CN210101818U

CN210101818U - Legged robot

Info

Publication number: CN210101818U
Application number: CN201920715764.7U
Authority: CN
Inventors: 张志华; 赵明国; 李海雷; 李康; 张伟宁; 黑光军; 贺小玉; 熊友军
Original assignee: Ubtech Robotics Corp
Current assignee: Shenzhen Ubtech Technology Co ltd
Priority date: 2019-05-16
Filing date: 2019-05-16
Publication date: 2020-02-21
Anticipated expiration: 2029-05-16

Abstract

The utility model is suitable for a robotechnology field provides a sufficient robot of leg, includes the shank at least and the sharp joint of being connected with the shank, and sharp joint includes: a motor assembly having a rotating shaft for outputting power; the screw pair is connected in the rotating shaft and is coaxially arranged with the rotating shaft; the push rod is connected with one end of the screw rod pair; when the rotating shaft drives the screw pair to rotate, the screw pair drives the push rod to do linear motion along the axis direction of the rotating shaft, and then the shank is driven to move. The utility model discloses in, because the relative hydraulic system of motor, its control is comparatively simple, and does not have the oil leakage risk, simultaneously, the vice relative reduction gear of lead screw, it has characteristics such as simple structure, with low costs, coefficient of friction is low, efficient, therefore, the utility model discloses linear joint has simple structure, with low costs, coefficient of friction is low, efficient, do not have oil leak risk, advantage such as control is simple.

Description

Legged robot

Technical Field

The utility model relates to the technical field of robots, in particular to sufficient robot of leg.

Background

Legged robots, which have significant advantages over wheeled or tracked robots, can adapt to complex terrain, such as steps, slopes, potholes, gravel roads, and even grasslands, wetlands, mountains, forests, and the like. In addition, the leg-foot robot can adapt to various places such as families, markets, the outdoors and the like, so that the leg-foot robot has wide application prospects in the aspects of home service entertainment, market shopping guide, factory inspection, logistics transportation, emergency rescue and relief, military tasks and the like.

At present, many leg and foot robots are studied at home and abroad, and there are biped humanoid robots, quadruped robots, hexapod robots, and the like. In various types of leg-foot robots, a joint structure is one of core structures of the robot. At present, in robots in the market, the joint structure adopts a scheme that a rotating motor is connected with a harmonic reducer or a planetary gear reducer, and a few schemes adopt linear actuators such as hydraulic cylinders. However, the scheme of connecting the motor with the speed reducer is relatively simple to control, but the speed reducer has the defects of high cost, low efficiency and the like; the scheme of adopting the pneumatic cylinder, it needs to be equipped with complete sets of hydraulic system such as oil pump, oil pump motor, servovalve, pipeline, and the structure is more complicated, and control is also more complicated to there is the oil leak risk.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a leg and foot robot aims at solving the technical problem that the straight line joint of present leg and foot robot's structure is complicated, control is complicated, with high costs, inefficiency and have the oil leak risk.

The utility model discloses a realize like this, a sufficient robot of leg, at least including the shank and with the sharp joint that the shank is connected, sharp joint includes:

a motor assembly having a rotating shaft for outputting power;

the screw pair is connected in the rotating shaft and is coaxially arranged with the rotating shaft; and

the push rod is connected with one end of the screw rod pair;

when the rotating shaft drives the screw rod pair to rotate, the screw rod pair drives the push rod to do linear motion along the axis direction of the rotating shaft, and then the shank is driven to move.

In an embodiment of the present invention, the leg-foot robot is a quadruped robot, the quadruped robot includes a body, a linear joint, a connecting rod and a shank, wherein the linear joint, the connecting rod and the shank constitute a slider-crank mechanism.

The utility model discloses an embodiment, leg and foot robot is biped robot, biped robot includes the shank, connect in the two sets of sharp joint components of the left and right sides of shank, and respectively with shank and two sets of the sole that sharp joint component connects, each group sharp joint component includes at least sharp joint.

