Energy storage leg connecting rod structure and robot

Abstract

The present invention relates to the field of robot drive technology, and specifically to an energy storage leg connecting rod structure and a robot, comprising a movable bracket, a driving device mounted on the movable bracket, a fixed base provided on the driving device, a force storage disk mounted on the fixed base, a force storage torsion spring connecting the force storage disk and the driving device, and a connecting rod device connected to the force storage disk; the force storage torsion spring connects the force storage disk and the driving device, and the connecting rod device comprises a first connecting rod movably connected to the force storage disk, a second connecting rod movably connected to the first connecting rod and connected to the movable bracket. The present invention provides a force storage torsion spring on the fixed base and the driving device, so that the driving device plays an extrusion and force storage role when driving the connecting rod device under the action of the torsion spring, and can quickly reset when reset is required due to the rebound action of the torsion spring, thereby reducing the load on the driving device.

Description

Technical Field

[0001] The present invention relates to the field of robot drive technology, and in particular to an energy storage leg connecting rod structure and a robot. Background Art

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. It has basic characteristics such as perception, decision-making, and execution. It can assist or even replace humans in completing dangerous, heavy, and complex tasks, improve work efficiency and quality, serve human life, and expand or extend the scope of human activities and capabilities.

[0003] With technological advancements, robots are becoming increasingly common, such as cleaning robots, cargo robots, and inspection robots, all of which are capable of intelligent control. Existing robots generally consist of a frame and a mobile wheel assembly. Some robots incorporate leg structures that work in conjunction with the mobile wheel assembly to achieve various movements. These movements require the coordination of the leg structures and drive components. Existing robot drive structures and joints are directly driven by motors during various movements. When the robot is lying down, the motor load is relatively small due to the gravity of the robot body. However, when the robot is standing up, the entire body must be lifted up, placing a heavy load on the motor. Therefore, further improvements can be made to the existing robot structure. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides an energy storage leg connecting rod structure and a robot by arranging a force storage torsion spring on a fixed base and a driving device. Under the action of the torsion spring, the driving device plays an extrusion and force storage role when driving the connecting rod device. When resetting is required, it can be quickly reset by the rebound action of the torsion spring, thereby reducing the load of the driving device.

[0005] The technical solution adopted by the present invention is: a energy storage leg connecting rod structure, including a movable bracket, a driving device installed on the movable bracket, a fixed base provided on the driving device, a power storage disk installed on the fixed base, a power storage torsion spring connecting the power storage disk and the driving device, and a connecting rod device connected to the power storage disk; the power storage torsion spring connects the power storage disk and the driving device, and the connecting rod device includes a first connecting rod movably connected to the power storage disk, and a second connecting rod movably connected to the first connecting rod and connected to the movable bracket.

[0006] A further improvement to the above scheme is that the movable bracket includes a main bracket connected to the driving device, a supporting bracket connected to the main bracket, and a first connecting part provided on the main bracket, the first connecting part is provided with a first rotating shaft element, the first rotating shaft element can be rotatably connected to the second connecting rod, and the supporting bracket lifts the side of the driving device.

[0007] A further improvement to the above solution is that the movable bracket is installed with a limit block, the limit block is provided with a limit groove, the force storage disk is provided with a limit column, and the limit column and the limit groove are used to limit the force storage disk.

[0008] A further improvement to the above scheme is that the driving device includes a stator assembly connected to a fixed base, a rotating shaft assembly arranged in the fixed base, a rotor housing connected to the rotating shaft assembly, a rotor assembly arranged in the rotor housing and cooperating with the stator assembly, and a rotating cover connected to the rotor housing, and the movable bracket is connected to the rotating cover.

[0009] A further improvement to the above solution is that the rotating shaft assembly includes a bearing element and a rotating shaft rotatably connected to the bearing element, a mounting cavity is provided in the fixed base, the bearing element is placed in the mounting cavity, and the rotating shaft is connected to the rotor housing.

[0010] A further improvement to the above solution is that the force storage disk includes a connecting disk connected to a fixed base, and a protective disk arranged on the outer edge of the connecting disk, a force storage groove between the connecting disk and the protective disk, and the force storage torsion spring is arranged in the force storage groove.

