CN217195428U - Foot type robot and three-joint module thereof - Google Patents

Abstract

The utility model discloses a foot robot and three-joint module thereof, which comprises a hip positive swing module, a knee joint module and a hip side swing module, wherein two supporting seats of the knee joint module are respectively fixed at two ends of a knee joint linear guide rail, a knee joint mounting seat is fixedly connected with a sliding seat, a self-lubricating sliding bearing is fixedly connected on the sliding seat, the self-lubricating sliding bearing is sleeved outside the knee joint linear guide rail and slides along the knee joint linear guide rail, and a knee joint transmission assembly is respectively fixedly connected with a knee joint motor and the supporting seats so as to convert the torque output by the knee joint motor into the linear movement of the supporting seats; the hip positive swing module is connected with the output end of the hip side swing module, and the knee joint motor is connected with the output end of the hip positive swing module. Use the utility model provides a sufficient robot and three joint modules thereof compares with the rotation type joint, and the articulated effect arm of force of orthoscopic is shorter, can obtain higher power density to show the load capacity who promotes its sufficient robot of application.

Description

Foot type robot and three-joint module thereof

Technical Field

The utility model relates to the technical field of robot, more specifically say, relate to a sufficient robot and three joint modules thereof.

Background

When the wheeled robot runs on relatively flat terrain, the movement speed is rapid and stable, but when the wheeled robot runs on uneven ground, the energy consumption is greatly increased, and on soft ground or severe uneven terrain, the action of the wheels is seriously lost, and the movement efficiency is greatly reduced. In order to improve the adaptability of the wheels to soft ground and uneven ground, a crawler-type moving mode is developed. But the mobility of the crawler-type robot on uneven ground is still poor, and the body shakes seriously. The four-foot moving mode is the moving mode which is most widely adopted by organisms in the nature, has stronger stability and can be more flexibly adapted to various terrains in the nature. The quadruped robot is characterized by controllable balance and relative terrain adaptability, and has higher maneuvering performance on complex terrains such as mountain steep slopes, forest stands, warehouses and the like.

In recent years, quadruped robots have matured from system model analysis, body motion control theory and algorithm to mechanical and electronic hardware technology, and certain theoretical and technical bases are provided for the quadruped robots to enter human society more widely and provide services for social production and life. The quadruped robot has excellent adaptability to complex terrains, however, rotary joints are mostly adopted for three joints of legs of the existing legged robot, and the load bearing capacity of the robot needs to be improved due to the characteristics of higher power output of driving units required by the rotary joint structure and the like and the development limitation of the driving units. If the quadruped robot can be enabled to have more excellent transportation capability, important positive influences are brought to the economic, social and technological development.

In summary, how to effectively solve the problems of the legged robot, such as small load caused by the structural characteristics of the rotary joint, is a problem that needs to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, an object of the present invention is to provide a legged robot and a three-joint module thereof, which can effectively solve the problem that the legged robot has a smaller load due to the structural characteristics of the rotary joint.

In order to achieve the above object, the utility model provides a following technical scheme:

a three-joint module of a foot robot comprises a hip positive swing module, a knee joint module and a hip lateral swing module, wherein the knee joint module comprises a knee joint motor, a knee joint transmission component, a knee joint installation seat, a sliding seat, a knee joint linear guide rail and two supporting seats, the two supporting seats are respectively fixed at two ends of the knee joint linear guide rail, the knee joint installation seat is fixedly connected with the sliding seat, a self-lubricating sliding bearing is fixedly connected to the sliding seat, the self-lubricating sliding bearing is sleeved outside the knee joint linear guide rail and slides along the knee joint linear guide rail, and the knee joint transmission component is respectively fixedly connected with the knee joint motor and the supporting seats so as to convert the torque output by the knee joint motor into linear movement of the supporting seats; the hip positive swing module is connected to the output end of the hip lateral swing module, and the knee joint motor is connected to the output end of the hip positive swing module.

Furthermore, in the above three-joint module, the knee joint transmission assembly includes a belt wheel and a synchronous belt matched with the belt wheel, the belt wheel is coaxially and fixedly connected with the output end of the knee joint motor, and the synchronous belt is respectively fixedly connected with the two support seats.

Furthermore, in the above three-joint module, the knee joint transmission assembly further includes two tensioning wheels matched with the belt wheel, the two tensioning wheels are respectively located at two ends of the belt wheel, the knee joint linear guide rail is provided with two sliding seats, the tensioning wheels are accommodated in the grooves of the sliding seats, the tensioning shafts matched with the tensioning wheels are provided, the tensioning shafts are fixedly connected with the knee joint mounting seats, and the tensioning wheels are slidably sleeved outside the tensioning shafts; the synchronous belt is wound around the belt wheel from one side and wound around the tension wheel from the other side to be tensioned.

Furthermore, in the above three-joint module, the knee joint module includes at least two knee joint linear guide rails arranged in parallel, and the knee joint linear guide rails are round tubes or round rods.

Furthermore, in the above three-joint module, the knee joint module includes at least two knee joint linear guide rails arranged in parallel, and the outer diameters of the two knee joint linear guide rails are different in size.

Furthermore, in the three-joint module, two ends of the knee joint linear guide rail are respectively detachably and fixedly connected to the corresponding support seats.

