Mechanical leg and robot

Abstract

The present invention discloses a mechanical leg and a robot. The mechanical leg comprises: a fixed base; a leg base, which rotates in a horizontal plane; a first driving member, which is arranged on the fixed base and drives the leg base to rotate; a connecting rod assembly, which is rotatably connected to the leg base; a leg, which is rotatably connected to the connecting rod assembly; a second driving member, which is arranged on the leg base and connected to the connecting rod assembly to drive the leg to move in a horizontal direction; and a third driving member, which is connected to the connecting rod assembly to drive the leg to move in a vertical direction. Under the driving action of the first driving member, the leg base can rotate in a horizontal plane, thereby driving the leg to move in two directions, front and back. Under the driving action of the second driving member, the connecting rod assembly drives the leg to move in two directions, left and right, when it is extended and retracted. Under the driving action of the third driving member, the connecting rod assembly drives the leg to move in two directions, up and down, left and right, front and back, when it rotates, and drives the leg to move in six directions, namely, up and down, left and right, front and back, thereby increasing the working space of the mechanical leg.

Description

Technical Field

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

[0002] Following the maturity and promotion of industrial robots and collaborative robots, major famous universities, research institutes and enterprises have begun to invest huge manpower and material resources in the research of mobile robots.

[0003] In the prior art, the mechanical legs of existing legged robots are mostly parallel mechanisms, which have the problem of small working space.

[0004] Therefore, the prior art still needs to be improved and developed. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a mechanical leg and a robot in view of the above-mentioned defects of the prior art, aiming to solve the problem of small working space of the mechanical leg in the prior art.

[0006] The technical solution adopted by the present invention to solve the technical problem is as follows:

[0007] A mechanical leg, comprising:

[0008] Fixed base;

[0009] A leg base is rotatably connected to the fixed base, and the leg base rotates in a horizontal plane;

[0010] A first driving member, disposed on the fixed base and used to drive the leg base to rotate;

[0011] A connecting rod assembly, rotatably connected to the leg base;

[0012] A leg portion, rotatably connected to the connecting rod assembly;

[0013] A second driving member, disposed on the leg base and connected to the connecting rod assembly to drive the leg to move in a horizontal direction;

[0014] The third driving member is disposed on the leg base and connected to the connecting rod assembly to drive the leg to move in a vertical direction.

[0015] The mechanical leg, wherein the connecting rod assembly comprises:

[0016] A first sliding block is slidably connected to the leg base along a vertical direction and is connected to an output shaft of the second driving member;

[0017] A second sliding block is slidably connected to the leg base in a horizontal direction and is connected to an output shaft of the third driving member;

[0018] A first connecting rod and a second connecting rod, wherein the second slider, the first connecting rod, the second connecting rod and the leg are rotatably connected in sequence;

[0019] A third connecting rod and a fourth connecting rod, wherein the first connecting rod, the third connecting rod, the fourth connecting rod and the leg are rotatably connected in sequence;

[0020] a fifth connecting rod, one end of which is rotatably connected to the first sliding block, and the other end of which is rotatably connected to the middle portion of the second connecting rod;

[0021] Wherein, one end of the third connecting rod connected to the fourth connecting rod is rotatably connected to the leg base.

[0022] The mechanical leg, wherein:

[0023] The fifth connecting rod is an arc-shaped connecting rod, and the arc-shaped connecting rod protrudes toward the leg.

[0024] The mechanical leg, wherein:

[0025] The second link and the fourth link are connected to different positions of the leg;

[0026] The third connecting rod is parallel to the leg;

[0027] The second connecting rod is parallel to the fourth connecting rod.

[0028] The mechanical leg, wherein:

[0029] The second driving member and the third driving member are both linear driving members.

