CN217994627U - Machine leg - Google Patents
Machine leg Download PDFInfo
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- CN217994627U CN217994627U CN202221508234.3U CN202221508234U CN217994627U CN 217994627 U CN217994627 U CN 217994627U CN 202221508234 U CN202221508234 U CN 202221508234U CN 217994627 U CN217994627 U CN 217994627U
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- leg
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 50
- 210000002414 leg Anatomy 0.000 claims abstract description 33
- 230000005540 biological transmission Effects 0.000 claims description 57
- 230000033001 locomotion Effects 0.000 abstract description 21
- 230000007246 mechanism Effects 0.000 abstract description 8
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 5
- 230000008569 process Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 4
- 210000000629 knee joint Anatomy 0.000 description 4
- 210000004394 hip joint Anatomy 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000009977 dual effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000008034 disappearance Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013468 resource allocation Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model discloses a robot leg, the utility model connects two servo joints of a robot to form three freedom servo joints of leg movement, the last servo joint is connected with a thigh structure, and an output shaft of the last servo joint is connected with a unique double-link mechanism and drives the movement of a shank structure, thereby reducing the requirement on a connecting rod, lightening the quality and saving an additional limit structure; the hollow wiring hole is reserved on the inner side of the shell of the servo joint, so that a power line and a signal line can be covered, and the risk possibly encountered by a wiring harness in the movement process is avoided; different from the traditional design, install last servo joint position in last servo joint's axis outside, reduced the inertia that the shank structure produced during the motion, reduced the energy consumption simultaneously.
Description
Technical Field
The utility model belongs to the technical field of the robot, concretely relates to robot leg.
Background
With the increase of economy and the disappearance of population dividends, the social security labor cost rises year by year. The legged robot is used for replacing people to perform tasks such as patrol, disaster area rescue, reconnaissance and detection in special areas, and casualties of people can be effectively reduced. These environments often accompany complex terrain, placing high demands on the off-road capabilities of legged robots. The leg-foot type robot has the characteristics of strong adaptability to terrain and discrete movement track, and is particularly suitable for moving on jungle mountains, steps and other terrains.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a robot leg to servo joint and degree of freedom resource allocation in the four-footed robot motion that exists among the solution correlation technique, and under the realization high degree of freedom condition, the structure is complicated, and weight is great, the complicated problem of wiring.
In order to achieve the above object, an embodiment of the present invention provides a robot leg, including first degree of freedom unit, second degree of freedom unit, third degree of freedom unit, thigh assembly, shank assembly, second degree of freedom unit axis perpendicular to first degree of freedom unit axis is arranged, third degree of freedom unit axis is on a parallel with second degree of freedom unit axis and arranges but both axes do not coincide, thigh assembly fixes on third degree of freedom unit output end surface, shank assembly one end is arranged in the thigh assembly inboard, and is connected with third degree of freedom unit.
Furthermore, the first degree of freedom unit comprises a first servo joint and a first connecting piece, the first connecting piece is of a tiger-mouth type structure, and the cylindrical part of the first connecting piece is coaxially connected to the output end of the first servo joint.
Furthermore, the second degree of freedom unit comprises a second servo joint and a second connecting piece, the side surface of the second servo joint is fixed at the mouth of the first connecting piece, the second connecting piece is annular, and the second connecting piece is coaxially connected to the output end of the second servo joint.
Furthermore, the third degree of freedom unit comprises a third servo joint and a double-link transmission structure, the rear cover of the third servo joint is fixed on the second connecting piece, the third servo joint and the second servo joint are arranged in a different axial mode, and the driving end of the double-link transmission structure is connected to the output end of the third servo joint.
Further, the thigh assembly includes thigh internal side spare, thigh external side spare, round shaft spare between the leg, the thigh internal side spare is fixed in third servo joint output terminal surface, thigh external side spare is fixed in the thigh internal side spare, two-bar transmission structure arranges inside thigh internal side spare and thigh external side spare, round shaft spare is connected in thigh internal side spare and top and is fixed in thigh external side spare inboardly between the leg.
