CN211809945U - Robot leg structure and robot - Google Patents
Robot leg structure and robot Download PDFInfo
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- CN211809945U CN211809945U CN202020449019.5U CN202020449019U CN211809945U CN 211809945 U CN211809945 U CN 211809945U CN 202020449019 U CN202020449019 U CN 202020449019U CN 211809945 U CN211809945 U CN 211809945U
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Abstract
The utility model discloses a robot shank structure and robot, robot shank structure includes: a first link serving as a thigh of the robot, the first link having a first connection end and a second connection end; a second link for use as a lower leg of the robot, the second link having a third link end and a ground contacting end, the second link end pivotally connected to a region between the third link end and the ground contacting end; the lower leg driving motor is arranged on one side of the first connecting end; and a linkage mechanism for driving the second link to move relative to the first link; the link mechanism is arranged between the output shaft of the shank driving motor and the third connecting end. The utility model discloses compare traditional mode, thigh driving motor only needs the drive to move as the first connecting rod of robot thigh, reduces thigh driving motor's load, shank simple structure, simple to operate.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to a robot shank structure and robot.
Background
Referring to fig. 4, in most of the existing robot leg structures, a shank deceleration motor 3 is arranged on one side of a thigh 4, an output end of the thigh deceleration motor 1 is connected with the shank deceleration motor 3, a synchronous pulley 7 is arranged on the other side of the thigh 4, and power is transmitted between the output end of the shank deceleration motor 3 and the synchronous pulley 7 through a synchronous belt 5. The synchronous belt wheel 7 is driven to rotate by the shank speed reducing motor 3 so as to drive the shank 8 to rotate. Because the output end of the thigh speed reduction motor 1 is connected with the shank speed reduction motor 3, the thigh speed reduction motor 1 needs to drive the thigh 4 and the shank 8 to move together, and the load of the thigh speed reduction motor 1 is large. In addition, a tension mechanism 6 is required to be provided on the timing belt 5. The whole leg structure is complex and the installation is inconvenient.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a robot shank structure and robot.
The utility model provides a following technical scheme, a robot shank structure, include:
a first link serving as a thigh of the robot, the first link having a first connection end and a second connection end;
a second link for use as a lower leg of the robot, the second link having a third link end and a ground contacting end, the second link end pivotally connected to a region between the third link end and the ground contacting end;
the lower leg driving motor is arranged on one side of the first connecting end; and
the link mechanism is used for driving the second connecting rod to move relative to the first connecting rod;
the link mechanism is arranged between the output shaft of the shank driving motor and the third connecting end.
As a further improvement of the above technical solution, the leg structure of the robot includes:
a third link and a fourth link;
the third connecting rod comprises a fifth connecting end and a sixth connecting end; the fifth connecting end is connected with an output shaft of the shank driving motor, one end of the fourth connecting rod is hinged with the sixth connecting end, and the other end of the fourth connecting rod is hinged with the third connecting end.
As a further improvement of the above technical solution, the leg structure of the robot includes:
the rotating ring is connected with an output shaft of the shank driving motor;
one end of the fourth connecting rod is hinged with the outer side wall of the rotating ring, and the other end of the fourth connecting rod is hinged with the third connecting end.
As a further improvement of the above technical solution, the leg structure of the robot further includes a thigh driving motor for driving the first link to rotate and a connecting member for connecting the thigh driving motor and the shank driving motor;
the thigh driving motor is arranged at the first connecting end, and the thigh driving motor and the shank driving motor are oppositely arranged at the first connecting end.
The utility model discloses provide a robot shank structure again, include:
a first link serving as a thigh of the robot, the first link having a first connection end and a second connection end;
a second link for use as a lower leg of the robot, the second link having a third link end and a ground contacting end, the second link end pivotally connected to a region between the third link end and the ground contacting end;
the lower leg driving motor is arranged on one side of the first connecting end; and
the link mechanism is used for driving the second connecting rod to move relative to the first connecting rod;
the link mechanism is arranged between the output shaft of the shank driving motor and the third connecting end;
the link mechanism includes: the rotating ring is connected with an output shaft of the shank driving motor;
one end of the fourth connecting rod is hinged with the outer side wall of the rotating ring, and the other end of the fourth connecting rod is hinged with the third connecting end.