In an embodiment of the present invention, each group the linear joint assembly further includes a joint bearing and an ankle auxiliary universal joint, wherein the linear joint is close to the top end of the motor assembly is connected to the joint bearing the shank, the linear joint is close to the bottom end of the push rod is connected to the ankle auxiliary universal joint, the ankle auxiliary universal joint is kept away from one end of the linear joint is installed on the foot plate.

In an embodiment of the present invention, each group the linear joint assembly further includes a joint bearing, an ankle auxiliary universal joint and a connecting rod, wherein the linear joint is close to the top end of the motor assembly is fixed on the shank, the linear joint is close to the bottom end of the push rod is connected to the joint bearing, the joint bearing is connected to one end of the connecting rod, the other end of the connecting rod is connected to the ankle auxiliary universal joint, the ankle auxiliary universal joint is kept away from the one end of the connecting rod is installed on the foot plate.

In one embodiment of the present invention, the lower leg is connected to the foot plate via an ankle joint.

In one embodiment of the present invention, the joint bearing is pivotally mounted on a support bar of the lower leg.

In an embodiment of the present invention, the ankle joint is a universal joint.

The utility model discloses an embodiment, leg and foot robot still include the main control board and with main control board electric connection's driver, through the main control board to linear joint sends synchronous or asynchronous flexible master control instruction, through the driver transmission master control instruction control linear joint's motor forward or reverse rotation.

In an embodiment of the present invention, the linear joint further includes:

the force sensor is connected to one end, far away from the lead screw pair, of the push rod and used for detecting the axial force of the push rod; and

and the tail end of the push rod is connected to one end, far away from the push rod, of the force sensor.

Implement the utility model discloses a sufficient robot of leg has following beneficial effect: the leg-foot robot comprises a linear joint, the linear joint comprises a motor component, a screw rod pair and a push rod, wherein the motor component is provided with a rotating shaft for outputting power, the screw pair is connected in the rotating shaft and is coaxially arranged with the rotating shaft, the push rod is connected at one end of the screw pair, the rotating motion of the rotating shaft is converted into the linear motion of the push rod through the screw pair, that is, when the rotating shaft drives the screw rod pair to rotate, the screw rod pair drives the push rod to do linear motion along the axis direction of the rotating shaft, so as to drive the shank to move, because the motor is opposite to the hydraulic system, the control is simpler, no risk of oil leakage exists, and meanwhile, the lead screw pair has the characteristics of simple structure, low cost, low friction coefficient, high efficiency and the like relative to the speed reducer, therefore, the utility model discloses linear joint has simple structure, with low costs, coefficient of friction is low, efficient, do not have oil leak risk, advantage such as control is simple.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic top view of a linear joint of a legged robot according to an embodiment of the present invention;

fig. 2 is a schematic cross-sectional view along the direction a-a in fig. 1 when the linear joint of the legged robot provided by the embodiment of the present invention is in an incomplete extension state;

fig. 3 is a schematic side view of a screw pair of a linear joint of a legged robot according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a screw and an anti-rotation mechanism of a linear joint of a legged robot according to an embodiment of the present invention;

fig. 5 is a schematic cross-sectional structural view of a motor of a linear joint of a legged robot according to an embodiment of the present invention;

fig. 6 is a schematic cross-sectional view along the direction a-a in fig. 1 when the linear joint of the legged robot provided by the embodiment of the present invention is in the fully retracted state;

fig. 7 is a schematic cross-sectional view along the direction a-a in fig. 1 when the linear joint of the legged robot provided by the embodiment of the present invention is in a fully extended state;

fig. 8 is a schematic side view of a linear joint applied to a quadruped robot according to an embodiment of the present invention;

fig. 9 is a schematic perspective view of a quadruped robot with a linear joint according to an embodiment of the present invention;

fig. 10 is a schematic cross-sectional structural view of a quadruped robot with a linear joint provided by an embodiment of the present invention;

fig. 11 is a schematic structural view of a linear joint applied to an ankle joint of a biped robot according to an embodiment of the present invention;

fig. 12 is a schematic perspective view illustrating a linear joint applied to an ankle joint of a biped robot according to an embodiment of the present invention;

fig. 13 is a schematic side view of a linear joint applied to an ankle joint of a biped robot and viewed along a first direction according to an embodiment of the present invention;

fig. 14 is a side view schematically illustrating a linear joint applied to an ankle joint of a biped robot in a second direction according to an embodiment of the present invention;

fig. 15 is a schematic side view of a linear joint applied to an ankle joint of a biped robot and viewed along a third direction according to an embodiment of the present invention;

fig. 16 is a schematic perspective view illustrating a linear joint applied to an ankle joint of a biped robot according to another embodiment of the present invention.

