Robot lower limb structure and robot

Abstract

The utility model relates to the technical field of robots, in particular to a robot lower limb structure and a robot, which are provided with a hip base and two robot legs for realizing the movement of the lower body of the robot; wherein the robot leg comprises a hip transmission mechanism and a leg transmission mechanism; the hip transmission mechanism is integrated with a first rotating assembly and a second rotating assembly which are vertically arranged, and is used for driving the legs of the robot to make multi-angle side-sway movement; in addition, the hip transmission mechanism is further integrated with a first power module and a second power module which are oppositely arranged and used for driving thighs and shanks of the robot to swing front and back correspondingly. The first power module and the second power module are integrated to the hip, a larger bending space is provided for the knee position of the robot, and then more complex movement requirements are met. The power part is highly integrated, so that the lower half body of the robot is more compact in structure, and miniaturization is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot lower limb structure and a robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. A robot can perform tasks such as work or movement through programming and automatic control. With the development of research and development of robots, humanoid robots have begun to appear in recent years.

[0003] The lower limb structures of existing robots have complex structures and wiring, which leads to limited freedom of movement and heavy weight of the robots, making it difficult to adapt to complex operational requirements. Utility Model Content

[0004] Based on this, the purpose of the utility model is to provide a robot lower limb structure and a robot.

[0005] The utility model adopts the following technical solutions:

[0006] A robot lower limb structure, characterized by comprising an inclined hip base and two robot legs symmetrically arranged on the hip base;

[0007] The robot leg comprises a hip transmission mechanism and a leg transmission mechanism;

[0008] The hip transmission mechanism includes a first rotating assembly mounted on the hip base, a second rotating assembly vertically connected to a transmission end of the first rotating assembly, a first power module connected to a transmission end of the second rotating assembly, and a second power module connected to a transmission end of the second rotating assembly; the first power module and the second power module are arranged opposite to each other on both sides of the transmission end of the second rotating assembly; the first rotating assembly and the second rotating assembly drive the robot leg to perform a lateral swing movement;

[0009] The leg transmission mechanism includes a thigh support frame, a driving connecting rod movably connected to the inner side of the thigh support frame, and a calf support frame rotatably connected to the lower end of the thigh support frame; the upper end of the thigh support frame is fixedly connected to the first power module, and the first power module drives the thigh support frame to swing back and forth; the transmission end of the second power module is provided with a first eccentric connecting rod assembly, the upper end of the driving connecting rod is connected to the first eccentric connecting rod assembly, and the lower end of the driving connecting rod is rotatably connected to the calf support frame, and the second power module drives the driving connecting rod to move to drive the calf support frame to swing back and forth.

[0010] Preferably, the first rotating assembly includes a first rotating motor and a first rotating block fixed to a transmission end of the first rotating motor; and the second rotating assembly is fixed to the first rotating block.

[0011] Preferably, the second rotating assembly includes a second rotating motor and a second rotating block fixed to a transmission end of the second rotating motor; the first power module and the second power module are mounted on opposite sides of the second rotating block.

[0012] Preferably, the first rotating motor and the second rotating motor are both provided with fan-shaped limiting plates, and the limiting plates are used to limit the rotation angles of the first rotating block and the second rotating block.

[0013] Preferably, a connecting portion extends from the upper end of the calf support frame, and the connecting portion is provided with a first connecting hole and a second connecting hole, and the first connecting hole is arranged at the upper end of the second connecting hole; the lower end of the driving connecting rod is rotatably connected to the first connecting hole, and the lower end of the thigh support frame is rotatably connected to the second connecting hole.

[0014] Preferably, the thigh support frame includes a first support frame and a second support frame that are assembled and connected; the first support frame is connected to the transmission end of the first power module; the second power module is fixedly connected to the second support frame, and the second support frame is provided with a through hole, and the transmission end of the second power module is connected to the drive connecting rod through the through hole.

