CN212738353U - Mechanical leg and robot - Google Patents

Abstract

The application provides a mechanical leg and robot belongs to smart machine technical field. This mechanical leg includes first frame, thigh driving motor, shank driving motor, thigh link mechanism, shank link mechanism and sole, wherein: the thigh driving motor and the shank driving motor are arranged on the first rack, an output shaft of the thigh driving motor is connected with the thigh link mechanism, an output shaft of the shank driving motor is connected with the shank link mechanism, one end of the shank link mechanism is connected with the thigh link mechanism, and the other end of the shank link mechanism is connected with the sole; the thigh driving motor and the shank driving motor are used for driving the sole to move through the thigh link mechanism and the shank link mechanism. By adopting the leg lifting mechanism, the mechanical leg can realize the leg lifting movement through the thigh link mechanism and the shank link mechanism, and the simulation fidelity can be improved.

Description

Mechanical leg and robot

Technical Field

The application relates to the technical field of intelligent equipment, in particular to a mechanical leg and a robot.

Background

With the rapid development of intelligent devices, simulated robots, such as simulated penguins and robots, have also been rapidly developed.

Mechanical legs of robots in the related art mostly walk in a translation mode, so that the simulation effect is poor.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a mechanical leg and a robot, which can overcome the problems of the related art. The technical scheme is as follows:

on the one hand, a mechanical leg of robot is provided, mechanical leg includes first frame, thigh driving motor, shank driving motor, thigh link mechanism, shank link mechanism and sole, wherein:

the thigh driving motor and the shank driving motor are arranged on the first rack, an output shaft of the thigh driving motor is connected with the thigh link mechanism, an output shaft of the shank driving motor is connected with the shank link mechanism, one end of the shank link mechanism is connected with the thigh link mechanism, and the other end of the shank link mechanism is connected with the sole;

the thigh driving motor and the shank driving motor are used for driving the sole to move through the thigh link mechanism and the shank link mechanism.

In another aspect, a robot is provided, which includes the above mechanical legs, and the number of the mechanical legs is two or more.

In the embodiment of the application, the mechanical leg of the robot is provided with the thigh driving motor, the shank driving motor, the thigh link mechanism and the shank link mechanism, so that the robot can realize foot lifting movement through the thigh link mechanism and the shank link mechanism, and the simulation effect of the robot is improved. In addition, the robot can move by lifting feet when walking, so that the robot can move on the flat ground and the rugged ground, the capability of the robot for crossing obstacles is improved, and the application scene of the robot is expanded.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

Fig. 1 is an exploded schematic view of a mechanical leg of a robot according to an embodiment of the present disclosure;

fig. 2 is a schematic structural diagram of a mechanical leg of a robot according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a mechanical leg of a robot according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of a robot according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a robot shaped like a penguin according to an embodiment of the present application;

fig. 6 is a schematic structural diagram of a torso of a robot according to an embodiment of the present disclosure.

Description of the figures

1. A first frame; 2. a thigh drive motor; 3. the shank drives the motor.

4. A thigh link mechanism; 41. a first front and rear cross bar 42, a thigh driving bar; 43. a second front and rear cross bar; 44. a first thigh follower link; 45. a first left and right cross bar; 46. a second thigh follower link; 47. a second left and right cross bar.

5. A shank link mechanism; 51. a shank driving rod; 52. a first shank slave link; 53. a second shank slave link; 54. a third shank slave link; 55. a third front and rear cross bar; 56. a fourth shank slave link; 57. and a third left and right cross bar.

6. A sole of a foot; 7. a vertical rod; 8. a left and right driving motor; 9. a steering drive motor; 10. a mechanical leg shell; 11. the sole shell.

12. A torso; 121. a second frame; 122. a trunk swing motor; 123. a trunk swing drive shaft; 124. the trunk swings the driven shaft; 125. a controller;

13. a torso shell; 14. a robotic arm.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

The embodiment of the present application provides a mechanical leg, where the mechanical leg may be a leg of a robot, and the robot may be an animal simulation device or a human simulation device, for example, a simulated penguin, or a simulated robot, and the present embodiment is not limited to this, and may take a simulated penguin as an example.

For convenience of description of the present embodiment, the directions or positional relationships indicated by "up", "down", "left", "right", "front", "back", "horizontal", "vertical", and "horizontal" will be introduced as directions or positional relationships based on the drawings, which are only for convenience of description of the present embodiment and do not constitute specific limitations. Furthermore, references herein to "first," "second," and "third," etc. are for descriptive purposes only and are not to be construed as indicating or implying relative importance.

Fig. 1 to 3 are schematic structural views of a robot leg, wherein fig. 1 is a schematic exploded structural view of the robot leg, fig. 2 is a left side view of an assembled robot leg, and fig. 3 is a front view of the assembled robot leg (including only one right leg, the left leg is not shown).

As shown in fig. 1, the mechanical leg includes a first frame 1, a thigh driving motor 2, a shank driving motor 3, a thigh link mechanism 4, a shank link mechanism 5 and a sole 6, wherein: the thigh drive motor 2 and the calf drive motor 3 are mounted on the first frame 1, and for example, an output shaft of the thigh drive motor 2 and an output shaft of the calf drive motor 3 are connected by a link mounted on the first frame 1. The output shaft of the thigh drive motor 2 is connected to the thigh link mechanism 4, for example, the thigh link mechanism 4 may include a plurality of links, and the output shaft of the thigh drive motor 2 may be connected to one of the plurality of links. The output shaft of the lower leg drive motor 3 is connected to a lower leg link mechanism 5, for example, the lower leg link mechanism 5 may include a plurality of links, and the lower leg drive motor 3 may be connected to one of the plurality of links. One end of the shank link mechanism 5 is connected with the thigh link mechanism 4, and the other end is connected with the sole 6. The thigh driving motor 2 and the shank driving motor 3 are used for driving the sole 6 to move through the thigh link mechanism 4 and the shank link mechanism 5.

