Robot and its leg components

Abstract

The present application provides a robot and its leg assembly; wherein the leg assembly includes: a thigh shell, a transmission rod group and a calf; the thigh shell forms a storage space; the transmission rod group is arranged in the storage space; one end of the transmission rod group is used to connect with the drive unit, and the other end is connected with the calf, thereby driving the calf to rotate relative to the thigh shell. The leg assembly for the robot provided by the embodiment of the present application first utilizes the structural mode of rod group transmission, and has the characteristics of simple structure and reliable transmission. Then, by arranging the transmission rod group in the thigh shell, foreign objects are not easy to enter the inside of the thigh shell, and will not affect the operation of the transmission rod group, thereby playing a role in protecting the transmission rod group; in addition, since the transmission rod group works inside the thigh shell, it is not easy to cause problems such as pinching to personnel, and the safety is high.

Description

Technical Field

[0001] The invention relates to the technical field of multi-legged robot leg structures, and in particular to a robot and a leg component thereof. Background Art

[0002] Quadruped robots are an important development trend at present, and are also a hot topic for research by various manufacturers. Quadruped robots are also called robot dogs, and their appearance is similar to that of real animals. In the conventional technology, the transmission parts of the leg structure of quadruped robot dogs are generally open structures, that is, the transmission parts of the legs are exposed. The problems with this open leg structure are that, first, foreign objects can easily enter the thigh, which will affect the movement of the mechanism; the knee joint mechanism is easily hit and is not protected; in addition, because the transmission mechanism is exposed to the outside, it is easy to cause problems such as pinching to personnel, and the safety is poor. Summary of the invention

[0003] A first aspect of an embodiment of the present application provides a leg assembly for a robot, comprising:

[0004] A thigh shell formed with a receiving space;

[0005] A transmission rod group and a calf; the transmission rod group is arranged in the accommodating space; one end of the transmission rod group is used to connect with the driving unit, and the other end is connected with the calf, thereby driving the calf to rotate relative to the thigh shell.

[0006] In a second aspect, an embodiment of the present application provides a robot, the robot comprising a trunk and a plurality of leg assemblies connected to the trunk; the leg assemblies comprising:

[0007] A thigh shell formed with a receiving space;

[0008] A transmission rod group and a calf; the transmission rod group is arranged in the accommodating space; one end of the transmission rod group is used to connect with the driving unit, and the other end is connected with the calf, thereby driving the calf to rotate relative to the thigh shell.

[0009] The leg assembly for the robot provided in the embodiment of the present application firstly utilizes the structural mode of rod group transmission, which has the characteristics of simple structure and reliable transmission. Then, by arranging the transmission rod group in the thigh shell, foreign objects are not easy to enter the thigh shell, which will not affect the operation of the transmission rod group, and play a role in protecting the transmission rod group; in addition, since the transmission rod group works inside the thigh shell, it is not easy to cause problems such as pinching to personnel, and the safety is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 It is a schematic diagram of the overall structure of an embodiment of a leg assembly for a robot according to the present application;

[0012] Figure 2 yes Figure 1 A schematic diagram of the disassembled structure of the leg assembly for the robot in the embodiment;

[0013] Figure 3 yes Figure 1 A schematic diagram of the partial structure disassembly of the leg assembly of the robot in the embodiment;

[0014] Figure 4 yes Figure 1 A schematic diagram of the internal structure of the leg assembly in the embodiment;

[0015] Figure 5 yes Figure 4 A schematic structural diagram of the second connecting rod in the embodiment;

[0016] Figure 6 yes Figure 1 A schematic diagram of the structure of the driving shaft of the leg assembly in the embodiment;

[0017] Figure 7 yes Figure 3 A schematic diagram of the partial structural disassembly of the leg assembly in the embodiment;

[0018] Figure 8 It is a schematic diagram of the overall structure of another embodiment of the leg assembly for a robot of the present application;

[0019] Fig. 9 yes Figure 8 A schematic diagram of a partial disassembly of a leg assembly in an embodiment;

[0020] Fig.10 It is a schematic diagram of the overall structure of another embodiment of the leg assembly of the robot used in the present application;

[0021] Fig.11 yes Fig.10 A schematic diagram of a partial disassembly of a leg assembly in an embodiment;

[0022] Fig.12 It is a schematic diagram of the structure of an embodiment of the robot of the present application. DETAILED DESCRIPTION

[0023] The present invention will be further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present invention, but are not intended to limit the scope of the present invention. Similarly, the following examples are only partial embodiments of the present invention rather than all embodiments, and all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of protection of the present invention.