[0015] Preferably, a cavity is provided on the inner side of the thigh support frame, and the driving connecting rod is movably connected in the cavity; and a plurality of through holes communicating with the cavity are provided on the side of the thigh support frame.

[0016] Preferably, the lower end of the calf support frame is provided with a foot plate rotatably connected thereto, and the calf support frame is provided with a driving component; the driving component is drivably connected to the foot plate, and the driving component drives the foot plate to move upward or downward.

[0017] Preferably, the driving assembly includes a third power module fixed on the calf support frame, a second eccentric connecting rod assembly connected to the transmission end of the third power module, and a transmission straight rod having one end connected to the second eccentric connecting rod assembly; the other end of the transmission straight rod is rotatably connected to the foot plate; the third power module drives the transmission straight rod to move, so as to drive the foot plate to move upward or downward.

[0018] A robot comprises the above-mentioned robot lower limb structure.

[0019] The beneficial effects of the utility model are:

[0020] The robot lower limb structure and robot involved in the utility model are provided with a hip base and two robot legs, which are used to realize the movement of the robot's lower body; wherein the robot legs include a hip transmission mechanism and a leg transmission mechanism; the hip transmission mechanism integrates a vertically arranged first rotating assembly and a second rotating assembly, which are used to drive the multi-angle side swing movement of the robot's legs; in addition, the hip transmission mechanism also integrates a first power module and a second power module arranged oppositely, which are used to drive the robot's thigh and calf to swing forward and backward respectively; the first power module and the second power module are integrated into the hip, providing a larger bending space for the robot's knee position, thereby meeting more complex movement requirements. The power part is highly integrated, making the robot's lower body structure more compact and miniaturized. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is a schematic diagram of the structure of the robot of the present utility model;

[0022] Figure 2 This is a first structural schematic diagram of the robot lower limb structure of the utility model;

[0023] Figure 3 This is a second structural schematic diagram of the robot lower limb structure of the utility model;

[0024] Figure 4 for Figure 3 A first structural schematic diagram of a robot leg;

[0025] Figure 5 for Figure 3 A second structural schematic diagram of the robot leg;

[0026] Figure 6 for Figure 5 A schematic diagram of a first structural explosion of a robot leg;

[0027] Figure 7 for Figure 5 An exploded schematic diagram of the second structure of the robot leg;

[0028] Figure 8 for Figure 5 Schematic diagram of the explosion of the third structure of the robot leg;

[0029] Numbers in the figure:

[0030] 100 - Hip base;

[0031] 200-Robot legs;

[0032] 300- Hip transmission mechanism;

[0033] 31-first rotating assembly; 311-first rotating motor; 312-first rotating block;

[0034] 32-second rotating assembly; 321-second rotating motor; 322-second rotating block;

[0035] 33-first power module; 34-second power module; 35-first eccentric connecting rod assembly; 36-limiting plate;

[0036] 400- leg transmission mechanism;

[0037] 41-thigh support frame; 411-first support frame; 412-second support frame; 413-through hole;

[0038] 42-driving connecting rod;

[0039] 43-calf support frame; 431-connecting portion; 432-first connecting hole; 433-second connecting hole; 434-connecting position;

[0040] 44-foot plate; 441-rotation axis;

[0041] 45-driving assembly; 451-third power module; 452-second eccentric connecting rod assembly; 453-transmission straight rod. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0043] In the description of the present invention, it should be noted that the terms "vertical direction", "upper", "lower", "horizontal" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, "first", "second", "third", and "fourth" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0044] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, or a connection through an intermediate medium, or the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0045] like Figure 1 As shown in FIG. 1 , a robot of the present utility model is shown. Figures 2 to 8 As shown, the robot lower limb structure of the utility model is applied to the robot of the utility model.

[0046] See also Figure 2 and Figure 3 As shown, the robot lower limb structure includes an inclined hip base 100 and two robot legs 200 symmetrically arranged on the hip base 100 for realizing the movement of the robot lower body. The robot legs 200 include a hip transmission mechanism 300 and a leg transmission mechanism 400.

