CN217435885U

CN217435885U - Leg assembly and foot type robot

Info

Publication number: CN217435885U
Application number: CN202221427563.5U
Authority: CN
Inventors: 黄炫煜; 甘泉; 谌振宇
Original assignee: Beijing Haqi Robot Technology Co ltd
Current assignee: Beijing Haqi Robot Technology Co ltd
Priority date: 2022-06-08
Filing date: 2022-06-08
Publication date: 2022-09-16
Anticipated expiration: 2032-06-08

Abstract

The utility model discloses a leg subassembly and sufficient formula robot belongs to sufficient formula robot technical field. The leg assembly comprises a thigh, a shank and a transmission mechanism, one end of the transmission mechanism is connected with a power unit of the robot in a driving mode, and the other end of the transmission mechanism is connected with the shank; the thigh comprises a bearing framework and a forming framework, one end of the bearing framework is connected to the trunk of the robot or the power unit of the robot, and the other end of the bearing framework is connected to the shank; the forming framework is connected with the bearing framework. The utility model discloses a leg subassembly and sufficient formula robot, under the prerequisite that does not reduce self load performance and transmission reliability, reduce weight, and then convenient control and transport etc. promote the affinity and the expression of robot to reduce its potential threat to the human body.

Description

Leg assembly and foot type robot

Technical Field

The utility model relates to a sufficient robot technical field especially relates to a leg subassembly and sufficient robot.

Background

In the prior art, a robot is often used to ensure the connection rigidity, power transmission rigidity, durability and the like of legs, and the legs are usually made of hard metal shells to wrap the internal structures of the legs so as to meet the requirement that the legs can withstand a certain degree of collision and cannot be completely damaged. However, the first problem is that the large housing structure increases the overall weight of the robot, which is not conducive to control of the robot and to transport; secondly, the structure of the shell is hard, when the robot is out of control, the potential threat of larger damage to the external environment or human body is caused, and when collision occurs, the large damage is caused to the internal precise sensor or the board card; thirdly, the shell structure and the material are single, so that the affinity of the robot is reduced, and the application in the field of the bionic robot is not facilitated.

Therefore, a leg assembly and a legged robot are needed to solve the above problems.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a leg subassembly and sufficient formula robot, under the prerequisite that does not reduce self load performance and transmission reliability, reduce weight, and then convenient control and transport etc. promote the affinity and the expression of robot to reduce its potential threat to the human body.

To achieve the purpose, the utility model adopts the following technical proposal:

on one hand, the leg assembly comprises a thigh, a shank and a transmission mechanism, wherein one end of the transmission mechanism is connected with a power unit of the robot in a driving mode, and the other end of the transmission mechanism is connected with the shank; the thigh comprises:

one end of the bearing framework is connected to the trunk of the robot or a power unit of the robot, and the other end of the bearing framework is connected to the shank;

and the forming framework is connected with the bearing framework.

Optionally, the bearing framework is made of aluminum alloy or magnesium alloy; and/or the molding framework is made of PVC or PP.

Optionally, the forming skeleton is provided with a strain groove.

Optionally, the transmission mechanism includes an input end, a transmission part connected to the input end, and an output end connected to the transmission part, the input end is connected to the power unit in a driving manner, and the output end is connected to the lower leg;

the forming framework comprises a first forming part and a second forming part, the first forming part and the second forming part are connected to two sides of the bearing framework along a first direction, and the transmission part is accommodated in the first forming part and the second forming part.

the bearing skeleton includes first bearing spare and second bearing spare along second direction interconnect, first bearing spare is connected in the truck of robot or the power pack of robot, first bearing spare is equipped with dodges the hole, drive mechanism's input can wear to locate dodge the hole, the shaping skeleton connect respectively in the middle part of first bearing spare with the middle part of second bearing spare.

Optionally, the transmission mechanism is a parallelogram transmission mechanism or a synchronous belt mechanism.

Optionally, the transmission mechanism includes a crank and a connecting rod rotatably connected to the crank, an output portion of the power unit is drivingly connected to the crank, and the connecting rod and one end of the force-bearing skeleton are rotatably connected to the lower leg, respectively.

Optionally, the outer parts of the thigh and the lower leg are respectively sleeved with outer sleeves.

Optionally, the outer jacket is made of one or more of silica gel, rubber, TPU, TPR, PC, and PP.

In another aspect, a legged robot is provided, comprising the leg assembly described above.