Furthermore, in the above three-joint module, the hip side-swing module includes a side-swing motor, the hip positive-swing module includes a positive-swing motor, an output end of the side-swing motor is fixedly connected to the positive-swing motor, a rotation axis of the output end of the side-swing motor is perpendicular to a rotation axis of the output end of the positive-swing motor, and an output end of the positive-swing motor is fixedly connected to the knee-joint motor.

Further, in the above three-joint module, the hip side swing module includes a side swing telescopic driving part, a power connecting part, a side swing guide rail and a side swing sliding block, the hip positive swing module includes a positive swing motor, the movable end of the side swing telescopic driving part is connected with the power connecting part, the power connecting part is connected with the side swing sliding block and the positive swing motor, the side swing sliding block is connected to the side swing guide rail to slide along the side swing guide rail, the side swing telescopic driving part and the side swing guide rail are used for being fixedly connected with the body of the foot type robot, the side swing guide rail is parallel to the rotation axis of the output end of the positive swing motor, and the output end of the positive swing motor is fixedly connected with the knee joint motor.

Furthermore, in the three-joint module, the hip side-swing module further comprises an intermediate connecting piece, the two opposite sides of the positive swing motor are respectively provided with the side-swing guide rail and the side-swing sliding block, the side-swing sliding block on one side is fixedly connected with the power connecting piece, the hip side-swing on the other side is fixedly connected with the intermediate connecting piece, and the intermediate connecting piece is fixedly connected with the positive swing motor.

Further, in the three-joint module, the hip side-swing module includes a side-swing telescopic driving element, a supporting frame, a side-swing guide rail and a side-swing slider, the movable end of the side-swing telescopic driving element is connected to the supporting frame, the supporting frame is fixedly connected to the side-swing slider, the side-swing slider is connected to the side-swing guide rail to slide along the side-swing guide rail, and the side-swing telescopic driving element and the side-swing guide rail are used for being fixedly connected to the body of the legged robot;

the positive module of putting of hip includes positive flexible driving piece, positive pendulum mounting panel, positive pendulum guide rail and positive pendulum slider, the expansion end and the positive mounting panel of positive flexible driving piece of putting are connected, the stiff end of positive flexible driving piece of putting with supporting rack fixed connection, positive pendulum guide rail is fixed in on the supporting rack, positive pendulum slider connect in order to follow on the positive pendulum guide rail slides, positive pendulum guide rail with the side pendulum guide rail is parallel, knee joint motor fixed connection in on the positive pendulum mounting panel.

Furthermore, in the three-joint module, the hip side-swinging module comprises a side-swinging motor and a supporting frame fixedly connected to the output end of the side-swinging motor; the positive module of putting of hip includes positive flexible driving piece, positive pendulum mounting panel, positive pendulum guide rail and positive pendulum slider, the expansion end and the positive mounting panel of positive flexible driving piece of putting are connected, the stiff end of positive flexible driving piece of putting with supporting rack fixed connection, positive pendulum guide rail is fixed in on the supporting rack, positive pendulum slider connect in order to follow on the positive pendulum guide rail slides, positive pendulum guide rail with the axis of rotation of the output of side pendulum motor is parallel, knee joint motor fixed connection in on the positive pendulum mounting panel.

Use the utility model provides a three joint modules, hip positive pendulum module are connected in the output of hip side pendulum module, and the knee joint motor is connected in the output of hip positive pendulum module to can realize the motion of hip side pendulum, hip positive pendulum and knee joint. And the knee joint adopts a linear joint, and compared with a rotary joint, the action arm of the linear joint is shorter, and higher power density can be obtained, so that the load capacity of the foot type robot applying the linear joint is obviously improved. In addition, a self-lubricating sliding bearing is adopted between the matching surfaces of the sliding seat of the knee joint module and the knee joint linear guide rail, and the self-lubricating characteristic of the self-lubricating sliding bearing is utilized, so that no lubricating grease or lubricating oil is needed, on one hand, regular lubrication is not needed, and the maintenance cost is reduced. On the other hand, the lubricating oil or the lubricating grease is prevented from being polluted in a dust-rich environment to cause the abrasion of a matching surface, so that the stable and reliable transmission function can be provided in the dust environment. And in the environment with higher humidity, the rust can not be generated, and the blockage or blockage caused by the rust can be avoided. Therefore, the three-joint module can provide greater reliability in a high-humidity and dust environment.

In a preferred embodiment, the knee joint transmission assembly comprises a belt wheel and a synchronous belt matched with the belt wheel, and through the synchronous belt transmission, the driving torque is greatly reduced and the load capacity of the robot is greatly improved on the premise of ensuring relatively low self weight.

In order to achieve the above object, the present invention further provides a foot robot, which includes any one of the above three-joint modules. Because the three-joint module has the technical effects, the foot type robot with the three-joint module also has the corresponding technical effects.

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 these drawings without creative efforts.

