CN217198433U

CN217198433U - Biped robot shank suspended structure

Info

Publication number: CN217198433U
Application number: CN202122905452.2U
Authority: CN
Inventors: 赵保文; 龚圆杰
Original assignee: Guangdong Chunmi Electrical Technology Co Ltd
Current assignee: Guangdong Chunmi Electrical Technology Co Ltd
Priority date: 2021-11-24
Filing date: 2021-11-24
Publication date: 2022-08-16
Anticipated expiration: 2031-11-24

Abstract

The utility model particularly relates to a biped robot shank suspended structure, including suspension frame and platform, the platform sets up at the suspension frame top, and suspension frame is for having the support body for hollow out construction, the inside cavity of suspension frame's support body, and suspension frame's left and right both ends extend respectively and form the linkage for hang hip joint or the shank of connecting the biped robot. The utility model discloses an adoption has hollow out construction and inside hollow suspension frame, has the structural advantage of high strength, light weight, and three-dimensional frame structure forms triangle-shaped and supports, strengthens the rigidity on the minimum basis of materials, and such frame construction space is nimble, and the space of fretwork can let objects such as the electric wire of motor from here passing. The problem of current biped robot shank suspension support too huge, thickness and lead to whole robot to all face huge burden is solved, the motor will use more powerful, and the too much continuation of the journey of power consumption descends, and the robot falls down to be the injury that causes more serious is solved.

Description

Leg hanging structure of biped robot

Technical Field

The utility model relates to a robot field, concretely relates to biped robot shank suspended structure.

Background

The robot industry has obtained the sufficient development in China, but the support that most biped robots adopted when solving the both legs connection problem all is huge, massive, used too much material in order to satisfy the stability of structure, lead to whole support overweight, overweight support lets whole robot all face huge burden, the motor will use more powerful, the too much continuation of the journey of power descends, the injury that the robot fell down and cause is more serious.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a biped robot shank suspended structure for solve current biped robot shank suspended support among the prior art too huge, massive and lead to whole robot all to face huge burden, the motor will use more powerful, the too much continuation of the journey decline of power consumption, the robot falls down to be the more serious problem of injury that causes.

In order to reach above-mentioned one or some or whole purpose or other purposes, the utility model provides a biped robot shank suspended structure, including suspension frame and platform, the platform sets up at the suspension frame top, and suspension frame is for having hollow out construction's support body, the inside cavity of support body, and suspension frame's left and right both ends extend respectively and form the linkage for hang hip joint or the shank of connecting the biped robot.

Furthermore, the suspension frame is formed by connecting a plurality of frame edges, and adjacent frame edges are connected in a triangular structure.

Furthermore, the frame comprises a first frame, a second frame and a third frame, the suspension frame is in the shape of an inverted pyramid, the first frame serves as a side of the pyramid, the second frame is vertically and upwards arranged at the top of the pyramid, the top point of the second frame is a connecting point, and the third frame is arranged at the connecting point towards four edges of the pyramid bottom.

Furthermore, the leg suspension structure of the biped robot further comprises a first motor, a first through hole is vertically formed in the suspension part, the first motor is fixed on the suspension part, a rotating shaft of the first motor is a first motor rotating shaft, and the first motor rotating shaft penetrates through the first through hole.

Further, biped robot shank suspended structure still includes stores pylon and pin, and the third through-hole has vertically been seted up at the stores pylon top for first motor shaft to pass, sets up the second through-hole on the first motor shaft, has seted up the pin hole on the pore wall of third through-hole, and the pin inserts pin hole and second through-hole and fixes.

Furthermore, the leg suspension structure of the biped robot further comprises a second motor, and a rotating shaft or a non-rotating shaft part of the second motor is fixedly connected with the suspension rack.

Further, the biped robot leg suspension structure further comprises a connecting piece, and when the rotating shaft of the second motor is fixedly connected with the hanging rack, the non-rotating shaft part of the second motor is fixedly connected with the connecting piece.

Furthermore, the leg suspension structure of the biped robot further comprises a third motor, and a non-rotating shaft part of the third motor is fixedly connected with the connecting piece.

Furthermore, a plurality of connecting columns protrude upwards from the top surface of the suspension frame, and the platform is horizontally erected on the connecting columns.

Furthermore, the top surface of the connecting column is convexly provided with a plurality of fool-proof structures, and the bottom surface of the platform is provided with corresponding slotted holes which are buckled with the fool-proof structures and used for fool-proof confirmation of the installation position and the direction of the platform.

Implement the embodiment of the utility model provides a, will have following beneficial effect:

the utility model discloses a for hollow suspension frame in hollow out construction and the support body, can reduce suspension structure's weight to minimum under the condition of not losing intensity, such frame construction space is nimble, and the space of fretwork can let objects such as the electric wire of motor from passing, and the structure of platform has been covered to this structure, connects the platform after, can load various equipment and facilities on the platform. The problem of current biped robot shank lift kits too bulky, the thickness and lead to whole robot to face huge burden is solved, the motor will use more powerful, the too much continuation of the journey of power consumption descends, the robot falls down to be the injury that causes more serious.