[0047] See also Figures 4 to 8 As shown, the hip transmission mechanism 300 includes a first rotating assembly 31 mounted on the hip base 100, a second rotating assembly 32 vertically connected to the transmission end of the first rotating assembly 31, a first power module 33 rotating at the transmission end of the second rotating assembly 32, and a second power module 34 connected to the transmission end of the second rotating assembly 32; the first power module 33 and the second module are arranged on both sides of the transmission end of the second rotating assembly 32 opposite to each other; the first rotating assembly 31 and the second rotating assembly 32 drive the robot leg 200 to perform a side swing movement. The first rotating assembly 31, the second rotating assembly 32, the first power module 33 and the second power module 34 are integrated and arranged at the hip. The high degree of integration can reduce the space occupied by the robot and achieve miniaturization. In addition, there is no need to occupy the space at the robot knee position, which increases the bending space at the robot knee position. In this embodiment, the first power module 33 and the second power module 34 are both motors.

[0048] See also Figures 4 to 8As shown, the leg transmission mechanism 400 includes a thigh support frame 41, a driving link 42 movably connected to the inner side of the thigh support frame 41, and a calf support frame 43 rotatably connected to the lower end of the thigh support frame 41; the upper end of the thigh support frame 41 is fixedly connected to the first power module 33, and the first power module 33 drives the thigh support frame 41 to swing back and forth; the transmission end of the second power module 34 is provided with a first eccentric connecting rod assembly 35, the upper end of the driving link 42 is connected to the first eccentric connecting rod assembly 35, and the lower end of the driving link 42 is rotatably connected to the calf support frame 43, and the second power module 34 drives the driving link 42 to move to drive the calf support frame 43 to swing back and forth.

[0049] See also Figures 4 to 8 As shown, the driving principle of the hip transmission mechanism 300 and the leg transmission mechanism 400 is described in detail below:

[0050] The first rotating assembly 31 is used to drive the robot leg 200 to rotate Figure 4 The A axis rotates, and the second rotating assembly 32 is used to drive the robot leg 200 to rotate Figure 4 The B axis rotates, wherein the A axis is perpendicular to the hip base 100, and the B axis is perpendicular to the A axis. The lateral swing movement of the robot leg is achieved through the coordinated movement of the first rotating component 31 and the second rotating component 32; wherein the first rotating component 31 and the second rotating component 32 are perpendicular to each other, which expands the lateral swing range of the robot leg 200. The abduction or adduction of the robot leg 200 is achieved through the above movement.

[0051] The transmission end of the first power module 33 is connected to the upper end of the thigh support frame 41, so the first power module 33 can drive the thigh support frame 41 to move along the Figure 4 The upper end of the driving link 42 is connected to the second power module 34 through the first eccentric link assembly 35, and the second power module 34 drives the upper end of the driving link 42 to rotate eccentrically, thereby driving the calf support frame 43 to rotate relative to the thigh support frame 41. The above movement enables the robot leg 200 to take a step.

[0052] Specifically, the first rotating assembly 31 includes a first rotating motor 311 and a first rotating block 312 fixed to the transmission end of the first rotating motor 311; the first rotating motor 311 drives the first rotating block 312 to rotate; the second rotating assembly 32 is fixed to the first rotating block 312. The second rotating assembly 32 includes a second rotating motor 321 and a second rotating block 322 fixed to the transmission end of the second rotating motor 321; the second rotating motor 321 drives the second rotating block 322 to rotate; the first power module 33 and the second power module 34 are mounted on opposite sides of the second rotating block 322.

[0053] Furthermore, a fan-shaped limit plate 36 is provided on the first rotating motor 311 and the second rotating motor 321, and the limit plate 36 is used to limit the rotation angle of the first rotating block 312 and the second rotating block 322, thereby limiting the side swing angle of the robot. In this embodiment, the limit angle is -30° to 30°.

