WO2023045615A1

WO2023045615A1 - Robot leg rotation limiting structure and robot

Info

Publication number: WO2023045615A1
Application number: PCT/CN2022/112288
Authority: WO
Inventors: 郁亚南; 张益通; 廖铉泓; 刘鹰
Original assignee: 东莞市本末科技有限公司
Priority date: 2021-09-27
Filing date: 2022-08-12
Publication date: 2023-03-30
Also published as: CN216002828U

Abstract

A robot leg rotation limiting structure, comprising: a first driving assembly (1), the first driving assembly (1) comprising a first fixing member (11) and a first driving member (12) connected to the first fixing member (11); a rotation limiting block (2), the rotation limiting block (2) being mounted at the outer edge of the first fixing member (11); a driving connecting frame (3), the driving connecting frame (3) being connected to the first driving member (12), a limiting stop block (31) being provided at the outer edge of the driving connecting frame (3), and the limiting stop block (31) working with the rotation limiting block (2) for position limiting; and a second driving assembly (4), the second driving assembly (4) comprising a second fixing member (41) and a second driving member (42) connected to the second fixing member (41), and the second fixing member (41) being connected to the driving connecting frame (3). Also provided is a robot comprising the leg rotation limiting structure. According to the limiting structure, the rotation limiting block is provided between the first driving assembly and the driving connecting frame to work with the limiting stop block for position limiting of movement of a leg, preventing excessive rotation, and achieving a good position limiting and protection effect on the structure; the robot is stable in driving, and reliable in structure.

Description

A robot leg rotation limit structure and robot

Cross-references to related applications.

This application claims the priority of the Chinese patent application submitted to the China Patent Office on September 27, 2021, with the application number 202122367639.1, and the invention title is "Robot Leg Rotation Limiting Structure and Robot", the entire content of which is incorporated herein by reference. Applying.

technical field

The invention relates to the technical field of robots, in particular to a robot leg rotation limiting structure and a robot.

Background technique

A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots have basic characteristics such as perception, decision-making, and execution. They can assist or even replace humans in completing dangerous, heavy, and complicated tasks, improve work efficiency and quality, and serve human life. Expand or extend the scope of human activities and abilities.

With the advancement of science and technology, the application of robots is becoming more and more common, such as cleaning robots, cargo robots, inspection robots, etc., which can realize intelligent control. Existing robots generally include racks and moving wheels, and some robots include The leg structure cooperates with the moving wheel set to realize various actions.

technical problem

The existing robot has poor stability, which affects the robot to make various actions.

technical solution

In order to solve the above-mentioned problems, the present invention provides a rotation limiter and a limiter block between the first drive assembly and the drive connection frame to cooperate with the new leg movement to limit the position, prevent excessive rotation, and limit the structure. The protection effect is good, the robot drive is stable, and the structure is reliable. The robot leg rotation limit structure and the robot.

Above-mentioned purpose can adopt following technical scheme to realize.

A robot leg rotation limiting structure, including a first drive assembly, the first drive assembly includes a first fixing member and a first driving member connected to the first fixing member; a rotation limiting block, the rotation limiting The block is installed on the outer edge of the first fixing part; the driving connecting frame is connected with the first driving part, and the outer edge of the driving connecting frame is provided with a limit stopper, and the limit stopper cooperates with the rotation limiter. Block limit; second driving assembly, the second driving assembly includes a second fixing part and a second driving part connected to the second fixing part, and the second fixing part is connected to the drive connecting frame.

The details of one or more embodiments of the invention are set forth in the accompanying drawings and the description below. Other features, objects and advantages of the invention will be apparent from the description, drawings and claims.

Beneficial effect

Compared with the traditional robot leg structure, the present invention sets a rotation limit block and a limit stopper between the first drive assembly and the drive connection frame to cooperate with the new leg movement to limit the position, prevent excessive rotation, and limit the structure. The position protection effect is good, the robot drive is stable, the structure is reliable, and the practicability is strong. Specifically, a first driving assembly is provided, the first driving assembly includes a first fixing part and a first driving part connected to the first fixing part; a rotation limiting block, and the rotating limiting block is installed on the first fixing part The outer edge of the piece; the drive connecting frame, the driving connecting frame is connected with the first driving part, the outer edge of the driving connecting frame is provided with a limit stopper, and the limit stopper cooperates with the rotation limit block to limit the position; the second Two driving components, the second driving component includes a second fixing part and a second driving part connected to the second fixing part, and the second fixing part is connected to the driving connection frame. The first drive assembly is connected to the second drive assembly through the drive connection frame, realizing the double drive cooperation of the robot, with stable drive, reliable structure, and suitable for various actions.