The robot leg structure also comprises a thigh driving motor for driving the first connecting rod to rotate and a connecting piece for connecting the thigh driving motor and the shank driving motor;
the thigh driving motor is arranged at the first connecting end, and the thigh driving motor and the shank driving motor are oppositely arranged at the first connecting end.
The utility model also provides a robot, including stating aforementioned robot shank structure.
The beneficial effects of the utility model include at least: through at the second connecting rod with set up link mechanism between the shank driving motor, this link mechanism will shank driving motor's power passes through the connecting rod and transmits to the second connecting rod makes the second connecting rod is relative first connecting rod motion, and traditional mode is compared to this embodiment, and thigh driving motor only needs the first connecting rod motion of drive as the robot thigh, reduces thigh driving motor's load, shank simple structure, simple to operate.
Drawings
Fig. 1 is a schematic structural diagram of a first embodiment of a leg structure of a robot according to the present invention;
fig. 2 is an exploded schematic view of a first embodiment of a robot leg structure according to the present invention;
fig. 3 is a schematic structural diagram of a second embodiment of a leg structure of a robot according to the present invention;
FIG. 4 is a schematic diagram of a leg structure of a robot in the prior art;
reference numbers in the figures:
10-a first link; 20-a second link; 11-a first connection end; 12-a second connection end; 21-a third connection end; 22-ground contact; 30-a lower leg drive motor; 40-a linkage mechanism; 41-a third link; 42-a fourth link; 411-fifth connection end; 412-a sixth connection end; 43-a turning ring; 50-thigh drive motor; 60-a connector; 100-robot leg structure; 49-drive connection; 48-a first screw; 47-a second screw; 46-a third screw; 1-thigh reduction motor; 3-a shank gear motor; 4-thigh; 8-shank; 7-a synchronous pulley; 5-synchronous belt; 6-tensioning mechanism.
Detailed Description
In the description of the present invention, it is to be understood that the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. In addition, in the description of the present invention, "a plurality" means two or more unless otherwise specified.
The following further describes embodiments of the present invention with reference to the drawings.
Example one
Referring to fig. 1, a robot leg structure 100 includes: a first link 10 serving as a thigh of the robot; a second link 20 serving as a lower leg of the robot, a lower leg driving motor 30, and a link mechanism 40 for driving the second link 20 to move relative to the first link 10.
The first link 10 has a first connection end 11 and a second connection end 12, and the lower leg driving motor 30 is disposed at the first connection end 11.
The second link 20 has a third connecting end 21 and a ground contacting end 22, the second connecting end 12 being pivotally connected to the region between the third connecting end 21 and the ground contacting end 22.
The link mechanism 40 is provided between the output shaft of the lower leg driving motor 30 and the third connecting end 21.
The embodiment is suitable for robots with reptile characteristics, such as machine cats, machine dogs, etc.
By arranging the link mechanism 40 between the second link 20 and the lower leg driving motor 30, the link mechanism 40 transmits the power of the lower leg driving motor 30 to the second link 20 through the link, so that the second link 20 moves relative to the first link 10, thereby realizing the normal movement of the leg of the robot. In the traditional mode, a synchronous belt is used for transmitting the power of a shank driving motor to a synchronous wheel, the synchronous wheel rotates to drive the shank to move, and the synchronous belt is tensioned through a tensioning mechanism. Compared with the traditional mode, the embodiment reduces the inertia force of the second connecting rod (namely the robot crus), and has simple leg structure and convenient installation.
Further, referring to fig. 2, the link mechanism 40 includes:
a transmission connecting piece 49 connected with an output shaft of the shank driving motor 30, a rotating ring 43 sleeved on the transmission connecting piece 49 and a fourth connecting rod 42;
one end of the fourth link 42 is hinged to the outer sidewall of the rotating ring 43, and the other end of the fourth link 42 is hinged to the third connecting end 21.