The utility model has the advantages that:

the utility model provides a pair of leg subassembly and sufficient formula robot, leg unit mount are in the robot, through other driving piece drive load skeleton to drive thigh motion, the load skeleton is used for connecting robot truck and shank, simultaneously, as the main load structure of thigh. The power unit transmits power to the lower leg through the transmission mechanism to drive the lower leg to move, so that the upper leg and the lower leg on the leg assembly move respectively. The shaping skeleton is fixed on bearing skeleton, and the shaping skeleton can be used to the molding, can realize the molding variety. The thigh is respectively arranged aiming at the force transmission function and the forming function through the bearing framework and the forming framework, and the force transmission function of the bearing framework can be arranged in a light weight manner as far as possible on the premise of meeting the rigidity and the strength; the molding framework can meet the molding function and the basic anti-collision function, so that the molding framework can be made of high-toughness plastics and other materials, and the weight of the thigh is further reduced. The structure of shaping skeleton can select the material that toughness is great, avoids the structure hard, when the robot is out of control, reduces the risk that causes the damage to external environment or human body. The bearing framework and the forming framework can be made of different materials, so that the structure and the material are prevented from being single, and the attractiveness is improved. Specifically, the forming framework can be made of materials with strong affinity, and is not limited to materials such as metal or engineering plastics, so that the forming framework is favorably applied to the field of the bionic robot.

Drawings

FIG. 1 is an external view of a leg assembly provided by an embodiment of the present invention;

fig. 2 is an exploded view of a leg assembly provided by an embodiment of the present invention;

fig. 3 is a sectional view of a thigh according to an embodiment of the present invention.

In the figure:

1. a thigh; 11. a force bearing framework; 111. a first force bearing member; 1111. avoiding holes; 112. a second force-bearing member; 113. a first mounting hole; 114. limiting ribs; 12. forming a framework; 121. a strain tank; 122. a first molding member; 123. a second molding member; 124. a second mounting hole;

2. a transmission mechanism; 21. a crank; 22. a connecting rod; 23. a first rotating shaft; 24. a nut; 25. a second rotating shaft;

3. a lower leg; 31. a connecting portion; 311. a first connection hole; 312. a second connection hole;

4. and (4) coating.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts all belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of 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.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The present embodiment provides a legged robot, which includes a robot body and leg assemblies, specifically, the leg assemblies may be four or six, etc., without limitation. The present embodiment further provides a leg assembly, as shown in fig. 1-3, which includes a thigh 1, a shank 3 and a transmission mechanism 2, wherein one end of the transmission mechanism 2 is drivingly connected to a power unit of the robot, and the other end is connected to the shank 3; the thigh 1 comprises a bearing framework 11 and a forming framework 12, one end of the bearing framework 11 is connected to the trunk of the robot or the power unit of the robot, and the other end is connected to the shank 3; the forming framework 12 is connected with the bearing framework 11.

When the leg assembly is installed in the robot body, the bearing framework 11 is driven by the other driving piece to drive the thigh 1 to move, and the bearing framework 11 is used for connecting the trunk of the robot and the shank 3 and is used as a main bearing structure of the thigh 1. The power unit transmits power to the lower leg 3 through the transmission mechanism 2 to drive the lower leg 3 to move, so that the upper leg 1 and the lower leg 3 on the leg assembly move respectively. The forming framework 12 is fixed on the bearing framework 11, and the forming framework 12 can be used for forming, so that the forming diversity can be realized; the thigh 1 is respectively arranged aiming at the force transmission function and the forming function through the bearing framework 11 and the forming framework 12, and the force transmission function of the bearing framework 11 can be arranged in a light weight manner as much as possible on the premise of meeting the rigidity and the strength; the molding frame 12 has only to satisfy the molding function and the basic anti-collision function, and thus can be made of high-toughness plastic and the like, further reducing the weight of the thigh 1. The structure of shaping skeleton 12 can select the material that toughness is great, avoids the structure hard, when the robot is out of control, reduces the risk that causes the damage to external environment or human body. The bearing framework 11 and the forming framework 12 can be made of different materials, so that the structure and the material are prevented from being single, and the attractiveness is improved. Specifically, the forming frame 12 may be made of a material with a strong affinity, not limited to metal or engineering plastic, so as to be applied to the field of the bionic robot.