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.

Wherein:

fig. 1 is an exploded view of a biped robot leg suspension structure.

FIG. 2 is a schematic view of a suspension frame, a hanger and a first motor connection;

fig. 3 is a cross-sectional view of the suspension frame.

The reference numerals are explained below: 1-a suspension frame; 11-frame edge; 111-a first frame border; 112-a second frame border; 113-a third frame border; 12-cone apex; 13-edge angle; 14-a junction point; 15-connecting column; 151-fool-proofing structure; 16-a suspension; 161-a first via; 2-a platform; 3-a first motor; 31-a first motor shaft; 311-a second via; 4-a second motor; 5-a third motor; 6-hanging rack; 61-a third via; 62-pin holes; 7-pins; 8-connecting piece.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the 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 of the present invention, all other embodiments obtained by a person skilled in the art without making creative efforts belong to the protection scope of the present invention.

As shown in fig. 1, the leg suspension structure of the biped robot according to the preferred embodiment of the present invention is mainly used for connecting the two legs of the robot, supporting the leg torsion motor as a hip joint, connecting with the platform 2, and supporting other objects on the platform 2. This embodiment includes suspension frame 1 and platform 2, and platform 2 sets up at suspension frame 1 top, and suspension frame 1 is the support body that has hollow out construction, the inside cavity of support body, and the support body can be the left and right both ends of a hollow shell suspension frame 1 and extend respectively and form suspension portion 16 for hang hip joint or the shank of connecting the biped robot. Hollow suspension frame 1 in hollow out construction and the support body can be kept as under the condition of hanging carrier intensity, reduces suspension structure's weight to minimum, and such frame construction space is nimble, and simultaneously, the space of fretwork can let objects such as the electric wire of motor from passing through. As the preferred scheme, the suspension frame 1 is integrally formed, so that the whole frame body is more tough, and the problem that the assembled section is easy to break due to assembly under pressure is solved. The hollow structure of the suspension frame 1 means that a hollow hole is formed in a three-dimensional space by the structure of the frame body, and the hollow hole is located outside the frame body; the hollow structure of the suspension frame 1 means that the suspension frame 1 itself is hollow, that is, hollow, and the hollow is located inside the frame body itself, as shown in the cross section of fig. 3.

Referring to fig. 2 and 3, the suspension frame 1 is preferably formed by connecting a plurality of frame edges 11, and the frame edges 11 are connected in a triangular structure. The embodiment adopts a space three-dimensional frame, is built on the basis of a triangular structure, forms a triangular support, and has better stability and strength. As shown in fig. 3, three adjacent frame sides 11 are connected end to form a triangular structure, so that the hollow hole is triangular. Furthermore, three frame sides 11 of the triangular structure are used as a combined unit, a plurality of units are combined and connected according to actual design requirements, and hollow holes of the units are communicated with each other to form a three-dimensional frame with triangular stability. As a preferable scheme of the three-dimensional frame, the frame 11 includes a first frame 111, a second frame 112, and a third frame 113, the suspension frame 1 is in an inverted quadrangular pyramid shape, the first frame 111 is a side of the quadrangular pyramid, the second frame 112 is vertically disposed upward from a vertex 12 of the quadrangular pyramid, a vertex of the second frame 112 is a connection point 14, and the third frame 113 is disposed from the connection point 14 to four corners 13 of a bottom of the quadrangular pyramid. Preferably, the connecting point 14 and the four corners 13 of the pyramid base are in the same plane or approximately the same plane. By adopting the scheme, the shape of the crotch in a human body can be better simulated, the shape of the inverted rectangular pyramid can provide certain avoidance space for the left leg and the right leg, so that the suspension frame 1 is not overstaffed after being used for carrying serial drive of hip joints, the body of the biped robot is more simulated, and the gait of the robot can be closer to the gait of a human body in the advancing process. The hollow structure of the suspension frame 1 is shown in cross-section in fig. 3. Furthermore, the frame edge 11 and the frame edge 11 are in smooth transition, and can be in arc transition, so that corners are prevented from being gouged or being scratched, and dust accumulation is reduced.

As shown in fig. 1, preferably, the leg suspension structure of the biped robot further includes a first motor 3, the suspension portion 16 is vertically provided with a first through hole 161, the first motor 3 is fixed to the suspension portion 16, the suspension portion 16 can sink to form a mounting groove, the bottom surface of the mounting groove is provided with a plurality of screw holes, the first motor 3 is fixedly mounted in the mounting groove through screws, the rotating shaft of the first motor 3 is a first motor rotating shaft 31, and the first motor rotating shaft 31 passes through the first through hole 161. It should be noted that, each motor shaft of the present invention is not limited to a conventional motor shaft, and can be a rotating shaft with a reduction gearbox or other devices for direct or indirect transmission, such as a rudder stock of a steering engine, a rotating shaft with a speed reduction gear servo motor, etc.