Furthermore, the shank assembly comprises a shank piece and a sole cushion, the upper end of the shank piece is connected to the leg connecting piece, the upper end of the shank piece is fixed at the transmission end of the double-connecting-rod transmission structure, and the sole cushion is fixed at the lower end of the shank piece.
Further, two link drive structure include initiative end ring flange, right connecting rod, left connecting rod, transmission end bearing, transmission end base, the initiative ring flange is fixed in the servo joint output of third, right connecting rod one end is connected in the initiative ring flange, and the other end is connected in transmission end base, left connecting rod one end is connected in the initiative ring flange, and the other end is connected in transmission end base and is on a parallel with right connecting rod, the transmission end bearing is parallel to be arranged in the inside and outside both sides of transmission end base, the transmission end bearing inboard all is fixed in the round axle spare between the leg, the transmission end bearing outside all is fixed in the transmission end base.
According to the above embodiment of the utility model, with two liang of connections of robot servo joint, realize the configuration of three degree of freedom unit, the motion of unique two link mechanism drive shank structure that third degree of freedom unit output shaft position is connected, the requirement to the connecting rod has been reduced, the quality has been alleviateed, walk the line hole through leaving the cavity in servo articular shell inboard, make power cord and signal line can cover, the risk of pencil meetting in the motion process has been avoided, through the eccentric design of second third degree of freedom unit, the inertia that shank mechanism produced when having reduced the motion, the energy consumption has been reduced simultaneously.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, a brief description will be given below of the drawings required for the description of the embodiments or the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is an overall external view of the front side of a robot leg according to an embodiment of the present invention;
fig. 2 is an overall external view of a side surface of a machine leg according to an embodiment of the present invention;
fig. 3 is a perspective view of a robot leg according to an embodiment of the present invention;
fig. 4 is an overall exploded view of a robot leg according to an embodiment of the present invention;
fig. 5 is an overall external view of the embodiment of the present invention providing a dual link transmission structure;
fig. 6 is an overall external view of the embodiment of the present invention providing an eccentric design of the servo joint;
fig. 7 is an overall external view of an embodiment of the present invention providing a wiring scheme between three servo joints;
fig. 8 is a perspective view of a wiring scheme within a servo joint provided by an embodiment of the present invention;
in the figure: 1-a first free unit, 11-a first servo joint, 12-a first connecting piece, 2-a second free unit, 21-a second servo joint, 22-a second connecting piece, 3-a third free unit, 31-a third servo joint, 32-a double-connecting-rod transmission structure, 321-a flange plate, 322-a right connecting rod, 323-a left connecting rod, 324-a transmission end bearing, 325-a transmission end base, 4-a thigh assembly, 41-a thigh inner side part, 42-a thigh outer side part, 43-an inter-leg circular shaft part, 5-a shank assembly, 51-a shank part and 52-a sole cushion.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention are clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
It should be noted that all the directional indicators (such as up, down, left, right, front, back, 8230; \8230;) in the embodiments of the present invention are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the attached drawings), and if the specific posture is changed, the directional indicator is changed accordingly.
As shown in fig. 1-4, the utility model provides a ground embodiment provides a robot leg, including first degree of freedom unit 1, second degree of freedom unit 2, third degree of freedom unit 3, thigh assembly 4, shank assembly 5, 2 axis perpendicular to first degree of freedom unit 1 axis of second degree of freedom unit are arranged, 3 axis of third degree of freedom unit is on a parallel with 2 axis arrangements of second degree of freedom unit but both axes do not coincide, thigh assembly 4 is fixed at 3 output surfaces of third degree of freedom unit, shank assembly 5 one end is arranged thigh assembly 4 inboardly, and is connected with third degree of freedom unit 3.