Reference numerals referred to in the above figures are detailed below:

100-linear joints; 10-a motor assembly; 11-a motor; 111-a stator; 112-a rotor; 113-a rotating shaft; 114-a limit structure; 12-a motor housing; 121-a first fastener; 13-rolling bearings; 20-a screw pair; 21-a nut; 22-screw rod; 221-a limiting block; 222-a limit step; 23-a second fastener; 24-a fourth fastener; 30-a push rod; 31-a groove; 32-a limiting groove; 40-joint shell; 41-anti-rotation mechanism; 411-bumps; 42-a third fastener; 50-linear bearings; 60-a driver; 61-driver seat; 70-an encoder; 71-encoder seat; 72-a fastener; 80-a force sensor; 90-push rod end;

200-a quadruped robot; 201-a fuselage; 202/306-Link; 203/301-shank; 300-biped robot; 302-foot plate; 303-ankle joint; 304-knuckle bearing; 305-ankle assist gimbal; 306-a connecting rod; 307-support rods; 400-ground.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

In order to explain the technical solution of the present invention, the following detailed description is made with reference to the specific drawings and examples.

Referring to fig. 1 and 2, an embodiment of the present invention provides a linear joint 100, which includes a motor assembly 10, a screw pair 20, a push rod 30, and a joint housing 40. Wherein, the joint shell 40 is of an inner hollow structure and is sleeved outside the screw pair 20; the motor assembly 10 is fixedly connected with the joint housing 40, such as by fixedly connecting the motor housing 12 with the joint housing 40 via a first fastener 121, the first fastener 121 including but not limited to a screw or the like; one end of the push rod 30 is connected with one end of the screw assembly 20 far away from the motor assembly 10. In particular applications, the screw assembly 20 includes, but is not limited to, a sliding screw assembly, a ball screw assembly, a planetary roller screw assembly, and the like.

Specifically, the motor assembly 10 has a rotating shaft 113, the rotating shaft 113 is used for outputting power, and the rotating shaft 113 is a hollow shaft; the screw pair 20 is at least partially accommodated in the joint housing 40 and coaxially arranged and connected with the rotating shaft 113; the push rod 30 is connected to one end of the screw assembly 20, and the screw assembly 20 is used for converting the rotary motion of the rotating shaft 113 into the linear motion of the push rod 30 along the axial direction of the rotating shaft 113. In addition, the push rod 30 may be arranged coaxially with the rotating shaft 113, or may not be arranged coaxially with the rotating shaft 113, preferably arranged coaxially with the rotating shaft 113, according to actual needs, so as to accurately control the linear motion of the push rod 30.

In this embodiment, since the motor is relatively simple to control with respect to the hydraulic system, and there is no risk of oil leakage, and meanwhile, the screw assembly 20 is relatively simple to control with respect to the speed reducer, and has the characteristics of simple structure, low cost, low friction coefficient, high efficiency, and the like, the linear joint 100 has the advantages of simple structure, low cost, low friction coefficient, high efficiency, no risk of oil leakage, simple control, and the like.

In the present embodiment, please refer to fig. 4, the screw assembly 20 includes a nut 21 and a screw 22, wherein the nut 21 is fixedly sleeved in the rotating shaft 113 and can rotate synchronously with the rotating shaft 113; the screw 22 is rotatably sleeved in the nut 21, the push rod 30 is connected to an end of one end of the screw 22 and moves synchronously with the screw 22, and when the rotating shaft 113 drives the nut 21 to rotate, the screw 22 drives the push rod 30 to move linearly along the axis direction of the rotating shaft 113. Specifically, the push rod 30 is connected to an end of one end of the screw 22 by a second fastener 23, the second fastener 23 including, but not limited to, a screw, etc. Preferably, a limit step 222 is provided at the end of the screw 22 connected with the push rod 30, and correspondingly, a limit groove 32 is provided at the end of the push rod 30, when the screw 22 is inserted into the push rod 30, the end surface of the limit step 222 abuts against the bottom surface of the limit groove 32, so that the axial positioning of the screw 22 and the push rod 30 can be realized.