As shown in fig. 2, further, the leg suspension structure of the biped robot further includes a hanger 6 and a pin 7, a third through hole 61 is vertically formed in the top of the hanger 6 for the first motor shaft 31 to pass through, a second through hole 311 is formed in the first motor shaft 31, a pin hole 62 is formed in the hole wall of the third through hole 61, the pin 7 is inserted into the pin hole 62 and the second through hole 311 for fixation, the first motor 3 has a function of a hip joint of the robot, and the first motor 3 is used for realizing the motion of the first degree of freedom of the leg of the robot in linkage with the first motor 3. More specifically, the wall of the third through hole 61 of the hanger 6 is cylindrical, and two through holes are formed at two corresponding ends of the cylinder as pin holes 62, the two through holes and the second through hole 311 of the first motor rotating shaft 31 are on the same axis, and the pin 7 passes through the axis.

As shown in fig. 2, preferably, the first motor shaft 31 is non-cylindrical, such as semi-cylindrical, cylindrical with a special-shaped surface, and the like, and accordingly, the third through hole 61 at the top of the hanging rack 6 is in a shape matching with the first motor shaft 31, which facilitates the first motor shaft 31 to drive the hanging rack 6 to rotate.

As shown in fig. 1, further, the leg suspension structure of the biped robot further includes a second motor 4, the hanger 6 is L-shaped, a rotating shaft or non-rotating shaft of the second motor 4 is fixedly connected to the hanger 6, and the second motor 4 has the function of a hip joint of the robot in the same way, and can be linked to realize the motion of the leg of the robot in the second degree of freedom.

As shown in fig. 1, further, the biped robot leg suspension structure further comprises a connecting member 8, and when the rotating shaft of the second motor 4 is fixedly connected with the hanging rack 6, the non-rotating shaft part of the second motor 4 is fixedly connected with the connecting member 8. Further, the present embodiment further includes a third motor 5, a non-rotating shaft portion of the third motor 5 is fixedly connected to the connecting member 8, and a rotating shaft of the third motor 5 is used for connecting the leg portion of the robot. The third motor 5 has the function of a hip joint of the robot similarly, so that when the third motor 5 works, the third motor drives the hanging frame 6 to rotate together and then drives other structures of the leg to act, and the motion of the third degree of freedom of the leg of the robot can be realized in a linkage manner.

Preferably, as shown in fig. 1, the connecting member 8 is in a shape of a ring cylinder vertically arranged on a cover plate, the cover plate is fixedly connected with the non-rotating shaft part of the second motor 4, and the third motor 5 is fixed in the ring cylinder.

In a similar manner, in another embodiment, the non-rotating shaft portion of the second motor 4 is fixedly connected to the hanging rack 6, the rotating shaft of the second motor 4 is fixedly connected to the connecting member 8, and the rotating shaft of the third motor 5 is fixedly connected to the connecting member 8. Preferably, the first motor 3 is a steering engine, and the second motor 4 and the third motor 5 are servo motors.

As a preferred scheme, hip joints with the same structure are symmetrically mounted on the left and the right of the suspension frame 1, so that the biped robot is symmetrical in appearance, the hip joints are symmetrical in mass point, and the motion control algorithm of the biped robot is convenient to simplify.

Referring to fig. 1 to fig. 3, preferably, the suspension frame 1 is provided with a structure of the platform 2, in the preferred embodiment, the top surface of the suspension frame 1 protrudes upwards to form a plurality of connecting posts 15, the platform 2 is horizontally erected on the connecting posts 15, and the platform 2 can be locked on the suspension frame 1 by screws, so as to ensure that the platform 2 is tightly connected with the suspension frame 1. The platform 2 can be recessed to form a motor mounting groove for placing a motor, and the motor can be used as the waist connection of the robot and can also be connected with other equipment.

Referring to fig. 1 to 3, as a preferred embodiment, the top surface of the connecting column 15 is provided with a plurality of fool-proof structures 151 in a protruding manner, and the bottom surface of the platform 2 is provided with corresponding slots for fastening with the fool-proof structures 151 for determining the mounting position and direction of the platform 2. Conceivably, the bottom surface of the platform 2 is also provided with a fool-proof structure 151 protruding downwards, and the top surface of the connecting column 15 is provided with a corresponding slot hole for buckling. Further, the frame 11 and the connecting column 15 are integrated and hollow, and the structure of the device platform 2 can be selected from other structures to reduce the weight of the device platform and maintain the strength of the suspension frame 1 as a bearing platform, and can be changed according to the shape or function of the platform connecting device, which is not described in detail here.