[0054] Specifically, a connecting portion 431 extends from the upper end of the calf support frame 43, and the connecting portion 431 is provided with a first connecting hole 432 and a second connecting hole 433, wherein the first connecting hole 432 is arranged at the upper end of the second connecting hole 433. The lower end of the driving connecting rod 42 is rotatably connected to the first connecting hole 432 via a rotating shaft, and the lower end of the thigh support frame 41 is rotatably connected to the second connecting hole 433 via a rotating shaft. Since the upper end of the driving connecting rod 42 rotates eccentrically, the lower end of the driving connecting rod 42 moves up and down accordingly, thereby driving the calf support frame 43 to rotate around the central axis of the second connecting hole 433, so as to realize the forward and backward swinging of the calf support frame 43.

[0055] Specifically, the thigh support frame 41 includes a first support frame 411 and a second support frame 412 that are assembled and connected; the first support frame 411 is connected to the transmission end of the first power module 33; the second power module 34 is fixedly connected to the second support frame 412, and the second support frame 412 is provided with a through hole, and the transmission end of the second power module 34 is connected to the drive connecting rod 42 through the through hole.

[0056] Furthermore, a cavity is provided on the inner side of the thigh support frame 41, and the driving connecting rod 42 is movably connected in the cavity, and the cavity provides a movable space for the driving connecting rod 42; a plurality of through holes 413 connected to the cavity are provided on the side of the thigh support frame 41, so that the thigh support frame 41 is in a hollow state, which can improve the heat dissipation performance on the one hand, and reduce the weight of the thigh support frame 41 on the other hand.

[0057] Specifically, the lower end of the calf support frame 43 is provided with a foot plate 44 rotatably connected thereto. Regarding the rotating structure, the lower end of the calf support frame 43 is provided with a U-shaped connection position 434, and a rotation hole is opened on the connection position 434. The foot plate 44 is provided with a rotation shaft 441 extending toward both sides, and the rotation shaft 441 is inserted into the rotation hole. The calf support frame 43 is provided with a driving component 45; the driving component 45 is drivingly connected to the foot plate 44, and the driving component 45 drives the foot plate 44 to move upward or downward. Specifically, the driving component 45 includes a third power module 451 fixed to the calf support frame 43, a second eccentric connecting rod component 452 connected to the transmission end of the third power module 451, and a transmission straight rod 453 having one end connected to the second eccentric connecting rod component 452; the other end of the transmission straight rod 453 is rotatably connected to the foot plate 44. In this embodiment, the third power module 451 adopts a motor, and the third power module 451 drives the upper end of the transmission straight rod 453 to rotate eccentrically. At the same time, the lower end of the transmission straight rod 453 drives the foot plate 44 to rotate around the rotating shaft 441, thereby realizing the upward or downward movement of the foot plate 44.

[0058] like Figure 1 As shown, the robot of the present utility model adopts the above-mentioned robot lower limb structure, and the overall structure is compact and miniaturized.

[0059] Compared with the prior art, the robot lower limb structure and robot involved in the utility model are provided with a hip base 100 and two robot legs 200, which are used to realize the movement of the robot's lower body; wherein the robot leg 200 includes a hip transmission mechanism 300 and a leg transmission mechanism 400; the hip transmission mechanism 300 integrates a vertically arranged first rotating assembly 31 and a second rotating assembly 32, which are used to drive the multi-angle side swing movement of the robot leg 200; in addition, the hip transmission mechanism 300 also integrates a first power module 33 and a second power module 34 arranged oppositely, which are used to drive the robot thigh and calf to swing forward and backward respectively; the first power module 33 and the second power module 34 are integrated into the hip, providing a larger bending space for the robot knee position, thereby meeting more complex movement requirements. The power part is highly integrated, making the robot's lower body structure more compact and miniaturized.