Meanwhile, an anti-rotation mechanism 41 for preventing the push rod 30 from rotating is disposed on the push rod 30, and the anti-rotation mechanism 41 is disposed at an end portion of the joint housing 40 far from the motor assembly 10. Specifically, the anti-rotation mechanism 41 may be a plate-shaped structure having a ring shape, which is sleeved outside the push rod 30 and fixedly connected to the end of the joint housing 40 by a third fastener 42, wherein the third fastener 42 includes, but is not limited to, a screw, etc. Preferably, the rotation prevention mechanism 41 is fixedly connected to the end of the joint housing 40 by a plurality of third fasteners 42, and the plurality of third fasteners 42 are uniformly arranged in the circumferential direction of the joint housing 40.

Further, in order to realize the rotation-preventing function of the rotation-preventing mechanism 41, please refer to fig. 3, the rotation-preventing mechanism 41 includes at least one groove 31 disposed on the outer surface of the push rod 30 and at least one protrusion 411 disposed on the inner ring of the rotation-preventing mechanism 41 and protruding toward the axial direction, the groove 31 extends along the axial direction of the push rod 30, and the protrusions 411 and the grooves 31 are mutually matched one by one, so that the push rod 30 and the rotation-preventing mechanism 41 can move relatively in the axial direction, so as to prevent the push rod 30 from rotating in the rotation-preventing mechanism 41, and further prevent the screw 22 of the screw pair 20 from rotating along with the nut 21. The number of the bumps 411 and the grooves 31 can be selected according to actual needs, and is not limited herein.

In the embodiment, due to the rotation-proof mechanism 41, the screw 22 cannot rotate along the nut 21, and only can do linear motion along the axis thereof, and the linear motion of the screw 22 will drive the push rod 30 to do linear motion together.

In an embodiment of the present invention, a limiting block 221 is fixedly disposed at an end of the screw rod 22 far away from the push rod 30. Preferably, the stopper 221 is substantially plate-shaped, the stopper 221 is disposed at the top end of the screw 22 and is fixedly connected to the screw 22 by a fourth fastening member 24, the top end surface of the screw 22 abuts against the lower end surface of the stopper 221, and the fourth fastening member 24 includes, but is not limited to, a screw and the like. In the section line a-a direction (as shown in fig. 1) of the vertical rotating shaft 113, the section width of the limiting block 221 is larger than that of the screw 22, so that the limiting block 221 can prevent the screw 22 from being disengaged from the nut 21 when moving linearly downward. Because the section width of the limiting block 221 is greater than that of the screw 22, when the screw 22 moves downward, the limiting block 221 is driven to move downward until the lower end surface of the limiting block 221 abuts against the upper end surface of the nut 21, and at this time, the screw 22 cannot move further downward, so that the screw 22 is prevented from being separated from the nut 21. Preferably, the end edge of the limiting block 221 is spaced from the inner sidewall of the rotating shaft 113 to prevent the limiting block 221 from impacting the inner sidewall of the rotating shaft 113 to hinder the flexible movement of the screw 22 and the push rod 30.

In an embodiment of the present invention, the linear joint 100 further includes a linear bearing 50 sleeved between the push rod 30 and the joint housing 40. In the present embodiment, the linear bearing 50 is installed between the joint housing 40 and the push rod 30, so that the friction of the relative linear motion between the push rod 30 and the joint housing 40 can be reduced. Specifically, the linear bearing 50 is mounted on the end of the joint housing 40 away from the motor assembly 10, the inner surface of the linear bearing abuts against the outer surface of the push rod 30, the outer surface of the linear bearing abuts against the inner surface of the joint housing 40, the lower end surface of the linear bearing abuts against the upper end surface of the rotation preventing mechanism 41, the upper end surface of the linear bearing abuts against the protrusion 401 protruding from the inner surface of the joint housing 40, and the position of the linear bearing 50 is limited by the joint housing 40, the rotation preventing mechanism 41 and the push rod 30. In specific applications, the linear bearing 50 includes, but is not limited to, a ball linear bearing, a sliding bearing, a sleeve made of a low friction material such as teflon, etc.