The movement of the sole 6 may include a lifting movement and a back-and-forth movement of the sole 6, the lifting movement of the sole 6 may implement a stepping walking movement of the sole 6, an in-situ stepping movement of the sole 6, and the back-and-forth movement of the sole 6.

The lifting of the sole 6 means that the sole 6 can be raised or lowered, and the forward and backward movement of the sole 6 means that the sole 6 can be moved forward or backward, for example, the sole 6 can be raised and then lowered forward or backward, and for example, the sole 6 can be raised and then lowered backward or backward.

In one example, as shown in fig. 1, the thigh drive motor 2 and the calf drive motor 3 may be disposed in tandem, with the thigh drive motor 2 being located in front of the calf drive motor 3 and the calf drive motor 3 being located behind the thigh drive motor 2. Or, the thigh drive motor 2 and the shank drive motor 3 are arranged one above the other, the thigh drive motor 2 is positioned above the shank drive motor 3, and the shank drive motor 3 is positioned below the thigh drive motor 2. In this embodiment, the specific relative position relationship between the thigh drive motor 2 and the shank drive motor 3 is not limited, and it is sufficient that the thigh drive motor 2 can drive the thigh link mechanism 4 to move and the shank drive motor 3 can drive the shank link mechanism 5 to move. It can be exemplified by a thigh drive motor 2 and a shank drive motor 3 arranged in tandem as shown in fig. 1.

As described above, the output shaft of the thigh driving motor 2 is fixedly connected with the thigh link mechanism 4, the output shaft of the shank driving motor 3 is fixedly connected with the shank link mechanism 5, the thigh link mechanism 4 is connected with the shank link mechanism 5, and the shank link mechanism 5 is connected with the sole 6, so that the thigh driving motor 2 and the shank driving motor 3 can drive the sole 6 to move through the thigh link mechanism 4 and the shank link mechanism 5.

The specific connection relationship may be as follows:

the thigh link mechanism 4 may be composed of a plurality of levers, and as shown in fig. 1, the thigh link mechanism 4 may include a first front and rear cross bar 41, a thigh driving lever 42, a second front and rear cross bar 43, and a first thigh driven lever 44; the first front and rear cross rods 41, the thigh driving rod 42, the second front and rear cross rods 43 and the first thigh driven rod 44 are sequentially connected in a rotating manner from head to tail, two ends of the first front and rear cross rods 41 are respectively connected with an output shaft of the thigh driving motor 2 and an output shaft of the shank driving motor 3 in a rotating manner, and the thigh driving rod 42 is fixedly connected with an output shaft of the thigh driving motor 2.

In one example, as shown in fig. 1, the first front and rear cross bar 41, the thigh driving bar 42, the second front and rear cross bar 43, and the first thigh driven bar 44 are sequentially connected end to form a first planar four-bar mechanism, the first front and rear cross bar 41 may serve as a frame of the first planar four-bar mechanism, two ends of the first front and rear cross bar are respectively rotatably mounted on an output shaft of the thigh driving motor 2 and an output shaft of the shank driving motor 3, the thigh driving bar 42 and the first thigh driven bar 44 serve as frame bars of the first planar four-bar mechanism, the second front and rear cross bar 43 serves as a link of the first planar four-bar mechanism, and the second front and rear cross bar 43 is configured to be rotatably connected with the shank link mechanism 5.

Wherein, the both ends of first front and back horizontal pole 41 are rotated and are installed on thigh driving motor 2's output shaft and shank driving motor 3's output shaft, that is, have the mounting hole with thigh driving motor 2's output shaft looks adaptation on the first end of first front and back horizontal pole 41, this mounting hole belongs to the via hole, thigh driving motor 2's output shaft can pass the mounting hole on the first end of first front and back horizontal pole 41, have the mounting hole with shank driving motor 3's output shaft looks adaptation on the second end of first front and back horizontal pole 41, this mounting hole belongs to the via hole, shank driving motor 3's output shaft can pass the mounting hole on the second end of first front and back horizontal pole 41. Thus, the output shaft of the thigh drive motor 2 can rotate with respect to the first front-rear cross bar 41, and the output shaft of the lower leg drive motor 3 can rotate with respect to the first front-rear cross bar 41.

In one example, the output shaft of the thigh driving motor 2 and the output shaft of the calf driving motor 3 may be respectively installed at both ends of the first front and rear cross bar 41, the first front and rear cross bar 41 may be installed on the second frame 121 of the trunk 12, and then the thigh driving motor 2 and the calf driving motor 3 are installed on the trunk 12 through the first front and rear cross bar 41. In another example, the first front and rear cross bars 41 may also be mounted on the first left and right cross bars 45, and then the first left and right cross bars 45 are mounted on the second frame 121 of the torso 12. How the first front and rear cross bars 41 are mounted on the second frame 121 of the trunk 12 is not limited in this embodiment, and the thigh drive motor 2 and the lower leg drive motor 3 can be stably fixed below the trunk 12.

