CN218364860U - Rotating mechanism and quadruped robot - Google Patents

Abstract

The utility model relates to a rotary mechanism and four-footed robot, include: the first rotating body comprises a first rotating connecting end; and the second rotating body comprises a second rotating connecting end, the second rotating connecting end is rotatably connected with the first rotating connecting end and is matched with the first rotating connecting end to form a rotating joint, and the second rotating connecting end and the first rotating connecting end adopt a shape mutual matching design so that a safety gap is formed by matching the second rotating connecting end and the first rotating connecting end. Because first rotation link and second rotation link have adopted the shape to mutually support the design and have been formed with the relief gap, the width in this relief gap is less than user's finger minimum diameter to in rotary mechanism swing use, even if when user's finger touch revolute joint, the finger also can't accidentally stretch into in the relief gap, can not be pressed from both sides by rotary mechanism and hinder, can effectively eliminate the potential safety hazard of tong, thereby improve four-footed robot's product security and user and use experience and feel.

Description

Rotating mechanism and quadruped robot

Technical Field

The utility model relates to a mechanical equipment safety protection technical field especially relates to a rotary mechanism and four-footed robot.

Background

Currently, with the continuous development and progress of science and technology, various products with specific functions appear in different scenes such as work and life of people. The product can be installed with rotary mechanism in order to realize walking, exercise and other purposes, the clearance of the rotary joint of the existing rotary mechanism is large, if people carelessly stretch fingers into the clearance of the rotary joint in the use process, the rotary mechanism rotates, so that potential safety hazards of injuring the fingers are easily caused, and the product safety and the user use experience are influenced.

SUMMERY OF THE UTILITY MODEL

Based on this, it is necessary to provide a rotary mechanism and a quadruped robot, and the problem that the potential safety hazard of fingers being injured by clamping exists in the prior art, and the product safety and the use experience feeling are reduced is solved.

In one aspect, the present application provides a rotary mechanism comprising:

a first rotating body including a first rotational connection end; and

the second rotator comprises a second rotating connecting end, the second rotating connecting end is rotatably connected with the first rotating connecting end and is matched with the first rotating connecting end to form a rotating joint, and the second rotating connecting end and the first rotating connecting end adopt a shape mutual matching design, so that a safety gap is formed by matching the second rotating connecting end with the first rotating connecting end.

The rotating mechanism according to the above-described aspect can be applied to, for example, a four-legged robot, and when used, the rotating mechanism is attached to a robot main body, and the second rotating body performs rotational oscillation with respect to the first rotating body and/or the first rotating body performs rotational oscillation with respect to the robot main body, thereby providing a walking capability of the four-legged robot. Particularly, the first rotating body is rotatably connected with the second rotating connecting end of the second rotating body through the first rotating connecting end, so that the first rotating connecting end and the second rotating connecting end form a rotating joint, the swinging walking requirement of the rotating mechanism is met, and the first rotating connecting end and the second rotating connecting end adopt the shape mutual matching design, so that a safety gap can be formed between the first rotating connecting end and the second rotating connecting end, the width of the safety gap is smaller than the minimum diameter of fingers of a user, and when the rotating mechanism swings for use, even if the fingers of the user touch the rotating joint, the fingers cannot accidentally extend into the safety gap and cannot be clamped by the rotating mechanism, the potential safety hazards of clamping can be effectively eliminated, and the product safety and the user use experience of the quadruped robot are improved.

The technical solution of the present application is further described below:

in one embodiment, one of the first and second rotary connecting ends is a notch groove, and the other of the first and second rotary connecting ends is a joint body rotatably mounted in the notch groove through a rotating shaft.

In one embodiment, the relief gap includes a first relief slit, a second relief slit, and a third relief slit, wherein the walls of the notch groove cooperate with the top surface of the joint body to form the first relief slit, wherein the first groove sidewall of the notch groove cooperates with the first side surface of the joint body to form the second relief slit, and wherein the second groove sidewall of the notch groove cooperates with the second side surface of the joint body to form the third relief slit.