[0024] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0025] Please also read Figure 1 and Figure 2 , Figure 1 1 is a schematic diagram of the overall structure of an embodiment of a leg assembly for a robot according to the present application. Figure 2 yes Figure 1 Schematic diagram of the split structure of the leg assembly for the robot in the embodiment; it should be noted that the leg assembly in the present application can be used on a robot including a trunk and several leg structures, and the robot has a machine device that can complete the functions of walking, running, jumping, etc. under the control of a control system. A typical robot structure is a robot dog, that is, a robot structure including a trunk and four legs. Of course, the robot in this embodiment can also be a structure including two, three or more legs, or even a structure including one leg, which is not specifically limited here. Among them, the leg assembly 10 for the robot in this embodiment includes but is not limited to a thigh shell 100, a transmission rod group 200, a calf 300, and a drive unit 400. It should be noted that the terms "including" and "having" in the embodiments of the present application and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or components inherent to these processes, methods, products or devices.

[0026] For more information, please see Figure 3 , Figure 3 yes Figure 1A schematic diagram of the partial structural disassembly of the leg assembly of the robot in the embodiment. Optionally, in this embodiment, the thigh shell 100 is formed with a accommodating space 1000, and the transmission rod group 200 is arranged in the accommodating space 1000; one end of the transmission rod group 200 is used to connect with the driving unit 400, and the other end is connected with the calf 300, thereby driving the calf 300 to rotate relative to the thigh shell 100.

[0027] Optionally, the thigh shell 100 may include a first shell 110 and a second shell 120, and the first shell 110 and the second shell 120 are fixedly connected to cooperate to form the accommodation space 1000. The fixed connection between the first shell 110 and the second shell 120 may be fixed by screws, the first shell 110 and the second shell 120 may be fixed by snapping or bonding, etc., which are not specifically limited here. Of course, in some other embodiments, the thigh shell 100 may also be other structural forms, as long as it can form a sealed or semi-sealed (at least can cover or hide the transmission rod group 200 in appearance) accommodation space 1000 for accommodating the transmission rod group 200. The first shell 110 and the second shell 120 may be made of stainless steel, hard plastic, resin or aluminum alloy.

[0028] Please also read Figures 1 to 4 , Figure 4 yes Figure 1 Schematic diagram of the internal structure of the leg assembly in the embodiment, optionally, the transmission rod group 200 includes a first connecting rod 210, a second connecting rod 220 and a driving shaft 230; one end of the first connecting rod 230 is used to connect with the driving unit 400, and the other end is hinged with the second connecting rod 220; the driving shaft 230 is fixedly connected with the second connecting rod 220, and can rotate along the axis of the driving shaft 230 under the drive of the second connecting rod 220; the driving shaft 230 is further fixedly connected with the calf 300, and the calf 300 can rotate synchronously with the driving shaft 230. The structure of the transmission rod group 200 has the characteristics of simple structure and reliable transmission.

[0029] Optionally, the material of the first connecting rod 210, the second connecting rod 220 and the driving shaft 230 can be aluminum alloy or stainless steel, etc. It should be noted that the terms "first", "second" and "third" in the embodiments of the present application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first", "second" and "third" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0030] The driving unit 400 is fixedly mounted outside the thigh shell 100 (fixed to the first shell 110 by bolts in the illustrated embodiment of the present application). The driving unit 400 is connected to the first connecting rod 210 to drive the first connecting rod 210 to swing. Optionally, in this embodiment, the driving unit 400 is a driving motor, and the output shaft of the driving motor is connected to the first connecting rod 210, specifically, it can be connected by a first clamping spring 201.

[0031] Please also read Figures 3 to 5 , Figure 5 yes Figure 4 Schematic diagram of the structure of the second connecting rod in the embodiment. Optionally, the two ends of the second connecting rod 220 are respectively arranged at the first connecting hole 221 and the second connecting hole 222. The first connecting hole 221 is hinged to the first connecting rod 210 through a pin shaft 240, and the second connecting hole 222 is used for engaging and connecting with the driving shaft 230.

[0032] Optionally, see Figure 6 , Figure 6 yes Figure 1 Schematic diagram of the structure of the leg assembly drive shaft in the embodiment. The drive shaft 230 in this embodiment is a multi-section stepped shaft structure, and the drive shaft 230 at least includes a first shaft section 231 for rotationally connecting with the thigh shell, a second shaft section 232 for clamping with the second connecting rod 220 (specifically, the second connecting hole 222 of the second connecting rod 220), and a third shaft section 233 for connecting with the calf.