In one embodiment of the present invention, the motor assembly 10 includes a motor 11, a motor housing 12, and a rolling bearing 13. Referring to fig. 5, the motor 11 includes the rotating shaft 113, a stator 111 fixedly sleeved in the motor housing 12, and a rotor 112 sleeved in the stator 111 and fixedly sleeved outside the rotating shaft 113. The rolling bearing 13 is sleeved between the rotating shaft 113 and the motor housing 12, an inner ring of the rolling bearing is fixed on the rotating shaft 113, and an outer ring of the rolling bearing is fixed on the motor housing 12, so as to ensure that the stator 111 and the rotor 112 are coaxial. In this embodiment, the motor housing 12 and the joint housing 40 are fixedly connected together, and the position of the rolling bearing 13 is limited by the motor housing 12, the joint housing 40 and the rotating shaft 113. In specific applications, the rolling bearing 13 should be well lubricated, so that the motor 11 can run stably at high speed and with low noise, and the rolling bearing 13 includes, but is not limited to, a single-row bearing, a double-row bearing, a multi-row bearing and the like; the motor 11 includes, but is not limited to, an ac permanent magnet synchronous motor, a brushless dc motor, a brushed dc motor, etc.

In an embodiment of the present invention, a limiting structure 114 is disposed at an end of the rotating shaft 113 close to the motor 11 of the motor assembly 10, and the limiting structure 114 is used for limiting the upward movement stroke of the screw 22. When the screw 22 moves upward to the limit state, the upper end surface of the limit block 221 at the top end of the screw 22 collides with the lower end surface of the limit structure 114, and at this time, the screw 22 cannot move upward. Referring to fig. 6, in this limit condition, the length of the push rod 30 extending out of the joint housing 40 is the shortest, i.e., the push rod 30 is completely retracted into the joint housing 40. Preferably, the position-limiting structure 114 and the rotating shaft 113 may be an integral structure, that is, the position-limiting structure 114 is the top of the rotating shaft 113.

Preferably, a first elastic member (not shown) is disposed between the limiting structure 114 and the screw 22, that is, a first elastic member is disposed between the lower end surface of the limiting structure 114 and the upper end surface of the limiting block 221, and the first elastic member is made of an elastic material and plays a role of buffering to protect parts and also reduces noise of moving contact. Specifically, the first elastic element may be connected to a lower end surface of the limiting structure 114, or may be connected to an upper end surface of the limiting block 221.

In another embodiment of the present invention, the bottom end of the screw 22 is fixedly sleeved inside the push rod 30, and a second elastic member (not shown) is disposed between the push rod 30 and the screw 22, and the second elastic member is sleeved outside the screw 22. In this embodiment, the second elastic member is made of an elastic material, which plays a role of buffering to protect parts and also reduces noise. Specifically, the second elastic member is disposed between the upper end surface of the push rod 30 and the lower end surface of the nut 21, and the second elastic member may be connected to the upper end surface of the push rod 30 or the lower end surface of the nut 21. When the screw 22 moves upward to the limit state, the upper end surface of the push rod 30 is in collision contact with the lower end surface of the nut 21, and at this time, the screw 22 cannot move upward any more. Referring to fig. 6, in this limit condition, the length of the push rod 30 extending out of the joint housing 40 is the shortest, i.e., the push rod 30 is completely retracted into the joint housing 40.

It can be understood that when the screw rod 22 moves upwards to the limit state, the lower end surface of the limit structure 114 may be in first collision contact with the upper end surface of the limit block 221, the upper end surface of the push rod 30 may be in first collision contact with the lower end surface of the nut 21, the lower end surface of the limit structure 114 may be in simultaneous contact with the upper end surface of the limit block 221, and the upper end surface of the push rod 30 may be in simultaneous contact with the lower end surface of the nut 21. Therefore, in another embodiment of the present invention, a first elastic member is disposed between the lower end surface of the limiting structure 114 and the upper end surface of the limiting block 221, and a second elastic member is disposed between the upper end surface of the push rod 30 and the lower end surface of the nut 21.

