Mechanical leg assembly and robot

Abstract

The present invention relates to the field of robot technology, and provides a mechanical leg assembly and a robot. The mechanical leg assembly includes a mechanical thigh assembly, a mechanical shank assembly, a foot movement assembly, and a locking device. The locking device includes a connecting plate mechanism that can be bent or straightened and a locking mechanism. One end of the connecting plate mechanism is fixedly connected to the mechanical thigh assembly and the other end is slidably connected to the mechanical shank assembly; or, one end of the connecting plate mechanism is fixedly connected to the mechanical thigh assembly and the other end is slidably connected to the mechanical shank assembly. The mechanical leg assembly provided by the present invention is additionally provided with a locking device, wherein the locking mechanism is used to limit the bending and straight states of the connecting plate mechanism to limit the flexion and extension between the mechanical thigh assembly and the mechanical shank assembly, thereby achieving the purpose of stopping the motors of each assembly in turn, thereby reducing the energy consumption of the mechanical leg assembly and improving the endurance.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular provides a mechanical leg assembly and a robot. Background Art

[0002] Quadruped mobile robots mimic the form of animals and have the functions of climbing, crossing, and planar movement. Among them, the mechanical leg assembly plays an important role, usually including a mechanical thigh assembly, a mechanical calf assembly, and a foot movement assembly. The mechanical thigh assembly is connected to the main body trunk through a rotating motor to mimic the swing of the thigh; the mechanical calf assembly is connected to the mechanical thigh assembly through a rotating motor to mimic the bending of the lower leg relative to the thigh; the foot movement assembly is a driving wheel pivotally connected to the mechanical calf assembly.

[0003] However, in both static and dynamic states of the mechanical leg assembly, each motor is in a starting and boosting state. In this way, the energy consumption is large, resulting in insufficient overall battery life of the robot. Summary of the Invention

[0004] The purpose of the present invention is to provide a mechanical leg assembly, aiming to solve the problem of high energy consumption of the mechanical leg assembly of existing robots.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is: a mechanical leg assembly, including a mechanical thigh assembly pivotally connected to the machine main body, a mechanical calf assembly hinged to the mechanical thigh assembly, and a foot movement assembly provided on the mechanical calf assembly. The mechanical leg assembly further includes a locking device, and the locking device includes a bendable or straightenable connecting plate mechanism and a locking mechanism provided on the connecting plate mechanism for defining the curved or straight state of the connecting plate mechanism; one end of the connecting plate mechanism is fixedly connected to the mechanical thigh assembly and the other end is slidably connected to the mechanical calf assembly; or, one end of the connecting plate mechanism is fixedly connected to the mechanical calf assembly and the other end is slidably connected to the mechanical thigh assembly.

[0006] Advantages of the present invention: The mechanical leg assembly provided by the present invention is provided with a locking device. The locking mechanism is used to limit the bending and straightening state of the connecting plate mechanism to restrict the flexion and extension between the mechanical thigh assembly and the mechanical calf assembly, so as to achieve the purpose of alternately stopping the motors of each assembly, thereby reducing the energy consumption of the mechanical leg assembly and improving the endurance. Specifically, in the wheeled mode, the locking mechanism is locked, the connecting plate mechanism is in the extended state, and the mechanical thigh assembly and the mechanical calf assembly cannot bend relative to each other. At this time, the motors corresponding to the mechanical thigh assembly and the mechanical calf assembly stop working, and only the motor of the foot movement assembly works to realize planar movement; in the foot mode, the locking mechanism is unlocked, the connecting plate mechanism is in the bent state, and the pulling effect between the mechanical thigh assembly and the mechanical calf assembly is released, and they can bend relative to each other. At this time, the motors corresponding to the mechanical thigh assembly and the mechanical calf assembly work normally, while the motor of the foot movement assembly stops working to realize climbing or overstepping actions.

[0007] In one embodiment, the connecting plate mechanism includes a first connecting plate and a second connecting plate hinged to the first connecting plate, and the locking mechanism is arranged on the first connecting plate or the second connecting plate to limit the bending and straightening state of the two.

[0008] In one embodiment, one end of the first connecting plate away from the second connecting plate is fixedly connected to the mechanical thigh assembly, and one end of the second connecting plate away from the first connecting plate is slidably connected to the mechanical calf assembly; alternatively, one end of the first connecting plate away from the second connecting plate is slidably connected to the mechanical thigh assembly, and one end of the second connecting plate away from the first connecting plate is fixedly connected to the mechanical calf assembly.