In one example, the output shaft of the thigh driving motor 2 is fixedly connected to the thigh driving lever 42, such that the output shaft of the thigh driving motor 2 rotates to drive the thigh driving lever 42 to rotate, and the second front and rear cross bars 43 and the first thigh driven lever 44 rotate during the rotation of the thigh driving lever 42. As shown in fig. 1, when the thigh driving motor 2 rotates clockwise, the thigh driving lever 42 moves downward, and when the thigh driving motor 2 rotates counterclockwise, the thigh driving lever 42 moves upward. When the thigh driving motor 2 rotates, the thigh link mechanism 4 can be driven to move up or down, and the foot lifting and dropping actions of the mechanical legs are realized.

Wherein, the shank link mechanism 5 may also be composed of a plurality of rods, and as shown in fig. 1, the shank link mechanism 5 may include a shank driving rod 51, a first shank driven rod 52, a second shank driven rod 53, a third shank driven rod 54 and a third front and rear cross rod 55; the second shank driven rod 53, the second front and rear cross rod 43, the third shank driven rod 54 and the third front and rear cross rod 55 are sequentially connected in a rotating manner from head to tail, the first end of the shank driving rod 51 is fixedly connected with the output shaft of the shank driving motor 3, the second end of the shank driving rod 51 is rotatably connected with the first end of the first shank driven rod 52, the second end of the first shank driven rod 52 is rotatably connected with the second shank driven rod 53, and the third front and rear cross rod 55 is connected with the sole 6.

In one example, the second calf follower link 53, the third front-rear cross bar 55, the third calf follower link 54, and the second front-rear cross bar 43 are sequentially rotationally connected end-to-end to form a second planar four-bar linkage in which the second front-rear cross bar 43 serves as a frame, the second calf follower link 53 and the third calf follower link 54 serve as frame links, and the third front-rear cross bar 55 serves as a link. As shown in fig. 1, the first planar four-bar mechanism formed by the thigh link mechanism 4 and the second planar four-bar mechanism formed by the shank link mechanism 5 share a second front-rear cross bar 43.

The lower leg driving motor 3 drives the second planar four-bar mechanism through the lower leg driving rod 51 and the first lower leg driven rod 52, for example, as shown in fig. 1, an output shaft of the lower leg driving motor 3 is fixedly connected with a first end of the lower leg driving rod 51, a second end of the lower leg driving rod 51 is rotatably connected with a first end of the first lower leg driven rod 52, and a second end of the first lower leg driven rod 52 is rotatably mounted on a second lower leg driven rod 53 constituting the second planar four-bar mechanism. The third front and rear cross bar 55 of the shank link mechanism 5 is rotatably connected with the sole 6.

Thus, when the output shaft of the lower leg driving motor 3 rotates clockwise, the lower leg driving rod 51 rotates clockwise around the lower leg driving motor 3, so that the first lower leg driven rod 52 pulls the second planar four-bar linkage to move backwards; when the output shaft of the lower leg driving motor 3 rotates counterclockwise, the lower leg driving link 51 rotates counterclockwise around the lower leg driving motor 3, so that the first lower leg driven link 52 pushes the second planar four-bar linkage to move forward.

Based on the above, the first planar four-bar linkage composed of the first front-rear cross bar 41, the thigh driving bar 42, the second front-rear cross bar 43, and the first thigh driven bar 44 may be used as the thigh of the mechanical leg, and the second planar four-bar linkage composed of the second front-rear cross bar 43, the third shank driven bar 54, the third front-rear cross bar 55, and the second shank driven bar 53 may be used as the shank of the mechanical leg.

Thus, the output shaft of the thigh driving motor 2 is fixedly connected with the thigh driving rod 42, the output shaft of the thigh driving motor 2 can drive the thigh driving rod 42 to move when rotating, and the thigh driving rod 42 can drive the second front and rear cross rods 43 and the first thigh driven rod 44 to move when moving. An output shaft of the calf driving motor 3 is fixedly connected with the calf driving rod 51, the calf driving rod 51 can be driven to move when the output shaft of the calf driving motor 3 rotates, and the first calf driven rod 52, the second calf driven rod 53, the third front-rear cross rod 55 and the third calf driven rod 54 can be driven to move when the calf driving rod 51 moves.

It can be seen that the output shaft of the thigh driving motor 2 is connected with the first front and rear cross bars 41 in the first planar four-bar mechanism, and can directly drive the first planar four-bar mechanism to move. The lower leg driving motor 3 is indirectly connected with the second planar four-bar linkage through the lower leg driving rod 51 and the first lower leg driven rod 52, and can indirectly drive the second planar four-bar linkage to move through the lower leg driving rod 51 and the first lower leg driven rod 52. And a third front-rear cross bar 55 in the second planar four-bar mechanism is connected to the sole 6. Therefore, under the matched driving of the thigh driving motor 2 and the shank driving motor 3, the mechanical legs of the robot can drive the sole 6 to move forwards or backwards, and the simulation effect of the robot on penguins can be improved compared with the driving of the robot in translation on the ground.

Moreover, the robot can walk on flat terrain and complex terrain, and has obvious advantages in obstacle crossing performance.