In an embodiment of the present invention, a third elastic member (not shown) is disposed between the stopper 221 and the nut 21, and the third elastic member is sleeved outside the screw rod 22. In this embodiment, the third elastic member is made of an elastic material, which plays a role of buffering to protect parts and also reduces noise. Specifically, a third elastic member is disposed between the lower end surface of the stopper 221 and the upper end surface of the nut 21, and the third elastic member may be connected to the lower end surface of the stopper 221 or the upper end surface of the nut 21. When the screw 22 moves downward to the limit state, the lower end surface of the limit block 221 collides with the upper end surface of the nut 21, and at this time, the screw 22 cannot move downward. Referring to fig. 7, in this limit state, the length of the push rod 30 extending out of the joint housing 40 is longest, that is, the push rod 30 extends out of the joint housing 40 completely.

As shown in fig. 2, the screw 22 is in an intermediate state between the two extreme states in which the push rod 30 is in an incompletely extended state relative to the joint housing 40.

In an embodiment of the present invention, in order to control the motor 11, the linear joint 100 further includes a driver 60, and the driver 60 is used for controlling the motor 11. In this embodiment, the driver 60 may be installed on the driver seat 61, and then further fixed to the motor housing 12 through the driver seat 61; alternatively, the driver 60 is mounted directly on the motor housing 12; alternatively, the actuator 60 may be mounted at other positions, such as the position of the body 201 of the legged robot. In a specific application, the driver 60 may be a control circuit board, and the motor 11 is electrically connected to the control circuit board.

In an embodiment of the present invention, in order to accurately control the extension and retraction of the push rod 30, the linear joint 100 further includes an encoder 70, the encoder 70 is disposed at one end of the rotating shaft 113, and is used to convert the angular displacement of the rotating shaft 113 into an electrical signal and feed back the electrical signal to the circuit board, and the circuit board outputs a control command to the motor according to the current angle of the rotating shaft 113, so as to adjust and correct the output angle of the rotating shaft 113. In this embodiment, an encoder seat 71 is provided outside one end of the rotating shaft 113 near the stopper structure 114, the encoder seat 71 is provided coaxially with the rotating shaft 113 and fixed to the rotating shaft 113 by a fixing member 72, and the encoder 70 is attached to the encoder seat 71.

In an embodiment of the present invention, in order to accurately control the force of the extension and retraction of the push rod 30, the linear joint 100 further includes a force sensor 80, the force sensor 80 is connected to one end of the push rod 30 away from the screw rod 22, and is used for detecting the axial force of the push rod 30, and the force sensor 80 is further electrically connected to the driver 60. In this embodiment, the linear joint 100 further includes a push rod end 90, and the push rod end 90 is connected to an end of the force sensor 80 remote from the push rod 30. When power is supplied to the motor 11, the rotor 112 rotates to drive the rotating shaft 113 to rotate, and further drive the nut 21 to rotate, because of the rotation-preventing function of the rotation-preventing mechanism, the screw rod 22 cannot rotate along with the nut 21, and can only do linear motion along the axis of the screw rod pair 20, and the linear motion of the screw rod 22 drives the push rod 30, the force sensor 80 and the push rod end 90 to do linear motion together.

It will be appreciated that in other embodiments, the force sensor 80 may not be installed for applications where force control is not required. In addition, when the cost is strictly required and the force control is not strictly required, the force sensor 80 may not be installed, and in this case, the force feedback may be performed by detecting the current of the motor 11, converting the torque of the motor 11 from the proportional relationship between the torque of the motor 11 and the current of the motor 11, and converting the axial force of the screw 22 from the converted relationship between the torque of the screw pair 20 and the axial force.

