CN220884606U - Direct current motor robot leg structure and quadruped robot - Google Patents
Direct current motor robot leg structure and quadruped robot Download PDFInfo
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- CN220884606U CN220884606U CN202322619903.5U CN202322619903U CN220884606U CN 220884606 U CN220884606 U CN 220884606U CN 202322619903 U CN202322619903 U CN 202322619903U CN 220884606 U CN220884606 U CN 220884606U
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 120
- 210000002414 leg Anatomy 0.000 claims abstract description 72
- 210000001503 joint Anatomy 0.000 claims abstract description 25
- 230000005540 biological transmission Effects 0.000 claims description 32
- 244000309466 calf Species 0.000 claims description 21
- 230000007246 mechanism Effects 0.000 claims description 12
- 244000309464 bull Species 0.000 claims description 5
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 7
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 230000009194 climbing Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Abstract
The utility model provides a direct current motor robot leg structure and a four-foot robot, wherein the direct current motor robot leg structure comprises: a lower leg, a lower leg drive assembly, a lower leg motor, a thigh, and a lower leg joint; the lower leg driving assembly drives the lower leg to move, the lower leg motor is fixed on a thigh shell of the thigh, an output shaft of the lower leg motor is connected with the lower leg driving assembly, the lower leg motor provides power for the lower leg driving assembly, the thigh is positioned between the lower leg part and the lower leg motor, and the lower leg joint part is connected with the lower leg part and the thigh part; the lower leg driving assembly is connected with the lower leg joint part from the inner part of the thigh shell of the thigh part, and the lower leg motor is arranged far away from the lower leg joint part. The four-legged robot is based on the robot leg structure designed as described above. The utility model adopts the arrangement that the shank motor is far away from the shank joint part, and the shank driving component is connected with the shank joint part from the inner part of the thigh shell of the thigh part, thereby reducing the impact force of the shank joint part and effectively preventing the damage of the leg structure of the robot.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a leg structure of a direct current motor robot and a four-legged robot.
Background
With the progress of technology, the robot era is going to us, and a quadruped robot is a main direction of research as a foot robot. In order to ensure the flexibility of the motion of the four-foot robot, each leg needs at least 3 degrees of freedom motion to complete multiple complex actions such as running, climbing stairs, advancing, retreating, sideways and the like.
The utility model patent document with the publication number of CN218317008U discloses a leg structure of a modularized quadruped robot, a simple rod is adopted as a leg mechanism, and the leg mechanism and three power sources are matched together to realize thigh rotation, shank rotation and thigh and shank side swinging actions. In order to facilitate the assembly and disassembly of the robot, the method of screwing or unscrewing the screw is adopted in the open literature, so that the disassembly time is saved, and the maintenance difficulty is reduced. The thighs and the calves of the above publications are connected end to end by adopting a single shaft, the weight force of the calves and the impact force of feet are acted on the single shaft, and the force generated by the movement of the leg structure is positioned on one side of the power piece, so that the moment around the shaft is additionally generated, and the impact force is increased to exacerbate the damage of the leg structure of the robot.
In view of this, there is an urgent need to develop a robot leg structure to extend the service life of the robot leg structure.
Disclosure of utility model
The utility model provides the leg structure of the direct current motor robot and the quadruped robot, which adopt the arrangement that the lower leg motor is far away from the lower leg joint part, and the lower leg driving component is connected with the lower leg joint part from the inner part of the thigh shell of the thigh part, so that the impact force of the lower leg joint part is lightened, the damage of the leg structure of the robot is effectively prevented, and the service life of the leg structure of the robot is prolonged.
In a first aspect, the present utility model provides a dc motor robot leg structure comprising: a lower leg, a lower leg drive assembly for driving the lower leg to move, a lower leg motor for powering the lower leg drive assembly, a thigh section positioned between the lower leg and the lower leg motor, and a lower leg joint section for connecting the lower leg and the thigh section;
The lower leg motor is fixed on a thigh shell of the thigh, and an output shaft of the lower leg motor is connected with the lower leg driving assembly; the lower leg driving assembly is connected with the lower leg joint part from the inner part of the thigh shell of the thigh, so that the lower leg joint part drives the lower leg to act, and the lower leg motor is far away from the lower leg joint part.
With reference to the first aspect, in one embodiment of the present utility model, the lower leg motor is located outside the thigh housing and is connected with the thigh housing through a flange;
The lower leg driving assembly is located inside the thigh shell, and an output shaft of the lower leg motor penetrates through the thigh shell to be connected with the lower leg driving assembly.
