freedom spanning mechanism which is connected with a waist and legs stably.

Description

Straddle mechanism and robot

Technical Field

The utility model relates to a robot structure field specifically relates to a mechanism and robot stride.

Background

With the widespread popularization of robots, more and more robots are applied to production and life, and therefore, the requirements on the robots are higher and higher. In order to meet the increasing demands of the anthropomorphic robot, the anthropomorphic robot is adapted to various situations, and the whole freedom degree and the stability of the robot are also required to be higher. The span structure of the robot is an important component representing the degree of freedom. It is desirable to provide a span structure having multiple degrees of freedom and a stable structure.

Patent document CN109383660A discloses a hydraulic drive robot hip joint cantilever structure, which belongs to the technical field of robots and comprises a servo hydraulic cylinder, a robot waist, a hydraulic rod, a hip joint, a thigh shell, a shank shell and a foot shell, wherein the upper end of the servo hydraulic cylinder is fixed on the robot waist, the lower end of the servo hydraulic cylinder is connected with the hydraulic rod, the hydraulic rod is connected with the hip joint, the hip joint is connected with the thigh shell, the thigh shell is connected with the shank shell, and the shank shell is connected with the foot shell.

Patent document CN110834318B relates to an active assistance armored car rescue exoskeleton robot, which comprises upper limb assistance modules, wherein the upper limb assistance modules are arranged on two sides of an adjustable back connection module, a retractable base module is arranged below the adjustable back connection module, and a lower limb assistance module is arranged at the joint of the adjustable back connection module and the retractable base module.

The above-mentioned prior art patent fails to provide a span structure having multiple degrees of freedom and a stable structure.

SUMMERY OF THE UTILITY MODEL

To the defect among the prior art, the utility model aims at providing a stride a mechanism and robot.

According to the utility model provides a pair of span portion mechanism, include: a first leg housing, a second leg housing, a span first motor, a span back connection, and a span second motor;

the first striding part motor is connected and mounted on the backsstriding part back part, and is in transmission connection with the first leg shell and drives the first leg shell to rotate;

one end of the second leg shell is rotatably connected with the first leg shell, and the other end of the second leg shell is fixedly provided with a leg mechanism;

the first leg shell is internally provided with the second striding motor, and the second striding motor is rotatably connected with the second leg shell and drives the second leg shell to rotate.

Preferably, the first leg housing, the second leg housing, the span first motor and the span second motor are provided in two sets.

Preferably, the cross-part back connection is arranged in a triangular shape;

the cross-back connection includes a first end, a second end, and a third end.

Preferably, the first end is provided with a first end through hole, and the first end through hole is rotatably connected with the waist mechanism;

the second end and the third end are respectively fixedly provided with the first motor of the span part.

Preferably, the cross first motor is provided as a cross first motor output towards the first leg housing end;

the output end of the first striding part motor drives the first leg shell to rotate back and forth.

Preferably, the span second motor axial direction is perpendicular to the span first motor axial direction along a horizontal direction;

the second motor of striding portion drives the second shank shell to rotate from side to side.

Preferably, the straddle back is connected with an outer side fixed mounting straddle shell;

the straddle housing is rotatable relative to the first leg housing by the straddle first motor.

Preferably, the first motor axes of the two ends of the span part coincide.

Preferably, a robot employs the straddle mechanism.

Compared with the prior art, the utility model discloses following beneficial effect has:

1. the design provides a multi-degree-of-freedom straddle mechanism;

2. the straddle mechanism connects the waist and the legs, and the connection is stable.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a schematic view of the overall structure of a span mechanism;

FIG. 2 is a motor driving position diagram of the span mechanism.

Shown in the figure:

Detailed Description

The present invention will be described in detail with reference to the following embodiments. The following examples will aid those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that various changes and modifications can be made by one skilled in the art without departing from the spirit of the invention. These all belong to the protection scope of the present invention.

Example 1

As shown in fig. 1 and 2, a span mechanism, usable with a robot, includes: first leg housing 18, second leg housing 19, span first motor 33, span back connection 43, and span second motor 44; stride a back and connect 43 installation and stride a first motor 33, stride a first motor 33 transmission and connect first shank shell 18 and drive first shank shell 18 and rotate, second shank shell 19 one end is rotated and is connected first shank shell 18, other end fixed mounting shank mechanism, installation strides a second motor 44 in first shank shell 18, stride a second motor 44 and rotate and connect second shank shell 19 and drive second shank shell 19 and rotate.

There are two sets of first leg housing 18, second leg housing 19, span first motor 33, and span second motor 44. A straddle-type housing 17 is fixedly mounted outside the straddle-type back link 43, and the straddle-type housing 17 is rotated relative to the first leg housing 18 by a straddle-type first motor 33. The axes of the two end span parts of the first motor 33 are overlapped.

The cross back connection 43 is configured in a triangular shape, and the cross back connection 43 includes a first end, a second end, and a third end. The first end is provided with a first end through hole which is rotatably connected with the waist mechanism, and the second end and the third end are respectively and fixedly provided with a first cross motor 33. The first striding motor 33 is arranged to be a striding first motor output 71 toward one end of the first leg housing 18, and the striding first motor output 71 drives the first leg housing 18 to rotate back and forth. The axial direction of the second striding motor 44 is perpendicular to the axial direction of the first striding motor 33 along the horizontal direction, and the second striding motor 44 drives the second leg housing 19 to rotate left and right.

In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.

The foregoing description of the specific embodiments of the invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A spanning mechanism, comprising: a first leg housing (18), a second leg housing (19), a span first motor (33), a span back connection (43), and a span second motor (44);

the cross-section back connection (43) is provided with the cross-section first motor (33), and the cross-section first motor (33) is in transmission connection with the first leg shell (18) and drives the first leg shell (18) to rotate;

one end of the second leg shell (19) is rotatably connected with the first leg shell (18), and the other end of the second leg shell is fixedly provided with a leg mechanism;

the second striding motor (44) is installed in the first leg shell (18), and the second striding motor (44) is rotatably connected with the second leg shell (19) and drives the second leg shell (19) to rotate.

2. The spanning mechanism of claim 1, wherein: the first leg housing (18), the second leg housing (19), the span first motor (33), and the span second motor (44) are provided in two sets.

3. The spanning mechanism of claim 1, wherein: the cross-part back connection (43) is arranged in a triangular shape;

the cross-over back connection (43) includes a first end, a second end, and a third end.

4. The spanning mechanism of claim 3, wherein: the first end is provided with a first end through hole which is rotatably connected with the waist mechanism;

the second end and the third end are fixedly provided with the span first motor (33) respectively.

5. The spanning mechanism of claim 1, wherein: the cross first motor (33) is arranged as a cross first motor output (71) towards one end of the first leg housing (18);

the first motor output end (71) of the spanning part drives the first leg shell (18) to rotate back and forth.

6. The spanning mechanism of claim 1, wherein: the axial direction of the span second motor (44) is vertical to the axial direction of the span first motor (33) along the horizontal direction;

the second striding part motor (44) drives the second leg shell (19) to rotate left and right.

7. The spanning mechanism of claim 1, wherein: a straddle outer shell (17) is fixedly arranged on the outer side of the straddle back connection (43);

the straddle housing (17) is rotated relative to the first leg housing (18) by the straddle first motor (33).

8. The spanning mechanism of claim 2, wherein: the axes of the first striding part motors (33) at the two ends are overlapped.

9. A robot, characterized by: the robot employs the straddle mechanism of any one of claims 1-8.