Based on the same concept, the embodiment of the present invention further provides a legged robot, which includes the linear joint 100 according to any of the above embodiments. In specific applications, legged robots include, but are not limited to, quadruped robots, biped robots, multi-legged robots, and the like.

In an embodiment of the present invention, please refer to fig. 8 to fig. 10, the linear joint 100 is applied to a quadruped robot 200, the quadruped robot 200 includes a body 201, the linear joint 100, a connecting rod 202 and a lower leg 203, wherein the linear joint 100, the connecting rod 202 and the lower leg 203 form a crank-slider mechanism, a screw pair 20 of the linear joint 100 converts a rotational motion of a rotor 112 of a motor 11 into a linear motion of a screw 22, and further drives a linear motion of a push rod 30, and the crank-slider mechanism converts the linear motion of the push rod 30 into a rotational motion of the lower leg 203 (as in a direction of B-B' in fig. 8).

In another embodiment of the present invention, please refer to fig. 11 and 12, the above-mentioned linear joint 100 is applied to the ankle joint of the biped robot 300, and the biped robot 300 mainly comprises a lower leg 301, a foot plate 302, an ankle joint 303, the above-mentioned linear joint 100, a joint bearing 304 and an ankle auxiliary universal joint 305. Wherein the lower leg 301 and the foot plate 302 are connected by an ankle joint 303, the ankle joint 303 being a set of universal joints, which may be referred to herein as ankle primary universal joints, to distinguish them from ankle secondary universal joint 305. The top end of the linear joint 100 close to the motor 11 is connected with the lower leg 301 through a joint bearing 304, and the bottom end close to the push rod 30 is connected with an ankle auxiliary universal joint 305. The knuckle bearing 304 is pivotally mounted on a support bar 307 of the lower leg 301. The end of the ankle assist gimbal 305 remote from the linear joint 100 is mounted to the foot plate 302. An assembly body consisting of the linear joint 100, the joint bearing 304 and the ankle auxiliary universal joint 305 is called a linear joint assembly. The ankle joint 303 of each leg of the biped robot comprises two groups of linear joint components, the two groups of linear joint components are respectively positioned at the left side and the right side of the shank 301 and are symmetrically arranged relative to the shank 301 and the ankle joint 303, as shown in fig. 12.

Referring to fig. 13 and 14, in the present embodiment, a main control command for synchronous telescopic motion is sent to the two linear joints 100 through a main control board (not shown) of the robot, and the driver 60 transmits the main control command to control the motors 11 of the two linear joints 100 to rotate in the same direction, that is, the linear motion directions of the screw 22 and the push rod 30 in the two linear joints 100 are the same, the joint bearing 304 and the ankle 303 rotate, and the sole plate 302 is driven to perform a pitching motion relative to the ground 400.

As shown in fig. 15, a master control command for asynchronous telescopic motion is sent to the two linear joints 100 by a main control board (not shown) of the robot, and the master control command is transmitted by the driver 60 to control the motors 11 of the two linear joints 100 to rotate in opposite directions, that is, the linear motion directions of the screw rods 22 and the push rods 30 of the two linear joints 100 are opposite, the joint bearings 304 and the ankles 303 rotate, and the sole plate 302 is driven to roll or move in/out.

In addition, in the present embodiment, the joint bearing 304 may be replaced with a gimbal assembly, and the ankle auxiliary gimbal 305 may also be replaced with the joint bearing 304. The orientation of the linear joint 100 shown in this embodiment is: the motor housing 12 and the joint housing 40 are on top and the push rod 30 is facing down. Of course, it is also possible to change the orientation of the linear joint 100, i.e. with the motor housing 12 and the joint housing 40 down and the push rod 30 up.