In one embodiment, the width of the safety gap remains constant during the relative rotation of the first rotating body and the second rotating body.

In one embodiment, the second rotating connecting end is provided with an abutting portion, and when the rotating mechanism is in the folding state, the abutting portion abuts against the first rotating connecting end so that a folding side of the second rotating body and a folding side of the first rotating body are matched to form a safety space.

In one embodiment, the folding side of the second rotating body is provided with a first avoidance concave portion, and a safety space is formed between the first avoidance concave portion and the folding side of the first rotating body in a matched mode.

In one embodiment, a folding side of the first rotating body is provided with a second avoidance concave portion, and a safety space is formed between the second avoidance concave portion and the folding side of the second rotating body in a matched mode.

In one embodiment, a folding side of the second rotating body is provided with a first avoidance concave portion, a folding side of the first rotating body is provided with a second avoidance concave portion, and the first avoidance concave portion and the second avoidance concave portion are arranged oppositely and cooperate to form a safety space.

In one embodiment, the rotating mechanism further comprises a limiting rib, the limiting rib is arranged at the first rotating connecting end, and the limiting rib is used for preventing fingers from extending into the rotating mechanism.

In one embodiment, the second rotary connecting end is further provided with a limiting matching part, and when the rotary mechanism is in the maximum unfolding state, the limiting matching part is abutted to the limiting rib.

In another aspect, the present application also provides a quadruped robot, including:

a robot main body; and

the four rotating mechanisms can be rotatably arranged on the robot main body and are distributed in a rectangular shape.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention and do not constitute a limitation on the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

FIG. 1 is a schematic structural view of a quadruped robot in the present application;

FIG. 2 is a schematic view of the structure of FIG. 1 from another perspective;

FIG. 3 is a schematic view of the rotating mechanism of the present application in a normally deployed state;

fig. 4 is a schematic structural view of the rotating mechanism in a folded state;

fig. 5 is a schematic view of the rotation mechanism at its maximum deployment state.

Description of reference numerals:

100. a quadruped robot; 10. a rotation mechanism; 11. a first rotating body; 111. a first rotationally connected end; 112. a second avoidance concave portion; 12. a second rotating body; 121. a second rotary connection end; 121a, an abutting portion; 121b, a limit matching part; 122. a first avoidance concave portion; 13. limiting ribs; 20. a robot main body; 30. a safety clearance; 40. a safe space.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention more comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein, as those skilled in the art will be able to make similar modifications without departing from the spirit and scope of the present invention.

As shown in fig. 1 and 2, a quadruped robot 100 according to an embodiment of the present application includes: a robot main body 20 and four rotation mechanisms 10. The four rotating mechanisms 10 are rotatably mounted on the robot body 20 and are distributed in a rectangular shape. In use, the plurality of rotary mechanisms 10 can simulate the walking postures of quadruped animals to realize the motion requirements of walking, jumping, running and the like of the quadruped robot 100. The quadruped robot 100 can replace human beings to work in the fields of exploration, rescue, patrol and the like.

It is understood that the robot main body 20 is used to load the rotation mechanism 10, and functional components such as a controller, a battery, and a driving motor are also mounted on the robot main body 20. The controller is used to control the action state of the quadruped robot 100. The battery is used for supplying power to the power-consuming components on the quadruped robot 100, so that the quadruped robot 100 can have certain cruising working capacity. The driving motor is in driving connection with the rotating mechanism 10 to provide the power required by the swinging of the rotating mechanism 10.

Of course, in other embodiments, the quadruped robot 100 may further include functional components such as a navigation device and a task execution terminal (e.g., a mechanical gripper), which may be configured according to actual needs.

It should be noted that, in other embodiments, the rotating mechanism 10 may also be applied to a wheelchair, an exercise apparatus, and other products, and the selection may be performed according to actual needs.