As shown in fig. 1, the connection between the output shaft of the thigh driving motor 2 and the first front and rear cross bars 41 belongs to a rotating connection, that is, the mounting holes on the first front and rear cross bars 41 belong to via holes, and the output shaft of the thigh driving motor 2 passes through the mounting holes on the first front and rear cross bars 41 to be fixedly connected with the thigh driving rod 42, so that the output shaft of the thigh driving motor 2 can drive the thigh driving rod 42 to rotate, and the output shaft of the thigh driving motor 2 can rotate relative to the first front and rear cross bars 41.

Similarly, the output shaft of the lower leg driving motor 3 is connected to the first front and rear cross bars 41, and the output shaft of the lower leg driving motor 3 is connected to the first thigh driven bar 44 in a rotating manner, that is, the mounting holes on the first front and rear cross bars 41 and the first thigh driven bar 44 are through holes, the output shaft of the lower leg driving motor 3 respectively passes through the mounting holes of the first front and rear cross bars 41 and the first thigh driven bar 44 and is fixedly connected to the lower leg driving bar 51, so that the output shaft of the lower leg driving motor 3 can drive the lower leg driving bar 51 to rotate together, and the output shaft of the lower leg driving motor 3 can rotate relative to the first front and rear cross bars 41 and the first thigh driven bar 44.

As can be seen from the above, in the mechanical leg, when the mechanical leg moves, the output shaft of the thigh driving motor 2 drives the thigh driving rod 42 to rotate in an arc, and the output shaft of the shank driving motor 3 drives the shank driving rod 51 to rotate in an arc, so that the first planar four-bar mechanism composed of the first front and rear cross bar 41, the thigh driving rod 42, the second front and rear cross bar 43 and the first thigh driven rod 44, and the second planar four-bar mechanism composed of the second front and rear cross bar 43, the third shank driven rod 54, the third front and rear cross bar 55 and the second shank driven rod 53 can drive the sole 6 to move up and down and back and forth.

As shown in fig. 1, the thigh link mechanism 4 and the lower leg link mechanism 5 positioned on the left side of the plane on which the thigh drive motor 2 and the lower leg drive motor 3 are positioned constitute a sub-link mechanism that moves the sole 6.

In order to make the link mechanism more stably drive the sole 6 to move, one mode may be that the thigh link mechanism 4 and the shank link mechanism 5 form a link mechanism of a mechanical leg, and the mechanical leg comprises two pairs of link mechanisms; the two pairs of link mechanisms are positioned on two sides of a plane where the thigh driving motor 2 and the shank driving motor 3 are positioned, and are symmetrical about the plane where the thigh driving motor 2 and the shank driving motor 3 are positioned.

In one example, the link mechanism located on the left side of the plane in which the thigh drive motor 2 and the lower leg drive motor 3 are located may be referred to as a first sub-link mechanism, and the link mechanism located on the right side may be referred to as a second sub-link mechanism, which are symmetrical with respect to the plane in which the thigh drive motor 2 and the lower leg drive motor 3 are located. The first secondary linkage mechanism and the second secondary linkage mechanism can be connected with the sole 6 through a T-shaped rod, for example, the third front and rear cross rod 55 of the first secondary linkage mechanism 5 is rotatably connected with the first end of the cross rod of the T-shaped rod, the third front and rear cross rod 55 of the second secondary linkage mechanism 5 is rotatably connected with the second end of the cross rod of the T-shaped rod, and the vertical rod of the T-shaped rod is fixed at the center of the sole 6.

Thus, the thigh driving motor 2 and the shank driving motor 3 can drive the sole 6 to lift, drop, move forward and backward through the two pairs of link mechanisms.

In order to make the link mechanism more stably drive the sole 6 to move, another mode may be that the second secondary link mechanism located on the right side of the plane where the thigh driving motor 2 and the shank driving motor 3 are located may also be replaced by a driven link mechanism, the driven link mechanism is rotatably mounted on the first secondary link mechanism, the first secondary link mechanism is used as the driving link mechanism, and the corresponding structure may be as follows:

as shown in fig. 1, the thigh link mechanism 4 further includes a first left and right cross bar 45, a second thigh driven bar 46, and a second left and right cross bar 47, and the shank link mechanism 5 further includes a fourth shank driven bar 56 and a third left and right cross bar 57; the first end of the second thigh driven rod 46 is rotatably connected to the first front and rear cross rod 41 through a first left and right cross rod 45, the second end of the second thigh driven rod 46 is rotatably connected to the second front and rear cross rod 43 through a second left and right cross rod 47, the second end of the second thigh driven rod 46 is rotatably connected to the first end of the fourth shank driven rod 56, the second end of the fourth shank driven rod 56 is rotatably connected to the third front and rear cross rod 55 through a third left and right cross rod 57, and the third left and right cross rod 57 is fixedly connected to the sole 6 through a vertical rod 7.

In one example, a first end of the second thigh follower lever 46 is pivotally coupled to the first front and rear crossbar 41 via the first left and right crossbar 45, i.e., a first end of the first left and right crossbar 45 is pivotally coupled to the first front and rear crossbar 41 and a second end of the first left and right crossbar 45 is pivotally coupled to a first end of the second thigh follower lever 46. The second end of the second thigh follower lever 46 is pivotally connected to the second front and rear cross bar 43 via a second left and right cross bar 47, i.e., the first end of the second left and right cross bar 47 is pivotally connected to the second front and rear cross bar 43, and the second end of the second left and right cross bar 47 is pivotally connected to the second end of the second thigh follower lever 46. Wherein the second end of the second thigh follower link 46 is also pivotally connected to the first end of the fourth shank follower link 56. The second end of the fourth calf driven lever 56 is pivotally connected to the third front and rear cross bar 55 by a third left and right cross bar 57, i.e., the first end of the third left and right cross bar 57 is pivotally connected to the third front and rear cross bar 55 and the second end of the third left and right cross bar 57 is pivotally connected to the second end of the fourth calf driven lever 56. Wherein, the third front and rear cross bars 55 are fixed on the sole 6 through the vertical bars 7.