Fig. 1 is an exploded view of a three-joint module according to a first embodiment of the present invention;

FIG. 2 is a front view of the three-joint module of FIG. 1 in an assembled state;

FIG. 3 is a top view of FIG. 2;

FIG. 4 is a side view of FIG. 2;

fig. 5 is an exploded view of a three-joint module according to a second embodiment of the present invention;

FIG. 6 is a schematic diagram of an assembled state of the three-joint module shown in FIG. 5;

fig. 7 is an exploded view of a triple-joint module according to a third embodiment of the present invention;

FIG. 8 is a schematic diagram of an assembled state of the three-joint module shown in FIG. 7;

fig. 9 is an exploded view of a triple-joint module according to a fourth embodiment of the present invention;

FIG. 10 is a schematic diagram of the assembled state of the three-joint module shown in FIG. 9;

fig. 11 is a schematic structural view of a foot robot according to a first embodiment of the present invention;

fig. 12 is a schematic structural view of a foot robot according to a second embodiment of the present invention;

fig. 13 is a schematic structural view of a foot robot according to a third embodiment of the present invention;

fig. 14 is a schematic structural view of a foot robot according to a fourth embodiment of the present invention.

The drawings are numbered as follows:

the knee joint motor 11, the knee joint mounting seat 12, the tensioning shaft 13, the tensioning wheel 14, the bearing 131, the belt wheel 15, the synchronous belt 16, the pressing block 161, the guide block 162, the supporting seat 17, the knee joint linear guide rail 18, the first guide rail 181, the second guide rail 182 and the sliding seat 19; a side-sway motor 21; a yaw motor 31; a foot end 41;

a side swing telescopic driving piece 22, a power connecting piece 23, a side swing guide rail 24, a side swing sliding block 25 and an intermediate connecting piece 26;

the device comprises a supporting frame 27, a pin shaft 28, a positive swing telescopic driving piece 32, a positive swing mounting plate 33, a positive swing guide rail 34 and a positive swing sliding block 35;

three joint module 100, fuselage 200.

Detailed Description

The embodiment of the utility model discloses sufficient robot and three joint modules thereof to improve sufficient robot's load capacity.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious 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 efforts all belong to the protection scope of the present invention.

Referring to fig. 1-4, fig. 1 is a schematic diagram of an explosion structure of a three-joint module according to a first embodiment of the present invention; FIG. 2 is a front view of the three-joint module of FIG. 1 in an assembled state; FIG. 3 is a top view of FIG. 2; fig. 4 is a side view of fig. 2.

In one embodiment, the present invention provides a three-joint module for a legged robot, which includes a hip positive swing module, a knee joint module, and a hip side swing (roll joint) module.

The knee joint module is connected to the output end of the hip positive swing module, namely, the movement output by the hip positive swing module drives the knee joint module to move integrally. The hip positive swing module is connected with the output end of the hip side swing module, namely, the motion output by the hip side swing module drives the hip positive swing module to move integrally, thereby driving the knee joint module to move integrally.

The knee joint module comprises a knee joint motor 11, a knee joint transmission component, a knee joint mounting seat 12, a sliding seat 19, a knee joint linear guide rail 18 and two supporting seats 17.

The two supporting seats 17 are respectively fixed at both ends of the knee joint linear guide 18, that is, the knee joint linear guide 18 and the supporting seats 17 serve as legs of the robot. The supporting seat 17 can limit the sliding of the sliding seat 19, prevent the sliding seat from being separated from the knee joint linear guide rail 18, and the supporting seat 17 positioned at the bottom can be used for connecting the foot of the robot.

The knee joint mounting seat 12 is fixedly connected with the sliding seat 19, the sliding seat 19 is fixedly connected with a self-lubricating sliding bearing, and the self-lubricating sliding bearing is sleeved outside the knee joint linear guide rail 18 and slides along the knee joint linear guide rail 18. The sliding seat 19 is fixedly connected with a self-lubricating sliding bearing which is sleeved outside the knee joint linear guide rail 18 and slides along the knee joint linear guide rail 18. Namely, the sliding seat 19 is connected with the knee joint linear guide rail 18 in a sliding way through a self-lubricating sliding bearing. The knee joint mounting seat 12 is fixedly connected with the sliding seat 19. The specific configurations of the knee joint mount 12 and the sliding seat 19 may be set as required, and are not particularly limited herein. The self-lubricating sliding bearing can be a non-metallic sliding bearing, such as a plastic bearing, and can realize a self-lubricating effect by utilizing the self-lubricating property of the material without adding lubricating oil or lubricating grease. And the whole bearing is made of lubricating materials, so that the bearing is long in service life, free of rusting and resistant to corrosion. The support base 17 at the lower end can be connected with the foot end 41 of the robot.

The knee joint transmission component is respectively fixedly connected with the knee joint motor 11 and the supporting seat 17 so as to convert the torque output by the knee joint motor 11 into linear movement of the supporting seat 17. The linear movement of the supporting seat 17 drives the knee joint linear guide rail 18 to slide relative to the sliding seat 19, so that the leg of the robot is lifted.

The hip positive swing module and the hip lateral swing module may specifically adopt a rotary joint or a linear joint, and are not specifically limited herein.

