CN216834007U

CN216834007U - Leg structure and foot type robot with same

Info

Publication number: CN216834007U
Application number: CN202220247039.3U
Authority: CN
Inventors: 不公告发明人
Original assignee: Nanjing Blue Intelligent Technology Co ltd
Current assignee: Nanjing Blue Intelligent Technology Co ltd
Priority date: 2022-01-30
Filing date: 2022-01-30
Publication date: 2022-06-28
Anticipated expiration: 2032-01-30

Abstract

The utility model provides a pair of leg structure and have its sufficient robot belongs to the robotechnology field, and leg structure includes: one end of the first leg is provided with an actuator; an output shaft of the actuator is connected with one end of the belt through a first belt wheel; one end of the second leg is connected with the other end of the belt through a second belt wheel; one end of the supporting component is connected with the actuator body, and the other end of the supporting component is rotationally connected with an output shaft of the actuator; the utility model discloses a leg structure, the output shaft of supporting member to the executor supports, increases the support rigidity of output shaft, and then increases the reliability of executor.

Description

Leg structure and foot type robot with same

Technical Field

The utility model relates to the technical field of robots, concretely relates to leg structure and have its sufficient robot.

Background

A legged robot, which may also be referred to as a legged robot, generally includes a body driving structure and a leg structure including a thigh pivotally connected to the body driving structure and a calf pivotally connected to the thigh.

In the prior art, thighs drive crus to move through a belt wheel structure; specifically, an actuator is arranged at the thigh end, an output shaft of the actuator is connected with one end of a belt through a first belt wheel, and the other end of the belt is connected with the shank through a second belt wheel;

when the belt wheel transmission is adopted, certain tension needs to be set on the belt for accurate transmission, but the distance from the first belt wheel to the actuator is long, the tension is only supported by the output shaft of the actuator, the supporting rigidity is insufficient, and the reliability of the actuator is reduced.

SUMMERY OF THE UTILITY MODEL

Therefore, the to-be-solved technical problem of the utility model lies in overcoming among the prior art because the cantilever of first band pulley is longer, and the tensile force only supports by the output shaft of executor, and support rigidity is not enough, can lead to the reliability decline defect of executor to a leg structure is provided.

The utility model also provides a sufficient robot.

In order to solve the technical problem, the utility model provides a pair of leg structure, include:

one end of the first leg is provided with an actuator; an output shaft of the actuator is connected with one end of the belt through a first belt wheel;

one end of the second leg is connected with the other end of the belt through a second belt wheel;

further comprising:

one end of the supporting component is connected with the actuator body, and the other end of the supporting component is rotationally connected with an output shaft of the actuator.

Preferably, the support member includes:

the first fixing part is fixedly connected with the actuator body;

the second fixing part is rotationally connected with the output shaft of the actuator through a bearing;

and the two ends of the supporting part are respectively connected with the first fixing part and the second fixing part.

Preferably, the cross section of the supporting portion in a direction from the first fixing portion to the second fixing portion is gradually reduced.

Preferably, the support portion is formed of a plurality of support bars.

Preferably, the plurality of support rods are arranged at intervals in a circumferential direction around the output shaft of the actuator.

Preferably, the cross section of the output shaft of the actuator matched with the first belt pulley is non-circular.

Preferably, the output shaft of the actuator is in interference fit with the first belt pulley.

Preferably, one end of the second leg is connected with the second belt wheel through a transmission shaft; the cross section of the transmission shaft matched with the second leg is non-circular.

Preferably, the diameter of the first pulley is smaller than the diameter of the second pulley.

The utility model also provides a sufficient robot, including any one of the above-mentioned leg structure.

The utility model discloses technical scheme has following advantage:

1. the utility model provides a leg structure, include: a first leg and a second leg; the first leg and the second leg are connected through a belt wheel structure; an actuator is arranged on the first leg; a support member is arranged between the housing of the actuator and the output shaft of the actuator; the support component supports the output shaft of the actuator, so that the support rigidity of the output shaft is increased, and the reliability of the actuator is further increased.

2. In the leg structure provided by the utility model, the cross section of the supporting part from the first fixing part to the second fixing part is gradually reduced; and the supporting force of the supporting part on the output shaft of the actuator is enhanced.

3. The utility model provides a leg structure, many the bracing piece centers on the interval sets up on the circumferential direction of the output shaft of executor for have the clearance between two adjacent bracing pieces, be convenient for install and dismantle the inside structure of executor through the clearance.

4. In the leg structure provided by the utility model, the cross section of the output shaft of the actuator matched with the first belt pulley is non-circular, and the output shaft of the actuator is in interference fit with the first belt pulley; make firm in connection between output shaft and the first pulley, can avoid the belt to produce idle stroke when positive and negative motion.

5. The utility model provides a leg structure, the diameter of first band pulley is greater than the diameter of second band pulley, has enlarged the output torque of executor, can realize bigger load transmission.

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 embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic perspective view of a leg structure of the present invention.

Fig. 2 is a schematic view of the internal structure of the leg structure of the present invention.

Fig. 3 is a schematic structural diagram of the support member of the present invention.

Fig. 4 is a schematic structural diagram of the actuator of the present invention.

Description of reference numerals:

1. a first leg; 2. a second leg; 3. an actuator body; 4. an output shaft; 5. a first pulley; 6. a second pulley; 7. a belt; 8. a first fixed part; 9. a second fixed part; 10. a support portion; 11. and a bearing.