With reference to the first aspect, in one embodiment of the present utility model, the lower leg driving assembly includes: the gear flange, the pinion, the bull gear and the connecting rod;
The gear flange is connected with the shank motor, the gear flange is fixedly connected with the pinion in a detachable mode, the pinion is meshed with the large gear, the large gear is fixedly connected with one end of the connecting rod, and the other end of the connecting rod is connected with the shank joint part;
At least 1/3 of the peripheral wall of the pinion is continuously provided with teeth, and the large gear is a sector gear;
The gear flange, the pinion, the bull gear and the connecting rod are all arranged inside the thigh shell.
With reference to the first aspect, in one embodiment of the present utility model, the lower leg joint portion includes: the lower leg driving device comprises a lower leg driving assembly, a bearing set and a bearing cover, wherein the lower leg driving assembly is connected with the lower leg driving assembly through a connecting rod;
the first shank transmission shaft and the second shank transmission shaft are arranged in parallel;
The first shank transmission shaft and the second shank transmission shaft are connected with the bearing group and the bearing cover, and the bearing group is positioned inside the bearing cover so as to realize that the bearing cover protects the bearing group.
With reference to the first aspect, in one embodiment of the present utility model, the calf motor and the calf drive assembly constitute a first degree of freedom rotation mechanism controlling the dc motor robot leg structure;
The direct current motor robot leg structure further comprises a thigh motor and a thigh driving assembly; the thigh motor and the thigh driving assembly form a second degree-of-freedom rotating mechanism for controlling the leg structure of the direct current motor robot;
the thigh motor is arranged beside the shank motor, and the thigh motor and the shank motor are arranged in parallel;
The thigh drive assembly connects the thigh motor and the thigh.
With reference to the first aspect, in one embodiment of the present utility model, the thigh drive assembly comprises a driving gear and a driven gear;
The driving gear is located beside the gear flange of the lower leg driving assembly, the driven gear is parallel to the gear flange, and the driven gear is fixedly connected with the thigh shell, so that the driven gear drives the thigh shell to rotate.
With reference to the first aspect, in one embodiment of the present utility model, the dc motor robot leg structure further includes: the side swing joint motor, the double motor bin and the flange form a third degree-of-freedom rotating mechanism for controlling the leg structure of the direct current motor robot;
The axis of side pendulum joint motor with the shank motor with the axis of thigh motor is perpendicular, the axis of shank motor with the axis of thigh motor is parallel, the shank motor with the thigh motor is located two motor warehouses, side pendulum joint motor connects the one end in two motor warehouses, the other end in two motor warehouses is connected the flange, flange swing joint direct current motor robot's robot main part.
In a second aspect, the present utility model provides a quadruped robot comprising: the robot comprises a robot main body and four direct current motor robot leg structures connected with the robot main body;
the direct current motor robot leg structure is of the scheme;
Two direct current motor robot leg structures are arranged on the same side of the robot main body.
One or more technical schemes provided by the utility model have at least the following technical effects or advantages:
1. The utility model adopts the arrangement that the shank motor is far away from the shank joint part, and the shank driving component is connected with the shank joint part from the inner part of the thigh shell of the thigh part, thereby reducing the impact force of the shank joint part, effectively preventing the damage of the leg structure of the robot and prolonging the service life of the leg structure of the robot.