Use the utility model provides a three joint modules, hip positive pendulum module are connected in the output of hip side pendulum module, and knee joint motor 11 is connected in the output of hip positive pendulum module to can realize the motion of hip side pendulum, hip positive pendulum and knee joint. And the knee joint adopts a linear joint, and compared with a rotary joint, the action arm of the linear joint is shorter, and higher power density can be obtained, so that the load capacity of the foot type robot applying the linear joint is obviously improved. In addition, a self-lubricating sliding bearing is adopted between the matching surfaces of the sliding seat 19 of the knee joint module and the knee joint linear guide rail 18, and the self-lubricating characteristic of the self-lubricating sliding bearing is utilized, so that no lubricating grease or lubricating oil is needed, on one hand, no regular lubricating is needed, and the maintenance cost is reduced. On the other hand, the lubricating oil or the lubricating grease is prevented from being polluted in a dust-rich environment to cause the abrasion of the matching surface, so that the stable and reliable transmission function can be provided in the dust environment. And in the environment with higher humidity, the rust can not be generated, and the blockage or blockage caused by the rust can be avoided. Therefore, the three-joint module can provide greater reliability in a high-humidity and dust environment.

In one embodiment, the knee joint transmission assembly includes a pulley 15 and a synchronous belt 16 engaged with the pulley 15, the pulley 15 is coaxially and fixedly connected with the output end of the knee joint motor 11, and the synchronous belt 16 is fixedly connected with two support seats 17 respectively. The torque electric belt wheel 15 output by the knee joint motor 11 rotates, the belt wheel 15 is matched with the synchronous belt 16, so that the synchronous belt 16 is driven to move linearly, the linear movement of the synchronous belt 16 drives the two support seats 17 to move linearly, and the linear movement of the knee joint linear guide rail 18 is realized. Through the transmission of the synchronous belt 16, the driving torque is greatly reduced and the load capacity of the robot is improved on the premise of ensuring relatively low self weight. The knee joint transmission component can also adopt chain transmission, lead screw transmission and the like according to requirements.

Specifically, the knee joint transmission assembly further comprises two tension pulleys 14 matched with the belt pulley 15, the two tension pulleys 14 are respectively positioned at two ends of the belt pulley 15, two sliding seats 19 are arranged on the knee joint linear guide rail 18, the tension pulleys 14 are accommodated in grooves of the sliding seats 19, tension shafts 13 are arranged in a manner of being matched with the tension pulleys 14, the tension shafts 13 are fixedly connected with the knee joint mounting seat 12, and the tension pulleys 14 are slidably sleeved outside the tension shafts 13; the timing belt 16 is wound around the pulley 15 from one side and the tension pulley 14 from the other side to be tensioned. The timing belt 16 is fixed on the support seat 17 through the pressing block 161, for example, the pressing block 161 is respectively arranged at two ends of the timing belt 16, and the pressing block 161 is fixedly connected with the corresponding support seat 17 and fixes the end of the timing belt 16 between the two. Further, a guide block 162 is provided to cooperate with the pressing block 161 to better guide the timing belt 16. Two groups of tensioning shafts 13 and tensioning wheels 14 are arranged, one end of each tensioning shaft 13 is connected with the knee joint mounting seat 12, and the other end of each tensioning shaft is used for matching the tensioning wheels 14. A bearing 131, such as a ball bearing or a ball bearing, is disposed between the tension shaft 13 and the tension wheel 14. In one embodiment, the tensioning wheel 14 is provided with bearings 131 on both sides to cooperate with the tensioning shaft 13, i.e. two bearings 131 are connected in series with the tensioning wheel 14 on both sides to the tensioning shaft 13. The belt 16 is tensioned by the tension wheel 14, so that the precision of the belt 16 transmission is improved by the belt wheel 15.

Specifically, the sliding seat 19 is provided with an installation through hole, and the self-lubricating sliding bearing is in interference fit with the installation through hole. The self-lubricating sliding bearing is in interference fit with the installation through hole of the sliding seat 19, and the installation is convenient. The self-lubricating plain bearing and the sliding seat 19 may also be connected by other conventional fixed connection means, as required.

In one embodiment, the knee linear guide 18 is embodied as a hollow tube. Adopt hollow pipe fitting, compare in traditional guide rail slider structure and articulated foldable, ball screw formula structure can effectively alleviate the shank quality, and then reduce the inertia of shank, reduce gait algorithm's realization degree of difficulty.

In one embodiment, the knee joint module includes at least two knee joint linear guides 18 arranged in parallel, and the knee joint linear guides 18 are round tubes or round rods. That is, the sliding seat 19 is guided by at least two knee joint linear guide rails 18 arranged in parallel, so that the linear sliding of the sliding seat 19 can be ensured, and the circumferential rotation is limited at the same time, so that the sliding seat 19 can only slide linearly relative to the knee joint linear guide rails 18. The number of the knee joint linear guides 18 is specifically set according to needs, and is not particularly limited herein.

The knee joint linear guide 18 is not limited to the above configuration as required, and at least one or a plurality of knee joint linear guides 18 arranged in parallel may be provided, and the knee joint linear guides 18 may be polygonal tubes or polygonal rods. By providing the polygonal pipe or the polygonal rod, since the polygonal pipe or the polygonal rod is of a non-rotating structure, it acts as a stopper for the circumferential rotation of the sliding base 19, and therefore, even when one knee joint linear guide 18 is provided, the effect of preventing rotation can be achieved. The specific polygon may be a square, a hexagon, etc., and is not limited in particular. When the plurality of knee joint linear guides 18 are provided, the slide base 19 is connected to all of the plurality of knee joint linear guides 18.