Preferably, each motor mountable protection apron 9, protection apron 9 is installed for second motor 4 in this embodiment, as shown in fig. 1, regard stores pylon 6 as the support, will protect apron 9 fixed connection on stores pylon 6 through the screw, installation protection apron 9 can effectual protection motor, play dustproof, the effect of protection, and can effectually hide motor components and parts, let the unable direct touch motor of user, in order to avoid taking place dangerous accidents such as tong, also can prevent to have the foreign matter to be close to the motor, hinder motor work. The guard plate has the advantages that the motor is prevented from being exposed, meanwhile, the attractive effect is achieved, and the mechanical sense of the robot structure is reduced.

To sum up, the utility model discloses an adoption has hollow out construction and inside hollow suspended frame 1, has high strength, light weight's structural advantage, and space frame structure forms triangle-shaped and supports, and is more stable firm, strengthens the rigidity on the minimum basis of materials, and simultaneously, such frame construction space is nimble, and the space of fretwork can let objects such as the electric wire of motor from passing. In addition, three drives can be flexibly connected and arranged to carry out the motion of three degrees of freedom of the legs, and the sensitivity of the biped robot is improved. The utility model provides a support that most of biped robots adopted when solving both legs connection problem all be huge, massive, used too much material in order to satisfy the stability of structure, lead to whole support too heavy, overweight support lets whole robot all face huge burden, the motor will use more powerful, and the decline of using too much continuation of the journey, the robot falls down is the more serious problem of injury that causes.

Although the present invention has been described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the scope of the present invention.

Claims

1. The utility model provides a biped robot shank suspended structure which characterized in that: including suspension frame (1) and platform (2), platform (2) set up at suspension frame (1) top, and suspension frame (1) is for having hollow out construction's support body, the inside cavity of support body, and the left and right both ends of suspension frame (1) extend respectively and form linkage (16) for hang the hip joint or/and the shank of connecting biped robot.

2. The biped robot leg suspension structure of claim 1, further comprising: the suspension frame (1) is formed by connecting a plurality of frame edges (11), and the adjacent frame edges (11) are connected in a triangular structure.

3. The biped robot leg suspension structure of claim 2 further comprising: the frame (11) comprises a first frame (111), a second frame (112) and a third frame (113), the suspension frame (1) is in an inverted quadrangular pyramid shape, the first frame (111) serves as the side of the quadrangular pyramid, the second frame (112) is vertically and upwards arranged on the top (12) of the quadrangular pyramid, the top of the second frame (112) is a connecting point (14), and the third frame (113) is arranged at the connecting point (14) towards four corners (13) of the bottom of the quadrangular pyramid.

4. The biped robot leg suspension structure of any one of claims 1 to 3, wherein: biped robot shank suspended structure still includes first motor (3), and first through-hole (161) have vertically been seted up in linkage (16), and linkage (16) are fixed in first motor (3), and the pivot of first motor (3) is first motor shaft (31), and first motor shaft (31) pass first through-hole (161).

5. The biped robot leg suspension structure of claim 4, further comprising: biped robot shank suspended structure still includes stores pylon (6) and pin (7), and third through-hole (61) have vertically been seted up at stores pylon (6) top, supplies first motor shaft (31) to pass, sets up second through-hole (311) on first motor shaft (31), has seted up pin hole (62) on the pore wall of third through-hole (61), and pin (7) insert pin hole (62) and second through-hole (311) and fix.

6. The biped robot leg suspension structure of claim 5, characterized by: the leg hanging structure of the biped robot further comprises a second motor (4), and a rotating shaft or a non-rotating shaft part of the second motor (4) is fixedly connected with the hanging rack (6).

7. The biped robot leg suspension structure of claim 6 further comprising: the leg hanging structure of the biped robot further comprises a connecting piece (8), and when a rotating shaft of the second motor (4) is fixedly connected with the hanging rack (6), a non-rotating shaft part of the second motor (4) is fixedly connected with the connecting piece (8).

8. The biped robotic leg suspension of claim 7 wherein: the leg suspension structure of the biped robot further comprises a third motor (5), and a non-rotating shaft part of the third motor (5) is fixedly connected with the connecting piece (8).

9. The biped robot leg suspension structure of any one of claims 1 to 3, wherein: the top surface of the suspension frame (1) is upwards protruded with a plurality of connecting columns (15), and the platform (2) is horizontally erected on the connecting columns (15).

10. The biped robotic leg suspension of claim 9 wherein: the top surface of the connecting column (15) is convexly provided with a plurality of fool-proof structures (151), the bottom surface of the platform (2) is provided with corresponding slotted holes which are buckled with the fool-proof structures (151) and used for fool-proof confirmation of the installation position and the direction of the platform (2).