2. The utility model adopts the mode that the lower leg motor is positioned at the outer side of the thigh shell and the lower leg driving assembly is positioned in the thigh shell, so that the lower leg motor is far away from the lower leg joint part, and the lower leg motor and the flange of the thigh shell are conveniently fixed, thereby realizing the simple and convenient fixation of the lower leg motor.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are needed in the embodiments of the present utility model or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a first calf drive structure diagram of a leg structure of a direct current motor robot according to an embodiment of the present utility model;
fig. 2 is a second calf transmission structure diagram of a leg structure of a direct current motor robot according to an embodiment of the present utility model;
Fig. 3 is a diagram of a shank transmission and thigh transmission structure of a leg structure of a direct current motor robot according to an embodiment of the present utility model;
Fig. 4 is a first thigh transmission structure diagram of a leg structure of a dc motor robot according to an embodiment of the present utility model;
Fig. 5 is a second diagram of a shank transmission and thigh transmission structure of a leg structure of a dc motor robot according to an embodiment of the present utility model;
Fig. 6 is a side swing transmission structure diagram of a leg structure of a dc motor robot according to an embodiment of the present utility model;
Fig. 7 is a diagram showing the positional relationship of three motors of a leg structure of a dc motor robot according to an embodiment of the present utility model;
Reference numerals: 1-lower leg; a 2-calf drive assembly; 21-a gear flange; a 22-pinion gear; 23-large gear; 24-connecting rod; 3-lower leg motor; 4-thigh; 5-calf joint; 6-thigh shells; 7-thigh motor; 8-thigh drive assembly; 81-a drive gear; 82-a driven gear; 9-a bolt; 10-a side swing joint motor; 11-a double motor bin; 12-flange.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. It will be apparent that the described embodiments are some, but not all, embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
Referring to fig. 1 and 2, fig. 1 is a first calf transmission structure diagram of a leg structure of a dc motor robot provided by an embodiment of the present utility model, and fig. 2 is a second calf transmission structure diagram of a leg structure of a dc motor robot provided by an embodiment of the present utility model, where the embodiment of the present utility model provides a leg structure of a dc motor robot, including: a lower leg 1, a lower leg driving unit 2 for driving the lower leg 1 to move, a lower leg motor 3 for supplying power to the lower leg driving unit 2, a thigh 4 positioned between the lower leg 1 and the lower leg motor 3, and a lower leg joint 5 for connecting the lower leg 1 and the thigh 4; the lower leg motor 3 is fixed on a thigh shell 6 of the thigh 4, and an output shaft of the lower leg motor 3 is connected with the lower leg driving assembly 2; the lower leg driving unit 2 is internally connected with the lower leg joint 5 from the thigh housing 6 of the thigh 4, so that the lower leg joint 5 drives the lower leg 1 to act, and the lower leg motor 3 is disposed away from the lower leg joint 5.
According to the embodiment of the utility model, the lower leg motor 3 is arranged far away from the lower leg joint part 5, and the lower leg driving assembly 2 is connected with the lower leg joint part 5 from the inner part of the thigh shell 6 of the thigh 4, so that the impact force of the lower leg joint part 5 is reduced, the damage of the leg structure of the robot is effectively prevented, and the service life of the leg structure of the robot is prolonged. The embodiment of the utility model adopts the mode that the lower leg motor 3 is positioned at the outer side of the thigh shell 6, and the lower leg driving assembly 2 is positioned in the thigh shell 6, so that the lower leg motor 3 is far away from the lower leg joint part 5, and the lower leg motor 3 and the flange of the thigh shell 6 are conveniently fixed, thereby realizing the simple and convenient fixation of the lower leg motor 3.
With continued reference to fig. 1 and 2, the calf motor 3 of the embodiment of the utility model is located outside the thigh housing 6 and is connected with the thigh housing 6 by a flange; the lower leg driving unit 2 is located inside the thigh housing 6, and the output shaft of the lower leg motor 3 penetrates the thigh housing 6 to connect the lower leg driving unit 2.
With continued reference to fig. 1 and 2, a calf drive assembly 2 in accordance with an embodiment of the utility model includes: gear flange 21, pinion 22, bull gear 23 and connecting rod 24; the gear flange 21 is connected with the shank motor 3, the gear flange 21 is fixedly connected with the pinion 22 in a detachable mode, the pinion 22 is meshed with the large gear 23, the large gear 23 is fixedly connected with one end of the connecting rod 24, and the other end of the connecting rod 24 is connected with the shank joint part 5; at least 1/3 of the peripheral wall of the pinion gear 22 is continuously provided with teeth, and the large gear 23 is a sector gear; the gear flange 21, pinion gear 22, large gear 23 and connecting rod 24 are all disposed inside the thigh housing 6.
The lower leg transmission implementation process of the embodiment of the utility model is as follows: the pinion 22 and the gear flange 21 are connected together through bolts and are arranged on the lower leg motor 3, and the pinion 22 is driven to the large gear 23 to transmit motion through the output shaft of the lower leg motor 3. And then transmitted to the lower leg portion 1 by the link 24. The connecting rod 24 is fixedly connected with the large gear 23 through a pin, so that the large gear 23 drives the connecting rod 24 to drive the shank 1 to rotate, and finally the shank motor 3-gear flange 21-small gear 22-large gear 23-connecting rod 24-shank 1 is realized to rotate.
With continued reference to fig. 1 and 2, the calf joint 5 of the embodiment of the utility model comprises: the first calf drive shaft, the second calf drive shaft, the bearing group and the bearing cover, wherein the first calf drive shaft is connected with the connecting rod 24 of the calf drive assembly 2, and the second calf drive shaft is inserted into the thigh shell 6; the first calf transmission shaft and the second calf transmission shaft are arranged in parallel; the first shank transmission shaft and the second shank transmission shaft are both connected with a bearing group and a bearing cover, and the bearing group is positioned inside the bearing cover so as to realize bearing cover protection of the bearing group. It should be noted that, the transmission shaft, the bearing set and the bearing cover in the embodiment of the present utility model are conventional arrangements in the art, and are not described herein.