In the case of including at least two knee joint linear guides 18 arranged in parallel, specifically, the outer diameters of the two knee joint linear guides 18 are different in size. That is, the first guide rail 181 and the second guide rail 182 are included, and the outer diameter of the first guide rail 181 is larger than the outer diameter of the second guide rail 182, on the one hand, the first guide rail 181 and the second guide rail 182 cooperate to guide the sliding of the sliding seat 19 and limit the rotation thereof. In addition, since the first guide rail 181 and the second guide rail 182 have different outer diameters, it is easy to distinguish the mounting direction of each component when the structure such as the slide holder 19 is assembled, and to mount each component when the mounting direction is required.

Specifically, the knee joint linear guide 18 is an antirust guide, and if the whole knee joint linear guide 18 is made of an antirust material, an antirust coating is arranged on the surface of the knee joint linear guide 18, so as to achieve an antirust effect.

In the above embodiments, the two sliding seats 19 are fixedly connected to the two ends of the knee joint mounting seat 12 respectively. Namely, the knee joint mounting seat 12 is connected through the two sliding seats 19, so that the connection is reliable, and the linear movement is more stable and reliable.

In one embodiment, the two ends of the knee joint linear guide 18 are respectively detachably and fixedly connected to the corresponding support seats 17. Specifically, the supporting seat 17 is connected with the knee joint linear guide rail 18 through screws, so that when the leg length is required to be quickly replaced, only the screws of the supporting seat 17 need to be loosened. Knee joint linear guide 18 and supporting seat 17 adopt detachable fixed connection, then can conveniently dismantle knee joint linear guide 18 and change the knee joint linear guide 18 of other length as required, can quick replacement leg length promptly, have higher quick exchangeability, more adapt to extreme topography, and because the leg length and the inertia of orthoscopic joint are lower to control system's influence, change the leg length back, it is little to control system's stability influence. By adopting the arrangement, the linear leg device realizes the lubrication-free and quick-change performance, thereby being suitable for various complex and severe environments with high humidity, underwater, large dust, low temperature and the like.

In one embodiment, please refer to fig. 1-4, the hip side swing module includes a side swing motor, the hip positive swing module includes a positive swing motor 31, an output end of the side swing motor is fixedly connected to the positive swing motor 31, a rotation axis of the output end of the side swing motor is perpendicular to a rotation axis of the output end of the positive swing motor 31, and an output end of the positive swing motor 31 is fixedly connected to the knee joint motor 11. The output end of the side swing motor is fixedly connected with the side wall of the shell of the positive swing motor 31, the output end of the positive swing motor 31 is fixedly connected with the tail end of the knee joint motor 11, and the head end of the knee joint motor 11, namely the output end, is connected with the belt wheel 15. In other words, in this embodiment, the hip pendulums and the hip true pendulums both adopt rotary joints, and the knee joints adopt linear joints. When the three-joint module in the embodiment is applied to a foot type robot, the side swing motor and the positive swing motor 31 are connected with the body.

In a second embodiment, please refer to fig. 5-6, the hip/side swing module includes a side swing telescopic driving member 22, a power connecting member 23, a side swing guide rail 24 and a side swing slider 25, the hip/side swing module includes a side swing motor 31, the movable end of the side swing telescopic driving member 22 is connected to the power connecting member 23, the power connecting member 23 is fixedly connected to the side swing slider 25 and the side swing motor 31, the side swing slider 25 is connected to the side swing guide rail 24 to slide along the side swing guide rail 24, the side swing telescopic driving member 22 and the side swing guide rail 24 are used for fixedly connecting to the body of the legged robot, the side swing guide rail 24 is parallel to the rotation axis of the output end of the side swing motor 31, and the output end of the side swing motor 31 is fixedly connected to the knee joint motor 11.

This embodiment is the same as the knee joint module in the previous embodiment, and the description is omitted here, and only the hip side swing module and the hip positive swing module will be described. In the embodiment, the hip side pendulum adopts a linear joint, and the hip positive pendulum adopts a rotary joint. The side-sway telescopic driving member 22 may specifically adopt an electric cylinder, and has light weight and high precision. The movable end of the side swing telescopic driving member 22 extends or retracts to drive the power connecting member 23 to extend or retract, and the power connecting member 23 is fixedly connected with the positive swing motor 31, so that the positive swing motor 31 is driven to move. And because the power connecting piece 23 is connected with the side swing slider 25, the side swing slider 25 is driven to move, and because the side swing slider 25 is guided and limited by the side swing guide rail 24, the power connecting piece 23 drives the side swing slider 25 to move along the side swing guide rail 24, and simultaneously drives the positive swing motor 31 to linearly move along the direction of the side swing guide rail 24, so as to drive the whole knee joint module to linearly move along the direction of the side swing guide rail 24. The torque output by the positive swing motor 31 drives the knee joint motor 11 to rotate, thereby driving the knee joint module to rotate integrally. The output end of the specific pendulum motor 31 is connected with the tail end of the knee joint motor 11, and the head end, i.e. the output end, of the knee joint motor 11 is fixedly connected with the belt wheel 15. When the three-joint module in the embodiment is applied to a foot type robot, the side swing telescopic driving piece 22 and the side swing guide rail 24 are fixedly connected with the body.