[0030] The mechanical leg, wherein the first driving member is connected to the leg base via a synchronization component; the synchronization component comprises:

[0031] A main synchronous pulley, rotatably connected to the fixed base and connected to the output shaft of the first driving member;

[0032] A synchronous pulley is rotatably connected to the fixed base and connected to the leg base;

[0033] A synchronous belt is arranged around the main synchronous belt and the slave synchronous belt.

[0034] The mechanical leg, wherein:

[0035] The output shaft of the first driving member is connected to the main synchronous pulley through a reduction assembly.

[0036] The mechanical leg, wherein the deceleration assembly comprises:

[0037] a gear connected to the output shaft of the first driving member;

[0038] A reducer, arranged on the fixed base and connected to the main synchronous pulley;

[0039] The transition flange has two ends respectively connected to the first driving member and the reducer.

[0040] The mechanical leg, wherein:

[0041] The bottom end of the leg is provided with a foot pad.

[0042] A robot, comprising:

[0043] A robotic leg as described in any preceding claim.

[0044] Beneficial effect: Under the driving action of the first driving member, the leg base is rotatably connected to the fixed base, and the leg base can rotate in the horizontal plane, thereby driving the leg to move in the front and back directions. Under the driving action of the second driving member, the connecting rod assembly can rotate relative to the leg base and drive the leg to move in the left and right directions (horizontal directions). Under the driving action of the third driving member, the connecting rod assembly can rotate relative to the leg base and drive the leg to move in the up and down directions (i.e., vertical directions). Therefore, the first driving member, the second driving member, and the third driving member drive the leg to move in six directions of up, down, left, right, front and back, thereby increasing the working space of the mechanical leg. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a side view of the mechanical leg of the present invention.

[0046] Figure 2 It is a three-dimensional diagram of the mechanical leg in the present invention.

[0047] Figure 3 It is a cross-sectional view of the mechanical leg of the present invention.

[0048] Figure 4 It is a structural schematic diagram of the connecting rod assembly in the present invention.

[0049] Figure 5 It is a structural schematic diagram of the deceleration assembly in the present invention.

[0050] Figure 6 It is an exploded view of the deceleration assembly in the present invention.

[0051] Description of reference numerals:

[0052] 1. Fixed base; 11. First driving member; 12. Synchronous assembly; 121. Main synchronous pulley; 122. Slave synchronous pulley; 123. Synchronous belt; 13. Reduction assembly; 131. Gear; 132. Reducer; 133. Transition flange; 2. Leg base; 21. Second driving member; 22. Third driving member; 3. Connecting rod assembly; 31. First slider; 32. Second slider; 33. First connecting rod; 34. Second connecting rod; 35. Third connecting rod; 36. Fourth connecting rod; 37. Fifth connecting rod; 4. Leg; 41. Foot pad. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solution and advantages of the present invention clearer and more specific, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0054] Please also see Figure 1-Figure 6 , the present invention provides some embodiments of a mechanical leg.

[0055] like Figure 1-Figure 2 As shown, a mechanical leg of the present invention comprises:

[0056] Fixed base 1;

[0057] The leg base 2 is rotatably connected to the fixed base 1, and the leg base 2 rotates in a horizontal plane;

[0058] A first driving member 11 is disposed on the fixed base 1 and is used to drive the leg base 2 to rotate;

[0059] A connecting rod assembly 3, slidably connected to the leg base 2;

[0060] The leg 4 is rotatably connected to the connecting rod assembly 3;

[0061] A second driving member 21 is disposed on the leg base 2 and connected to the connecting rod assembly 3 to drive the leg 4 to move in a horizontal direction;

[0062] The third driving member 22 is disposed on the leg base 2 and connected to the connecting rod assembly 3 to drive the leg 4 to move in the vertical direction.