[0009] In one embodiment, the connecting plate mechanism includes a fixing member arranged on the first connecting plate and a sliding member arranged on the second connecting plate; alternatively, the connecting plate mechanism includes a sliding member arranged on the first connecting plate and a fixing member arranged on the second connecting plate.

[0010] In one embodiment, the locking mechanism includes a fixing frame arranged on the first connecting plate or the second connecting plate, and a driving motor and a locking rod both arranged on the fixing frame. The locking rod can telescopically move relative to the fixing frame. A limiting hole structure is formed at the hinge joint of the first connecting plate and the second connecting plate. The locking rod penetrates into the limiting hole structure under the drive of the driving motor to limit the bending and straightening state of the connecting plate mechanism.

[0011] In one embodiment, the locking mechanism further includes a transmission mechanism. The transmission mechanism includes a cam arranged at the output end of the driving motor and a spring sleeved on the locking rod. The cam abuts against the end of the locking rod.

[0012] In one embodiment, the locking mechanism further includes a rudder disc provided on the cam.

[0013] In one embodiment, the limit hole structure includes a through hole opened on the first connecting plate and a notch opened on the second connecting plate; alternatively, the limit hole structure includes a through hole opened on the second connecting plate and a notch opened on the first connecting plate.

[0014] In one embodiment, the locking rod includes a rod body, and a plurality of locking portions are formed by extending the rod body along the penetrating direction. The limit hole structure includes a plurality of first openings opened on the first connecting plate and a plurality of second openings opened on the second connecting plate, and each of the locking portions can sequentially penetrate through the corresponding first opening and the second opening.

[0015] This application also provides a robot, including the mechanical leg assembly described above.

[0016] Advantages of the present invention: The robot provided by the present invention has the advantages of low energy consumption and strong endurance on the basis of having the above mechanical leg assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic structural diagram of the mechanical leg assembly in the locked state provided by the embodiment of the present invention;

[0019] Figure 2 It is a schematic structural diagram of the mechanical leg assembly in the unlocked state provided by the embodiment of the present invention;

[0020] Figure 3 It is a schematic structural diagram of the locking device of the mechanical leg assembly provided by the embodiment of the present invention;

[0021] Figure 4 It is a schematic structural diagram of the locking mechanism of the locking device of the mechanical leg assembly in the unlocked state provided by the embodiment of the present invention;

[0022] Figure 5 It is a schematic structural diagram of the locking mechanism of the locking device of the mechanical leg assembly in the locked state provided by the embodiment of the present invention;

[0023] Figure 6Another schematic structural view of the locking device of the mechanical leg assembly provided by the embodiment of the present invention;

[0024] Figure 7 A sectional view of the locking rod of the locking device of the mechanical leg assembly provided by the embodiment of the present invention;

[0025] Figure 8 A schematic structural view of the robot provided by the embodiment of the present invention.

[0026] Among them, each reference numeral in the figure:

[0027] Mechanical leg assembly 100, mechanical thigh assembly 10, mechanical calf assembly 20, foot movement assembly 30, locking device 40, connecting plate mechanism 41, locking mechanism 42, first connecting plate 411, second connecting plate 412, fixing member 413, sliding member 414, fixing frame 421, driving motor 422, locking rod 423, limiting hole structure 415, transmission mechanism 424, cam 4241, spring 4242, steering wheel 425, through hole 41a, notch 41b, rod body 4231, locking portion 4232, first opening 41c, second opening 41d. Detailed implementation manners

[0028] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as limiting the present invention.

[0029] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. are based on the orientation or positional relationship shown in the 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 orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0030] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0031] In the present invention, unless otherwise clearly defined and limited, terms such as "installation", "connection", "linkage", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal communication between two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0032] Please refer to Figure 1 and Figure 2 For the mechanical leg assembly 100 of the present application, it includes a mechanical thigh assembly 10 pivotally connected to the machine trunk, a mechanical calf assembly 20 hinged to the mechanical thigh assembly 10, a foot movement assembly 30 provided on the mechanical calf assembly 20, and a locking device 40. It can be understood that the mechanical leg assembly 100 realizes actions such as climbing, striding, and planar movement of the robot, and is divided into dynamic climbing or striding states and static translation states. In the dynamic state, the motors of the mechanical thigh assembly 10 and the mechanical calf assembly 20 need to work together, while the foot movement assembly 30 is in an idle state but still consumes energy; in the static state, only the motor of the foot movement assembly 30 needs to work, while the mechanical thigh assembly 10 and the mechanical calf assembly 20 are in an idle state but still consume energy. Therefore, the above problems need to be solved by the locking device 40.