Referring to fig. 3 to fig. 5, a rotating mechanism 10 according to an embodiment of the present disclosure is shown, which includes: a first rotating body 11 and a second rotating body 12. It is easily understood that the first rotating body 11 is an upper leg of the four-footed robot 100 and the second rotating body 12 is a lower leg of the four-footed robot. The first rotating body 11 is directly connected to a driving motor, and the driving motor drives the first rotating body 11 to swing back and forth. The first rotating body 11 is connected with the second rotating body 12 through a transmission mechanism, so that the first rotating body 11 can drive the second rotating body 12 to swing back and forth, and the walking purpose is achieved.

In addition, a foot support is provided at the bottom end of the second rotating body 12. The foot support is preferably made of an elastic wear-resistant material, such as wear-resistant rubber. Therefore, the four-foot robot 100 can play a role in buffering and vibration reduction when moving, improve the contact friction force with the ground to prevent slipping, and ensure the structural safety and walking stability of the four-foot robot 100. Alternatively, the foot support may be an air bag, a foam pad, or the like.

Exemplarily, the first rotation body 11 includes a first rotation connection end 111; the second rotating body 12 includes a second rotating connecting end 121, the second rotating connecting end 121 is rotatably connected to the first rotating connecting end 111 and is matched with the first rotating connecting end 111 to form a rotating joint, and the second rotating connecting end 121 and the first rotating connecting end 111 adopt a shape matching design, so that the second rotating connecting end 121 and the first rotating connecting end 111 are matched to form the safety gap 30.

In summary, the implementation of the technical solution of the present embodiment has the following beneficial effects: the rotation mechanism 10 according to the above-described embodiment is applied to a four-legged robot 100, and is attached to a robot main body 20 when in use, and the four-legged robot 100 can provide a walking capability by the second rotating body 12 performing rotational oscillation with respect to the first rotating body 11 and/or the first rotating body 11 performing rotational oscillation with respect to the robot main body 20. Specifically, the first rotating body 11 is rotatably connected to the second rotating connecting end 121 of the second rotating body 12 through the first rotating connecting end 111, so that the first rotating connecting end 111 and the second rotating connecting end 121 form a rotating joint, which meets the requirement of swinging walking of the rotating mechanism 10, and because the first rotating connecting end 111 and the second rotating connecting end 121 adopt a shape mutual matching design, a safety gap 30 can be formed between the first rotating connecting end 111 and the second rotating connecting end 121, the size of the safety gap 30 is smaller than the minimum diameter of the fingers of the user, so that in the swinging use process of the rotating mechanism 10, even if the fingers of the user touch the rotating joint, the fingers cannot accidentally extend into the safety gap 30, and cannot be pinched by the rotating mechanism 10, the potential safety hazard of pinching can be effectively eliminated, and the product safety and the user experience of the quadruped robot 100 can be improved.

In some embodiments, one of the first rotation connecting end 111 and the second rotation connecting end 121 is configured as a notched groove, and the other of the first rotation connecting end 111 and the second rotation connecting end 121 is configured as a joint body, and the joint body is rotatably installed in the notched groove through a rotating shaft. The joint body is inserted into the notch groove, and two opposite side surfaces of the joint body can be respectively contacted with two groove side walls of the notch groove, so that the mounting and positioning effects are achieved; and when the second rotator 12 rotates relative to the first rotator 11, the two sets of contact mating surfaces can also guide and limit the second rotator 12, so as to ensure the stable posture of the second rotator 12. In addition, the joint body is also conveniently installed in the notch groove through the rotating shaft, and the installation structure is simple and compact.

Specifically, the groove bottom of the notch groove in this embodiment is formed as an inwardly concave arc surface, and correspondingly, the top surface of the joint body is formed as an outwardly convex arc surface. The shape of the convex cambered surface and the concave cambered surface are designed in a matching mode, so that the problem of interference can be prevented while the safety gap is smaller than the minimum diameter of a finger.

