WO2023045615A1 - Structure de limitation de rotation de jambe de robot et robot - Google Patents

Structure de limitation de rotation de jambe de robot et robot Download PDF

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Publication number
WO2023045615A1
WO2023045615A1 PCT/CN2022/112288 CN2022112288W WO2023045615A1 WO 2023045615 A1 WO2023045615 A1 WO 2023045615A1 CN 2022112288 W CN2022112288 W CN 2022112288W WO 2023045615 A1 WO2023045615 A1 WO 2023045615A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving
assembly
rotation limiting
robot
connecting frame
Prior art date
Application number
PCT/CN2022/112288
Other languages
English (en)
Chinese (zh)
Inventor
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 (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 东莞市本末科技有限公司 filed Critical 东莞市本末科技有限公司
Publication of WO2023045615A1 publication Critical patent/WO2023045615A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Definitions

  • the invention relates to the technical field of robots, in particular to a robot leg rotation limiting structure and a robot.
  • 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.
  • 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.
  • the existing robot has poor stability, which affects the robot to make various actions.
  • 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 are reliable.
  • 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 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.
  • a 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 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.
  • 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 .
  • 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 .
  • 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 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.
  • 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.
  • 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.
  • 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.

Abstract

L'invention concerne une structure de limitation de rotation de jambe de robot, comprenant : un premier ensemble d'entraînement (1), le premier ensemble d'entraînement (1) comprenant un premier élément de fixation (11) et un premier élément d'entraînement (12) relié au premier élément de fixation (11) ; un bloc de limitation de rotation (2), le bloc de limitation de rotation (2) étant monté au niveau du bord externe du premier élément de fixation (11) ; un cadre de liaison d'entraînement (3), le cadre de liaison d'entraînement (3) étant relié au premier élément d'entraînement (12), un bloc de butée de limitation (31) étant disposé au niveau du bord externe du cadre de liaison d'entraînement (3), et le bloc de butée de limitation (31) travaillant avec le bloc de limitation de rotation (2) pour limiter la position ; et un second ensemble d'entraînement (4), le second ensemble d'entraînement (4) comprenant un second élément de fixation (41) et un second élément d'entraînement (42) relié au second élément de fixation (41), et le second élément de fixation (41) étant relié au cadre de liaison d'entraînement (3). L'invention concerne également un robot comprenant la structure de limitation de rotation de jambe. Selon la structure de limitation, le bloc de limitation de rotation est disposé entre le premier ensemble d'entraînement et le cadre de liaison d'entraînement pour travailler avec le bloc de butée de limitation pour limiter la position du mouvement d'une jambe, pour prévenir une rotation excessive et pour réaliser un bon effet de limitation de position et de protection sur la structure ; le robot est stable en termes de conduite et fiable en termes de structure.
PCT/CN2022/112288 2021-09-27 2022-08-12 Structure de limitation de rotation de jambe de robot et robot WO2023045615A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202122367639.1U CN216002828U (zh) 2021-09-27 2021-09-27 一种机器人腿部旋转限位结构及机器人
CN202122367639.1 2021-09-27

Publications (1)

Publication Number Publication Date
WO2023045615A1 true WO2023045615A1 (fr) 2023-03-30

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PCT/CN2022/112288 WO2023045615A1 (fr) 2021-09-27 2022-08-12 Structure de limitation de rotation de jambe de robot et robot

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CN (1) CN216002828U (fr)
WO (1) WO2023045615A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN216002828U (zh) * 2021-09-27 2022-03-11 东莞市本末科技有限公司 一种机器人腿部旋转限位结构及机器人

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005297081A (ja) * 2004-04-06 2005-10-27 Sony Corp ロボット装置並びにロボットの関節装置
US20190118374A1 (en) * 2015-12-28 2019-04-25 Abb Schweiz Ag Stopper apparatus, rotary joint and robot
CN111166614A (zh) * 2020-01-20 2020-05-19 深圳市丞辉威世智能科技有限公司 具有膝过伸防护功能的腿部限位机构和外骨骼机器人
US20200282554A1 (en) * 2017-03-10 2020-09-10 Hz Unitree Technology Co., Ltd. Leg power system structure of electrically driven four-legged robot
CN112722111A (zh) * 2021-01-12 2021-04-30 杭州云深处科技有限公司 一种四足机器人通用的限位机构及四足机器人
CN112874651A (zh) * 2021-02-04 2021-06-01 南方科技大学 四足机器人
CN113147950A (zh) * 2021-05-08 2021-07-23 国铁工建（北京）科技有限公司 一种腿足式机器人的腿部动力系统机构及腿足式机器人
CN216002828U (zh) * 2021-09-27 2022-03-11 东莞市本末科技有限公司 一种机器人腿部旋转限位结构及机器人

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005297081A (ja) * 2004-04-06 2005-10-27 Sony Corp ロボット装置並びにロボットの関節装置
US20190118374A1 (en) * 2015-12-28 2019-04-25 Abb Schweiz Ag Stopper apparatus, rotary joint and robot
US20200282554A1 (en) * 2017-03-10 2020-09-10 Hz Unitree Technology Co., Ltd. Leg power system structure of electrically driven four-legged robot
CN111166614A (zh) * 2020-01-20 2020-05-19 深圳市丞辉威世智能科技有限公司 具有膝过伸防护功能的腿部限位机构和外骨骼机器人
CN112722111A (zh) * 2021-01-12 2021-04-30 杭州云深处科技有限公司 一种四足机器人通用的限位机构及四足机器人
CN112874651A (zh) * 2021-02-04 2021-06-01 南方科技大学 四足机器人
CN113147950A (zh) * 2021-05-08 2021-07-23 国铁工建（北京）科技有限公司 一种腿足式机器人的腿部动力系统机构及腿足式机器人
CN216002828U (zh) * 2021-09-27 2022-03-11 东莞市本末科技有限公司 一种机器人腿部旋转限位结构及机器人

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