Description of drawings

In order to better describe and illustrate embodiments and/or examples of the inventions disclosed herein, reference may be made to one or more of the accompanying drawings. Additional details or examples used to describe the drawings should not be considered limitations on the scope of any of the disclosed inventions, the presently described embodiments and/or examples, and the best mode of these inventions currently understood.

In the attached picture.

Fig. 1 is a three-dimensional structural schematic diagram of the robot leg rotation limiting structure of the present invention.

Fig. 2 is a schematic diagram of the exploded structure of the rotation limit structure of the robot leg in Fig. 1 .

Fig. 3 is a front view schematic diagram of the rotation limiting structure of the robot leg in Fig. 1 .

Fig. 4 is a sectional view of A-A in Fig. 3 .

Explanation of reference numerals: first driving assembly 1 , first fixing member 11 , first driving member 12 , first shaft assembly 13 , first stator assembly 14 , first rotor assembly 15 , rotation limiter 2 , limiter Step 21, driving connecting frame 3, limit block 31, first connecting frame 32, positioning pin 321, second connecting frame 33, positioning hole 331, bottom support 332, second driving assembly 4, second fixing member 41, The second driving member 42 , the second shaft assembly 43 , the second stator assembly 44 , and the second rotor assembly 45 .

Embodiments of the present invention

In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the associated drawings. Preferred embodiments of the invention are shown in the accompanying drawings. However, the present invention can be embodied in many different forms and is not limited to the embodiments described herein. On the contrary, these embodiments are provided to make the understanding of the disclosure of the present invention more thorough and comprehensive.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the technical field of the invention. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not intended to limit the present invention.

As shown in FIGS. 1 to 4 , a robot leg rotation limiting structure includes a first driving assembly 1 , and the first driving assembly 1 includes a first fixing member 11 and a first fixing member 11 connected to the first fixing member 11. The driving member 12; the rotation limiting block 2, the rotating limiting block 2 is installed on the outer edge of the first fixing member 11; the driving connecting frame 3, the driving connecting frame 3 is connected with the first driving member 12, and the driving The outer edge of the connecting frame 3 is provided with a limit block 31, and the limit block 31 cooperates with the rotation limit block 2 to limit the position; the second drive assembly 4, the second drive assembly 4 includes a second fixture 41 and a connection On the second driving part 42 of the second fixing part 41 , the second fixing part 41 is connected with the driving connection frame 3 .

The first driving assembly 1 is a motor, and the first driving member 12 is provided with a first rotating shaft assembly 13, and the first rotating shaft assembly 13 is connected to the first fixing member 11, and the first rotating shaft assembly 13 is provided for the first A fixing member 11 is connected so that the first driving member 12 is rotatably connected to the first fixing member 11 .

The outer edge of the first driving member 12 is provided with a first stator assembly 14, and the inner diameter of the first fixing member 11 is provided with a first rotor assembly 15, and the first rotor assembly 15 cooperates with the first stator assembly 14. With the cooperation of the first stator assembly 14 and the first rotor assembly 15 , the rotational driving of the first driving member 12 and the first fixing member 11 , the structural driving is stable and reliable.

The rotation limiting block 2 is fixedly installed on the outer edge of the first fixture 11 by screws, and the rotation limiting block 2 is provided with a limiting step 21, and the limiting step 21 is used for limiting the position of the stopper 31. The position step 21 cooperates with the limit block 31 to limit the position, and the structural limit is stable and the structure is reliable.

The driving connecting frame 3 includes a first connecting frame 32 and a second connecting frame 33, the first connecting frame 32 is fixedly connected to the first fixing member 11, and the second connecting frame 33 is fixedly installed on the first connecting frame 32, so The second fixing member 41 of the second driving assembly 4 is installed on the second connecting frame 33, and through the cooperation of the first connecting frame 32 and the second connecting frame 33, the first driving assembly 1 is connected to the second driving assembly 4, The connection is stable, the installation is convenient, and at the same time, it is stable and reliable under the driving of the robot.

The first connecting frame 32 is provided with a plurality of positioning pins 321, and the second connecting frame 33 is provided with positioning holes 331 corresponding to the positioning pins 321, and is used for the first connecting frame 32 and the second connecting frame 32 through the cooperation of the positioning pins 321 and the positioning holes 331. The two connecting frames 33 are positioned and installed, and both of them have high positioning accuracy and good stability.

The second connecting frame 33 is provided with a bottom bracket 332 , which is integrally formed on the second connecting frame 33 , and the bottom bracket 332 can be used for structural support to ensure the stability of the installation of the second driving assembly 4 .