[0033] Optionally, the drive shaft 230 in this embodiment further includes a fourth shaft segment 234, wherein the third shaft segment 233 and the fourth shaft segment 234 are respectively located at opposite ends of the drive shaft 230 and are respectively connected to the first shaft segment 231. The first shaft segment 231 is used for rotationally connecting with the thigh shell 100. Optionally, the two first shaft segments 231 of the drive shaft 230 can be respectively connected to the first shell 110 and the second shell 120 of the thigh shell 100 through the bearing 202 for sliding support, so that the drive shaft 230 can rotate relative to the thigh shell 100.

[0034] Please also read Figure 2 and Figure 3 as well as Figure 7 , Figure 7 yes Figure 3Schematic diagram of partial structural disassembly of the leg assembly in the embodiment. The calf 300 may include two parts, and the two parts are respectively installed on the outside of the first shell 110 and the second shell 120 of the thigh shell 100. Each part of the calf 300 may include a main body 310, a connecting part 320 and a foot 330; the foot 330 is connected to the first end of the main body 310, and the connecting part 320 is connected to the other end of the main body 310; the connecting part 320 is connected to the third shaft section 233 of the drive shaft 230.

[0035] Optionally, see Figure 3 , the connection part 320 of the calf 300 in this embodiment includes a first connection part 321 and a second connection part 322 arranged opposite to each other, the third shaft section 233 is connected to the first connection part 321 of the calf, and the fourth shaft section 234 is connected to the second connection part 322. It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present application are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the drawings). If the specific posture changes, the directional indication will also change accordingly.

[0036] The leg assembly for the robot provided in the embodiment of the present application firstly utilizes the structural mode of rod group transmission, which has the characteristics of simple structure and reliable transmission. Then, by arranging the transmission rod group in the thigh shell, foreign objects are not easy to enter the thigh shell, which will not affect the operation of the transmission rod group, and play a role in protecting the transmission rod group; in addition, since the transmission rod group works inside the thigh shell, it is not easy to cause problems such as pinching to personnel, and the safety is high.

[0037] Please also read Figure 8 and Fig. 9 , Figure 8 is a schematic diagram of the overall structure of another embodiment of the leg assembly of the robot used in the present application, Fig. 9 yes Figure 8Partial split schematic diagram of the leg assembly in the embodiment. Optionally, the calf 300 of the leg assembly 10 in this embodiment is installed on the inner side of the thigh shell 100, and the thigh shell 100 can also be implemented to wrap the transmission rod group inside, so as to achieve the purpose of closed transmission. Specifically, the calf 300 is installed on the drive shaft 230, and the left side of the calf 300 is limited by installing the second retaining spring 203 in the first retaining spring groove 2301 of the drive shaft 230. The right side of the calf 300 is limited by installing the third retaining spring 204 in the second retaining spring groove 2302 of the drive shaft 230. The drive unit 400 drives the transmission rod group inside the thigh shell 100 (not shown in the figure, see the relevant description of the above embodiment for details), and the drive shaft 230 drives the calf 300 to rotate synchronously, so as to ensure that the drive unit 400 drives the calf 300 to operate normally.

[0038] Please also read Fig.10 and Fig.11 , Fig.10 is a schematic diagram of the overall structure of another embodiment of the leg assembly of the robot used in the present application, Fig.11 yes Fig.10 Partial split schematic diagram of the leg assembly in the embodiment. Optionally, the calf 300 of the leg assembly in this embodiment is installed on the outside of the thigh shell 100, and the thigh shell 100 can also be implemented to wrap the transmission rod group inside, so as to achieve the purpose of closed transmission. Specifically, the calf 300 is installed on the drive shaft 230, and the left side of the calf 300 is limited by installing the fourth retaining spring 205 in the third retaining spring groove 2303 of the drive shaft 230. The right side of the calf 300 is limited by installing the fifth retaining spring 206 in the fourth retaining spring groove 2304 of the drive shaft 230. The drive unit 400 drives the transmission rod group inside the thigh shell 100 (not shown in the figure, see the relevant description of the above embodiment for details), and the drive shaft 230 drives the calf 300 to rotate synchronously, so as to ensure that the drive unit 400 drives the calf 300 to operate normally.

[0039] The leg assembly for a robot provided in the embodiment of the present application firstly utilizes the structural mode of rod group transmission, which has the characteristics of simple structure and reliable transmission. Then, by arranging the transmission rod group in the thigh shell, foreign objects are not easy to enter the inside of the thigh shell, which will not affect the operation of the transmission rod group, and play a role in protecting the transmission rod group; in addition, since the transmission rod group works inside the thigh shell, it is not easy to cause problems such as pinching to personnel, and the safety is high. The calf can be flexibly installed on the inner or outer side of the thigh according to specific design requirements, and has the characteristics of easy disassembly and assembly.