Furthermore, the hip side-swing module further comprises a middle connecting piece 26, two opposite sides of the positive-swing motor 31 are respectively provided with a side-swing guide rail 24 and a side-swing slider 25, the side-swing slider 25 on one side is fixedly connected with the power connecting piece 23, the hip side-swing on the other side is fixedly connected with the middle connecting piece 26, and the middle connecting piece 26 is fixedly connected with the positive-swing motor 31. The side swing guide rails 24 and the side swing sliders 25 are in one-to-one correspondence, and specifically, one or two sets of side swing guide rails 24 and side swing sliders 25 may be provided, as shown in fig. 5 and 6, to limit and guide from two sides of the positive swing motor 31, respectively. The intermediate link 26 is used to connect the yaw slider 25 to the yaw motor 31. Through the arrangement of the two sets of side swing guide rails 24 and the side swing sliding blocks 25, the straight-line movement of the positive swing motor 31 along the side swing guide rails 24 is more stable and reliable.

In a third embodiment, please refer to fig. 7-8, the hip side swing module includes a side swing telescopic driving element 22, a supporting frame 27, a side swing guide rail 24 and a side swing slider 25, the movable end of the side swing telescopic driving element 22 is connected with the supporting frame 27, the supporting frame 27 is fixedly connected with the side swing slider 25, the side swing slider 25 is connected with the side swing guide rail 24 to slide along the side swing guide rail 24, and the side swing telescopic driving element 22 and the side swing guide rail 24 are used for being fixedly connected with the body of the legged robot; the hip positive swing module comprises a positive swing telescopic driving piece 32, a positive swing mounting plate 33, a positive swing guide rail 34 and a positive swing sliding block 35, wherein the movable end of the positive swing telescopic driving piece 32 is connected with the positive swing mounting plate 33, the fixed end of the positive swing telescopic driving piece 32 is fixedly connected with the supporting frame 27, the positive swing guide rail 34 is fixed on the supporting frame 27, the positive swing sliding block 35 is connected on the positive swing guide rail 34 to slide along the positive swing guide rail 34, the positive swing guide rail 34 is parallel to the side swing guide rail 24, and the knee joint motor 11 is fixedly connected on the positive swing mounting plate 33.

The structure of the knee joint module in this embodiment is the same as that of the knee joint module in the previous embodiment, and the description is omitted here, and only the hip swing module and the hip true swing module will be described. In this embodiment, the hip side swing module and the hip positive swing module both adopt linear joints. The side swing telescopic driving member 22 may be an electric cylinder. The side swing guide rails 24 and the side swing sliders 25 are in one-to-one correspondence, and specifically, one or two sets of the side swing guide rails 24 and the side swing sliders 25 may be provided, and the two sets of the side swing guide rails 24 and the side swing sliders 25 are respectively provided at the front end and the rear end of the supporting frame 27, so as to realize the left-right sliding of the supporting frame 27 along the side swing guide rails 24. The movable end of the side swing telescopic driving element 22 is specifically mounted on a support frame 27 in series with a pin 28, the support frame 27 is fixedly connected with the side swing slider 25, the movable end of the side swing telescopic driving element 22 extends or retracts to act on the support frame 27 to drive the support frame 27 to move, the support frame 27 is connected with the side swing slider 25 to drive the side swing slider 25 to move, and the side swing telescopic driving element 22 drives the side swing slider 25 to move along the side swing guide rail 24 and simultaneously drives the support frame 27 to linearly move along the direction of the side swing guide rail 24 due to the guiding and limiting effects of the side swing guide rail 24, so that the whole hip positive swing module is driven to linearly move along the direction of the side swing guide rail 24.

The positive swing telescopic driver 32 may be embodied as an electric cylinder. The pendulum guide rails 34 and the pendulum sliders 35 are in one-to-one correspondence, and specifically, one or two sets of the pendulum guide rails 34 and the pendulum sliders 35 may be provided, and the two sets of the pendulum guide rails 34 and the pendulum sliders 35 are respectively provided at the upper and lower ends of the support frame 27, so as to realize the forward and backward sliding of the pendulum mounting plate 33 along the pendulum guide rails 34. The movable end of the pendulum telescopic driving element 32 is connected with the pin shaft on the pendulum mounting plate 33, and the fixed end is fixedly connected with the supporting frame 27. The movable end of the positive pendulum telescopic driving piece 32 extends or retracts outwards and acts on the positive pendulum mounting plate 33 to drive the positive pendulum mounting plate 33 to move, the positive pendulum mounting plate 33 is connected with the positive pendulum sliding block 35 to drive the positive pendulum sliding block 35 to move, and the positive pendulum sliding block 35 is guided by the positive pendulum guide rail 34 and limited, so that the positive pendulum telescopic driving piece 32 drives the positive pendulum sliding block 35 to move along the positive pendulum guide rail 34 and simultaneously drives the positive pendulum mounting plate 33 to linearly move along the direction of the positive pendulum guide rail 34, and the whole knee joint module is driven to linearly move along the direction of the positive pendulum guide rail 34. When the three-joint module in the embodiment is applied to a foot type robot, the side swing telescopic driving piece 22 and the side swing guide rail 24 are fixedly connected with the body.