In addition, in some embodiments, the notch groove is a U-shaped groove with two ends extending therethrough, so that the joint body is inserted into the notch groove to form a bottom portion and two side portions, which together form three assembly gaps, as will be understood, the three assembly gaps together form the safety gap 30. That is, the relief gap 30 includes a first relief slit, a second relief slit, and a third relief slit, wherein the first relief slit is formed by the walls of the notch groove and the top surface of the joint body, the second relief slit is formed by the first groove sidewall of the notch groove and the first side surface of the joint body, and the third relief slit is formed by the second groove sidewall of the notch groove and the second side surface of the joint body. Therefore, when the fingers of a user extend to the bottom or two sides of the rotary joint, the first safety seam, the second safety seam and the third safety seam can prevent the fingers from extending into the rotary joint, so that the safety accident that the fingers are injured by clamping is prevented, and the safety is greatly improved.

Further, the width of the safety gap 30 remains constant during the relative rotation of the first rotating body 11 and the second rotating body 12. In this way, the finger is prevented from being pinched when the finger is accidentally extended to the safety gap 30 in the entire process of the rotation of the second rotating body 12 relative to the first rotating body 11.

With reference to fig. 4, in addition to any of the above embodiments, the second rotating connection end 121 is provided with an abutting portion 121a, and when the rotating mechanism 10 is in the folded state, the abutting portion 121a abuts against the first rotating connection end 111 so as to form a safety space 40 between the folded side of the second rotating body 12 and the folded side of the first rotating body 11. When the second rotating body 12 is folded and gathered in the direction of the first rotating body 11, the abutting portion 121a abuts against the first rotating connecting end 111, so that the second rotating body 12 can be prevented from being excessively folded, that is, the second rotating body 12 can be prevented from being excessively gathered with iron legs, and a safety space 40 with a sufficient size can be formed, wherein the width of the safety space 40 (that is, the shortest linear distance between the second rotating body 12 and the first rotating body 11) is greater than the minimum diameter of a finger, so that the finger cannot be pinched by the second rotating body 12 and the first rotating body 11 when extending into the safety space 40.

Further, a first avoiding concave portion 122 is provided on the folding side of the second rotating body 12, and the safety space 40 is formed between the first avoiding concave portion 122 and the folding side of the first rotating body 11 in a matching manner. Alternatively, as an alternative to the above embodiment, the folding side of the first rotating body 11 is provided with a second avoiding concave portion 112, and the safety space 40 is formed by the second avoiding concave portion 112 and the folding side of the second rotating body 12 in a matching manner. Or, as an alternative to the above two embodiments, the folding side of the second rotating body 12 is provided with a first avoidance concave portion 122, the folding side of the first rotating body 11 is provided with a second avoidance concave portion 112, and the first avoidance concave portion 122 and the second avoidance concave portion 112 are arranged oppositely and cooperate to enclose the safety space 40.

In any of the above schemes, by designing the first avoiding concave portion 122 and/or the second avoiding concave portion 112, when the second rotating body 12 is folded and gathered towards the first rotating body 11 to the greatest extent possible, the safe space 40 is ensured to have a sufficient volume, so that the purpose of preventing hands from being pinched while the folding volume of the four-legged robot 100 is small is achieved.

Preferably, in the present application, the folding side of the second rotating body 12 is provided with the first avoiding concave portion 122, and the folding side of the first rotating body 11 is provided with the second avoiding concave portion 112. The first avoidance concave portion 122 and the second avoidance concave portion 112 may be concave structures having shapes of circular arc, square, trapezoid, and the like, and may be selected according to actual needs.

The folding side of the second rotating member 12 and the folding side of the first rotating member 11 in the above description specifically refer to the side surfaces of the second rotating member 12 and the first rotating member 11 facing the head of the quadruped robot 100. That is, when the rotation mechanism 10 retracts, the second rotation body 12 rotates toward the head of the four-footed robot 100 and approaches the first rotation body 11 to gather.