Alternatively, the forming frame 12 may enclose the transmission 2 to protect it. Optionally, the bearing skeleton 11 can be exposed out of the forming skeleton 12, and the bearing skeleton does not need to be completely wrapped in the whole body like a traditional structure, so that the weight is reduced, and the bearing skeleton is convenient to control and transport.

Optionally, the material of the force-bearing framework 11 is aluminum alloy or magnesium alloy, and the aluminum alloy and the magnesium alloy have certain rigidity and strength and are light, so that the force-bearing framework 11 has both rigidity and strength and is light in weight. Optionally, the material of the molding frame 12 is PVC (Polyvinyl chloride) or PP (polypropylene), and since PVC and PP have the characteristics of low density and high toughness, the molding frame 12 made of PVC or PP can meet the requirements of low density, light weight and high toughness.

Optionally, as shown in fig. 2, the forming frame 12 is provided with strain grooves 121 to reduce the local structural rigidity, further reducing the damage to the human body as much as possible when the thigh 1 is involved in a human body collision. The appearance of shaping skeleton 12 can set up according to the demand, and in this embodiment, shaping skeleton 12 is connected on load skeleton 11, and it has seted up the arc wall and makes load skeleton 11 expose, sets up strain tank 121 in the periphery of the great department of arc wall camber, can reduce local structural rigidity.

Alternatively, the transmission mechanism 2 includes an input end, a transmission portion connected to the input end, and an output end connected to the transmission portion, the input end is connected to the power unit in a driving manner, and the output end is connected to the lower leg 3.

Optionally, as shown in fig. 2 and 3, the forming skeleton 12 includes a first forming member 122 and a second forming member 123, the first forming member 122 and the second forming member 123 are connected to both sides of the force bearing skeleton 11 along the first direction, and the transmission portion is accommodated in the first forming member 122 and the second forming member 123, so as to protect the transmission portion.

Optionally, as shown in fig. 2 and fig. 3, the force-bearing skeleton 11 includes a first force-bearing member 111 and a second force-bearing member 112 that are connected to each other along the second direction, the first force-bearing member 111 is connected to the trunk of the robot or the power unit of the robot, the first force-bearing member 111 is provided with an avoidance hole 1111, the input end of the transmission mechanism 2 can penetrate through the avoidance hole 1111, the forming skeleton 12 is connected to the middle of the first force-bearing member 111 and the middle of the second force-bearing member 112, and the input end of the transmission mechanism 2 is accommodated in the accommodating space formed by the first force-bearing member 111 and the second force-bearing member 112 to protect the input end of the transmission mechanism 2.

Through the mutual cooperation of bearing skeleton 11 and shaping skeleton 12 for the transfer mechanism is wrapped up completely, compact structure, safe and reliable. Specifically, the first force-bearing member 111 and the second force-bearing member 112 are respectively provided with a first mounting hole 113, the first forming member 122 and the second forming member 123 are respectively provided with a second mounting hole 124, and the fastener is inserted into the first mounting hole 113 and the second mounting hole 124 to detachably connect the force-bearing framework 11 and the forming framework 12. The shapes of the first force-bearing part 111, the second force-bearing part 112, the first forming part 122 and the second forming part 123 can be adaptively set according to requirements, and are not limited.

In this embodiment, as shown in fig. 2 and 3, the transmission mechanism 2 includes a crank 21 and a connecting rod 22 rotatably connected to the crank 21, the output part of the power unit is connected to the crank 21, and the connecting rod 22 and one end of the force-bearing skeleton 11 are rotatably connected to the lower leg 3 respectively. Specifically, the lower leg 3 includes a connecting portion 31 and a body portion (not shown in the figure) that are connected to each other, the connecting portion 31 is provided with a first connecting hole 311 and a second connecting hole 312, one end of the first rotating shaft 23 is provided with an end cap, the other end is provided with an external thread, the first rotating shaft 23 passes through the hole on the first bearing member 111, the second connecting hole 312 of the connecting portion 31 and the hole on the second bearing member 112, and the nut 24 is in threaded connection with the external thread of the first rotating shaft 23, so as to realize the rotational connection between the bearing framework 11 and the connecting portion 31; the second rotating shaft 25 passes through the first connecting hole 311 and the hole on the connecting rod 22, so as to realize the rotating connection between the connecting rod 22 and the connecting part 31.

In this embodiment, as shown in fig. 2 and 3, the crank 21 is inserted into the avoiding hole 1111, and when the crank 21 is connected to the power unit, the structural cover formed by the first force-bearing member 111 and the second force-bearing member 112 is disposed on the crank 21 to form a protection. In particular, the connection portion 31 is provided with a recess into which the link 22 extends, the recess being able to protect the end of the link 22.