Detailed Description

The technical solutions of the present invention will be described more clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

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

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.

Example 1

The leg structure provided by the present embodiment, as shown in fig. 1, includes a first leg 1 and a second leg 2; the first leg 1 drives the second leg 2 in motion via a pulley arrangement.

As shown in fig. 2, one end of the first leg 1 is provided with an actuator; the actuator comprises an actuator body 3 and an output shaft 4 connected with one end of the actuator body 3; the output shaft 4 of the actuator is connected with one end of a belt 7 through a first belt wheel 5, and the other end of the belt 7 is connected with the second leg 2 through a second belt wheel 6.

A supporting component is arranged between the actuator body 3 and the output shaft 4 of the actuator, the supporting rigidity of the output shaft 4 of the actuator can be increased through the arrangement of the supporting component, and the reliability of the actuator can be ensured when the tension force of the belt 7 is increased.

As shown in fig. 3, the support member includes a first fixing portion 8, a second fixing portion 9, and a support portion 10; the first fixing part 8 is of an annular structure and is fixedly connected with the edge of the actuator body 3; the second fixing part 9 is connected with the output shaft 4 of the actuator through a bearing 11; the first fixing portion 8 and the second fixing portion 9 are connected by a support portion 10.

Further, the cross section of the supporting part 10 in the direction from the first fixing part 8 to the second fixing part 9 is gradually reduced, that is, the supporting part 10 is arranged at an angle with the central axis of the output shaft 4; the support portion 10 is provided in such a manner as to further enhance the support strength of the output shaft 4.

Further, the support portion 10 is composed of a plurality of support rods, which are arranged at intervals in the circumferential direction around the output shaft 4 of the actuator, and the support strength can be ensured by the support rods, and the overall weight of the leg structure can be reduced; meanwhile, a gap is formed between every two adjacent support rods, so that the actuator can be conveniently installed and maintained.

As shown in fig. 4, the cross section of the output shaft 4 of the actuator and the first pulley 5 is non-circular, and meanwhile, the output shaft 4 of the actuator and the first pulley 5 are in interference fit. In particular, in this embodiment, the output shaft 4 of the actuator is preferably flat, but other shapes are possible as alternative embodiments.

One end of the second leg 2 close to the first leg 1 is provided with a mounting hole, a transmission shaft is mounted in the mounting hole, and the transmission shaft is connected with the second belt wheel 6; the cross section of the transmission shaft matched with the mounting hole of the second leg 2 is non-circular, and the transmission shaft is in interference fit with the mounting hole.

Through the interference fit of the interference fit between the output shaft 4 and the first belt pulley 5, the interference fit of the mounting holes of the transmission shaft and the second leg 2, not only can the torque be transmitted, but also the return stroke generated by the clearance can be avoided, and meanwhile, the idle stroke generated when the belt 7 moves forwards and backwards can be avoided.

The diameter of the first belt wheel 5 is smaller than that of the second belt wheel 6, in the scheme, the first belt wheel 5 is 18 teeth, the second belt wheel 6 is 28 teeth, the transmission ratio is 1.56, the torque output by the actuator can be enlarged by 1.56 times after being transmitted by the belt 7, and larger load transmission is realized; at the same time, a constant gear ratio may simplify the algorithm.

The first belt wheel 5 and the second belt wheel 6 are made of aluminum alloy, so that the rotational inertia is effectively reduced, and the peak impact load on an actuator can be further reduced when the impact load and the abnormal terrain are subjected to motion control.

Example 2

The present embodiment provides a legged robot including the leg structure described in embodiment 1.

It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. This need not be, nor should it be exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.

Claims

1. A leg structure comprising:

one end of the first leg (1) is provided with an actuator; an output shaft (4) of the actuator is connected with one end of a belt (7) through a first belt wheel (5);

one end of the second leg (2) is connected with the other end of the belt (7) through a second belt wheel (6);

it is characterized by also comprising:

one end of the supporting component is connected with the actuator body (3), and the other end of the supporting component is rotationally connected with an output shaft (4) of the actuator.

2. The leg structure of claim 1, wherein the support member comprises:

a first fixing part (8) fixedly connected with the actuator body (3);

a second fixed part (9) which is rotationally connected with the output shaft (4) of the actuator through a bearing (11);

and the two ends of the supporting part (10) are respectively connected with the first fixing part (8) and the second fixing part (9).

3. A leg structure as claimed in claim 2, characterised in that the support portion (10) tapers in cross-section in the direction from the first fixing portion (8) to the second fixing portion (9).

4. Leg structure according to claim 2, characterized in that the support (10) consists of a plurality of support bars.

5. A leg structure according to claim 4, characterised in that a plurality of said support rods are arranged at intervals in the circumferential direction around the output shaft (4) of the actuator.

6. A leg arrangement as claimed in claim 1, characterised in that the cross-section of the output shaft (4) of the actuator co-operating with the first pulley (5) is non-circular.

7. A leg structure as claimed in claim 6, characterised in that the output shaft (4) of the actuator is in an interference fit with the first pulley (5).

8. A leg structure as claimed in claim 1, characterised in that one end of the second leg (2) is connected to the second pulley (6) by means of a transmission shaft; the cross section of the transmission shaft matched with the second leg (2) is non-circular.

9. A leg structure as claimed in any one of claims 1-8, characterised in that the diameter of the first pulley (5) is smaller than the diameter of the second pulley (6).

10. A legged robot, characterized in that it comprises a leg structure according to any of claims 1-9.