[0011] A further improvement to the above solution is that the power storage disc is provided with a second rotating shaft element, the second rotating shaft element is rotatably connected to the first connecting rod, the first connecting rod is an arc-shaped connecting rod, and the arc radius of the first connecting rod is 60mm to 100mm.

[0012] A further improvement to the above solution is that a third rotating shaft element is provided at one end of the first connecting rod away from the second rotating shaft element, and the third rotating shaft element is rotatably connected to the second connecting rod.

[0013] A further improvement to the above solution is that the second connecting rod is provided with an assembly portion away from the third rotating shaft element, the assembly portion is provided with a through hole and an assembly groove, the assembly groove is connected to a wiring groove, and the wiring groove extends to the movable bracket.

[0014] A robot comprises the energy storage leg connecting rod structure.

[0015] The beneficial effects of the present invention are:

[0016] Compared to existing robot leg structures, the present invention provides an energy storage structure on the robot leg structure. Specifically, a force storage torsion spring is provided on the fixed base and the drive device. Under the action of the torsion spring, the drive device plays a squeezing and force storage role when driving the connecting rod device. When resetting is required, it can be quickly reset by the rebound action of the torsion spring, thereby reducing the driving force of the drive device and improving the resetting effect. Specifically, a movable bracket, a drive device mounted on the movable bracket, a fixed base provided on the drive device, a force storage disk mounted on the fixed base, a force storage torsion spring connecting the force storage disk and the drive device, and a connecting rod device connected to the force storage disk are provided; the force storage torsion spring connects the force storage disk and the drive device, and the connecting rod device includes a first connecting rod movably connected to the force storage disk, and a second connecting rod movably connected to the first connecting rod and connected to the movable bracket. During the driving process, the force storage torsion spring cooperates with the force storage disk to enable the drive structure of the drive device to have a force storage effect. When returning to the original state, it plays an auxiliary role and reduces the load on the motor body. When driving the connecting rod device, the robot can realize actions such as standing and lying down through the action of the first connecting rod and the second connecting rod. When moving from lying down to standing up, the stored force torsion spring acts as a rebound to reduce the motor load. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a schematic diagram of the three-dimensional structure of the energy storage leg connecting rod structure of the present invention;

[0018] Figure 2 for Figure 1 Schematic diagram of the explosion structure of the middle energy storage leg connecting rod structure;

[0019] Figure 3 for Figure 1 Schematic diagram of the exploded structure of the energy storage leg connecting rod structure from another perspective;

[0020] Figure 4 for Figure 1 A schematic diagram of the main structure of the driving device of the middle energy storage leg connecting rod structure;

[0021] Figure 5 for Figure 4 Cross-sectional view of AA in the figure.

[0022] Explanation of the accompanying drawings: movable bracket 1, main bracket 11, supporting bracket 12, first connecting part 13, first rotating shaft element 131, limit block 14, limit groove 141, driving device 2, stator assembly 21, rotating shaft assembly 22, bearing element 221, rotating shaft 222, rotor housing 23, rotor assembly 24, rotating cover 25, fixed base 3, force storage disk 4, limit column 41, connecting disk 42, protective disk 43, force storage groove 44, second rotating shaft element 45, force storage torsion spring 5, connecting rod device 6, first connecting rod 61, third rotating shaft element 611, second connecting rod 62, assembly part 621, through hole 622, assembly groove 623, wiring groove 624. DETAILED DESCRIPTION

[0023] To facilitate understanding of the present invention, the present invention will be described more fully below with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the accompanying drawings. However, the present invention may be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a more thorough and comprehensive understanding of the present disclosure.

[0024] It should be noted that when an element is referred to as being “fixed to” another element, it may be directly on the other element or there may be an intermediate element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or there may be an intermediate element.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used in this specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0026] like Figures 1 to 5 As shown, an energy storage leg connecting rod structure includes a movable bracket 1, a driving device 2 installed on the movable bracket 1, a fixed base 3 provided on the driving device 2, a power storage disk 4 installed on the fixed base 3, a power storage torsion spring 5 connecting the power storage disk 4 and the driving device 2, and a connecting rod device 6 connected to the power storage disk 4; the power storage torsion spring 5 connects the power storage disk 4 and the driving device 2, and the connecting rod device 6 includes a first connecting rod 61 movably connected to the power storage disk 4, and a second connecting rod 62 movably connected to the first connecting rod 61 and connected to the movable bracket 1.

