CN220009954U - Leg structure of robot - Google Patents
Leg structure of robot Download PDFInfo
- Publication number
- CN220009954U CN220009954U CN202321439805.7U CN202321439805U CN220009954U CN 220009954 U CN220009954 U CN 220009954U CN 202321439805 U CN202321439805 U CN 202321439805U CN 220009954 U CN220009954 U CN 220009954U
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- Prior art keywords
- module
- hip joint
- rocker arm
- double
- motor driving
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- 210000004394 hip joint Anatomy 0.000 claims abstract description 74
- 210000003423 ankle Anatomy 0.000 claims abstract description 42
- 210000000629 knee joint Anatomy 0.000 claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 23
- 210000002414 leg Anatomy 0.000 claims abstract description 16
- 210000000689 upper leg Anatomy 0.000 claims abstract description 10
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 claims description 26
- 229910052799 carbon Inorganic materials 0.000 claims description 26
- 210000002683 foot Anatomy 0.000 claims description 16
- 230000035939 shock Effects 0.000 claims description 9
- 229920000049 Carbon (fiber) Polymers 0.000 claims description 8
- 239000006096 absorbing agent Substances 0.000 claims description 8
- 239000004917 carbon fiber Substances 0.000 claims description 8
- 238000013016 damping Methods 0.000 claims description 8
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims description 8
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 3
- 244000309466 calf Species 0.000 abstract description 7
- 230000005484 gravity Effects 0.000 abstract description 7
- 230000009977 dual effect Effects 0.000 description 6
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000004744 fore-foot Anatomy 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a leg structure of a robot, wherein a hip joint movable turntable is rotated at the center of the bottom of a hip joint connecting plate, the hip joint movable turntable is in transmission connection with a first motor module at the top of the hip joint connecting plate, an upper hip joint movable rocker arm is fixed at the bottom of the hip joint movable turntable, a hip joint double-motor driving module is movably connected at the bottom of the upper hip joint movable rocker arm, a second motor module in transmission connection with the hip joint double-motor driving module is fixed at the side edge of the upper hip joint movable rocker arm, and the hip joint double-motor driving module is in transmission connection with a lower hip joint movable rocker arm; the bottom of the lower hip joint movable rocker arm is connected with the center of the top of the knee joint double-motor driving module through the thigh module, and the knee joint double-motor driving module is in transmission connection with the knee joint movable rocker arm. According to the utility model, the ankle double-motor driving module is arranged at the top of the calf module, so that the technical problems of low center of gravity and large moment of inertia of the calf in the prior art are solved.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a leg structure of a robot.
Background
The shape robot refers to a robot that simulates the appearance and behavior of a human being, and has a similar body structure to the human body in terms of structural composition. The leg structure is an important component part in the humanoid robot, the stability and flexibility of the whole robot are directly determined, the gait walking of a human being is a complex circulation process, and the actions of walking, jumping, adjusting the gravity center and the like on a complex rugged ground can be realized through the cooperative cooperation of the lower body skeleton and the muscles. The structure of the human legs has a very important reference value for the leg structure of a humanoid robot.
At present, the multi-degree-of-freedom driving at the ankle of the existing humanoid robot is driven by a motor arranged at the bottom of the lower leg or above a foot module, and the installation mode can cause the lower center of gravity of the lower leg to be low, so that the inertia is large during rotation, and the flexibility of movement is influenced to a certain extent. Therefore, it is necessary to design a robot leg structure.
Disclosure of Invention
Aiming at the situation, in order to overcome the defects in the prior art, the utility model provides a leg structure of a robot, wherein an ankle double-motor driving module is arranged at the top of a calf module, and the technical problems of low center of gravity and large moment of inertia of the calf in the prior art are solved.
In order to achieve the above purpose, the present utility model provides the following technical solutions: the leg structure of the robot comprises a hip joint connecting plate, wherein a hip joint movable turntable is rotated at the center of the bottom of the hip joint connecting plate and is in transmission connection with a first motor module at the top of the hip joint connecting plate, an upper hip joint movable rocker arm is fixed at the bottom of the hip joint movable turntable, a hip joint double-motor driving module is movably connected at the bottom of the upper hip joint movable rocker arm, a second motor module in transmission connection with the hip joint double-motor driving module is fixed at the side edge of the upper hip joint movable rocker arm, and the hip joint double-motor driving module is in transmission connection with a lower hip joint movable rocker arm;
the bottom of the lower hip joint movable rocker arm is connected with the center of the top of the knee joint double-motor driving module through a thigh module, and the knee joint double-motor driving module is in transmission connection with the knee joint movable rocker arm;
the bottom of the knee joint movable rocker arm is fixed with an ankle double-motor driving module, the bottom of the ankle double-motor driving module is fixed with a shank module, the bottom of the shank module is movably connected with a foot module through a universal joint, the ankle double-motor driving module is in transmission connection with ankle movable rocker arms on two sides, the tail end of each ankle movable rocker arm is rotationally connected with an ankle rocker arm connecting bar, and the tail end of each ankle rocker arm connecting bar is movably connected with an ankle part of the foot module through a ball joint connecting piece.