According to the above embodiment, the utility model discloses a machine leg, with two liang of connections of robot servo joint, realize three degree of freedom unit configuration, the special two link mechanism of third degree of freedom unit output shaft position connection drive the motion of shank structure, the requirement to the connecting rod has been reduced, the quality has been alleviateed, walk the line hole through leaving the cavity in servo joint's shell inboard, make power cord and signal line can cover, the risk of having avoided the pencil to meet in the motion process, through the eccentric design of second third degree of freedom unit, the inertia that shank mechanism produced when having reduced the motion, the energy consumption has been reduced simultaneously.
In this embodiment, as shown in fig. 4, the first degree of freedom unit 1 includes a first servo joint 11 and a first connecting member 12, the first connecting member 12 is of a first web type structure, and a cylindrical portion of the first connecting member 12 is coaxially connected to an output end of the first servo joint 11. The first servo joint 11 and the first connecting piece 12 realize the freedom degree and the leg lifting action in the left and right direction of the thigh assembly 4.
In this embodiment, as shown in fig. 4 and 6, the second degree-of-freedom unit 2 includes a second servo joint 21 and a second connector 22, the second servo joint 21 is laterally fixed at the mouth of the first connector 12, the second connector 22 is annular, and the second connector 22 is coaxially connected to the output end of the second servo joint 21. The second degree-of-freedom unit 2 and the third degree-of-freedom unit 3 are arranged in a different axis mode, a part of self weight of the third degree-of-freedom unit 3 is used for balancing weight of a leg structure of the robot by utilizing a lever principle, the third degree-of-freedom unit 3 and the thigh assembly 4 are driven to rotate around a central axis of the second degree-of-freedom unit 2 through the second degree-of-freedom unit 2 and the second connecting piece 22, freedom degree and leg lifting action in the front-back direction of the thigh assembly 4 are achieved, output efficiency of the second servo joint 21 is improved, inertia generated by the leg mechanism during movement is reduced, and energy consumption is reduced.
In this embodiment, the third degree of freedom unit 3 includes a third servo joint 31 and a dual-link transmission structure 32, a rear cover of the third servo joint 31 is fixed to the second connecting member 22, the third servo joint 31 and the second servo joint 21 are arranged in different axes, and a driving end of the dual-link transmission structure 32 is connected to an output end of the third servo joint 31. The third servo joint 31 controls the movement of the knee joint of the robot and drives the degree of freedom in the front-back direction and the leg-folding action of the lower leg assembly 5 by driving the double-link transmission structure 32.
Further, as shown in fig. 7-8, the wiring harness inside each degree of freedom unit is orderly pressed on the internal support of the servo joint by the servo joint shell, and the wiring harness penetrates through the hollow holes left on the two sides inside the servo joint, generally, the wiring harness is positioned at the lower part of the hip joint of the robot and penetrates out of the outer side of the first degree of freedom unit, namely the inner side of the hip joint of the robot, so as to avoid the abrasion of the power line and the signal line by the revolute pair between the joints during the violent movement, avoid the influence of the wiring harness on the rotation of the joints, and ensure the normal operation of the robot in the movement state.
Further, two connecting rod drive structure 32 include drive end ring flange 321, right connecting rod 322, left connecting rod 323, transmission end bearing 324, transmission end base 325, drive end ring flange 321 is fixed in third servo joint 31 output, right connecting rod 322 one end is connected in drive ring flange 321, and the other end is connected in transmission end base 325, left connecting rod 323 one end is connected in drive ring flange 321, and the other end is connected in transmission end base 325 and is on a parallel with right connecting rod 322, the inside and outside both sides of transmission end base 325 are arranged in to transmission end bearing 324 parallel, transmission end bearing 324 is inboard all to be fixed in round shaft member 43 between the leg, transmission end bearing 324 outside all is fixed in transmission end base 325.