[0027] The movable bracket 1 includes a main bracket 11 connected to the driving device 2, a supporting bracket 12 connected to the main bracket 11, and a first connecting part 13 provided on the main bracket 11. The first connecting part 13 is provided with a first rotating shaft element 131. The first rotating shaft element 131 can be rotatably connected to the second connecting rod 62. The supporting bracket 12 lifts the side of the driving device 2. The main bracket 11 cooperates with the supporting bracket 12 to install and support the driving device 2. At the same time, the first rotating shaft element 131 is provided to connect the second connecting rod 62, so that the second connecting rod 62 can be rotatably connected and can move stably when the robot moves.

[0028] The movable bracket 1 is installed with a limiting block 14, and the limiting block 14 has a limiting groove 141. The force storage disk 4 is provided with a limiting column 41. The limiting column 41 and the limiting groove 141 are used to limit the force storage disk 4. The limiting groove 141 is provided to cooperate with the limiting main part to limit the force storage disk 4 when it rotates, to prevent excessive force storage, and has a good protection effect on the force storage torsion spring 5 and a reliable structure.

[0029] See Figures 4 and 5 As shown, the driving device 2 includes a stator assembly 21 connected to the fixed base 3, a rotating shaft assembly 22 provided in the fixed base 3, a rotor housing 23 connected to the rotating shaft assembly 22, a rotor assembly 24 provided in the rotor housing 23 and cooperating with the stator assembly 21, and a rotating cover 25 connected to the rotor housing 23. The movable bracket 1 is connected to the rotating cover 25. It is further improved that the rotating shaft assembly 22 includes a bearing element 221 and a rotating shaft 222 rotatably connected to the bearing element 221. A mounting cavity 31 is provided in the fixed base 3, the bearing element 221 is placed in the mounting cavity 31, and the rotating shaft 222 is connected to the rotor housing 23. The driving device 2 adopts an outer rotor motor. The stator assembly 21 cooperates with the rotor assembly 24, so that the rotating shaft assembly 22 drives the rotor housing 23 to rotate, and drives the rotating cover 25 and the movable bracket 1 to rotate during rotation, so as to drive the joint movement of the robot.

[0030] The force storage disk 4 includes a connecting disk 42 connected to the fixed base 3, and a protective disk 43 arranged on the outer edge of the connecting disk 42, a force storage groove 44 between the connecting disk 42 and the protective disk 43, and the force storage torsion spring 5 is arranged in the force storage groove 44. The force storage groove 44 formed by the connecting disk 42 and the protective disk 43 is used for the installation of the force storage torsion spring 5. The force storage torsion spring 5 is provided with at least one circle of torsion spring coil, which is used to ensure the force storage and rebound of the driving structure to reduce the debt.

[0031] The energy storage disk 4 is provided with a second rotating shaft element 45, which is rotatably connected to the first connecting rod 61. The first connecting rod 61 is an arc-shaped connecting rod, and the arc radius of the first connecting rod 61 is 60mm~100mm. The first connecting rod 61 is rotatably connected to the energy storage disk 4 through the second rotating shaft element 45, ensuring the linkage effect under the driving action. At the same time, the arc-shaped connecting rod is provided for the leg connecting rod connection, and the structural connection is stable.

[0032] A third rotating shaft element 611 is provided at one end of the first connecting rod 61 away from the second rotating shaft element 45, and the third rotating shaft element 611 can be rotatably connected to the second connecting rod 62. It is further improved that the second connecting rod 62 is provided with an assembly portion 621 away from the third rotating shaft element 611, and the assembly portion 621 is provided with a through hole 622 and an assembly groove 623. The assembly groove 623 is connected to a wiring groove 624, and the wiring groove 624 extends to the movable bracket 1. The third rotating shaft is provided to cooperate with the linkage effect of multiple actions, and the assembly portion 621 is also provided to facilitate structural assembly, which is convenient to assemble and stable and reliable.

[0033] A robot is provided with an energy storage structure and driven by a motor, and is used as the leg structure of the robot. It is especially suitable for robots with a relatively bulky body and can effectively reduce the load on the motor.