Preferably, the hip joint double-motor driving module, the knee joint double-motor driving module and the ankle double-motor driving module all comprise an outer shell, a third motor module and a joint shaft; and third motor modules are symmetrically arranged in the outer shell, and the two third motor modules are respectively in transmission connection with joint shafts positioned on two sides of the outer shell.
Preferably, the thigh module and the shank module comprise a lower carbon tube seat, an upper carbon tube seat and a carbon fiber round tube; the lower carbon tube seat and the upper carbon tube seat are symmetrically distributed, and a carbon fiber round tube is inserted between the lower carbon tube seat and the upper carbon tube seat.
Preferably, the lower carbon tube seat and the upper carbon tube seat are both provided with open slots, locking seats are symmetrically distributed on two sides of the top of the open slots, and the two locking seats are fixed through locking screws.
Preferably, the foot module comprises a rear sole, a front sole, a connecting pin and an air damping shock absorber; the rear sole and the front sole are movably connected through a connecting pin, and the top of the rear sole is movably connected with the inside of the front sole through an air damping shock absorber.
The beneficial effects of the utility model are as follows:
the ankle double-motor driving module is arranged at the top of the calf module, and the technical problems of low center of gravity and large moment of inertia of the calf in the prior art are solved.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:
FIG. 1 is a schematic perspective view of the whole structure of the present utility model;
FIG. 2 is a schematic perspective view of a foot module transmission module according to the present utility model;
FIG. 3 is a schematic perspective view of an ankle dual motor drive module according to the present utility model;
FIG. 4 is a schematic perspective view of a thigh module according to the present utility model;
FIG. 5 is a schematic perspective view of a foot module according to the present utility model;
reference numerals in the drawings: 1. a hip joint connection plate; 2. a first motor module; 3. a hip joint movement turntable; 4. an upper hip joint movable rocker arm; 5. a second motor module; 6. a hip joint double-motor driving module; 7. a lower hip joint movable rocker arm; 8. thigh module; 9. knee joint double-motor driving module; 10. knee joint movable rocker arm; 11. ankle double-motor driving module; 12. a lower leg module; 13. a universal joint; 14. a foot module; 141. a rear sole; 142. a forefoot; 143. a connecting pin; 144. an air damping shock absorber; 15. an ankle movable rocker arm; 16. ankle rocker arm connecting bar; 17. a ball head connector; 18. an outer housing; 19. a third motor module; 20. a joint shaft; 21. a lower carbon tube seat; 22. a carbon tube base is arranged; 23. a carbon fiber round tube; 24. an open slot; 25. a locking seat; 26. locking the screw.
Detailed Description
Hereinafter, only certain exemplary embodiments are briefly described. As will be recognized by those of skill in the pertinent art, the described embodiments may be modified in various different ways without departing from the spirit or scope of the present utility model. Accordingly, the drawings and description are to be regarded as illustrative in nature and not as restrictive.
In the description of the present utility model, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature.
The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings.