[0033] Specifically, the locking device 40 includes a connecting plate mechanism 41 that can be bent or straightened, and a locking mechanism 42 provided on the connecting plate mechanism 41 and used to limit the curved or straight state of the connecting plate mechanism 41. That is, the locking mechanism 42 can limit the bending state of the limiting connecting plate mechanism 41 to restrict the phase position between the mechanical thigh assembly 10 and the mechanical calf assembly 20. For example, when the locking mechanism 42 is locked, the connecting plate mechanism 41 is in an extended state. In this way, the opposite ends of the connecting plate mechanism 41 respectively pull the mechanical thigh assembly 10 and the mechanical calf assembly 20, and the two cannot bend relative to each other. At this time, the motors corresponding to the mechanical thigh assembly 10 and the mechanical calf assembly 20 stop working, and only the motor of the foot movement assembly 30 works; when the locking mechanism 42 is unlocked, the connecting plate mechanism 41 is in a bent state. In this way, the pulling effect between the mechanical thigh assembly 10 and the mechanical calf assembly 20 is released, and they can bend relative to each other. At this time, the motors corresponding to the mechanical thigh assembly 10 and the mechanical calf assembly 20 work normally, while the motor of the foot movement assembly 30 stops working.

[0034] One end of the connecting plate mechanism 41 is fixedly connected to the mechanical thigh assembly 10 and the other end is slidably connected to the mechanical shank assembly 20; or, one end of the connecting plate mechanism 41 is fixedly connected to the mechanical shank assembly 20 and the other end is slidably connected to the mechanical thigh assembly 10. It can be understood that in order to obtain the degree of freedom of bending, one end of the connecting plate mechanism 41 needs to be movable, so it can be slidably connected to the mechanical thigh assembly 10 or to the mechanical shank assembly 20.

[0035] The mechanical leg assembly 100 provided by the present invention is additionally provided with a locking device 40, wherein a locking mechanism 42 is utilized to limit the bending and straight states of the connecting plate mechanism 41 to restrict the flexion and extension between the mechanical thigh assembly 10 and the mechanical calf assembly 20, thereby achieving the purpose of stopping the motors of each assembly in turn, thereby reducing the energy consumption of the mechanical leg assembly 100 and improving the endurance. Specifically, in the wheeled mode, the locking mechanism 42 is locked, the connecting plate mechanism 41 is in an extended state, the mechanical thigh assembly 10 and the mechanical calf assembly 20 cannot bend relative to each other, at this time, the motors corresponding to the mechanical thigh assembly 10 and the mechanical calf assembly 20 stop working, and only the motor of the foot moving assembly 30 works to achieve planar movement; in the footed mode, the locking mechanism 42 is unlocked, the connecting plate mechanism 41 is in a bent state, the pulling effect between the mechanical thigh assembly 10 and the mechanical calf assembly 20 is released, and they can bend relative to each other, at this time, the motors corresponding to the mechanical thigh assembly 10 and the mechanical calf assembly 20 work normally, while the motor of the foot moving assembly 30 stops working, to achieve climbing or climbing over actions.

[0036] Please refer to Figure 3 In one embodiment, the connecting plate mechanism 41 includes a first connecting plate 411 and a second connecting plate 412 hinged to the first connecting plate 411, and the locking mechanism 42 is provided on the first connecting plate 411 or the second connecting plate 412 to limit the bending and straight states of the two. Figure 3 The connecting plate mechanism 41 includes two first connecting plates 411 and two second connecting plates 412 hinged to the corresponding first connecting plates 411. A set of hingedly connected first connecting plates 411 and second connecting plates 412 is a connecting whole, and then the two connecting wholes are arranged parallel to each other, so that the connection stability of the connecting plate mechanism 41 is further improved. Of course, the lengths of the first connecting plates 411 and the second connecting plates 412 can be selected according to actual needs.

[0037] Please refer to Figure 3, in one embodiment, one end of the first connecting plate 411 away from the second connecting plate 412 is fixedly connected to the mechanical thigh assembly 10, and one end of the second connecting plate 412 away from the first connecting plate 411 is slidably connected to the mechanical calf assembly 20. It can be understood that, in order to achieve the bending and stretching movement of the connecting plate mechanism 41, one end needs to be movable. Therefore, one end of the second connecting plate 412 is slidably connected to the mechanical calf assembly 20. Of course, according to actual needs, one end of the first connecting plate 411 away from the second connecting plate 412 can also be slidably connected to the mechanical thigh assembly 10, and one end of the second connecting plate 412 away from the first connecting plate 411 is fixedly connected to the mechanical calf assembly 20.