Referring to fig. 3, fig. 3 is a diagram illustrating a shank transmission and thigh transmission structure of a leg structure of a dc motor robot according to an embodiment of the present utility model, where a shank motor 3 and a shank driving assembly 2 according to an embodiment of the present utility model form a first degree-of-freedom rotation mechanism for controlling the leg structure of the dc motor robot; the direct current motor robot leg structure further comprises a thigh motor 7 and a thigh driving assembly 8; the thigh motor 7 and the thigh driving assembly 8 form a second degree-of-freedom rotating mechanism for controlling the leg structure of the direct current motor robot; the thigh motor 7 is arranged beside the shank motor 3, and the thigh motor 7 and the shank motor 3 are arranged in parallel; the thigh drive assembly 8 connects the thigh motor 7 and the thigh 4.
Referring to fig. 4 and 5, fig. 4 is a first thigh transmission structure diagram of a leg structure of a dc motor robot provided by an embodiment of the present utility model, and fig. 5 is a second thigh transmission structure diagram of a leg structure of a dc motor robot provided by an embodiment of the present utility model, where a thigh driving assembly 8 of the embodiment of the present utility model includes a driving gear 81 and a driven gear 82; the driving gear 81 is located beside the gear flange 21 of the lower leg driving assembly 2, the driven gear 82 is parallel to the gear flange 21, and the driven gear 82 is fixedly connected with the thigh shell 6, so that the driven gear 82 drives the thigh shell 6 to rotate.
The thigh transmission implementation process of the embodiment of the utility model is as follows: the thigh motor 7 is fixedly connected with the driving gear 81, the driving gear 81 drives the driven gear 82 to rotate, the driven gear 82 is fixedly connected with the thigh shell 6 through bolts, and the movement of the thigh motor 7 is further transmitted to the thigh shell 6 through the driven gear 82, so that the thigh motor 7 can control the thigh 4 to rotate.
Referring to fig. 6, fig. 6 is a side swing transmission structure diagram of a leg structure of a dc motor robot according to an embodiment of the present utility model, where the leg structure of the dc motor robot according to the embodiment of the present utility model further includes: the side swing joint motor 10, the double motor bin 11 and the flange form a third degree-of-freedom rotating mechanism for controlling the leg structure of the direct current motor robot; the axis of the side swing joint motor 10 is perpendicular to the axes of the lower leg motor 3 and the thigh motor 7, the axis of the lower leg motor 3 is parallel to the axis of the thigh motor 7, the lower leg motor 3 and the thigh motor 7 are located in a double motor bin 11, the side swing joint motor 10 is connected with one end of the double motor bin 11, the other end of the double motor bin 11 is connected with a flange, and the flange is movably connected with a robot main body of the direct current motor robot.
Referring to fig. 7, fig. 7 is a diagram illustrating a positional relationship between three motors of a leg structure of a dc motor robot according to an embodiment of the present utility model, and the embodiment of the present utility model provides a four-legged robot, including: the robot comprises a robot main body and four direct current motor robot leg structures connected with the robot main body; the dc motor robot leg structure is the dc motor robot leg structure shown in fig. 1 to 6; two direct current motor robot leg structures are arranged on the same side of the robot main body. The 12 direct current motors of the embodiment of the utility model are tightly arranged in the cage structure in two lines, and the overall size of the four-foot robot is reduced under the condition of using the same hardware.
The embodiment of the utility model changes the traditional layout mode of the electric drive four-foot robot joint motor, and designs the structure of the four-foot robot main body aiming at the improved layout mode, wherein two motors at the back of each leg are hung on the structure of the robot main body as independent units. The side swing joint movement of the four-foot robot provided by the embodiment of the utility model adopts the double motor bins 11 to wrap the thigh motor 7 and the shank motor 3, the structural integrity is achieved, the double motor bins 11 are hung on the robot main body at two sides, in addition, the thigh joint motor provided by the embodiment of the utility model drives the thigh shell 6 to rotate through the transmission mechanism, and the transmission ratio is variable for different occasions so as to adjust the torque. The thigh shells 6 on two sides of the quadruped robot wrap the shells of the shank motor 3, and the quadruped robot has mechanical advantages. The calf movement of the embodiment of the utility model is driven by gears and connecting rods 24, and the torque is adjusted according to different occasions by changing the transmission ratio. The shank joint 5 shows a link 24 mounted in the centre of the shank shell with a better mechanical behaviour.