Example 1
The utility model provides the following technical scheme as shown in fig. 1, 2, 3, 4 and 5: the leg structure of the robot comprises a hip joint connecting plate 1, wherein a hip joint movable turntable 3 is rotated at the center of the bottom of the hip joint connecting plate 1, the hip joint movable turntable 3 is in transmission connection with a first motor module 2 at the top of the hip joint connecting plate 1, an upper hip joint movable rocker 4 is fixed at the bottom of the hip joint movable turntable 3, a hip joint double-motor driving module 6 is movably connected at the bottom of the upper hip joint movable rocker 4, a second motor module 5 in transmission connection with the hip joint double-motor driving module 6 is fixed at the side edge of the upper hip joint movable rocker 4, the hip joint double-motor driving module 6 is in transmission connection with a lower hip joint movable rocker 7, the hip joint has three degrees of freedom, the first motor module 2 works to drive the hip joint movable turntable 3 to perform angle adjustment, the upper hip joint movable rocker 4 is driven to perform angle adjustment, the first degree of freedom, the second motor module 5 works to drive the whole hip joint double-motor driving module 6 to perform angle adjustment, and a third motor module 19 inside the hip joint double-motor driving module 6 drives the lower joint movable rocker 7 to perform angle adjustment through a joint shaft 20, the third degree of freedom;
the bottom of the lower hip joint movable rocker arm 7 is connected with the center of the top of the knee joint double-motor driving module 9 through the thigh module 8, the knee joint double-motor driving module 9 is in transmission connection with the knee joint movable rocker arm 10, and the knee joint has one degree of freedom, namely a third motor module 19 in the knee joint double-motor driving module 9 drives the knee joint movable rocker arm 10 to perform angle adjustment through a joint shaft 20;
the ankle dual motor driving module 11 is fixed at the bottom of the knee joint movable rocker 10, the lower leg module 12 is fixed at the bottom of the ankle dual motor driving module 11, the bottom of the lower leg module 12 is movably connected with the foot module 14 through the universal joint 13, the ankle dual motor driving module 11 is in transmission connection with the ankle movable rocker 15 at two sides, the tail end of the ankle movable rocker 15 is rotationally connected with the ankle rocker connecting bar 16, the tail end of the ankle rocker connecting bar 16 is movably connected with the ankle part of the foot module 14 through the ball joint connecting piece 17, three degrees of freedom are arranged at the ankle joint, two third motor modules 19 of the ankle dual motor driving module 11 respectively drive the ankle movable rocker 15 and the ankle rocker connecting bar 16 through the joint shaft 20 to be connected with the foot module 14, and the foot module 14 is provided with three degrees of freedom in cooperation with the universal joint 13, and meanwhile, the ankle dual motor driving module 11 is arranged at the top of the lower leg module 12, so that the technical problems of low center of gravity and large moment of inertia of the leg in the prior art are solved.
The hip joint double-motor driving module 6, the knee joint double-motor driving module 9 and the ankle double-motor driving module 11 all comprise an outer shell 18, a third motor module 19 and a joint shaft 20; the third motor modules 19 are symmetrically installed inside the outer shell 18, and the two third motor modules 19 are respectively connected with the joint shafts 20 on two sides of the outer shell 18 in a transmission mode.
Example two
Referring to fig. 1 and 4, as another preferred embodiment, the difference from the first embodiment is that the thigh module 8 and the shank module 12 each include a lower carbon tube seat 21, an upper carbon tube seat 22, and a carbon fiber round tube 23; the lower carbon tube seat 21 and the upper carbon tube seat 22 are symmetrically distributed, and a carbon fiber round tube 23 is inserted between the lower carbon tube seat 21 and the upper carbon tube seat 22.
Preferably, the lower carbon tube seat 21 and the upper carbon tube seat 22 are provided with open slots 24, locking seats 25 are symmetrically distributed on two sides of the top of the open slots 24, the two locking seats 25 are fixed by locking screws 26, the locking screws 26 are unscrewed, the two locking seats 25 are unfolded, and the carbon fiber round tube 23 can be quickly replaced, so that the height of the thigh module 8 and the shank module 12 can be freely adjusted.
Example III
Referring to fig. 1 and 5, as another preferred embodiment, the foot module 14 is different from the first embodiment in that it includes a rear sole 141, a front sole 142, a connection pin 143, and an air damping shock absorber 144; the rear sole 141 and the front sole 142 are movably connected through the connecting pin 143, the top of the rear sole 141 is movably connected with the inside of the front sole 142 through the air damping shock absorber 144, and the rear sole 141 and the front sole 142 are elastically connected through the air damping shock absorber 144, so that a shock absorption effect is achieved.
Working principle:
the hip joint is provided with three degrees of freedom, the first motor module 2 works to drive the hip joint movable turntable 3 to conduct angle adjustment, so that the upper hip joint movable rocker 4 is driven to conduct angle adjustment, the second motor module 5 works to drive the hip joint double-motor driving module 6 to conduct angle adjustment integrally, the second degree of freedom is achieved, the third motor module 19 inside the hip joint double-motor driving module 6 is driven by the joint shaft 20 to conduct angle adjustment through the hip joint movable rocker 7, the third degree of freedom is achieved, the knee joint is provided with one degree of freedom, namely the third motor module 19 inside the knee joint double-motor driving module 9 is driven by the joint shaft 20 to conduct angle adjustment through the knee joint movable rocker 10, the ankle joint is provided with three degrees of freedom, the two third motor modules 19 of the ankle double-motor driving module 11 are respectively driven by the joint shaft 20 to conduct angle adjustment through the ankle movable rocker 15 and the ankle connecting bar 16, the foot module 14 is provided with three degrees of freedom through the joint shaft 13, and meanwhile the ankle double-motor driving module 11 is arranged at the top of the calf module 12, and the low in the center of gravity and the moment of inertia of the prior art is solved.