Specifically, the transmission connector 49 and the output shaft of the lower leg driving motor 30 may be connected by a threaded connection or a structural interference, and preferably, in order to make the connection between the transmission connector 49 and the output shaft of the lower leg driving motor 30 more stable, the transmission connector 49 and the output shaft of the lower leg driving motor 30 are fastened by a first screw 48. It will be appreciated that the number of first screws 48 is not limited as long as a tightening action is achieved.
In order to improve the smoothness of the output shaft of the shank driving motor 30 driving the transmission connecting piece 49 to rotate, a bearing 45 is arranged on the transmission connecting piece 49, and the bearing 45 is limited between the outer wall of the transmission connecting piece 49 and the first connecting end 11.
In addition, the outer side wall of the transmission link 49 is provided in a polygonal shape as a whole, and the inner side of the rotating ring 43 is provided in a shape matching the polygonal shape. It is understood that the polygon may be a triangle, a square, a regular pentagon, or even a special polygon, so long as the rotating ring 43 is stably sleeved on the transmission connector 49 and coaxially rotates with the transmission connector 49.
Referring to fig. 1, when the lower leg driving motor 30 drives the rotating ring 43 to rotate clockwise, the fourth link 42 moves outward relative to the first link 10, and the grounding end 22 of the second link 20 rotates counterclockwise relative to the first link 10, so that the second link 20 (i.e., the lower leg of the robot) moves relative to the first link 10 (i.e., the upper leg of the robot).
It is understood that the robot leg structure 100 further comprises a thigh driving motor 50 for driving the first link 10 to rotate and a link 60 for connecting the thigh driving motor 50 and the shank driving motor 30;
specifically, the thigh driving motor 50 is fastened to the first connection end 11 by a second screw 47, and the thigh driving motor 50 and the shank driving motor 30 are oppositely disposed on the first connection end 11 by a third screw 46.
Therefore, the thigh driving motor 50 drives the first link 10 to move, and the lower leg driving motor 30 drives the second link 20 (i.e., the lower leg of the robot) to move relative to the first link 10 (i.e., the thigh of the robot) through the link mechanism 40, so that the robot leg structure 100 of the embodiment can realize normal walking movement.
The beneficial effects of implementing the embodiment at least comprise: by arranging the link mechanism 40 between the second link 20 and the lower leg driving motor 30, the link mechanism 40 transmits the power of the lower leg driving motor 30 to the second link 20 through the link, so that the second link 20 moves relative to the first link 10, thereby realizing the normal movement of the leg of the robot. This embodiment compares traditional mode, and thigh driving motor only needs the drive to move as the first connecting rod of robot thigh, reduces thigh driving motor's load, shank simple structure, simple to operate.
Example two
Referring to fig. 3, a robot leg structure 100 according to a second embodiment of the present invention will be described. Further, unless otherwise specified, the configuration of the second embodiment relating to the robot leg structure 100 is the same as that described with reference to fig. 1 to 2 in the first embodiment. Hereinafter, the robot leg structure 100 according to the second embodiment will be mainly described with respect to the different components from those of the first embodiment, and the same structure as the robot leg structure 100 according to the first embodiment will be briefly described.
In the present embodiment, the link mechanism 40 includes:
a third link 41 and a fourth link 42;
wherein the third link 41 includes a fifth connection end 411 and a sixth connection end 412; the fifth connecting end 411 is connected to an output shaft of the lower leg driving motor 30, one end of the fourth connecting rod 42 is hinged to the sixth connecting end 412, and the other end of the fourth connecting rod 42 is hinged to the third connecting end 21.
