CN219790350U

CN219790350U - Robot thigh arm

Info

Publication number: CN219790350U
Application number: CN202320204354.2U
Authority: CN
Inventors: 朱冬; 胡小东; 唐国梅; 王力; 禹浪; 陈超
Original assignee: Seven Teng Robot Co ltd
Current assignee: Seven Teng Robot Co ltd
Priority date: 2023-02-14
Filing date: 2023-02-14
Publication date: 2023-10-03
Anticipated expiration: 2033-02-14

Abstract

The utility model relates to a thigh arm of a robot, which relates to the technical field of robots and comprises an arm body, wherein one end of the arm body is provided with a pair of external ear plates, the other end of the arm body is provided with a pair of first knee ear plates, and a shaft hole on the first knee ear plates is perpendicular to the shaft hole axis on the external ear plates. This application has an advantage of simplifying the thigh arm structure and enabling knee bending while performing inside-outside swing.

Description

Robot thigh arm

Technical Field

The utility model relates to the technical field of robots, in particular to a thigh arm of a robot.

Background

Robots play an increasingly important role in modern society, and foot-type robots are currently becoming an important direction and development hot tide for domestic and foreign research due to good adaptability to unstructured environments. For a four-legged robot, the configuration of the leg joints of a single leg is generally two types of knee type and elbow type, and the two types can be used in combination.

The related art is published patent number CN218021917U, which discloses a servo pump control direct-drive robot leg and foot system, comprising a base, a side swing joint, a front swing joint and a shank joint which are connected in turn in a rotating way, wherein a front swing oil cylinder is arranged between the side swing joint and the front swing joint, and a shank oil cylinder is arranged between the front swing joint and the shank joint.

Aiming at the related technology, the effect similar to the thigh joint of a human can be realized only by two parts of the side swing joint and the positive swing joint, and the structure is complex.

Disclosure of Invention

In order to solve the problem that the structure of the thigh joint of the existing robot is complex, the utility model provides a thigh arm of the robot.

The utility model provides a robot thigh arm which adopts the following technical scheme:

the utility model provides a robot thigh arm, includes the arm body, and the one end of arm body is equipped with a pair of concha board, and the other end of arm body is equipped with a pair of first knee otic placode, and the shaft hole on the first knee otic placode sets up perpendicularly with the shaft hole axis on the concha board.

Through adopting above-mentioned technical scheme, the arm body rotates with the hip joint through the shaft hole on the concha board to be connected for thigh arm can carry out inside and outside swing under external power. The arm body is rotationally connected with the shank arm through the shaft hole on the first knee earplate, so that the thigh arm and the shank arm can rotate at the knee position similar to a human leg. The thigh arm has a simple structure, and the whole leg and foot structure is optimized.

In summary, the utility model has the following beneficial technical effects: the thigh arm has simple structure, can realize simple and easy rotation connection with hip joint and shank joint simultaneously, and is convenient for manufacture and maintenance.

Drawings

FIG. 1 is a schematic view of a robot leg and foot apparatus according to an embodiment of the present utility model;

FIG. 2 is a cross-sectional view taken along the A-A plane of FIG. 1;

FIG. 3 is a schematic view of the thigh arm;

FIG. 4 is a cross-sectional view of the B-B plane of FIG. 3;

FIG. 5 is a schematic view of the structure of a lower leg arm;

FIG. 6 is a cross-sectional view of the C-C plane of FIG. 5;

fig. 7 is a schematic view of a partial structure of a foot joint portion.

Reference numerals illustrate:

1. thigh arms; 11. a first lightening hole; 12. an outer ear plate; 13. an inner ear plate; 14. a mounting groove; 15. a pin hole; 16. a first knee ear plate; 17. a through hole; 18. a wire hole;

2. a lower leg arm; 21. a second lightening hole; 22. a second knee ear plate; 23. perforating; 24. a foot connection end; 25. a mounting hole; 26. an extension groove;

3. a hydraulic cylinder; 31. a cylinder; 32. a piston rod; 33. a mounting frame;

4. a first connection portion;

5. a second connecting portion;

6. foot joints; 61. foot sleeves; 611. an anti-skid groove; 62. an inner bag; 621. a threaded section; 63. a cover plate; 64. a fixing nut;

7. a cable;

8. a pressure sensor.

Detailed Description

The utility model is described in further detail below with reference to fig. 1-7.

The embodiment of the utility model discloses a robot leg and foot device.

Referring to fig. 1 and 2, the robot leg and foot apparatus includes a thigh arm 1, a shank arm 2, and a hydraulic cylinder 3, the thigh arm 1 is rotatably connected with the shank arm 2, a cylinder body 31 of the hydraulic cylinder 3 is rotatably connected with the thigh arm 1, a piston rod 32 of the hydraulic cylinder 3 is rotatably connected with a first connecting portion 4 and a second connecting portion 5, the other end of the first connecting portion 4 is rotatably connected with the thigh arm 1, the other end of the second connecting portion 5 is rotatably connected with the shank arm 2, a rotational axis point of the thigh arm 1 and the shank arm 2, a rotational axis point of the first connecting portion 4 and the thigh arm 1, a rotational axis point of the second connecting portion 5 and the shank arm 2, and a rotational axis point of the first connecting portion 4 and the second connecting portion 5 form a quadrangle.