With reference to fig. 5, in addition, on the basis of any of the above embodiments, the rotating mechanism 10 further includes a limiting rib 13, the limiting rib 13 is disposed at the first rotating connection end 111, and the limiting rib 13 is used for blocking a finger from extending into the rotating mechanism 10.

Further, the second rotation connection end 121 is further provided with a limit fitting portion 121b, and when the rotation mechanism 10 is in the maximum expansion state, the limit fitting portion 121b abuts against the limit rib 13. The limit fitting part 121b is abutted against the limit rib 13 to prevent the rotating mechanism 10 from being excessively unfolded, so that the second rotating body 12 and the first rotating body 11 are attached to each other too tightly to clamp fingers.

In this embodiment, the limiting rib 13 is a strip-shaped protrusion integrally formed or detachably disposed on the side wall of the notch groove and close to the bottom of the groove.

All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only represent some embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like, indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present application, unless expressly stated or limited otherwise, the first feature may be directly on or directly under the second feature or indirectly via intermediate members. Also, a first feature "on," "above," and "over" a second feature may be directly on or obliquely above the second feature, or simply mean that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims (11)

1. A rotary mechanism, comprising:

a first rotating body including a first rotational connection end; and

the second rotator comprises a second rotating connecting end, the second rotating connecting end is rotatably connected with the first rotating connecting end and is matched with the first rotating connecting end to form a rotating joint, and the second rotating connecting end and the first rotating connecting end adopt a shape mutual matching design, so that a safety gap is formed by matching the second rotating connecting end with the first rotating connecting end.

2. The rotary mechanism of claim 1, wherein one of the first and second rotary connection ends is configured as a notched groove, and the other of the first and second rotary connection ends is configured as a joint body rotatably mounted in the notched groove via a rotating shaft.

3. The rotary mechanism of claim 2, wherein the relief gap comprises a first relief slot, a second relief slot, and a third relief slot, wherein a slot wall of the relief slot cooperates with a top surface of the joint body to form the first relief slot, wherein a first slot sidewall of the relief slot cooperates with a first side surface of the joint body to form the second relief slot, and wherein a second slot sidewall of the relief slot cooperates with a second side surface of the joint body to form the third relief slot.

4. A rotary mechanism according to claim 1 wherein the width of the safety gap remains constant during relative rotation of the first and second rotary bodies.

5. A rotation mechanism according to claim 1, wherein the second rotation connection end is provided with an abutment portion, and the abutment portion abuts against the first rotation connection end when the rotation mechanism is in the folded state, so that a safety space is formed between the folded side of the second rotation body and the folded side of the first rotation body.

6. The rotary mechanism of claim 1, wherein the folding side of the second rotating body is provided with a first avoiding recess, and the first avoiding recess and the folding side of the first rotating body cooperate to form a safety space.

7. The rotary mechanism of claim 1, wherein the folding side of the first rotating body is provided with a second recess, and the second recess and the folding side of the second rotating body cooperate to form a safety space.

8. The rotating mechanism according to claim 1, wherein a folding side of the second rotating body is provided with a first avoidance recess, a folding side of the first rotating body is provided with a second avoidance recess, and the first avoidance recess and the second avoidance recess are arranged opposite to each other and cooperate to form a safety space.

9. The rotating mechanism according to claim 1, further comprising a limiting rib disposed at the first rotating connection end, wherein the limiting rib is configured to block a finger from extending into the rotating mechanism.

10. The rotary mechanism of claim 9, wherein the second rotary connection end further comprises a limit engagement portion, and the limit engagement portion abuts against the limit rib when the rotary mechanism is in a maximum deployment state.

11. A quadruped robot, comprising:

a robot main body; and

four rotating mechanisms according to any one of claims 1 to 10, wherein the four rotating mechanisms are rotatably mounted on the robot body and are arranged in a rectangular shape.

Images