[0040] See also Fig.12 , Fig.121 is a schematic diagram of the structure of an embodiment of the robot of the present application. The robot in this embodiment includes a trunk 20 and a plurality of leg assemblies 10 connected to the trunk 20 (the diagram of this embodiment is illustrated by taking the structure of four groups of robot dogs as an example). For the detailed structure of the leg assembly 10, please refer to the relevant description of the aforementioned embodiment. Among them, the trunk 20 of the robot may include a control circuit board and a device for driving the movement of the leg structure. The detailed features of this part are within the understanding of the skilled technicians and will not be repeated here.

[0041] The leg assembly of the robot provided in the embodiment of the present application firstly utilizes the structural mode of rod group transmission, which has the characteristics of simple structure and reliable transmission. Then, by arranging the transmission rod group in the thigh shell, foreign objects are not easy to enter the thigh shell, which will not affect the operation of the transmission rod group, and play a role in protecting the transmission rod group; in addition, since the transmission rod group works inside the thigh shell, it is not easy to cause problems such as pinching and injury to personnel, and the safety is high.

[0042] The above descriptions are only some embodiments of the present invention, and are not intended to limit the protection scope of the present invention. Any equivalent device or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A leg assembly for a robot, characterized in that: include: A thigh shell formed with a receiving space; Transmission rod assembly, lower leg and drive unit; The transmission rod assembly is arranged in the accommodation space; One end of the transmission rod group is used to be connected to the driving unit, and the other end is connected to the calf, thereby driving the calf to rotate relative to the thigh shell; Wherein, the thigh shell includes a first shell and a second shell, and the first shell and the second shell are fixedly connected to cooperate to form the accommodation space; The transmission rod group includes a first connecting rod, a second connecting rod and a driving shaft; one end of the first connecting rod is used to connect with the driving unit, and the other end is hinged to the second connecting rod; the driving shaft is fixedly connected to the second connecting rod and can rotate along the axis under the drive of the second connecting rod; The driving shaft is also fixedly connected to the shank, and the shank can rotate synchronously with the driving shaft; The drive shaft is a multi-section stepped shaft structure, and the drive shaft at least includes a first shaft section for rotationally connecting to the thigh shell, a second shaft section for clamping with the second connecting rod, and a third shaft section for connecting to the calf.

2. The leg assembly according to claim 1, characterized in that: The driving unit is fixed to the thigh shell and connected to the first connecting rod, and is used for driving the first connecting rod to swing.

3. The leg assembly according to claim 2, characterized in that: The driving unit is a driving motor, and an output shaft of the driving motor is connected to the first connecting rod.

4. The leg assembly according to claim 1, characterized in that: The calf includes a main body, a connecting part and a foot; the foot is connected to a first end of the main body, and the connecting part is connected to the other opposite end of the main body; the connecting part is connected to a third shaft section of the drive shaft.

5. The leg assembly according to claim 4, characterized in that: The drive shaft also includes a fourth shaft segment, and the third shaft segment and the fourth shaft segment are located at opposite ends of the drive shaft; the connecting part of the calf includes a first connecting part and a second connecting part arranged opposite to each other, the third shaft segment is connected to the first connecting part of the calf, and the fourth shaft segment is connected to the second connecting part.

6. The leg assembly according to claim 1, characterized in that: The driving shaft is connected to the thigh shell through a bearing sliding support, so that the driving shaft can rotate relative to the thigh shell.

7. A robot, characterized in that: The robot comprises a trunk and a plurality of leg assemblies connected to the trunk; the leg assemblies comprise: A thigh shell formed with a receiving space; A transmission rod group and a calf; the transmission rod group is arranged in the accommodating space; one end of the transmission rod group is used to be connected to the driving unit, and the other end is connected to the calf, thereby driving the calf to rotate relative to the thigh shell; Wherein, the thigh shell includes a first shell and a second shell, and the first shell and the second shell are fixedly connected to cooperate to form the accommodation space; The transmission rod group includes a first connecting rod, a second connecting rod and a driving shaft; one end of the first connecting rod is used to connect with the driving unit, and the other end is hinged with the second connecting rod; the driving shaft is fixedly connected with the second connecting rod and can rotate along the axis under the drive of the second connecting rod; the driving shaft is also fixedly connected with the calf, and the calf can rotate synchronously with the driving shaft; The drive shaft is a multi-section stepped shaft structure, and the drive shaft at least includes a first shaft section for rotationally connecting to the thigh shell, a second shaft section for clamping with the second connecting rod, and a third shaft section for connecting to the calf.

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