[0063] It is worth noting that, under the driving action of the first driving member 11, the leg base 2 is rotationally connected to the fixed base 1, and the leg base 2 can rotate in the horizontal plane, thereby driving the leg 4 to move in the front and back directions. Under the driving action of the second driving member 21, the connecting rod assembly 3 can rotate relative to the leg base 2, and drive the leg 4 to move in the left and right directions (belonging to the horizontal direction). Under the driving action of the third driving member 22, the connecting rod assembly 3 can rotate relative to the leg base 2, and drive the leg 4 to move in the up and down directions (that is, the vertical direction). Therefore, the first driving member 11, the second driving member 21 and the third driving member 22 drive the leg 4 to move in six directions of up, down, left, right, front and back, thereby increasing the working space of the mechanical leg.

[0064] In addition, the present invention uses three driving parts to realize the movement of the mechanical legs, which has the beneficial effects of simple structure, easy motion control, and simple mechanism topology, thereby reducing the difficulty and cost of developing a legged robot.

[0065] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 4 As shown, the connecting rod assembly 3 includes:

[0066] A first sliding block 31 is slidably connected to the leg base 2 along a vertical direction and is connected to an output shaft of the second driving member 21;

[0067] A second sliding block 32 is slidably connected to the leg base 2 in a horizontal direction and is connected to an output shaft of the third driving member 22;

[0068] A first connecting rod 33 and a second connecting rod 34, the second slider 32, the first connecting rod 33, the second connecting rod 34 and the leg 4 are rotatably connected in sequence;

[0069] A third connecting rod 35 and a fourth connecting rod 36, wherein the first connecting rod 33, the third connecting rod 35, the fourth connecting rod 36 and the leg 4 are rotatably connected in sequence;

[0070] a fifth connecting rod 37, one end of which is rotatably connected to the first sliding block 31, and the other end of which is rotatably connected to the middle portion of the second connecting rod 34;

[0071] Among them, one end of the third connecting rod 35 connected to the fourth connecting rod 36 is rotatably connected to the leg base 2.

[0072] Specifically, a first slide rail adapted to the first slider 31 is provided on the leg base 2, the first slider 31 slides along the first slide rail, and the first slide rail is extended in the vertical direction. A second slide rail adapted to the second slider 32 is provided on the leg base 2, the second slider 32 slides along the second slide rail, and the second slide rail is extended in the horizontal direction.

[0073] In order to realize the movement of the leg 4 in the vertical direction and the horizontal direction respectively by the rotation of the connecting rod assembly 3 relative to the leg base 2, the connecting rod assembly 3 is formed in the form of a telescopic grid, and the second connecting rod 34, the third connecting rod 35, the fourth connecting rod 36 and the top of the leg 4 form a quadrilateral grid around, and the quadrilateral grid can be deformed and telescoped, that is, the movement of the leg base 2 in the left and right directions is realized by the telescopic movement of the connecting rod assembly 3. One end of the fifth connecting rod 37 is rotatably connected to the first slider 31, and the other end of the fifth connecting rod 37 is rotatably connected to the middle part of the second connecting rod 34. The second driving member 21 can drive the first slider 31 to slide in the vertical direction, so that the four deformation grids are deformed, driving the leg 4 to move in the left and right directions. Specifically, when the second driving member 21 drives the first slider 31 to slide, the first connecting rod 33 and the third connecting rod 35 remain stationary, and the fifth connecting rod 37 pushes the second connecting rod 34 to move, specifically, pushes the second connecting rod 34 to rotate around the first connecting rod 33, thereby driving the fourth connecting rod 36 to rotate around the third connecting rod 35 (or the leg base 2), so that the leg 4 moves in the left and right directions.

[0074] One end where the third connecting rod 35 and the fourth connecting rod 36 are connected is rotatably connected to the leg base 2 , that is, the leg 4 is rotatably connected to the leg base 2 through the connecting rod assembly 3 , thereby realizing the movement of the leg 4 in both the up and down directions.