The upper ends and the lower ends of the left connecting rod 323 and the right connecting rod 322 are respectively hinged on the flange plate 321 and the transmission end base, two hinge points on the flange plate and two hinge points of the transmission end base naturally form a parallelogram, so that the rotating angle of the third servo joint 31 is equal to the rotating angle of the transmission end base 325, namely the angle of the shank assembly 5, the angle of the third servo joint 31 can form a closed loop in a ring manner, namely a second degree of freedom unit positioned at a hip joint at the upper end of the thigh assembly 4 is converted into a degree of freedom unit coaxially connected with a knee joint, namely the central axis of the third servo joint 31 is converted into a shaft part 43 coaxial with the shank, the quality of the knee joint is reduced, the layout structure also reduces the rotational inertia of the robot thigh assembly 4 and the shank assembly 5, and the abrasion of the servo joint at the knee joint during violent movement is avoided; meanwhile, the pull rod has certain ductility and toughness, a part of capacity can be absorbed when the shank assembly 4 violently moves or receives violent impact, the safety of the third servo joint 31 is guaranteed, meanwhile, the double-link transmission structure 32 rotates in the same direction, clockwise or anticlockwise, when a limit angle is reached, the double rods cause the servo joint to rotate in the same direction side by side, the rotating angle of the rotary angle is guaranteed, the limit purpose is reached, the rotating angle of the shank assembly 5 is controllable, an additional limit structure is saved, and the structure is compact and refined.
In the present embodiment, the thigh assembly 4 includes a thigh inner part 41, a thigh outer part 42, and a round shaft 43 between legs, the thigh inner part 41 is fixed to the output end surface of the third servo joint 31, the thigh outer part 42 is fixed to the thigh inner part 41, the two-link transmission structure 32 is arranged inside the thigh inner part 41 and the thigh outer part 42, the round shaft 43 between legs is connected to the thigh inner part 41 and is fixed to the inside of the thigh outer part 42 at the top. The thigh assembly 4 is used for connecting the third servo joint and the shank assembly 5, the flange plate 321 penetrates through a hollow hole in the upper end of the thigh inner side part 41 to be directly connected with the output end of the third servo joint 31, the double-connecting-rod transmission structure is protected from interference of the external environment, the torque is output to the lower-end transmission end base 325 and the shank part 51, and the double-connecting-rod transmission structure is simple in structure and easy to achieve.
In this embodiment, the lower leg assembly 5 includes a lower leg part 51 and a sole cushion 52, the upper end of the lower leg part 51 is connected to the circular shaft part 43 between the legs, the upper end of the lower leg part 51 is fixed to the transmission end of the dual link transmission structure 32, and the sole cushion 52 is fixed to the lower end of the lower leg part 51. The lower leg assembly 5 is contacted with the ground under the output of the third servo joint 31 and the double-link transmission structure 32, and a series of required precise actions are completed.
The utility model discloses a machine leg, with two liang of connections of robot servo joint, realize three degree of freedom unit configuration, the motion of the two link mechanism drive shank structure of third degree of freedom unit output shaft position connection, the requirement to the connecting rod has been reduced, the quality has been alleviateed, walk the line hole through leaving the cavity in servo joint's shell inboard, make power cord and signal line can cover, the risk of having avoided the pencil to meet in the motion process, through the eccentric design of second third degree of freedom unit, the inertia that shank mechanism produced when having reduced the motion, the energy consumption has been reduced simultaneously.
Although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. A robot leg is characterized by comprising a first degree-of-freedom unit (1), a second degree-of-freedom unit (2), a third degree-of-freedom unit (3), a thigh assembly (4) and a shank assembly (5);
the axis of the second degree of freedom unit (2) is perpendicular to the axis of the first degree of freedom unit (1);
the axis of the third degree-of-freedom unit (3) is parallel to the axis of the second degree-of-freedom unit (2) and is arranged but the axes of the third degree-of-freedom unit and the second degree-of-freedom unit are not coincident;
the thigh assembly (4) is fixed on the surface of the output end of the third degree of freedom unit (3);
one end of the shank assembly (5) is arranged on the inner side of the thigh assembly (4) and is connected with the third degree of freedom unit (3).