The second drive assembly 4 is a motor, the second drive member 42 is provided with a second shaft assembly 43, the second shaft assembly 43 is connected to the second fixing member 41, and the second shaft assembly 43 is provided for the first The two fixing parts 41 are connected so that the second driving part 42 is rotatably connected to the second fixing part 41 .

The outer edge of the second driving member 42 is provided with a second stator assembly 44, and the inner diameter of the second fixing member 41 is provided with a second rotor assembly 45, and the second rotor assembly 45 cooperates with the second stator assembly 44; With the cooperation of the stator assembly 44 and the second rotor assembly 45 , the rotational driving of the second driving member 42 and the second fixing member 41 is stable and reliable.

A robot adopting the above structure has a stable leg structure, has a position-limiting function during activities, prevents excessive activities, and has a reliable structure.

In the present invention, a rotation limiter 2 and a limiter 31 are arranged between the first drive assembly 1 and the drive connection frame 3 to cooperate with the new leg movement to limit the position, prevent excessive rotation, and have a good effect on structural limit protection. The robot drive is stable, the structure is reliable, and the practicability is strong. Specifically, a first driving assembly 1 is provided, and the first driving assembly 1 includes a first fixing member 11 and a first driving member 12 connected to the first fixing member 11; a rotation limiting block 2, and the rotation limiting The block 2 is installed on the outer edge of the first fixing member 11; the driving connecting frame 3 is connected with the first driving member 12, and the outer edge of the driving connecting frame 3 is provided with a limit stopper 31, the The limit block 31 cooperates with the rotation limit block 2 to limit the position; the second drive assembly 4, the second drive assembly 4 includes a second fixing member 41 and a second driving member 42 connected to the second fixing member 41, the The second fixing member 41 is connected with the drive connecting frame 3 . The first drive assembly 1 and the second drive assembly 4 are connected through the drive connection frame 3, realizing the double drive cooperation of the robot, with stable drive, reliable structure, and suitable for various actions.

The above-mentioned embodiments only express several implementation modes of the present invention, and the description thereof is relatively specific and detailed, but should not be construed as limiting the patent scope of the present invention. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent for the present invention should be based on the appended claims.

Claims

The robot leg rotation limiting structure is characterized in that it includes

a first drive assembly, the first drive assembly includes a first fixing part and a first driving part connected to the first fixing part;

a rotation limiting block, the rotation limiting block is installed on the outer edge of the first fixing member;

A driving connection frame, the driving connection frame is connected with the first driving part, a limit stop is provided on the outer edge of the drive connection frame, and the limit stop is limited by the rotation limit block;

The second driving assembly, the second driving assembly includes a second fixing part and a second driving part connected to the second fixing part, and the second fixing part is connected to the driving connection frame.
The robot leg rotation limiting structure according to claim 1, characterized in that: the first drive assembly is a motor, the first drive member is provided with a first rotating shaft assembly, and the first rotating shaft assembly is connected to the second rotating shaft assembly. A fixing piece is connected.
The robot leg rotation limiting structure according to claim 2, characterized in that: a first stator assembly is provided on the outer edge of the first driving member, and a first rotor assembly is provided on the inner diameter of the first fixing member, The first rotor assembly cooperates with the first stator assembly.
The rotation limiting structure of the robot leg according to claim 1, characterized in that: the rotation limiting block is fixed on the outer edge of the first fixing member by screws, and the rotation limiting block is provided with a limiting step, so The above-mentioned limit step is used for the limit of the limit block.
The robot leg rotation limiting structure according to claim 1, characterized in that: the drive connection frame includes a first connection frame and a second connection frame, and the first connection frame is fixedly connected to the first fixing member, so The second connecting frame is fixedly installed on the first connecting frame, and the second fixing part of the second driving assembly is installed on the second connecting frame.
The rotation limiting structure of the leg of the robot according to claim 5, wherein the first connecting frame is provided with a plurality of positioning pins, and the second connecting frame is provided with positioning holes corresponding to the positioning pins.
The rotation limiting structure of the robot leg according to claim 6, characterized in that: the second connecting frame is provided with a bottom support, and the bottom support is integrally formed on the second connecting frame.
The robot leg rotation limiting structure according to claim 1, characterized in that: the second drive assembly is a motor, the second drive member is provided with a second rotating shaft assembly, and the second rotating shaft assembly is connected to the first rotating shaft assembly. The two fixing parts are connected.
The rotation limiting structure of the robot leg according to claim 8, wherein a second stator assembly is provided on the outer edge of the second driving member, and a second rotor assembly is provided on the inner diameter of the second fixing member, so that The second rotor assembly cooperates with the second stator assembly.
A robot, characterized in that it includes the robot leg rotation limiting structure described in any one of claims 1-9.