[0060] The above only expresses the preferred technical solution of the utility model, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, and the utility model is also intended to include these modifications and modifications.

Claims

1. A robot lower limb structure, characterized in that: The robot comprises a hip base arranged obliquely and two robot legs arranged symmetrically on the hip base; The robot leg comprises a hip transmission mechanism and a leg transmission mechanism; The hip transmission mechanism includes a first rotating assembly mounted on the hip base, a second rotating assembly vertically connected to a transmission end of the first rotating assembly, a first power module connected to a transmission end of the second rotating assembly, and a second power module connected to a transmission end of the second rotating assembly; the first power module and the second power module are arranged opposite to each other on both sides of the transmission end of the second rotating assembly; the first rotating assembly and the second rotating assembly drive the robot leg to perform a lateral swing movement; The leg transmission mechanism includes a thigh support frame, a driving connecting rod movably connected to the inner side of the thigh support frame, and a calf support frame rotatably connected to the lower end of the thigh support frame; the upper end of the thigh support frame is fixedly connected to the first power module, and the first power module drives the thigh support frame to swing back and forth; the transmission end of the second power module is provided with a first eccentric connecting rod assembly, the upper end of the driving connecting rod is connected to the first eccentric connecting rod assembly, and the lower end of the driving connecting rod is rotatably connected to the calf support frame, and the second power module drives the driving connecting rod to move to drive the calf support frame to swing back and forth.

2. The robot lower limb structure according to claim 1, characterized in that: The first rotating assembly includes a first rotating motor and a first rotating block fixed to a transmission end of the first rotating motor; the second rotating assembly is fixed to the first rotating block.

3. The robot lower limb structure according to claim 2, characterized in that: The second rotating assembly includes a second rotating motor and a second rotating block fixed to a transmission end of the second rotating motor; the first power module and the second power module are mounted on opposite sides of the second rotating block.

4. The robot lower limb structure according to claim 3, characterized in that: The first rotating motor and the second rotating motor are both provided with a sector-shaped limiting plate, and the limiting plate is used to limit the rotation angle of the first rotating block and the second rotating block.

5. The robot lower limb structure according to claim 1, characterized in that: A connecting portion extends from the upper end of the calf support frame, and the connecting portion is provided with a first connecting hole and a second connecting hole, and the first connecting hole is arranged at the upper end of the second connecting hole; the lower end of the driving connecting rod is rotatably connected to the first connecting hole, and the lower end of the thigh support frame is rotatably connected to the second connecting hole.

6. The robot lower limb structure according to claim 1, characterized in that: The thigh support frame includes a first support frame and a second support frame that are assembled and connected; the first support frame is connected to the transmission end of the first power module; the second power module is fixedly connected to the second support frame, and the second support frame is provided with a through hole, and the transmission end of the second power module is connected to the driving connecting rod through the through hole.

7. The robot lower limb structure according to claim 1, characterized in that: A cavity is provided on the inner side of the thigh support frame, and the driving connecting rod is movably connected in the cavity; a plurality of through holes communicating with the cavity are provided on the side of the thigh support frame.

8. The robot lower limb structure according to claim 1, characterized in that: The lower end of the calf support frame is provided with a foot plate rotatably connected thereto, and the calf support frame is provided with a driving component; the driving component is drivingly connected to the foot plate, and the driving component drives the foot plate to move upward or downward.

9. The robot lower limb structure according to claim 8, characterized in that: The driving assembly includes a third power module fixed on the calf support frame, a second eccentric connecting rod assembly connected to the transmission end of the third power module, and a transmission straight rod having one end connected to the second eccentric connecting rod assembly; the other end of the transmission straight rod is rotatably connected to the foot plate; the third power module drives the transmission straight rod to move, so as to drive the foot plate to move upward or downward.

10. A robot, characterized in that: The robot comprises the lower limb structure as described in any one of claims 1 to 9.

Images