The transmission of the hydraulic cylinder 3 and the lower leg arm 2 adopts a four-bar structure, and the swing amplitude of the hydraulic cylinder 3 in the four-bar structure is smaller under the condition that the unfolding angles of the lower leg arm 2 are the same.

The hydraulic cylinder 3 may be a bi-directional hydraulic cylinder, here a double-rod hydraulic cylinder. In order to protect the piston rod 32 of the hydraulic cylinder 3, the cylinder body 31 of the hydraulic cylinder 3 is fixedly connected with a mounting frame 33, the mounting frame 33 can be a cylindrical rod hinged in the thigh arm 1, and a cavity for accommodating the piston rod 32 is formed in one end, connected with the cylinder body 31, of the cylindrical rod along the axis. The mounting 33 and the cylinder 31 may be fixed by screws.

The first connecting portion 4 and the second connecting portion 5 can be arc-shaped plates, and the notch of each arc-shaped plate is arranged towards the rotation axis point of the thigh arm 1 and the shank arm 2, so that the stress transmission route in the structural member is more consistent, and the service life is prolonged. In other embodiments, the first connecting portion 4 and the second connecting portion 5 may be a straight plate, an S-shaped plate, a V-shaped plate, or the like.

Referring to fig. 3 and 4, the overall outline of the thigh arm 1 is in a quadrangular prism structure, and a cavity is provided inside the thigh arm 1. In order to further reduce the weight, the surface of the thigh arm 1 is provided with a plurality of first lightening holes 11 to form a hollowed-out structure.

A pair of outer ear plates 12 are formed on opposite side walls of one end of the thigh arm 1, and shaft holes are formed in the outer ear plates 12. An inner ear plate 13 is fixedly arranged between the two outer ear plates 12, two inner ear plates 13 can be arranged, and the two outer ear plates 12 and the two inner ear plates 13 are arranged in parallel. For mounting the angle monitor, a mounting groove 14 is provided on the outer wall of the external ear plate 12 at a position corresponding to the shaft hole.

The thigh arm 1 is close to the position of the inner ear plate 13 and is provided with a pin hole 15, the axis of the pin hole 15 is perpendicular to the shaft hole of the inner ear plate 13, and the end part of the mounting frame 33 is hinged to the pin hole 15, so that the hydraulic cylinder 3 can be integrally accommodated in a cavity in the thigh arm 1.

The other end of the thigh arm 1 is formed with a pair of first knee lugs 16 on opposite side walls, and the first knee lugs 16 are provided with shaft holes. The first knee ear plate 16 and the outer ear plate 12 are respectively positioned on different sides of the thigh arm 1, and the shaft hole on the first knee ear plate 16 is perpendicular to the shaft hole on the outer ear plate 12.

To further reduce the weight of the thigh arm 1, the cross-sectional area of the thigh arm 1 gradually decreases from one end toward the other end near the concha plate 12.

The thigh arm 1 is close to the one end of auricle board 12 still is equipped with wire hole 18, and wire hole 18 is used for the cable to pass in order to walk the line from the inside of thigh arm 1, reduces the winding of circuit when leg foot moves, plays the guard action to the steady operation of leg foot system.

The thigh arm 1 is close to the first knee otic placode 16 position and has seted up through-hole 17, and the axis of through-hole 17 is parallel with the shaft hole axis of first knee otic placode 16. The through hole 17 is used for the articulation of the first connection 4 with the thigh arm 1.

The thigh arm 1 is rotatably connected with the hip joint through the shaft hole on the concha plate 12, so that the thigh arm 1 can swing inside and outside under external power. The thigh arm 1 is rotatably connected with the shank arm 2 through the shaft hole on the first knee ear plate 16, so that the rotation similar to the knee position of the human leg is realized between the thigh arm 1 and the shank arm 2. The thigh arm 1 has a simple structure and optimizes the overall leg-foot structure.

Referring to fig. 5 and 6, the entire lower leg arm 2 approximates a quadrangular structure, the inside of the lower leg arm 2 is hollow, and in order to further reduce the weight of the lower leg arm 2, a plurality of second lightening holes 21 are formed in the surface of the lower leg arm 2 to form a hollowed-out structure.

A pair of second knee lugs 22 are formed on opposite side walls of one end of the shank arm 2, shaft holes are formed in the second knee lugs 22, and the shank arm 2 and the thigh arm 1 are aligned with the shaft holes of the second knee lugs 22 through the first knee lugs 16 and are connected in a rotating manner through shaft rods.

The position of the shank arm 2, which is close to the shaft hole of the second knee ear plate 22, is provided with a perforation 23, the axis of the perforation 23 is parallel to the axis of the shaft hole of the second knee ear plate 22, and the perforation 23 is used for hinging the second connecting part 5 with the shank arm 2. The width of the second knee panel 22 gradually decreases from the perforated hole 23 portion to the shaft hole portion.