Thus, when the thigh drive motor 2 rotates, the thigh driving lever 42, the second front-rear cross bar 43, the first thigh driven lever 44, the second left-right cross bar 47, and the second thigh driven lever 46 can be moved upward or downward. When the lower leg driving motor 3 rotates, the lower leg driving link 51, the first lower leg driven link 52, the third front-rear cross link 55, the second lower leg driven link 53, the third lower leg driven link 54, and the fourth lower leg driven link 56 can be moved forward or backward. It can be seen that when the thigh driving motor 2 and the shank driving motor 3 rotate, the foot sole 6 can be driven to walk through the thigh link mechanism 4 and the shank link mechanism 5.

In order to make the robot more lifelike, the robot can also walk leftwards and rightwards, correspondingly, as shown in fig. 1, the mechanical leg further comprises a left and right driving motor 8, and an output shaft of the left and right driving motor 8 is rotatably connected with the thigh link mechanism 4.

In one example, the first front-rear cross bar 41 is pivotally connected to a first end of a first left-right cross bar 45 of the thigh link mechanism 4, and a second end of the first left-right cross bar 45 is pivotally connected to an output shaft of the left-right drive motor 8. For example, the second end of the first left and right cross bar 45 has a mounting hole belonging to a through hole, and the output shaft of the left and right driving motor 8 passes through the mounting hole on the second end of the first left and right cross bar 45 so that the output shaft of the left and right driving motor 8 can rotate with respect to the first left and right cross bar 45. The output shaft of the left and right driving motor 8 is further connected to a first end of the second thigh driven rod 46, for example, as shown in fig. 1, the output shaft of the left and right driving motor 8 is connected to the first end of the second thigh driven rod 46 through a T-shaped connecting member, illustratively, the output shaft of the left and right driving motor 8 is fixedly connected to a vertical rod of the T-shaped connecting member, an end of a cross rod of the T-shaped connecting member is rotatably connected to the first end of the second thigh driven rod 46, and the output shaft of the left and right driving motor 8 can drive the second thigh driven rod 46 to move through the T-shaped connecting member when rotating.

Thus, when the left and right driving motors 8 rotate clockwise, the output shafts of the left and right driving motors 8 can drive the second thigh driven rods 46 to move leftwards; when the left and right driving motors 8 rotate counterclockwise, the output shafts of the left and right driving motors 8 can drive the second thigh driven lever 46 to move rightward.

As can be seen from the above, in the motion of the mechanical leg, the output shaft of the left and right driving motor 8 drives the second thigh driven rod 46 to rotate in an arc, so that the third planar four-bar mechanism composed of the first left and right cross bars 45, the second thigh driven rod 46 and the second left and right cross bars 47, and the fourth planar four-bar mechanism composed of the second left and right cross bars 47, the second thigh driven rod 46, the fourth shank driven rod 56 and the third left and right cross bars 57 can drive the sole 6 to translate left and right under the driving cooperation of the thigh driving motor 2 and the shank driving motor 3.

As shown in fig. 1, a connection line between the midpoint of the first front-rear cross bar 41 and the midpoint of the second front-rear cross bar 43 may be regarded as a bar of the third planar four-bar linkage, or a projection of the first planar four-bar linkage on a vertical plane thereof may be regarded as a bar of the third planar four-bar linkage. Similarly, a line connecting the midpoint of the second front/rear cross bar 43 and the midpoint of the third front/rear cross bar 55 may be regarded as one bar of the fourth planar four-bar linkage, or a projection of the second planar four-bar linkage on a vertical plane thereof may be regarded as one bar of the fourth planar four-bar linkage.

As shown in fig. 1, the thigh drive motor 2, the calf drive motor 3, and the left and right drive motors 8 may be at the same height position. Or, as shown in fig. 4, the thigh driving motor 2, the shank driving motor 3, and the left and right driving motors 8 may not be located at the same height position, for example, the left and right driving motors 8 may be located below the thigh driving motor 2, in this case, the output shafts of the left and right driving motors 8 may be rotatably connected to the second thigh driven rod 46 through the vertical synchronous belts and the T-shaped connecting members, for example, the output shafts of the left and right driving motors 8 are connected to one end of the vertical synchronous belts, the other end of the vertical synchronous belts is connected to the T-shaped connecting members, and the T-shaped connecting members are rotatably connected to the second thigh driven rod 46, so that the second thigh driven rod 46 is driven to move when the left and right driving motors 8 rotate.

In the embodiment, the relative position relationship among the thigh driving motor 2, the shank driving motor 3, and the left and right driving motors 8 is not limited, and how the output shaft of the left and right driving motors 8 is connected with the first end of the second thigh driven rod 46 is also not limited, so that the second thigh driven rod 46 can be driven to move when the left and right driving motors 8 rotate, and a technician can flexibly select the position relationship according to the actual spatial layout.

In order to enable the mechanical legs of the robot to perform consecutive motions of lifting the feet, moving the feet leftwards or rightwards and then lowering the feet when moving leftwards or rightwards, the thigh driving motor 2 and the shank driving motor 3 need to be matched in rotation.

In order to make the robot more realistic, the robot can also perform a turning motion, and correspondingly, as shown in fig. 1, the mechanical legs can also comprise a steering driving motor 9, the steering driving motor 9 is mounted on the trunk 12, for example, on the first frame 1, and an output shaft of the steering driving motor 9 is connected with the thigh link mechanism 4.

In one example, the steering driving motor 9 is mounted on the first frame 1, and an output shaft of the steering driving motor 9 passes through the first frame 1 and is fixedly connected with the first left and right cross bars 45. Thus, when the steering drive motor 9 is rotated, the robot leg can be turned left or right.

Based on the above, after one mechanical leg of the robot is assembled, a left side view as shown in fig. 2 and a front view as shown in fig. 3 can be obtained. After the two strips of the robot are assembled, the schematic structural diagram of the robot shown in fig. 4 can be obtained.

In this way, as shown in fig. 4, when the robot performs forward and backward walking, for example, when the robot performs forward walking, the right leg is a fulcrum, the thigh drive motor 2 and the lower leg drive motor 3 of the left leg are driven so that the left leg is lifted upward and the robot takes a forward step, and then the thigh drive motor 2 and the lower leg drive motor 3 of the left leg are driven so that the left leg falls downward. Then, the thigh drive motor 2 and the shank drive motor 3 of the right leg are driven with the left leg as a fulcrum, so that the right leg is lifted upwards and steps forward, and then the thigh drive motor 2 and the shank drive motor 3 of the right leg are driven, so that the right leg falls to the ground downwards. The robot can walk forwards by circulating the process.

Wherein, because the center of gravity of the robot can shift left and right when the robot walks in a forward and backward stepping way, the left and right driving motors 8 can work together with the thigh driving motor 2 and the shank driving motor 3 when the robot walks in a forward and backward stepping way for adjusting the center of gravity.

When the robot walks leftwards and rightwards, for example, when the robot walks leftwards, the right leg is taken as a fulcrum, the left leg can be lifted upwards through the matched driving of the thigh driving motor 2 and the shank driving motor 3 of the left leg, then the left leg moves leftwards through the driving of the left and right driving motors 8 of the left leg, and then the left leg can fall to the ground downwards through the matched driving of the thigh driving motor 2 and the shank driving motor 3 of the left leg; then, the left leg is a fulcrum, the right leg can be lifted upwards through the matching drive of the thigh drive motor 2 and the shank drive motor 3 of the right leg, then the right drive motor 8 of the right leg drives the right leg to move leftwards, and then the left leg can be fallen to the ground downwards through the matching drive of the thigh drive motor 2 and the shank drive motor 3 of the right leg. The robot can move leftwards by circulating the process.

When the robot is steered, for example, to the left, the robot can be steered by the thigh drive motors 2 of the left and right legs, the calf drive motors 3 of the left and right legs, and the steering drive motors 9 of the left and right legs.

The above process is only an example, and the robot needs to be driven by matching the thigh driving motor 2 of the left leg and the right leg, the shank driving motor 3 of the left leg and the right leg, the left-right driving motor 8 of the left leg and the right leg, and the steering driving motor 9 of the left leg and the right leg during movement, such as forward and backward stepping movement, left-right movement, or left-right turning movement.

For example, when the robot has a mechanical leg which moves up or down, the thigh drive motor 2 and the calf drive motor 3 need to be engaged in driving, if the movement is accompanied by a leftward or rightward shift, the left and right drive motors 8 need to be engaged, and if the movement is accompanied by a steering, the steering drive motor 9 needs to be engaged. For example, even when the robot has a motion in which the robot leg moves forward or backward, the thigh drive motor 2 and the calf drive motor 3 need to be engaged in driving, and if the motion is accompanied by a leftward or rightward shift, the left and right drive motors 8 need to be engaged, and if the motion is accompanied by a turning, the turning drive motor 9 needs to be engaged. For example, when the robot has a motion of the robot leg to the left or right, the thigh drive motor 2, the calf drive motor 3, and the left/right drive motor 8 need to be driven and engaged, and if the motion is accompanied by steering, the steering drive motor 9 needs to be engaged. For example, when the robot has a mechanical leg that turns left or right, the thigh drive motor 2, the calf drive motor 3, the left/right drive motor 8, and the steering drive motor 9 need to be driven in cooperation.

As can be seen, in order to make the robot movement consistent, all or part of the thigh drive motor 2, the calf drive motor 3, the left and right drive motors 8, and the steering drive motor 9 need to be driven in coordination.

It can be seen that the robot can take a step forward or backward, move leftwards or rightwards, and turn leftwards or rightwards, so that the robot is more vivid. In addition, the robot with the structure can walk on flat ground and rugged ground, so that the application scene of the robot is wider, and the capability of the robot crossing obstacles can be improved.

In one example, the motors included in the robot, for example, the thigh drive motor 2, the shank drive motor 3, the left and right drive motors 8, and the steering drive motor 9 may all be steering gears. The steering engine is a position or angle servo driver and can be adapted to a control system with constantly changing positions and angles, and the robot can move more flexibly, naturally and continuously by using the steering engine.