[0038] Please refer to Figure 3 , in one embodiment, the connecting plate mechanism 41 includes a fixing member 413 provided on the first connecting plate 411 and a sliding member 414 provided on the second connecting plate 412. It can be understood that the fixing member 413 can be a fixing block, a fixing plate, etc., one end of which is fixedly connected to the mechanical thigh assembly 10, and the other end is hinged to the first connecting plate 411. The sliding member 414 is a hoop, a sleeve, etc., sleeved on the mechanical calf assembly 20 and hinged to the second connecting plate 412. In this way, the requirements for the bending or straightening of the connecting plate mechanism 41 are met. Of course, according to actual needs, the positions of the sliding member 414 and the fixing member 413 can be interchanged.

[0039] Please refer to Figures 3 to 5 , in one embodiment, the locking mechanism 42 includes a fixing frame 421 provided on the first connecting plate 411 or the second connecting plate 412, and a driving motor 422 and a locking rod 423 both provided on the fixing frame 421. The locking rod 423 can telescopically move relative to the fixing frame 421. A limiting hole structure 415 is opened at the hinge joint of the first connecting plate 411 and the second connecting plate 412. The locking rod 423 penetrates into the limiting hole structure 415 under the drive of the driving motor 422 to limit the curved and straight states of the connecting plate mechanism 41. It can be understood that the fixing frame 421 includes a body, and a sleeve is provided on the body. The locking rod 423 is arranged in the sleeve, and then the driving motor 422 is used to drive the locking rod 423 to telescopically move in the sleeve. Here, the locking rod 423 can be directly connected to the output end of the driving motor 422 or connected through a transmission mechanism. When the locking rod 423 extends, it penetrates into the limiting hole structure 415. In this way, the relative hinge rotation of the first connecting plate 411 and the second connecting plate 412 is blocked. At this time, it is in the locked state; when the locking rod 423 retracts from the limiting hole structure 415, the first connecting plate 411 and the second connecting plate 412 can rotate relative to the hinge. At this time, it is in the unlocked state.

[0040] Please refer to Figure 4 and Figure 5, in one embodiment, the locking mechanism 42 further includes a transmission mechanism 424. The transmission mechanism 424 includes a cam 4241 provided at the output end of the driving motor 422 and a spring 4242 sleeved on the locking rod 423. The cam 4241 abuts against the end of the locking rod 423. It can be understood that the driving motor 422 drives the cam 4241 to rotate clockwise or counterclockwise. The outer edge of the cam 4241 directly acts on the locking rod 423, causing the locking rod 423 to perform a telescopic piston-like movement relative to the fixed frame 421, and the spring 4242 therein plays a resetting role. Of course, the transmission mechanism 424 can also be a crank connecting rod, which can also achieve the telescopic movement of the locking rod 423 relative to the fixed frame 421.

[0041] Preferably, please refer to Figure 4 and Figure 5 , in one embodiment, the locking mechanism 42 further includes a rudder disc 425 provided on the cam 4241. Here, the function of the rudder disc 425 is to manually drive the cam 4241 to rotate clockwise or counterclockwise, especially when a mechanical failure occurs.

[0042] Please refer to Figure 3 , in one embodiment, the limiting hole structure 415 includes a through hole 41a opened on the first connecting plate 411 and a notch 41b opened on the second connecting plate 412. It can be understood that when the locking rod 423 passes through the through hole 41a and extends outward, it just engages at the notch 41b. In this way, the first connecting plate 411 is limited to rotate hingedly relative to the second connecting plate 412. And when the locking rod 423 disengages from the notch 41b, the restriction between the first connecting plate 411 and the second connecting plate 412 is released. Of course, according to actual needs, the positions of the through hole 41a and the notch 41b can also be swapped, and the limiting hole structure 415 includes a through hole 41a opened on the second connecting plate 412 and a notch 41b opened on the first connecting plate 411.