2. A robot leg according to claim 1, characterized in that said first degree of freedom unit (1) comprises a first servo joint (11), a first connection (12);
the first connecting piece (12) is of a tiger-mouth type structure;
the cylindrical part of the first connecting piece (12) is coaxially connected with the output end of the first servo joint (11).
3. A robot leg according to claim 1, characterized in that said second degree of freedom unit (2) comprises a second servo joint (21), a second link (22);
the side surface of the second servo joint (21) is fixed at the jaw of the first connecting piece (12);
the second connecting piece (22) is annular;
the second connecting piece (22) is coaxially connected to the output end of the second servo joint (21).
4. A robot leg according to claim 1, characterized in that said third degree of freedom unit (3) comprises a third servo joint (31), a double link transmission structure (32);
the rear cover of the third servo joint (31) is fixed on the second connecting piece (22);
the third servo joint (31) is arranged in a different axis from the second servo joint (21);
the driving end of the double-connecting-rod transmission structure (32) is connected with the output of the third servo joint (31)
And (4) an end.
5. A machine leg as claimed in claim 1, characterized in that said thigh assembly (4) comprises a thigh inner part (41), a thigh outer part (42), an inter-leg circular shaft (43);
the thigh inner part (41) is fixed on the output end surface of the third servo joint (31);
the thigh inner side part (41) is connected with one side of the double-connecting-rod transmission structure (32);
the thigh outer part (42) is fixed on the thigh inner part (41);
the thigh outer side part (42) is connected with the other side of the double-connecting-rod transmission structure (32);
the round shaft (43) is connected to the inner thigh part (41) and is fixed at the top to the inner side of the outer thigh part (42).
6. A robot leg, according to claim 1, characterized in that said lower leg assembly (5) comprises a lower leg member (51), a plantar seat cushion (52);
the upper end of the lower leg part (51) is connected with an inter-leg round shaft part (43);
the upper end of the lower leg piece (51) is fixed at the transmission end of the double-connecting-rod transmission structure (32);
the sole cushion (52) is fixed at the lower end of the lower leg piece (51).
7. A machine leg as claimed in claim 4, characterized in that said double link transmission structure (32) comprises a driving flange (321), a right link (322), a left link (323), a transmission end bearing (324), a transmission end base (325);
the driving flange plate (321) is fixed at the output end of the third servo joint (31);
one end of the right connecting rod (322) is connected with the driving flange plate (321), and the other end of the right connecting rod is connected with the transmission end base (325);
one end of the left connecting rod (323) is connected with the driving flange plate (321), and the other end of the left connecting rod is connected with the transmission end base (325) and is parallel to the right connecting rod (322);
the transmission end bearing (324) is arranged on the inner side and the outer side of the transmission end base (325) in parallel;
the inner sides of the transmission end bearings (324) are all fixed on the round shaft part (43) between the legs;
the outer sides of the transmission end bearings (324) are fixed on the transmission end base (325).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221508234.3U CN217994627U (en) | 2022-05-21 | 2022-05-21 | Machine leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221508234.3U CN217994627U (en) | 2022-05-21 | 2022-05-21 | Machine leg |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217994627U true CN217994627U (en) | 2022-12-09 |
Family
ID=84300938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221508234.3U Active CN217994627U (en) | 2022-05-21 | 2022-05-21 | Machine leg |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217994627U (en) |
-
2022
- 2022-05-21 CN CN202221508234.3U patent/CN217994627U/en active Active
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240403 Address after: A2-501, No. 32 Qingyan Road, Xinwu District, Wuxi City, Jiangsu Province, 214000 Patentee after: Wuxi Quanzhibo Technology Co.,Ltd. Country or region after: China Address before: 311100 712, floor 7, building h, Haichuang Park, CLP Haikang Group Co., Ltd., No. 198, aicheng street, Wuchang Street, Yuhang District, Hangzhou, Zhejiang Province Patentee before: Hangzhou Ruiwo Robot Technology Co.,Ltd. Country or region before: China |
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| TR01 | Transfer of patent right |