Finally, it should be noted that: the foregoing description is only a preferred embodiment of the present utility model, and the present utility model is not limited thereto, but it is to be understood that modifications and equivalents of some of the technical features described in the foregoing embodiments may be made by those skilled in the art, although the present utility model has been described in detail with reference to the foregoing embodiments. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (5)
1. A robotic leg structure comprising a hip joint connection board (1), characterized in that: the hip joint connecting plate (1) is characterized in that a hip joint movable rotary table (3) is rotated at the center of the bottom of the hip joint connecting plate (1), the hip joint movable rotary table (3) is in transmission connection with a first motor module (2) at the top of the hip joint connecting plate (1), an upper hip joint movable rocker arm (4) is fixed at the bottom of the hip joint movable rotary table (3), a hip joint double-motor driving module (6) is movably connected at the bottom of the upper hip joint movable rocker arm (4), a second motor module (5) in transmission connection with the hip joint double-motor driving module (6) is fixed at the side edge of the upper hip joint movable rocker arm (4), and the hip joint double-motor driving module (6) is in transmission connection with a lower hip joint movable rocker arm (7);
the bottom of the lower hip joint movable rocker arm (7) is connected with the center of the top of the knee joint double-motor driving module (9) through the thigh module (8), and the knee joint double-motor driving module (9) is in transmission connection with the knee joint movable rocker arm (10);
the utility model discloses a knee joint movable rocker arm, including knee joint movable rocker arm, ankle double motor drive module (11), the bottom of ankle double motor drive module (11) is fixed with shank module (12), the bottom of shank module (12) is through universal joint (13) and foot module (14) swing joint, ankle double motor drive module (11) is connected with ankle movable rocker arm (15) transmission of both sides, the tail end rotation of ankle movable rocker arm (15) is connected with ankle rocker arm connecting bar (16), the tail end of ankle rocker arm connecting bar (16) is through ball head connecting piece (17) and the ankle position swing joint of foot module (14).
2. A robotic leg structure as claimed in claim 1, wherein: the hip joint double-motor driving module (6), the knee joint double-motor driving module (9) and the ankle double-motor driving module (11) comprise an outer shell (18), a third motor module (19) and a joint shaft (20);
third motor modules (19) are symmetrically arranged in the outer shell (18), and the two third motor modules (19) are respectively connected with joint shafts (20) positioned on two sides of the outer shell (18) in a transmission mode.
3. A robotic leg structure as claimed in claim 1, wherein: the thigh module (8) and the shank module (12) comprise a lower carbon tube seat (21), an upper carbon tube seat (22) and a carbon fiber round tube (23);
the lower carbon tube seat (21) and the upper carbon tube seat (22) are symmetrically distributed, and a carbon fiber round tube (23) is inserted between the lower carbon tube seat (21) and the upper carbon tube seat (22).
4. A robotic leg structure according to claim 3, wherein: open slots (24) are formed in the lower carbon tube seat (21) and the upper carbon tube seat (22), locking seats (25) are symmetrically distributed on two sides of the top of the open slots (24), and the two locking seats (25) are fixed through locking screws (26).
5. A robotic leg structure as claimed in claim 1, wherein: the foot module (14) comprises a rear sole (141), a front sole (142), a connecting pin (143) and an air damping shock absorber (144);
the rear sole (141) and the front sole (142) are movably connected through a connecting pin (143), and the top of the rear sole (141) is movably connected with the inside of the front sole (142) through an air damping shock absorber (144).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321439805.7U CN220009954U (en) | 2023-06-07 | 2023-06-07 | Leg structure of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321439805.7U CN220009954U (en) | 2023-06-07 | 2023-06-07 | Leg structure of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220009954U true CN220009954U (en) | 2023-11-14 |
Family
ID=88685815
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321439805.7U Active CN220009954U (en) | 2023-06-07 | 2023-06-07 | Leg structure of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220009954U (en) |
-
2023
- 2023-06-07 CN CN202321439805.7U patent/CN220009954U/en active Active
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