Referring to fig. 3, when the output shaft of the lower leg driving motor 30 rotates clockwise, the sixth connecting end 412 rotates along the pointer around the fifth connecting end 411 as a center, the fourth connecting rod 42 moves outward relative to the first connecting rod 10, and the grounding end 22 of the second connecting rod 20 rotates counterclockwise relative to the first connecting rod 10, so that the second connecting rod 20 (i.e., the lower leg of the robot) moves relative to the first connecting rod 10 (i.e., the upper leg of the robot).
This embodiment compares traditional mode, and thigh driving motor only needs the drive to move as the first connecting rod of robot thigh, reduces thigh driving motor's load, shank simple structure, simple to operate.
EXAMPLE III
A robot comprising a robot leg structure 100 according to the first embodiment. The robot using the robot leg structure 100 of the first embodiment has a simple leg structure and reduces the cost.
The present invention has been described in detail with reference to the above embodiments, but these are not to be construed as limiting the present invention. The protection scope of the present invention is not limited to the above embodiments, but equivalent modifications or changes made by those skilled in the art according to the disclosure of the present invention should be included in the protection scope of the claims.
Claims (6)
1. A robot leg structure, comprising:
a first link serving as a thigh of the robot, the first link having a first connection end and a second connection end;
a second link for use as a lower leg of the robot, the second link having a third link end and a ground contacting end, the second link end pivotally connected to a region between the third link end and the ground contacting end;
the lower leg driving motor is arranged on one side of the first connecting end; and
the link mechanism is used for driving the second connecting rod to move relative to the first connecting rod;
the link mechanism is arranged between the output shaft of the shank driving motor and the third connecting end.
2. A robot leg structure according to claim 1, characterized in that the linkage comprises: a third link and a fourth link;
the third connecting rod comprises a fifth connecting end and a sixth connecting end; the fifth connecting end is connected with an output shaft of the shank driving motor, one end of the fourth connecting rod is hinged with the sixth connecting end, and the other end of the fourth connecting rod is hinged with the third connecting end.
3. A robot leg structure according to claim 1, characterized in that the linkage comprises: the rotating ring is connected with an output shaft of the shank driving motor;
one end of the fourth connecting rod is hinged with the outer side wall of the rotating ring, and the other end of the fourth connecting rod is hinged with the third connecting end.
4. A robot leg structure according to any of claims 1-3, characterized in that the robot leg structure further comprises a thigh drive motor for driving the first link in rotation and a link for connecting the thigh drive motor and the shank drive motor;
the thigh driving motor is arranged at the first connecting end, and the thigh driving motor and the shank driving motor are oppositely arranged at the first connecting end.
5. A robot leg structure, comprising:
a first link serving as a thigh of the robot, the first link having a first connection end and a second connection end;
a second link for use as a lower leg of the robot, the second link having a third link end and a ground contacting end, the second link end pivotally connected to a region between the third link end and the ground contacting end;
the lower leg driving motor is arranged on one side of the first connecting end; and
the link mechanism is used for driving the second connecting rod to move relative to the first connecting rod;
the link mechanism is arranged between the output shaft of the shank driving motor and the third connecting end;
the link mechanism includes: the rotating ring is connected with an output shaft of the shank driving motor;
one end of the fourth connecting rod is hinged with the outer side wall of the rotating ring, and the other end of the fourth connecting rod is hinged with the third connecting end;
the robot leg structure also comprises a thigh driving motor for driving the first connecting rod to rotate and a connecting piece for connecting the thigh driving motor and the shank driving motor;
the thigh driving motor is arranged at the first connecting end, and the thigh driving motor and the shank driving motor are oppositely arranged at the first connecting end.
6. A robot comprising the robot leg structure of claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020449019.5U CN211809945U (en) | 2020-03-30 | 2020-03-30 | Robot leg structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020449019.5U CN211809945U (en) | 2020-03-30 | 2020-03-30 | Robot leg structure and robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211809945U true CN211809945U (en) | 2020-10-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020449019.5U Active CN211809945U (en) | 2020-03-30 | 2020-03-30 | Robot leg structure and robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211809945U (en) |
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2020
- 2020-03-30 CN CN202020449019.5U patent/CN211809945U/en active Active
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