Further, as shown in fig. 2 and fig. 3, a limiting rib 114 is arranged between the first bearing member 111 and the second bearing member 112, on one hand, the limiting rib 114 is used for limiting the connecting rod 22, and on the other hand, the limiting rib 114, the first bearing member 111 and the second bearing member 112 form an i-shaped structure, so that the structural strength of the bearing framework 11 can be improved.

In other embodiments, the transmission mechanism 2 may be a parallelogram transmission mechanism or a synchronous belt mechanism, and similarly, the transmission portion is also accommodated between the first forming member 122 and the second forming member 123, the input end is disposed in the accommodating space formed by the first bearing member 111 and the second bearing member 112, and the input end passes through the avoiding hole 1111 and is connected to the power unit, which is not described in detail again.

Optionally, as shown in fig. 1-3, the outer portions of the thigh 1 and the lower leg 3 are respectively sleeved with an outer sleeve 4 for beautifying the appearance of the leg assembly. In this embodiment, the outer cover 4 is made of soft materials such as silica gel, rubber, TPU (thermoplastic polyurethane elastomer), TPR (thermoplastic rubber), or one or more of hard materials such as PC (polycarbonate) or PP, and the like, so that the beauty, the affinity, and the expressive force are improved. Further, the outer cover 4 is connected by means of a connection means which is easy to replace, such as a detachable connection by means of a fastener, a direct sheathing on the structure when a soft material is used, or an adhesion, etc., so that the user can select and replace the outer cover according to his or her preference.

It is to be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement or improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A leg assembly is characterized by comprising a thigh (1), a shank (3) and a transmission mechanism (2), wherein one end of the transmission mechanism (2) is connected with a power unit of a robot in a driving mode, and the other end of the transmission mechanism is connected with the shank (3); the thigh (1) comprises:

one end of the force bearing framework (11) is connected to the trunk of the robot or a power unit of the robot, and the other end of the force bearing framework is connected to the shank (3);

and the forming framework (12) is connected to the bearing framework (11).

2. The leg assembly according to claim 1, characterized in that the material of the outrigger frame (11) is an aluminum alloy or a magnesium alloy; and/or the material of the molding framework (12) is PVC or PP.

3. Leg assembly according to claim 1, characterized in that the profiled skeleton (12) is provided with strain grooves (121).

4. A leg assembly according to claim 1, wherein the transmission mechanism (2) comprises an input, a transmission connected to the input, and an output connected to the transmission, the input being drivingly connected to the power unit and the output being connected to the lower leg (3);

the forming framework (12) comprises a first forming part (122) and a second forming part (123), the first forming part (122) and the second forming part (123) are connected to two sides of the bearing framework (11) along a first direction, and the transmission parts are accommodated in the first forming part (122) and the second forming part (123).

5. A leg assembly according to claim 1, wherein the transmission mechanism (2) comprises an input, a transmission connected to the input, and an output connected to the transmission, the input being drivingly connected to the power unit and the output being connected to the lower leg (3);

bearing skeleton (11) include along second direction interconnect's first bearing spare (111) and second bearing spare (112), first bearing spare (111) are connected in the truck of robot or the power pack of robot, first bearing spare (111) are equipped with dodges hole (1111), the input of drive mechanism (2) can wear to locate dodge hole (1111), shaping skeleton (12) connect respectively in the middle part of first bearing spare (111) with the middle part of second bearing spare (112).

6. A leg assembly according to any of claims 1-5, characterized in that the transmission mechanism (2) is a parallelogram transmission mechanism or a timing belt mechanism.

7. The leg assembly according to any one of claims 1 to 5, characterized in that the transmission mechanism (2) comprises a crank (21) and a connecting rod (22) rotatably connected with the crank (21), the output part of the power unit is in driving connection with the crank (21), and the connecting rod (22) and one end of the force bearing framework (11) are respectively rotatably connected with the lower leg (3).

8. A leg assembly as claimed in any one of claims 1-5, characterized in that the outer portions of the thigh (1) and the calf (3) are each sheathed with an outer sleeve (4).

9. A leg assembly according to claim 8, characterized in that the outer casing (4) is made of one or more splices of silicone, rubber, TPU, TPR, PC or PP.

10. A legged robot comprising a leg assembly according to any one of claims 1-9.