In another embodiment of the present invention, please refer to fig. 16, the above-mentioned linear joint 100 is applied to the ankle joint of a biped robot, which mainly comprises a lower leg 301, a foot plate 302, an ankle joint 303, a linear joint 100, a joint bearing 304, an ankle auxiliary universal joint 305 and a connecting rod 306. Wherein the lower leg 301 and the foot plate 302 are connected by an ankle joint 303, the ankle joint 303 being a set of universal joints, which may be referred to herein as ankle primary universal joints, to distinguish them from ankle secondary universal joint 305. One end of the linear joint 100 close to the motor is fixed on the lower leg 301, and the other end close to the push rod 30 is connected with a joint bearing 304. The link 306 has one end connected to the joint bearing 304 and the other end connected to the ankle auxiliary joint 305. The end of the ankle assist gimbal 305 remote from the link 306 is mounted to the foot plate 302. An assembly body formed by the linear joint 100, the joint bearing 304, the ankle auxiliary universal joint 305 and the connecting rod 306 is called a linear joint assembly, the ankle joint 303 of each leg of the biped robot comprises two groups of linear joint assemblies, the two groups of linear joint assemblies are respectively positioned at the left side and the right side of the shank 301 and are symmetrically arranged relative to the shank 301 and the ankle joint 303, as shown in fig. 16.

In this embodiment, a main control command for synchronous telescopic motion is sent to the two linear joints 100 through a main control board (not shown) of the robot, the driver 60 transmits the main control command to control the motors 11 of the two linear joints 100 to rotate in the same direction, the linear motion directions of the screw rods 22 and the push rods 30 in the two linear joints 100 are the same, the joint bearings 304 and the ankles 303 rotate, and the sole plate 302 is driven to realize a pitching motion relative to the ground 400. The main control command of asynchronous telescopic motion is sent to the two linear joints 100 by a main control board (not shown) of the robot, and the main control command is transmitted by the driver 60 to control the motors 11 of the two linear joints 100 to rotate in opposite directions, that is, the linear motion directions of the screw rods 22 and the push rods 30 of the two linear joints 100 are opposite, the joint bearings 304 and the ankles 303 rotate, and the sole plate 302 is driven to realize rolling or inward/outward turning motion.

The above description is only an alternative embodiment of the present invention, and should not be construed as limiting the present invention, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A legged robot, characterized by that, at least includes shank and the straight line joint who is connected with the shank, straight line joint includes:

a motor assembly having a rotating shaft for outputting power;

the push rod is connected with one end of the screw rod pair;

2. The legged-foot robot according to claim 1, wherein the legged-foot robot is a quadruped robot comprising a body, the linear joint, the link and the lower leg, wherein the linear joint, the link and the lower leg constitute a slider-crank mechanism.

3. The legged-legged robot according to claim 1, wherein the legged-legged robot is a biped robot including the lower leg, two sets of linear joint assemblies connected to left and right sides of the lower leg, and a foot plate connected to the lower leg and the two sets of linear joint assemblies, respectively, each set of the linear joint assemblies including at least the linear joint.

4. The legged-legged robot according to claim 3, wherein each set of the linear joint assemblies further includes a joint bearing and an ankle auxiliary joint, wherein the linear joint is connected to the lower leg near the top end of the motor assembly via the joint bearing, the linear joint is connected to the ankle auxiliary joint near the bottom end of the push rod, and an end of the ankle auxiliary joint remote from the linear joint is mounted on the foot plate.

5. The legged-legged robot according to claim 3, wherein each set of the linear joint assemblies further includes a joint bearing, an ankle auxiliary joint and a connecting rod, wherein the linear joint is fixed to the shank near the top end of the motor assembly, the linear joint is connected to the joint bearing near the bottom end of the push rod, one end of the connecting rod is connected to the joint bearing, the other end of the connecting rod is connected to the ankle auxiliary joint, and the end of the ankle auxiliary joint, which is far away from the connecting rod, is mounted on the foot plate.

6. The legged-legged robot according to claim 3, wherein the lower leg is connected to the foot plate by an ankle joint.

7. The legged robot according to claim 4, wherein the joint bearing is pivotally mounted on a support bar of the lower leg.

8. The legged robot according to claim 6, wherein the ankle joint is a universal joint.

9. The leg and foot robot as claimed in any one of claims 3 to 8, further comprising a main control board and a driver electrically connected to the main control board, wherein the main control board sends a synchronous or asynchronous telescopic main control command to the linear joint, and the driver transmits the main control command to control the motor of the linear joint to rotate in forward or reverse direction.

10. The legged robot according to any one of claims 1 to 8, wherein the linear joint further comprises: