CN219277666U

CN219277666U - Robot leg and foot device

Info

Publication number: CN219277666U
Application number: CN202320206383.2U
Authority: CN
Inventors: 朱冬; 胡小东; 唐国梅; 王力; 王镇; 陈超; 禹浪
Original assignee: Seven Teng Robot Co ltd
Current assignee: Seven Teng Robot Co ltd
Priority date: 2023-02-14
Filing date: 2023-02-14
Publication date: 2023-06-30
Anticipated expiration: 2033-02-14

Abstract

The application relates to a robot leg foot device relates to robot technical field, and it includes thigh arm, shank arm and pneumatic cylinder, and the thigh arm rotates with the shank arm to be connected, and the cylinder body of pneumatic cylinder rotates to be connected in the thigh arm, and the piston rod of pneumatic cylinder rotates to be connected with first connecting portion and second connecting portion, and the other end of first connecting portion rotates with the thigh arm to be connected, and the other end of second connecting portion rotates with the shank arm to be connected, and the rotation axis point of thigh arm and shank arm, the rotation axis point of first connecting portion and thigh arm, the rotation axis point of second connecting portion and shank arm and the rotation axis point of first connecting portion and second connecting portion form the quadrangle. The hydraulic cylinder has the advantage of small swing amplitude when the lower leg arm swings greatly.

Description

Robot leg and foot device

Technical Field

The application relates to the technical field of robots, in particular to a leg-foot device of a robot.

Background

Robots play an increasingly important role in modern society, and foot-type robots are currently becoming an important direction and development hot tide for domestic and foreign research due to good adaptability to unstructured environments. For a four-legged robot, the configuration of the leg joints of a single leg is generally two types of knee type and elbow type, and the two types can be used in combination.

The related art is published patent number CN218021917U, which discloses a servo pump control direct-drive robot leg and foot system, comprising a base, a side swing joint, a front swing joint and a shank joint which are connected in turn in a rotating way, wherein a front swing oil cylinder is arranged between the side swing joint and the front swing joint, and a shank oil cylinder is arranged between the front swing joint and the shank joint.

Aiming at the related technology, the positive swing oil cylinder drives the positive swing joint to swing, and the lower leg oil cylinder drives the lower leg joint to swing, so that when the swing amplitude of the lower leg joint is larger, the swing amplitude of the lower leg oil cylinder is required to be larger.

Disclosure of Invention

In order to solve the problem that the swing amplitude of the lower leg of the existing robot is large, and the oil cylinder is required to swing greatly, the application provides a leg and foot device of the robot.

The application provides a robot leg foot device adopts following technical scheme:

the utility model provides a robot leg foot device, including thigh arm, shank arm and pneumatic cylinder, the thigh arm rotates with the shank arm to be connected, the cylinder body of pneumatic cylinder rotates to be connected in the thigh arm, the piston rod of pneumatic cylinder rotates to be connected with first connecting portion and second connecting portion, the other end of first connecting portion rotates with the thigh arm to be connected, the other end of second connecting portion rotates with the shank arm to be connected, the rotation axis point of thigh arm and shank arm, the rotation axis point of first connecting portion and thigh arm, the rotation axis point of second connecting portion and shank arm and the rotation axis point of first connecting portion and second connecting portion form the quadrangle.

Through adopting above-mentioned technical scheme, thigh arm, first connecting portion, second connecting portion and shank arm form plane four-bar linkage, and the first connecting portion of pneumatic cylinder drive swing, and the transmission of pneumatic cylinder and shank arm adopts four-bar linkage, compares under the same condition of shank arm expansion angle with the correlation technique in the background art, and the swing range of pneumatic cylinder is littleer in the four-bar linkage.

In summary, the present application includes the following beneficial technical effects: by optimizing the transmission structures of the hydraulic cylinder and the lower leg arm, the swing amplitude of the hydraulic cylinder is small under the condition that the swing amplitude of the lower leg arm is large.

Drawings

Fig. 1 is a schematic structural view of a robot leg-foot device according to an embodiment of the present application;

FIG. 2 is a cross-sectional view taken along the A-A plane of FIG. 1;

FIG. 3 is a schematic view of the thigh arm;

FIG. 4 is a cross-sectional view of the B-B plane of FIG. 3;

FIG. 5 is a schematic view of the structure of a lower leg arm;

FIG. 6 is a cross-sectional view of the C-C plane of FIG. 5;

fig. 7 is a schematic view of a partial structure of a foot joint portion.

Reference numerals illustrate:

1. thigh arms; 11. a first lightening hole; 12. an outer ear plate; 13. an inner ear plate; 14. a mounting groove; 15. a pin hole; 16. a first knee ear plate; 17. a through hole; 18. a wire hole;

2. a lower leg arm; 21. a second lightening hole; 22. a second knee ear plate; 23. perforating; 24. a foot connection end; 25. a mounting hole; 26. an extension groove;

3. a hydraulic cylinder; 31. a cylinder; 32. a piston rod; 33. a mounting frame;

4. a first connection portion;

5. a second connecting portion;

6. foot joints; 61. foot sleeves; 611. an anti-skid groove; 62. an inner bag; 621. a threaded section; 63. a cover plate; 64. a fixing nut;

7. a cable;

8. a pressure sensor.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-7.

The embodiment of the application discloses a robot leg foot device.

Referring to fig. 1 and 2, the robot leg and foot apparatus includes a thigh arm 1, a shank arm 2, and a hydraulic cylinder 3, the thigh arm 1 is rotatably connected with the shank arm 2, a cylinder body 31 of the hydraulic cylinder 3 is rotatably connected with the thigh arm 1, a piston rod 32 of the hydraulic cylinder 3 is rotatably connected with a first connecting portion 4 and a second connecting portion 5, the other end of the first connecting portion 4 is rotatably connected with the thigh arm 1, the other end of the second connecting portion 5 is rotatably connected with the shank arm 2, a rotational axis point of the thigh arm 1 and the shank arm 2, a rotational axis point of the first connecting portion 4 and the thigh arm 1, a rotational axis point of the second connecting portion 5 and the shank arm 2, and a rotational axis point of the first connecting portion 4 and the second connecting portion 5 form a quadrangle.

Thigh arm 1, first connecting portion 4, second connecting portion 5 and shank arm 2 form the four-bar linkage of plane structure, and the first connecting portion 4 of pneumatic cylinder 3 drive swing of pneumatic cylinder 3, and the transmission of pneumatic cylinder 3 and shank arm 2 adopts four-bar linkage, and under the same circumstances of shank arm 2 expansion angle, the swing range of pneumatic cylinder 3 is littleer in the four-bar linkage.

The hydraulic cylinder 3 may be a bi-directional hydraulic cylinder, here a double-rod hydraulic cylinder. In order to protect the piston rod 32 of the hydraulic cylinder 3, the cylinder body 31 of the hydraulic cylinder 3 is fixedly connected with a mounting frame 33, the mounting frame 33 can be a cylindrical rod hinged in the thigh arm 1, and a cavity for accommodating the piston rod 32 is formed in one end, connected with the cylinder body 31, of the cylindrical rod along the axis. The mounting 33 and the cylinder 31 may be fixed by screws.

The first connecting portion 4 and the second connecting portion 5 can be arc-shaped plates, and the notch of each arc-shaped plate is arranged towards the rotation axis point of the thigh arm 1 and the shank arm 2, so that the stress transmission route in the structural member is more consistent, and the service life is prolonged. In other embodiments, the first connecting portion 4 and the second connecting portion 5 may be a straight plate, an S-shaped plate, a V-shaped plate, or the like.

Referring to fig. 3 and 4, the overall outline of the thigh arm 1 is in a quadrangular prism structure, and a cavity is provided inside the thigh arm 1. In order to further reduce the weight, the surface of the thigh arm 1 is provided with a plurality of first lightening holes 11 to form a hollowed-out structure.

A pair of outer ear plates 12 are formed on opposite side walls of one end of the thigh arm 1, and shaft holes are formed in the outer ear plates 12. An inner ear plate 13 is fixedly arranged between the two outer ear plates 12, two inner ear plates 13 can be arranged, and the two outer ear plates 12 and the two inner ear plates 13 are arranged in parallel. For mounting the angle monitor, a mounting groove 14 is provided at the outer side of the external ear plate 12 corresponding to the shaft hole.

The thigh arm 1 is close to the position of the inner ear plate 13 and is provided with a pin hole 15, the axis of the pin hole 15 is perpendicular to the shaft hole of the inner ear plate 13, and the end part of the mounting frame 33 is hinged to the pin hole 15, so that the hydraulic cylinder 3 can be integrally accommodated in a cavity in the thigh arm 1.

The other end of the thigh arm 1 is formed with a pair of first knee lugs 16 on opposite side walls, and the first knee lugs 16 are provided with shaft holes. The first knee ear plate 16 and the outer ear plate 12 are respectively positioned on different sides of the thigh arm 1, and the shaft hole on the first knee ear plate 16 is perpendicular to the shaft hole on the outer ear plate 12.

To further reduce the weight of the thigh arm 1, the cross-sectional area of the thigh arm 1 gradually decreases from one end toward the other end near the concha plate 12.

The thigh arm 1 is close to the one end of auricle board 12 still is equipped with wire hole 18, and wire hole 18 is used for the cable to pass in order to walk the line from the inside of thigh arm 1, reduces the winding of circuit when leg foot moves, plays the guard action to the steady operation of leg foot system.

The thigh arm 1 is close to the first knee otic placode 16 position and has seted up through-hole 17, and the axis of through-hole 17 is parallel with the shaft hole axis of first knee otic placode 16. The through hole 17 is used for the articulation of the first connection 4 with the thigh arm 1.

The thigh arm 1 is rotatably connected with the hip joint through the shaft hole on the concha plate 12, so that the thigh arm 1 can swing inside and outside under external power. The thigh arm 1 is rotatably connected with the shank arm 2 through the shaft hole on the first knee ear plate 16, so that the rotation similar to the knee position of the human leg is realized between the thigh arm 1 and the shank arm 2. The thigh arm 1 has a simple structure and optimizes the overall leg-foot structure.

Referring to fig. 5 and 6, the entire lower leg arm 2 approximates a quadrangular structure, the inside of the lower leg arm 2 is hollow, and in order to further reduce the weight of the lower leg arm 2, a plurality of second lightening holes 21 are formed in the surface of the lower leg arm 2 to form a hollowed-out structure.

A pair of second knee lugs 22 are formed on opposite side walls of one end of the shank arm 2, shaft holes are formed in the second knee lugs 22, and the shank arm 2 and the thigh arm 1 are aligned with the shaft holes of the second knee lugs 22 through the first knee lugs 16 and are connected in a rotating manner through shaft rods.

The position of the shank arm 2, which is close to the shaft hole of the second knee ear plate 22, is provided with a perforation 23, the axis of the perforation 23 is parallel to the axis of the shaft hole of the second knee ear plate 22, and the perforation 23 is used for hinging the second connecting part 5 with the shank arm 2. The width of the second knee panel 22 gradually decreases from the perforated hole 23 portion to the shaft hole portion.

The other end of the shank arm 2 is bent to form an arc section, one end of the shank arm 2 far away from the second knee ear plate 22 is a foot connecting end 24, and the foot connecting end 24 is in a quadrangular frustum pyramid structure. The end face of the foot connecting end 24 is provided with a mounting hole 25 communicated with the inner cavity of the shank arm 2, and the shank arm 2 is provided with nail holes around the mounting hole 25.

To more ergonomically increase support for leg and foot movements, the arc segment of the calf arm 2 near the foot connecting end 24 is curved to one side with a radius R2 inside the curve and a center angle β inside the curve; the radius of the outer side of the bending is R3, and the central angle of the outer side radian is gamma. Specifically, r2=54 mm, β=52°, r3=80 mm, γ=20°. The side of the shank arm 2 close to the shaft hole is locally bent, the bending radius is R1, the center angle of the bending cambered surface is alpha, specifically, r1=100 mm, and alpha=26 degrees. In the view of fig. 6, the centers O and M of R1 and R2 are located on both sides of the shank arm 2, and the cambered surfaces corresponding to R1 and R2 are located on the opposite sides of the shank arm 2, respectively. In other implementations of the examples herein, R1, R2, R3, α, β, γ may all be reasonably selected according to actual needs.

In order to reduce the weight of the lower leg arm 2 as much as possible, an extension groove 26 is provided at the edge of the lower leg arm 2 located in the mounting hole 25.

Referring to fig. 7, foot link 24 is connected to foot joint 6. The foot joint 6 includes a foot cover 61 and a cover 63, the foot cover 61 may be a rubber cover, the cover 63 is fixed to the foot connecting end 24 by screws, and the foot cover 61 may be adhered, welded or screwed to the cover 63. The surface of the foot cover 61 is provided with a plurality of anti-skid grooves 611.