[0043] Please refer to Figure 6 and Figure 7, in one embodiment, the locking lever 423 includes a lever body 4231. The lever body 4231 extends along the passing direction to form a plurality of locking portions 4232. The limit hole structure 415 includes a plurality of first openings 41c formed in the first connecting plate 411 and a plurality of second openings 41d formed in the second connecting plate 412. Each locking portion 4232 can sequentially pass through the corresponding first opening 41c and the second opening 41d. It can be understood that each first opening 41c corresponds to the corresponding second opening 41d when the first connecting plate 411 rotates relative to the second connecting plate 412. At this time, the locking portion 4232 sequentially passes through the corresponding first opening 41c and the second opening 41d to achieve locking. Preferably, each first opening 41c is distributed on the first connecting plate 411 with the hinge point of the first connecting plate 411 and the second connecting plate 412 as the symmetry center. At the same time, each second opening 41d is distributed on the first connecting plate 411 with the hinge point of the first connecting plate 411 and the second connecting plate 412 as the symmetry center, and corresponds to each first opening 41c. In this way, after the locking portion 4232 sequentially passes through the corresponding first opening 41c and the second opening 41d, the first connecting plate 411 and the second connecting plate 412 can be locked at multiple rotation angles, that is, when the included angles between the first connecting plate 411 and the second connecting plate 412 are 30°, 45°, 90°, 180°, etc., locking can be achieved, thereby meeting the locking requirements of each movement of the mechanical leg assembly 100.

[0044] Please refer to Figure 8 , this application also provides a robot, including the above-mentioned mechanical leg assembly 100.

[0045] The robot provided by the present invention, based on having the above-mentioned mechanical leg assembly 100, has the advantages of low energy consumption and strong endurance.

[0046] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A mechanical leg assembly, comprising a mechanical thigh assembly pivotally connected to the main body of the machine, a mechanical calf assembly hinged to the mechanical thigh assembly, and a foot movement assembly provided on the mechanical calf assembly, characterized in that: The mechanical leg assembly further includes a locking device, which includes a bendable or stretchable connecting plate mechanism and a locking mechanism provided on the connecting plate mechanism for defining the curved or straight state of the connecting plate mechanism; one end of the connecting plate mechanism is fixedly connected to the mechanical thigh assembly and the other end is slidably connected to the mechanical calf assembly; or, one end of the connecting plate mechanism is fixedly connected to the mechanical calf assembly and the other end is slidably connected to the mechanical thigh assembly. The connecting plate mechanism includes two first connecting plates and two second connecting plates hinged to the first connecting plates, and the locking mechanism is provided on the first connecting plates or the second connecting plates to define the curved or straight state of the two.

2. The mechanical leg assembly according to claim 1, wherein: One end of the first connecting plate away from the second connecting plate is fixedly connected to the mechanical thigh assembly, and the other end of the second connecting plate away from the first connecting plate is slidably connected to the mechanical calf assembly; or, one end of the first connecting plate away from the second connecting plate is slidably connected to the mechanical thigh assembly, and the other end of the second connecting plate away from the first connecting plate is fixedly connected to the mechanical calf assembly.

3. The mechanical leg assembly according to claim 2, wherein: The connecting plate mechanism includes a fixing member provided on the first connecting plate and a sliding member provided on the second connecting plate; or, the connecting plate mechanism includes a sliding member provided on the first connecting plate and a fixing member provided on the second connecting plate.

4. The mechanical leg assembly according to any one of claims 1 to 3, characterized in that: The locking mechanism includes a fixing frame provided on the first connecting plate or the second connecting plate, and a driving motor and a locking rod both provided on the fixing frame. The locking rod can telescopically move relative to the fixing frame. A limiting hole structure is formed at the hinge joint of the first connecting plate and the second connecting plate. The locking rod penetrates into the limiting hole structure under the drive of the driving motor to define the curved or straight state of the connecting plate mechanism.

5. The mechanical leg assembly according to claim 4, wherein: The locking mechanism further includes a transmission mechanism, which includes a cam provided at the output end of the driving motor and a spring sleeved on the locking rod. The cam abuts against the end of the locking rod.

6. The mechanical leg assembly according to claim 5, wherein: The locking mechanism further includes a steering wheel provided on the cam.

7. The mechanical leg assembly according to claim 4, wherein: The limiting hole structure includes a through hole formed on the first connecting plate and a notch formed on the second connecting plate; or, the limiting hole structure includes a through hole formed on the second connecting plate and a notch formed on the first connecting plate.

8. The mechanical leg assembly according to claim 4, wherein: The locking rod includes a rod body, and a plurality of locking portions are formed by the rod body extending along the penetrating direction. The limiting hole structure includes a plurality of first openings formed on the first connecting plate and a plurality of second openings formed on the second connecting plate. Each of the locking portions can sequentially penetrate through the corresponding first opening and the second opening.

9. A robot, characterized in that: It includes the mechanical leg assembly according to any one of claims 1 to 8.

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