The other end of the shank arm 2 is bent to form an arc section, one end of the shank arm 2 far away from the second knee ear plate 22 is a foot connecting end 24, and the foot connecting end 24 is in a quadrangular frustum pyramid structure. The end face of the foot connecting end 24 is provided with a mounting hole 25 communicated with the inner cavity of the shank arm 2, and the shank arm 2 is provided with nail holes around the mounting hole 25.

To more ergonomically increase support for leg and foot movements, the arc segment of the calf arm 2 near the foot connecting end 24 is curved to one side with a radius R2 inside the curve and a center angle β inside the curve; the radius of the outer side of the bending is R3, and the central angle of the outer side radian is gamma. Specifically, r2=54 mm, β=52°, r3=80 mm, γ=20°. The side of the shank arm 2 close to the shaft hole is locally bent, the bending radius is R1, the center angle of the bending cambered surface is alpha, specifically, r1=100 mm, and alpha=26 degrees. In the view of fig. 6, the centers O and M of R1 and R2 are located on both sides of the shank arm 2, and the cambered surfaces corresponding to R1 and R2 are located on the opposite sides of the shank arm 2, respectively. In other implementations of the embodiments of the present utility model, R1, R2, R3, α, β, γ may all be reasonably selected according to actual needs.

In order to reduce the weight of the lower leg arm 2 as much as possible, an extension groove 26 is provided at the edge of the lower leg arm 2 located in the mounting hole 25.

Referring to fig. 7, foot link 24 is connected to foot joint 6. The foot joint 6 includes a foot cover 61 and a cover 63, the foot cover 61 may be a rubber cover, the cover 63 is fixed to the foot connecting end 24 by screws, and the foot cover 61 may be adhered, welded or screwed to the cover 63. The surface of the foot cover 61 is provided with a plurality of anti-skid grooves 611.

In order to facilitate the detection of the stress state of the foot joint 6, the foot joint 6 further comprises an elastic inner bag 62, a fluid medium such as hydraulic oil is filled in the inner bag 62, the inner bag 62 is wrapped by the foot sleeve 61, a threaded section 621 is fixedly arranged on the inner bag 62, and the threaded section 621 passes through the cover plate 63 and is fixed by a fixing nut 64. In order to prevent the inner bag 62 from moving up and down relative to the cover 63, the fixing nut 64 is fixedly connected with the cover 63, and the fixing manner includes integral molding, welding, bonding, embedding and the like. The inner bladder 62 is connected to a pressure sensor 8 at a threaded section 621. The pressure sensor 8 is connected to an external central processor such as a chip or computer by a cable 7. When the foot cover 61 is deformed under force and then presses the inner bag 62, the oil pressure in the inner bag 62 rises, and the pressure value is detected by the pressure sensor 8 and then transmitted to the central processing unit through the cable 7.

The above embodiments are not intended to limit the scope of the present utility model, so: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.

Claims

1. The utility model provides a robot thigh arm, includes the arm body, its characterized in that: one end of the arm body is provided with a pair of external ear plates (12), the other end of the arm body is provided with a pair of first knee ear plates (16), and the shaft hole on the first knee ear plates (16) is perpendicular to the shaft hole axis on the external ear plates (12); the through hole (17) has been seted up in shaft hole department that the arm body is close to first knee otic placode (16), still including cylinder body rotation connect in pneumatic cylinder (3) of thigh arm, piston rod (32) of pneumatic cylinder (3) rotate and are connected with first connecting portion (4) and second connecting portion (5), the other end and the thigh arm rotation of first connecting portion (4) are connected, through hole (17) are used for first connecting portion (4) to articulate with the thigh arm, the other end of second connecting portion (5) is used for rotating with the shank arm to be connected.

2. The robotic thigh arm according to claim 1, wherein: the arm body is positioned between a pair of external ear plates (12) and fixedly provided with one or a pair of inner ear plates (13), and the inner ear plates (13) and the external ear plates (12) are arranged in parallel.

3. The robotic thigh arm according to claim 1 or 2, characterized in that: the inside of arm body is equipped with the cavity, and the one end that the arm body is close to external ear board (12) is equipped with pinhole (15), and the axis of pinhole (15) is perpendicular with the shaft hole axis of external ear board (12).

4. The robotic thigh arm according to any one of claims 1 or 2, characterized in that: the arm body is provided with a wire hole (18) for the wire (7) to pass through.

5. A robotic thigh arm according to claim 3, characterized in that: the arm body is provided with a wire hole (18) for the wire (7) to pass through.

6. The robotic thigh arm according to any one of claims 1, 2, 5, characterized in that: the outer wall of the outer ear plate (12) is provided with a mounting groove (14) corresponding to the shaft hole.

7. A robotic thigh arm according to claim 3, characterized in that: the outer wall of the outer ear plate (12) is provided with a mounting groove (14) corresponding to the shaft hole.

8. The robotic thigh arm according to any one of claims 1, 2, 5, 7, characterized in that: the arm body is provided with a plurality of first lightening holes (11).

9. A robotic thigh arm according to claim 3, characterized in that: the arm body is provided with a plurality of first lightening holes (11).