In a fourth embodiment, referring to fig. 9-10, the hip side swing module comprises a side swing motor 21 and a supporting frame 27 fixedly connected to the output end of the side swing motor 21; the hip positive swing module comprises a positive swing telescopic driving piece 32, a positive swing mounting plate 33, a positive swing guide rail 34 and a positive swing sliding block 35, wherein the movable end of the positive swing telescopic driving piece 32 is connected with the positive swing mounting plate 33, the fixed end of the positive swing telescopic driving piece 32 is fixedly connected with the supporting frame 27, the positive swing guide rail 34 is fixed on the supporting frame 27, the positive swing sliding block 35 is connected on the positive swing guide rail 34 to slide along the positive swing guide rail 34, the positive swing guide rail 34 is parallel to the rotating shaft of the output end of the side swing motor 21, and the knee joint motor 11 is fixedly connected on the positive swing mounting plate 33.

This embodiment is the same as the knee joint module in the previous embodiment, and the description is omitted here, and only the hip side swing module and the hip positive swing module will be described. In this embodiment, the hip side swing module adopts a rotary joint, and the hip positive swing module adopts a linear joint. The positive swing telescopic driving member 32 may be an electric cylinder. The pendulum guide rails 34 and the pendulum sliders 35 are in one-to-one correspondence, and specifically, one or two sets of the pendulum guide rails 34 and the pendulum sliders 35 may be provided, and the two sets of the pendulum guide rails 34 and the pendulum sliders 35 are respectively provided at the upper and lower ends of the support frame 27, so as to realize the forward and backward sliding of the pendulum mounting plate 33 along the pendulum guide rails 34. The output end of the side-sway motor 21 is specifically connected to the front end or the rear end of the supporting frame 27. The movable end of the pendulum telescopic driving element 32 is connected with the pin shaft on the pendulum mounting plate 33, and the fixed end is fixedly connected with the supporting frame 27. The movable end of the positive pendulum telescopic driving piece 32 extends or retracts outwards and acts on the positive pendulum mounting plate 33 to drive the positive pendulum mounting plate 33 to move, the positive pendulum mounting plate 33 is connected with the positive pendulum sliding block 35 to drive the positive pendulum sliding block 35 to move, and the positive pendulum sliding block 35 is guided by the positive pendulum guide rail 34 and limited, so that the positive pendulum telescopic driving piece 32 drives the positive pendulum sliding block 35 to move along the positive pendulum guide rail 34 and simultaneously drives the positive pendulum mounting plate 33 to linearly move along the direction of the positive pendulum guide rail 34, and the whole knee joint module is driven to linearly move along the direction of the positive pendulum guide rail 34. When the three-joint module in the embodiment is applied to a foot type robot, the side swing motor 21 and the supporting frame 27 are fixedly connected with the body.

Based on the three-joint module that provides in the above-mentioned embodiment, the utility model also provides a sufficient robot, this sufficient robot includes arbitrary three-joint module in the above-mentioned embodiment. Because the foot robot adopts the three-joint module in the above embodiment, please refer to the above embodiment for the beneficial effects of the foot robot.

In the first embodiment, referring to fig. 11, the three-joint module 100 of the legged robot adopts the structure of the three-joint module 100 in the first embodiment, and connects the side-swing motor and the positive-swing motor to the body 200, specifically, the side of the positive-swing motor and the connection flange at the other end of the side-swing motor opposite to the output end are connected to the body 200.

In a second embodiment, referring to fig. 12, the triple-joint module 100 of the legged robot adopts the structure of the second embodiment of the triple-joint module 100, and fixedly connects the side-swing telescopic driving member and the side-swing guide rail to the main body 200, specifically, connects one end of one set of side-swing guide rail far away from the side-swing slider, the side-swing telescopic driving member to the large mounting plate of the main body 200, and connects the other set of side-swing guide rail to the small mounting plate of the main body 200.

In a third embodiment, referring to fig. 13, the three-joint module 100 of the legged robot adopts the structure of the three-joint module 100, and fixedly connects the side-swing telescopic driving member and the side-swing guide rails to the body 200, specifically, two sets of side-swing guide rails are respectively installed on the large side plate and the small side plate at the front end or the rear end of the body 200, and the side-swing telescopic driving member is installed on the large side plate at the front end or the rear end of the body 200 through the self-provided L-shaped bracket.

In a fourth embodiment, referring to fig. 14, the three-joint module 100 of the legged robot adopts the structure of the third embodiment of the three-joint module 100, and fixedly connects the side-swinging motor and the supporting frame to the body 200, specifically, the front end flange of the side-swinging motor and the front end bearing of the supporting frame are mounted at the corresponding mounting positions on the body 200.

The foot robot in each of the above embodiments may be specifically a biped robot, a quadruped robot, a hexapod robot, or the like.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (12)

1. A three-joint module of a foot robot is characterized by comprising a hip positive swing module, a knee joint module and a hip lateral swing module, wherein the knee joint module comprises a knee joint motor, a knee joint transmission component, a knee joint installation seat, a sliding seat, a knee joint linear guide rail and two supporting seats, the two supporting seats are respectively fixed at two ends of the knee joint linear guide rail, the knee joint installation seat is fixedly connected with the sliding seat, a self-lubricating sliding bearing is fixedly connected to the sliding seat, the self-lubricating sliding bearing is sleeved outside the knee joint linear guide rail and slides along the knee joint linear guide rail, and the knee joint transmission component is respectively fixedly connected with the knee joint motor and the supporting seats so as to convert the torque output by the knee joint motor into the linear movement of the supporting seats; the hip positive swing module is connected to the output end of the hip lateral swing module, and the knee joint motor is connected to the output end of the hip positive swing module.

