A leg structure and robot based on wire drive

Abstract

This invention relates to the field of robotics, specifically to a leg structure and robot based on wire drive, comprising a first drive device, a drive bracket connected to the first drive device, a second drive device connected to the drive bracket, a pull-rope drive disc connected to the second drive device, a first link connected to the pull-rope drive disc, a second link connected to the first link, and a third drive device mounted on the second link; the pull-rope drive disc is connected to a drive rope, which is connected to one end of the second link. This invention connects the pull-rope drive disc to the second drive device, and the pull-rope drive disc, in conjunction with the drive rope, drives the second link to move, thereby moving the connection position between the second link and the first link, realizing the driving of the robot's leg joint movement, and ensuring stable driving.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a leg structure and robot based on wire drive. Background Technology

[0002] A robot is an intelligent machine capable of semi-autonomous or fully autonomous operation. Robots possess basic characteristics such as perception, decision-making, and execution, and can assist or even replace humans in completing dangerous, arduous, and complex tasks, improving work efficiency and quality, serving human life, and expanding or extending the scope of human activities and capabilities.

[0003] With the advancement of technology, the application of robots is becoming increasingly widespread, such as cleaning robots, freight robots, and inspection robots. These robots can achieve intelligent control. Existing robots generally consist of a frame and a set of wheels. Some robots incorporate leg structures that work in conjunction with the wheels to perform various movements. These movements require the cooperation of the leg structure and drive components. Currently, the leg structures of most robots are relatively simple and lack stability when performing various movements. Therefore, further improvements can be made to the existing robot structures. Summary of the Invention

[0004] To solve the above problems, the present invention provides a cable drive disc connected to a second drive device. The cable drive disc, in conjunction with the drive cable, drives the second link to move, thereby moving the connection position between the second link and the first link, realizing the drive of the robot's leg joint movement, and driving a stable line-driven leg structure and robot.

[0005] The technical solution adopted in this invention is: a leg structure based on wire transmission, including a first driving device, a driving bracket connected to the first driving device, a second driving device connected to the driving bracket, a pull rope driving disc connected to the second driving device, a first connecting rod connected to the pull rope driving disc, a second connecting rod connected to the first connecting rod, and a third driving device installed on the second connecting rod; the pull rope driving disc is connected to a driving pull rope, and the driving pull rope is connected to one end of the second connecting rod.

[0006] A further improvement to the above solution is that the first driving device is an external rotor motor, the first driving device includes a first base and a first rotor housing connected to the first base, and the second driving device is an external rotor motor, the second driving device includes a second base and a second rotor housing connected to the second base.

[0007] A further improvement to the above solution is that the drive bracket includes a first connecting panel, a second connecting panel, and a connecting beam, the connecting beam connecting the first connecting panel and the second connecting panel, the first connecting panel being connected to a first base, and the second connecting panel being connected to a second base.

[0008] A further improvement to the above solution is that the pull rope drive disc is fixedly installed on the second rotor housing, the pull rope drive disc has a storage groove, and the drive pull rope is wound around the storage groove.

[0009] A further improvement to the above scheme is that the first connecting rod includes a first rod and a second rod. One end of the first rod is connected to the first rotor housing and the other end is connected to the second connecting rod. One end of the second rod is connected to the rope drive disc and the other end is connected to the second connecting rod. A connecting post is provided between the first rod and the second rod. The second rod is provided with a first rotating shaft, and the first rotating shaft is connected to the rope drive disc.

[0010] A further improvement to the above scheme is that a first movable guide groove and a second movable guide groove are respectively opened on both sides of the second connecting rod, the first rod is provided with a second rotating shaft, the second rotating shaft is connected to the first movable guide groove, and the second rod is provided with a third rotating shaft, the third rotating shaft is connected to the second movable guide groove.

[0011] A further improvement to the above scheme is that the second link is movably hinged to the first link on both sides with a first connector and a second connector, and the first connector and the second connector are respectively connected to the two ends of the drive rope.

[0012] A further improvement to the above scheme is that the second connecting rod is provided with a movable mounting position, and the third driving device is mounted on the movable mounting position.

[0013] A further improvement to the above scheme is that the third driving device is an external rotor motor, the third driving device includes a third base and a third rotor housing rotatably connected to the third base, the third rotor housing is fitted with wheel sleeves, and the third base is installed in a movable mounting position.

[0014] A robot comprising the aforementioned line-driven leg structure.