In order to facilitate the detection of the stress state of the foot joint 6, the foot joint 6 further comprises an elastic inner bag 62, a fluid medium such as hydraulic oil is filled in the inner bag 62, the inner bag 62 is wrapped by the foot sleeve 61, a threaded section 621 is fixedly arranged on the inner bag 62, and the threaded section 621 passes through the cover plate 63 and is fixed by a fixing nut 64. In order to prevent the inner bag 62 from moving up and down relative to the cover 63, the fixing nut 64 is fixedly connected with the cover 63, and the fixing manner includes integral molding, welding, bonding, embedding and the like. The inner bladder 62 is connected to a pressure sensor 8 at a threaded section 621. The pressure sensor 8 is connected to an external central processor such as a chip or computer by a cable 7. When the foot cover 61 is deformed under force and then presses the inner bag 62, the oil pressure in the inner bag 62 rises, and the pressure value is detected by the pressure sensor 8 and then transmitted to the central processing unit through the cable 7.

During the running process of the robot, the foot cover 61 deforms to a certain extent when being extruded by an external object, the foot cover 61 inwards extrudes the elastic inner bag 62, the pressure in the inner bag 62 changes, and the pressure sensor 8 can detect the pressure change in real time. Since the pressure from the different directions of the foot cover 61 is finally transmitted to the inner bag 62, the pressure sensor 8 can detect the stress conditions in different directions.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims

1. The utility model provides a robot leg foot device, includes thigh arm (1), shank arm (2) and pneumatic cylinder (3), and thigh arm (1) rotates with shank arm (2) to be connected, its characterized in that: the cylinder body (31) of pneumatic cylinder (3) rotates and is connected in thigh arm (1), piston rod (32) of pneumatic cylinder (3) rotate and are connected with first connecting portion (4) and second connecting portion (5), the other end of first connecting portion (4) rotates with thigh arm (1) to be connected, the other end of second connecting portion (5) rotates with shank arm (2) to be connected, the rotation axis point of thigh arm (1) and shank arm (2), the rotation axis point of first connecting portion (4) and thigh arm (1), the rotation axis point of second connecting portion (5) and shank arm (2) and the rotation axis point of first connecting portion (4) and second connecting portion (5) form the quadrangle.

2. The robotic leg device according to claim 1, wherein: the first connecting part (4) and the second connecting part (5) are arc-shaped plates, and the notch of each arc-shaped plate is arranged towards the rotation axis point of the thigh arm (1) and the shank arm (2).

3. The robotic leg device according to claim 1, wherein: one end of the thigh arm (1) far away from the shank arm (2) is provided with a pair of outer ear plates (12) and a pair of inner ear plates (13).

4. A robotic leg device according to claim 3, wherein: one end of the thigh arm (1) close to the shank arm (2) is provided with a pair of first knee earplates (16), and a shaft hole on the first knee earplates (16) is perpendicular to a shaft hole axis on the outer ear plate (12).

5. A robotic leg device as claimed in any one of claims 1 to 4, wherein: the thigh arm (1) is provided with a wire hole (18) for the wire (7) to pass through.

6. A robotic leg device as claimed in any one of claims 1 to 4, wherein: the end of the shank arm (2) far away from the thigh arm (1) is bent to form an arc section.

7. The robotic leg device according to claim 6, wherein: a pair of second knee lugs (22) are arranged at one end of the shank arm (2) close to the thigh arm (1).

8. The robotic leg device of any one of claims 1-4, 7, wherein: the end of the shank arm (2) far away from the thigh arm (1) is provided with a foot joint (6).

9. The robotic leg device according to claim 6, wherein: the end of the shank arm (2) far away from the thigh arm (1) is provided with a foot joint (6).

10. The robotic leg device according to claim 8, wherein: the foot joint (6) comprises an elastic inner bag (62) and a foot sleeve (61), and the foot sleeve (61) is wrapped outside the inner bag (62).

11. The robotic leg device according to claim 9, wherein: the foot joint (6) comprises an elastic inner bag (62) and a foot sleeve (61), and the foot sleeve (61) is wrapped outside the inner bag (62).

12. The robotic leg and foot device according to claim 10 or 11, wherein: the inner bag (62) is filled with a fluid medium, and the inner bag (62) is connected with a pressure sensor (8).