[0075] One end of the second connecting rod 34 and the third connecting rod 35 is rotatably connected to the first connecting rod 33. The third driving member 22 can drive the second slider 32 to slide in the horizontal direction, thereby driving the connecting rod assembly 3 to rotate relative to the leg base 2 and driving the leg 4 to move in the up and down directions.

[0076] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 4 As shown, the fifth connecting rod 37 is an arc-shaped connecting rod, and the arc-shaped connecting rod protrudes toward the leg 4.

[0077] Specifically, the fifth connecting rod 37 is an arc-shaped connecting rod, and the arc-shaped connecting rod protrudes toward the side where the leg 4 is located. When the fifth connecting rod 37 pushes the second connecting rod 34 and deforms the quadrilateral grid, the arc-shaped connecting rod can more easily push the second connecting rod 34 to rotate.

[0078] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 4 As shown, the second connecting rod 34 and the fourth connecting rod 36 are connected to different positions of the leg 4;

[0079] The third connecting rod 35 is parallel to the leg 4;

[0080] The second connecting rod 34 is parallel to the fourth connecting rod 36 .

[0081] Specifically, in order to facilitate the control of the movement of the legs 4 , the grid adopts a parallelogram network, and the second connecting rod 34 is parallel to the fourth connecting rod 36 , and the third connecting rod 35 is parallel to the legs 4 , so as to facilitate the control of the direction and distance of movement of the legs 4 .

[0082] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 4 As shown, the second driving member 21 and the third driving member 22 are both linear driving members.

[0083] Specifically, the second driving member 21 is a linear driving member, such as a linear motor, so as to drive the first slider 31 to slide along a straight line. The third driving member 22 is a linear driving member, such as a linear motor, so as to drive the second slider 32 to slide along a straight line.

[0084] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 4 As shown, the first driving member 11 is connected to the leg base 2 via a synchronization component 12; the synchronization component 12 includes:

[0085] A main synchronous pulley 121 is rotatably connected to the fixed base 1 and is connected to the output shaft of the first driving member 11;

[0086] A synchronous pulley 122 is rotatably connected to the fixed base 1 and connected to the leg base 2;

[0087] The synchronous belt 123 is arranged around the master synchronous belt 123 and the slave synchronous belt 123 .

[0088] Specifically, a synchronization component 12 is provided on the fixed base 1, the first driving member 11 is connected to the synchronization component 12, and the leg base 2 is connected to the synchronization component 12. The first driving member 11 drives the leg base 2 to rotate in the horizontal plane through the synchronization component 12, thereby driving the leg 4 to move in the front and rear directions. The output shaft of the first driving member 11 is connected to the main synchronous pulley 121, so that the main synchronous pulley 121 can be driven to rotate. The main synchronous pulley 121 is connected to the slave synchronous pulley 122 through the synchronous belt 123, so that when the main synchronous pulley 121 rotates, the slave synchronous pulley 122 is driven to rotate, and the leg base 2 is connected to the slave synchronous pulley 122. When the slave synchronous pulley 122 rotates, the leg base 2 will also rotate, thereby driving the leg 4 to rotate, and thus changing the position of the leg 4 in the front and rear directions.

[0089] In a preferred implementation of the embodiment of the present invention, Figure 3 , Figure 5 as well as Figure 6 As shown, the output shaft of the first driving member 11 is connected to the main synchronous pulley 121 through the reduction assembly 13.

[0090] Specifically, in order to accurately control the rotation of the main synchronous pulley 121 , a reduction assembly 13 is used to connect the output shaft of the first driving member 11 and the main synchronous pulley 121 .

[0091] In a preferred implementation of the embodiment of the present invention, Figure 3-Figure 6 As shown, the deceleration assembly 13 includes:

[0092] A gear 131 connected to the output shaft of the first driving member 11;

[0093] A speed reducer 132 is disposed on the fixed base 1 and connected to the main synchronous pulley 121;

[0094] The transition flange 133 has two ends connected to the first driving member 11 and the reducer 132 respectively.