2. The three-joint module of the legged robot as claimed in claim 1, wherein the knee joint transmission assembly comprises a pulley and a synchronous belt engaged with the pulley, the pulley is coaxially and fixedly connected with the output end of the knee joint motor, and the synchronous belt is respectively fixedly connected with the two support seats.

3. The three-joint module of the legged robot as claimed in claim 2, wherein said knee joint transmission assembly further comprises two tensioning wheels engaged with said pulleys, said two tensioning wheels are respectively located at two ends of said pulleys, said knee joint linear guide rail is provided with two sliding seats, said tensioning wheels are received in the grooves of the sliding seats, a tensioning shaft engaged with each tensioning wheel is provided, said tensioning shaft is fixedly connected with said knee joint mounting seat, said tensioning wheels are slidably sleeved outside said tensioning shaft; the synchronous belt is wound around the belt wheel from one side and wound around the tension wheel from the other side to be tensioned.

4. The three-joint module of the legged robot according to claim 1, characterized in that the knee joint module comprises at least two parallel knee joint linear guides, and the knee joint linear guides are round tubes or round rods.

5. The three-joint module of the legged robot according to claim 1, characterized in that the knee joint module comprises at least two parallel knee joint linear guides, and the outer diameters of the two knee joint linear guides are different in size.

6. The three-joint module of the legged robot as claimed in claim 1, wherein the two ends of said knee joint linear guide rail are detachably and fixedly connected to the corresponding supporting seats.

7. The three-joint module of the legged robot according to any one of claims 1-6, wherein the hip side swing module comprises a side swing motor, the hip positive swing module comprises a positive swing motor, an output end of the side swing motor is fixedly connected with the positive swing motor, a rotating shaft of the output end of the side swing motor is perpendicular to a rotating shaft of the output end of the positive swing motor, and an output end of the positive swing motor is fixedly connected with the knee joint motor.

8. The triple-joint module of the legged robot according to any one of claims 1-6, wherein the hip side swing module includes a side swing telescopic driving member, a power connecting member, a side swing guide rail and a side swing slider, the hip side swing module includes a side swing motor, a movable end of the side swing telescopic driving member is connected to the power connecting member, the power connecting member is fixedly connected to the side swing slider and the side swing motor, the side swing slider is connected to the side swing guide rail to slide along the side swing guide rail, the side swing telescopic driving member and the side swing guide rail are used for being fixedly connected to a body of the legged robot, the side swing guide rail is parallel to a rotation axis of an output end of the side swing motor, and an output end of the side swing motor is fixedly connected to the knee joint motor.

9. The three-joint module of the legged robot according to claim 8, wherein the hip side-swing module further comprises a middle connecting piece, the side-swing guide rail and the side-swing slider are respectively disposed on two opposite sides of the positive swing motor, the side-swing slider on one side is fixedly connected to the power connecting piece, the hip side-swing on the other side is fixedly connected to the middle connecting piece, and the middle connecting piece is fixedly connected to the positive swing motor.

10. The triple-joint module of the legged robot according to any one of claims 1-6, wherein the hip side swing module comprises a side swing telescopic driving member, a supporting frame, a side swing guide rail and a side swing slider, wherein the movable end of the side swing telescopic driving member is connected with the supporting frame, the supporting frame is fixedly connected with the side swing slider, the side swing slider is connected with the side swing guide rail to slide along the side swing guide rail, and the side swing telescopic driving member and the side swing guide rail are fixedly connected with the body of the legged robot;

the positive module of putting of hip includes positive flexible driving piece, positive pendulum mounting panel, positive pendulum guide rail and positive pendulum slider, the expansion end and the positive mounting panel of positive flexible driving piece of putting are connected, the stiff end of positive flexible driving piece of putting with supporting rack fixed connection, positive pendulum guide rail is fixed in on the supporting rack, positive pendulum slider connect in order to follow on the positive pendulum guide rail slides, positive pendulum guide rail with the side pendulum guide rail is parallel, knee joint motor fixed connection in on the positive pendulum mounting panel.

11. The triple-joint module of a legged robot according to any of claims 1-6, characterized in that the hip yaw module comprises a yaw motor and a support frame fixedly connected to the output of the yaw motor; the positive module of putting of hip includes positive flexible driving piece, positive pendulum mounting panel, positive pendulum guide rail and positive pendulum slider, the expansion end and the positive mounting panel of positive flexible driving piece of putting are connected, the stiff end of positive flexible driving piece of putting with supporting rack fixed connection, positive pendulum guide rail is fixed in on the supporting rack, positive pendulum slider connect in order to follow on the positive pendulum guide rail slides, positive pendulum guide rail with the axis of rotation of the output of side pendulum motor is parallel, knee joint motor fixed connection in on the positive pendulum mounting panel.

12. A legged robot comprising a body and further comprising a triple-joint module according to any of claims 1-11, wherein the hip yaw module is fixedly attached to the body.

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