For protection of the mechanical leg, correspondingly as shown in fig. 5, the mechanical leg further includes a mechanical leg shell 10 and a sole shell 11; the first frame 1, the thigh driving motor 2, the shank driving motor 3, the thigh link mechanism 4 and the shank link mechanism 5 are all positioned in the mechanical leg shell 10; a vertical rod 7 for connecting the lower leg link mechanism 5 and the sole 6 extends out of the mechanical leg shell 10 and is fixedly connected with the sole 6 positioned outside the mechanical leg shell 10, and the sole 6 is positioned in the sole shell 11.

In the embodiment of the application, the mechanical legs of the robot are provided with the thigh driving motor, the shank driving motor, the thigh link mechanism and the shank link mechanism, so that the robot can finish walking forward and backward through the actions of lifting feet, stepping and dropping feet, and the simulation effect of the robot is more vivid. The robot can lift feet and step when walking, so that the robot can walk on flat ground and rugged ground, and the application scene of the robot can be expanded.

The embodiment of the application also provides a robot, which may be a robot device for simulating a human being, or a device for simulating an animal, for example, as shown in fig. 5, an intelligent device for simulating a penguin is provided. The specific structure of the robot is not limited in this embodiment, and the robot may be an intelligent device whose appearance is similar to a human being, or an intelligent device whose appearance is similar to an animal.

The robot may comprise the above-mentioned mechanical legs, wherein the number of the mechanical legs is two or more. For example, as shown in fig. 4, the robot has two mechanical legs.

As shown in fig. 4, the robot may include a trunk 12 and machine legs, wherein the first frame 1 of the machine legs may be mounted at a lower portion of the trunk 12. As shown in fig. 6, the torso 12 may include a first frame 121 and the first frame 1 of the robotic legs may be mounted on a second frame 121 of the torso 12, e.g., as shown in fig. 1-3, the steering drive motors 9 of the robotic legs are mounted on the second frame 121.

Wherein, if the first frame 1 and the second frame 121 are both strip-shaped plates, the first frame 1 and the second frame 121 may be vertically fixed.

In one example, as shown in fig. 4, a controller 125 may be mounted on the first rack 1, and the controller 125 is a Central Processing Unit (CPU) of the robot and serves as a computing and control core of the robot. The rotation of the thigh driving motor 2 and the shank driving motor 3 can be controlled, so that the mechanical leg can walk forwards and backwards; the rotation of the left and right driving motors 8 can also be controlled to make the robot legs perform leftward or rightward steering, and the rotation of the steering driving motors 9 can also be controlled to make the robot legs perform leftward or rightward steering.

In order to enable the robot to swing along with the trunk 12 during the front-back walking process, correspondingly, as shown in fig. 6, the trunk 12 may further include a trunk swing motor 122, a trunk swing driving shaft 123 and a trunk swing driven shaft 124; the trunk swinging motor 122 is installed on the second frame 121, an output shaft of the trunk swinging motor 122 is fixedly connected with a first end of the trunk swinging driving shaft 123, and a first end of the trunk swinging driven shaft 124 is installed on the second frame 121; the second end of the trunk swing driving shaft 123 and the second end of the trunk swing driven shaft 124 are fixed to the inner wall of the trunk housing 13, and the trunk swing driving shaft 123 and the trunk swing driven shaft 124 are located opposite to each other, for example, as shown in fig. 4, the trunk swing driving shaft 123 is located at the front end of the trunk 12, and the trunk swing driven shaft 124 is located at the rear end of the trunk 12.

In one example, the output shaft of the torso oscillating motor 122 is fixedly coupled to a first end of the torso oscillating drive shaft 123, while a second end of the torso oscillating drive shaft 123 is fixed to the inner wall of the torso housing 13 and a second end of the torso oscillating driven shaft 124 is also fixed to the inner wall of the torso housing 13. Thus, when the trunk swing motor 122 rotates, the trunk 12 can swing to accommodate the stepping of the right and left legs.

In an example, if the robot is shaped like an animal, correspondingly, as shown in fig. 5, the robot may further include a robot arm 14, and the robot arm 14 may be installed at the side of the trunk housing 13, or the robot arm 14 may also be installed at the side of the robot leg housing 10, which may be flexibly selected according to the actual structure. The robot arm 14 may include a drive motor that can swing the robot arm 14, and the robot arm 14 may include a forward/backward swing motor that can swing the robot arm 14 forward/backward, a vertical swing motor that can swing the robot arm 14 upward/downward, and a swinging member that swings, for example. As an example, the swinging member may be mounted on a housing of an up-down swinging motor, an output shaft of the up-down swinging motor may be fixedly connected with an output shaft of a back-and-forth swinging motor, and the back-and-forth swinging motor may be fixed on a side portion of the mechanical leg or a side portion of the trunk.

In this way, when the robot is traveling, for example, forward and backward walking, left and right walking, and left and right steering, the forward and backward swing motor and the upward and downward swing motor of the robot arm 14 can drive the robot arm 14 to swing forward and backward and upward and downward to adapt to the walking of the robot legs. The simulation fidelity of the robot is further improved.

As described above, referring to fig. 4 and 5, in the case where the robot is traveling, for example, forward and backward walking, and left and right walking, and in the process of performing left and right steering operations, the forward and backward swing motor and the upward and downward swing motor in the robot arm 14 can drive the robot arm 14 to swing forward and backward and upward and downward to accommodate the walking of the robot legs. In addition, during the walking process of the mechanical legs, the trunk swinging motor 122 of the trunk 12 also drives the trunk 12 to swing so as to adapt to the walking of the mechanical legs. Therefore, the robot can take steps more realistically, naturally and continuously.