[0095] Specifically, the first driving member 11 can drive the gear 131 to rotate. The first driving member 11 is arranged on the reducer 132 through the transition flange 133 , and the gear 131 is connected to the reducer 132 . Thus, the reducer 132 reduces the output shaft of the first driving member 11 through the gear 131 .

[0096] In a preferred implementation of the embodiment of the present invention, Figure 1-Figure 5 As shown, a foot pad 41 is provided at the bottom end of the leg 4.

[0097] Specifically, a foot pad 41, such as a foot cushion, is installed at the bottom of the leg 4. The foot pad 41 has the characteristics of elasticity, high damping and low density to reduce the impact force of the mechanical leg on the ground during operation.

[0098] The present invention also provides a preferred embodiment of a robot:

[0099] The robot according to the embodiment of the present invention comprises:

[0100] A mechanical leg as described in any of the above embodiments.

[0101] It should be understood that the application of the present invention is not limited to the above examples. For ordinary technicians in this field, improvements or changes can be made based on the above description. All these improvements and changes should fall within the scope of protection of the claims attached to the present invention.

Claims

1. A mechanical leg, characterized in that: include: Fixed base; A leg base is rotatably connected to the fixed base, and the leg base rotates in a horizontal plane; A first driving member, disposed on the fixed base and used to drive the leg base to rotate; A connecting rod assembly, rotatably connected to the leg base; A leg portion, rotatably connected to the connecting rod assembly; A second driving member, disposed on the leg base and connected to the connecting rod assembly to drive the leg to move in a horizontal direction; a third driving member, disposed on the leg base and connected to the connecting rod assembly to drive the leg to move in a vertical direction; The connecting rod assembly comprises: A first sliding block is slidably connected to the leg base along a vertical direction and is connected to an output shaft of the second driving member; A second sliding block is slidably connected to the leg base in a horizontal direction and is connected to an output shaft of the third driving member; A first connecting rod and a second connecting rod, wherein the second slider, the first connecting rod, the second connecting rod and the leg are rotatably connected in sequence; A third connecting rod and a fourth connecting rod, wherein the first connecting rod, the third connecting rod, the fourth connecting rod and the leg are rotatably connected in sequence; a fifth connecting rod, one end of which is rotatably connected to the first sliding block, and the other end of which is rotatably connected to the middle portion of the second connecting rod; Among them, one end of the third connecting rod connected to the fourth connecting rod is rotatably connected to the leg base; the second driving member and the third driving member are both linear driving members.

2. The mechanical leg according to claim 1, characterized in that: The fifth connecting rod is an arc-shaped connecting rod, and the arc-shaped connecting rod protrudes toward the leg.

3. The mechanical leg according to claim 1, characterized in that: The second link and the fourth link are connected to different positions of the leg; The third connecting rod is parallel to the leg; The second connecting rod is parallel to the fourth connecting rod.

4. The mechanical leg according to claim 1, characterized in that: The first driving member is connected to the leg base via a synchronization component; the synchronization component comprises: A main synchronous pulley, rotatably connected to the fixed base and connected to the output shaft of the first driving member; A synchronous pulley is rotatably connected to the fixed base and connected to the leg base; A synchronous belt is arranged around the main synchronous belt and the slave synchronous belt.

5. The mechanical leg according to claim 4, characterized in that: The output shaft of the first driving member is connected to the main synchronous pulley through a reduction assembly.

6. The mechanical leg according to claim 5, characterized in that: The deceleration assembly comprises: a gear connected to the output shaft of the first driving member; A reducer, arranged on the fixed base and connected to the main synchronous pulley; The transition flange has two ends respectively connected to the first driving member and the reducer.

7. The mechanical leg according to any one of claims 1 to 6, characterized in that: The bottom end of the leg is provided with a foot pad.

8. A robot, characterized in that: include: A mechanical leg as claimed in any one of claims 1 to 7.

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