[0034] The present invention sets an energy storage structure on the leg structure of the robot. Specifically, a force storage torsion spring 5 is set on the fixed base 3 and the driving device 2. Under the action of the torsion spring, the driving device 2 plays a role of squeezing and storing force when driving the connecting rod device 6. When it needs to be reset, it can be quickly reset under the rebound action of the torsion spring, reducing the driving force of the driving device 2 and improving the reset effect. Specifically, a movable bracket 1, a driving device 2 installed on the movable bracket 1, a fixed base 3 provided on the driving device 2, a force storage disk 4 installed on the fixed base 3, a force storage torsion spring 5 connecting the force storage disk 4 with the driving device 2, and a connecting rod device 6 connected to the force storage disk 4 are set; the force storage torsion spring 5 connects the force storage disk 4 with the driving device 2, and the connecting rod device 6 includes a first connecting rod 61 movably connected to the force storage disk 4, and a second connecting rod 62 movably connected to the first connecting rod 61 and connected to the movable bracket 1. During the driving process, the force storage torsion spring 5 cooperates with the force storage disk 4 to enable the drive structure of the drive device 2 to store force. When returning to the original state, it plays an auxiliary role and reduces the load on the motor body. When driving the connecting rod device 6, the first connecting rod 61 and the second connecting rod 62 enable the robot to achieve standing and lying movements. When moving from lying to standing, the force storage torsion spring 5 acts as a rebound, reducing the load on the motor.

[0035] The above-described embodiments merely illustrate several implementations of the present invention, and while their descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, all of which fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be determined by the appended claims.

Claims

1. An energy storage leg connecting rod structure, characterized in that: The device comprises a movable bracket, a driving device mounted on the movable bracket, a fixed base provided on the driving device, a force storage disk mounted on the fixed base, a force storage torsion spring connecting the force storage disk and the driving device, and a connecting rod device connected to the force storage disk; the force storage torsion spring connects the force storage disk and the driving device, and the connecting rod device comprises a first connecting rod movably connected to the force storage disk, and a second connecting rod movably connected to the first connecting rod and connected to the movable bracket; The movable bracket includes a main bracket connected to the driving device, a supporting bracket connected to the main bracket, and a first connecting portion provided on the main bracket, wherein the first connecting portion is provided with a first rotating shaft element, the first rotating shaft element is rotatably connected to the second connecting rod, and the supporting bracket supports the side surface of the driving device; The movable bracket is equipped with a limit block, the limit block is provided with a limit groove, the force storage disc is provided with a limit column, and the limit column cooperates with the limit groove to limit the force storage disc; The force storage disk includes a connecting disk connected to a fixed base, a protective disk provided on the outer edge of the connecting disk, a force storage groove between the connecting disk and the protective disk, and the force storage torsion spring provided in the force storage groove; The power storage disc is provided with a second rotating shaft element, the second rotating shaft element is rotatably connected to the first connecting rod, and the first connecting rod is an arc-shaped connecting rod; A third rotating shaft element is provided at one end of the first connecting rod away from the second rotating shaft element, and the third rotating shaft element is rotatably connected to the second connecting rod; The second connecting rod is provided with an assembly portion away from the third rotating shaft element. The assembly portion is provided with a through hole and an assembly groove. The assembly groove is connected to a wiring groove, and the wiring groove extends to the movable bracket.

2. The energy storage leg connecting rod structure according to claim 1, characterized in that: The driving device includes a stator assembly connected to a fixed base, a rotating shaft assembly arranged in the fixed base, a rotor housing connected to the rotating shaft assembly, a rotor assembly arranged in the rotor housing and cooperating with the stator assembly, and a rotating cover connected to the rotor housing, and the movable bracket is connected to the rotating cover.

3. The energy storage leg connecting rod structure according to claim 2, characterized in that: The rotating shaft assembly includes a bearing element and a rotating shaft rotatably connected to the bearing element. A mounting cavity is provided in the fixed base, the bearing element is placed in the mounting cavity, and the rotating shaft is connected to the rotor housing.

4. The energy storage leg connecting rod structure according to claim 1, characterized in that: The arc radius of the first connecting rod is 60mm~100mm.

5. A robot, characterized in that: It includes the energy storage leg connecting rod structure according to any one of claims 1 to 4.

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