The above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the present utility model; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced with equivalents; such modifications and substitutions do not depart from the spirit of the utility model.
Claims (8)
1. A dc motor robot leg structure, comprising: a lower leg, a lower leg drive assembly for driving the lower leg to move, a lower leg motor for powering the lower leg drive assembly, a thigh section positioned between the lower leg and the lower leg motor, and a lower leg joint section for connecting the lower leg and the thigh section;
The lower leg motor is fixed on a thigh shell of the thigh, and an output shaft of the lower leg motor is connected with the lower leg driving assembly; the lower leg driving assembly is connected with the lower leg joint part from the inner part of the thigh shell of the thigh, so that the lower leg joint part drives the lower leg to act, and the lower leg motor is far away from the lower leg joint part.
2. The leg structure of a direct current motor robot of claim 1, wherein the lower leg motor is located outside the thigh housing and is flange-connected with the thigh housing;
The lower leg driving assembly is located inside the thigh shell, and an output shaft of the lower leg motor penetrates through the thigh shell to be connected with the lower leg driving assembly.
3. The direct current motor robot leg structure according to claim 1, wherein the lower leg driving assembly comprises: the gear flange, the pinion, the bull gear and the connecting rod;
The gear flange is connected with the shank motor, the gear flange is fixedly connected with the pinion in a detachable mode, the pinion is meshed with the large gear, the large gear is fixedly connected with one end of the connecting rod, and the other end of the connecting rod is connected with the shank joint part;
At least 1/3 of the peripheral wall of the pinion is continuously provided with teeth, and the large gear is a sector gear;
The gear flange, the pinion, the bull gear and the connecting rod are all arranged inside the thigh shell.
4. A dc motor robot leg structure as claimed in any one of claims 1 to 3, wherein the shank joint comprises: the lower leg driving device comprises a lower leg driving assembly, a bearing set and a bearing cover, wherein the lower leg driving assembly is connected with the lower leg driving assembly through a connecting rod;
the first shank transmission shaft and the second shank transmission shaft are arranged in parallel;
The first shank transmission shaft and the second shank transmission shaft are connected with the bearing group and the bearing cover, and the bearing group is positioned inside the bearing cover so as to realize that the bearing cover protects the bearing group.
5. A dc motor robot leg structure as recited in claim 1, wherein the calf motor and the calf drive assembly form a first degree of freedom rotary mechanism controlling the dc motor robot leg structure;
The direct current motor robot leg structure further includes: a thigh motor and thigh drive assembly; the thigh motor and the thigh driving assembly form a second degree-of-freedom rotating mechanism for controlling the leg structure of the direct current motor robot;
the thigh motor is arranged beside the shank motor, and the thigh motor and the shank motor are arranged in parallel;
The thigh drive assembly connects the thigh motor and the thigh.
6. The direct current motor robot leg structure according to claim 5, wherein the thigh drive assembly comprises a driving gear and a driven gear;
The driving gear is located beside the gear flange of the lower leg driving assembly, the driven gear is parallel to the gear flange, and the driven gear is fixedly connected with the thigh shell, so that the driven gear drives the thigh shell to rotate.
7. The dc motor robot leg structure of claim 5, further comprising: the side swing joint motor, the double motor bin and the flange form a third degree-of-freedom rotating mechanism for controlling the leg structure of the direct current motor robot;
The axis of side pendulum joint motor with the shank motor with the axis of thigh motor is perpendicular, the axis of shank motor with the axis of thigh motor is parallel, the shank motor with the thigh motor is located two motor warehouses, side pendulum joint motor connects the one end in two motor warehouses, the other end in two motor warehouses is connected the flange, flange swing joint direct current motor robot's robot main part.
8. A quadruped robot comprising: the robot comprises a robot main body and four direct current motor robot leg structures connected with the robot main body;
the direct current motor robot leg structure is the direct current motor robot leg structure of any one of claims 1 to 7;
Two direct current motor robot leg structures are arranged on the same side of the robot main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322619903.5U CN220884606U (en) | 2023-09-26 | 2023-09-26 | Direct current motor robot leg structure and quadruped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202322619903.5U CN220884606U (en) | 2023-09-26 | 2023-09-26 | Direct current motor robot leg structure and quadruped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220884606U true CN220884606U (en) | 2024-05-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202322619903.5U Active CN220884606U (en) | 2023-09-26 | 2023-09-26 | Direct current motor robot leg structure and quadruped robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220884606U (en) |
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2023
- 2023-09-26 CN CN202322619903.5U patent/CN220884606U/en active Active
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