In the embodiment of the application, the mechanical legs of the robot are provided with the thigh driving motor, the shank driving motor, the thigh link mechanism and the shank link mechanism, so that the robot can finish forward and backward stepping walking through actions of lifting feet, stepping and lowering feet, and the simulation effect of the robot is more vivid. The robot can lift feet and step when walking, so that the robot can walk on flat ground and rugged ground, and the application scene of the robot can be expanded.

The above description is only exemplary of the present application and should not be taken as limiting, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims (10)

1. A mechanical leg, characterized in that, mechanical leg includes first frame (1), thigh driving motor (2), shank driving motor (3), thigh link mechanism (4), shank link mechanism (5) and sole (6), wherein:

the thigh driving motor (2) and the shank driving motor (3) are mounted on the first rack (1), an output shaft of the thigh driving motor (2) is connected with the thigh link mechanism (4), an output shaft of the shank driving motor (3) is connected with the shank link mechanism (5), one end of the shank link mechanism (5) is connected with the thigh link mechanism (4), and the other end of the shank link mechanism is connected with the sole (6);

the thigh driving motor (2) and the shank driving motor (3) are used for driving the sole (6) to move through the thigh link mechanism (4) and the shank link mechanism (5).

2. The mechanical leg according to claim 1, wherein said thigh link mechanism (4) comprises a first front and rear crossbar (41), a thigh driving lever (42), a second front and rear crossbar (43) and a first thigh driven lever (44);

the first front and rear cross rods (41), the thigh driving rod (42), the second front and rear cross rods (43) and the first thigh driven rod (44) are sequentially and rotatably connected end to end, two ends of the first front and rear cross rods (41) are respectively and rotatably connected with an output shaft of the thigh driving motor (2) and an output shaft of the shank driving motor (3), and the thigh driving rod (42) is fixedly connected with an output shaft of the thigh driving motor (2);

the shank link mechanism (5) comprises a shank driving rod (51), a first shank driven rod (52), a second shank driven rod (53), a third shank driven rod (54) and a third front and rear cross rod (55);

the first end of the second shank driving rod (51) is fixedly connected with the output shaft of the shank driving motor (3), the second end of the shank driving rod (51) is rotatably connected with the first end of the first shank driven rod (52), the second end of the first shank driven rod (52) is rotatably connected with the second shank driven rod (53), and the third front and rear cross rod (55) is connected with the sole (6).

3. The mechanical leg according to claim 2, characterized in that said thigh link (4) and said shank link (5) constitute the links of the mechanical leg, said mechanical leg comprising two pairs of links;

the two pairs of link mechanisms are positioned on two sides of a plane where the thigh driving motor (2) and the shank driving motor (3) are positioned, and are symmetrical about the plane where the thigh driving motor (2) and the shank driving motor (3) are positioned.

4. The mechanical leg according to claim 2, wherein said thigh link mechanism (4) further comprises a first left and right crossbar (45), a second thigh follower bar (46) and a second left and right crossbar (47), said shank link mechanism (5) further comprises a fourth shank follower bar (56) and a third left and right crossbar (57);

the first end of second thigh driven lever (46) passes through horizontal pole (45) are rotated about first and are connected on first front and back horizontal pole (41), the second end of second thigh driven lever (46) passes through horizontal pole (47) are rotated about the second and are connected on horizontal pole (43) around the second, the second end of second thigh driven lever (46) still with the first end of fourth shank driven lever (56) is rotated and is connected, the second end of fourth shank driven lever (56) passes through horizontal pole (57) are rotated and are connected about the third on horizontal pole (55) around the third, horizontal pole (57) about the third with sole (6) are through montant (7) fixed connection.

5. The mechanical leg according to claim 4, further comprising a left and right driving motor (8), wherein a first end of the first left and right cross bar (45) is rotatably connected to the first front and rear cross bar (41), a second end of the first left and right cross bar (45) is rotatably connected to an output shaft of the left and right driving motor (8), and the output shaft of the left and right driving motor (8) is further connected to a first end of the second thigh driven lever (46).

6. The mechanical leg according to claim 4, wherein the first end of the first left and right cross bar (45) is pivotally connected to the middle of the first front and rear cross bar (41), the first end of the second left and right cross bar (47) is pivotally connected to the middle of the second front and rear cross bar (43), and the third left and right cross bar (57) is pivotally connected to the middle of the third front and rear cross bar (55).

7. The mechanical leg according to claim 4, characterized in that the mechanical leg further comprises a steering driving motor (9), the steering driving motor (9) is mounted on the first frame (1), and an output shaft of the steering driving motor (9) passes through the first frame (1) and is fixedly connected with the first left and right cross bars (45).

8. The mechanical leg according to claim 1, characterized in that it further comprises a mechanical leg shell (10) and a sole shell (11);

the first rack (1), the thigh driving motor (2), the shank driving motor (3), the thigh link mechanism (4) and the shank link mechanism (5) are all positioned in the mechanical leg shell (10);

a vertical rod (7) for connecting the shank link mechanism (5) and the sole (6) extends out of the mechanical leg shell (10) and is fixedly connected with the sole (6) positioned outside the mechanical leg shell (10), and the sole (6) is positioned in the sole shell (11).

9. Mechanical leg according to any of claims 1 to 8, characterized in that the thigh drive motor (2) and the calf drive motor (3) are steering engines.

10. A robot comprising the mechanical legs of any one of claims 1 to 9, wherein the number of the mechanical legs is two or more.

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