[0015] The beneficial effects of this invention are:

[0016] Compared to existing robot leg structures, this invention connects a pull-rope drive disc to the second drive device. The pull-rope drive disc, in conjunction with the drive rope, drives the movement of the second link, allowing the connection position between the second link and the first link to move, thus driving the movement of the robot leg joints. This provides stable driving, reliable structure, and reduced motor load. Specifically, the system comprises a first drive device, a drive bracket connected to the first drive device, a second drive device connected to the drive bracket, a pull-rope drive disc connected to the second drive device, a first link connected to the pull-rope drive disc, a second link connected to the first link, and a third drive device mounted on the second link. The pull-rope drive disc is connected to a drive rope, which is connected to one end of the second link. The first drive device drives the first link, the second drive device drives the pull-rope drive disc to move the second link, and the third drive device moves the leg structure, resulting in stable overall movement. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the leg structure based on wire transmission according to the present invention;

[0018] Figure 2 for Figure 1 A three-dimensional structural diagram of the leg structure based on wire drive from another perspective;

[0019] Figure 3 for Figure 1 An exploded structural diagram of a leg structure based on wire drive;

[0020] Figure 4 for Figure 1 An exploded view of the leg structure based on wire drive from another perspective.

[0021] Explanation of reference numerals in the attached drawings: First drive device 1, First base 11, First rotor housing 12, Drive bracket 2, First connecting panel 21, Second connecting panel 22, Connecting beam 23, Second drive device 3, Second base 31, Second rotor housing 32, Pull rope drive disc 4, Drive pull rope 41, Storage groove 42, First connecting rod 5, First rod 51, Second rotating shaft 511, Second rod 52, First rotating shaft 521, Third rotating shaft 522, Connecting column 53, Second connecting rod 6, First movable guide groove 61, Second movable guide groove 62, First connecting piece 63, Second connecting piece 64, Movable mounting position 65, Third drive device 7, Third base 71, Third rotor housing 72, Wheel sleeve 73. Detailed Implementation

[0022] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0023] It should be noted that when a component is said to be "fixed to" another component, it can be directly attached to the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component.

[0024] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0025] like Figures 1-4 As shown, a leg structure based on wire drive includes a first drive device 1, a drive bracket 2 connected to the first drive device 1, a second drive device 3 connected to the drive bracket 2, a pull rope drive disc 4 connected to the second drive device 3, a first connecting rod 5 connected to the pull rope drive disc 4, a second connecting rod 6 connected to the first connecting rod 5, and a third drive device 7 installed on the second connecting rod 6; the pull rope drive disc 4 is connected to a drive pull rope 41, and the drive pull rope 41 is connected to one end of the second connecting rod 6.

[0026] The first driving device 1 is an external rotor motor. The first driving device 1 includes a first base 11 and a first rotor housing 12 connected to the first base 11. The second driving device 3 is an external rotor motor. The second driving device 3 includes a second base 31 and a second rotor housing 32 connected to the second base 31. The external rotor is used as the driving force for the robot's leg structure, resulting in good structural driving stability.

[0027] The drive bracket 2 includes a first connecting panel 21, a second connecting panel 22, and a connecting beam 23. The connecting beam 23 connects the first connecting panel 21 and the second connecting panel 22. The first connecting panel 21 is connected to the first base 11, and the second connecting panel 22 is connected to the second base 31. The connecting beam 23, in conjunction with the first connecting panel 21 and the second connecting panel 22, provides a fixed connection, ensuring a reliable structure. At the same time, it connects the connecting panels to the base, which is a fixed installation structure, facilitating connection with the robot's frame.

[0028] The pull rope drive disc 4 is fixedly installed on the second rotor housing 32. The pull rope drive disc 4 has a storage groove 42. The drive pull rope 41 is wound around the storage groove 42. The second rotor housing 32 drives the pull rope drive disc 4 to rotate. The pull rope drive disc 4 drives the storage groove 42 to drive the storage and unwinding of the pull rope 41.

[0029] The first link 5 includes a first link 51 and a second link 52. One end of the first link 51 is connected to the first rotor housing 12 and the other end is connected to the second link 6. One end of the second link 52 is connected to the rope drive disc 4 and the other end is connected to the second link 6. A connecting post 53 is provided between the first link 51 and the second link 52. The second link 52 is provided with a first rotating shaft 521, which is connected to the rope drive disc 4. Through the cooperation of the first link 51 and the second link 52, the stability of the link movement is ensured. In particular, it is used for the movement of the robot's leg structure. The structure is reliable and has good stability. At the same time, the rotating shaft is provided to cooperate with the rotation, and the rotation is stable.

[0030] The second connecting rod 6 has a first movable guide groove 61 and a second movable guide groove 62 on both sides. The first rod 51 has a second rotating shaft 511, which is connected to the first movable guide groove 61. The second rod 52 has a third rotating shaft 522, which is connected to the second movable guide groove 62. The movable guide grooves are set in conjunction with the rotating shafts for the movement of the rods, and the structure is stable and reliable.

[0031] The second link 6 is movably hinged to the first link 5 on both sides by a first connector 63 and a second connector 64. The first connector 63 and the second connector 64 are respectively connected to the two ends of the drive rope 41. The two connectors are respectively connected to the two ends of the drive rope 41. Under the action of the rope drive disc 4, the rope is stretched to realize the action of the second link 6. The rope drive disc 4 is wound at least one turn to further ensure stability.

[0032] The second link 6 is provided with a movable mounting position 65, and the third drive device 7 is installed in the movable mounting position 65. In a further improvement, the third drive device 7 is an external rotor motor. The third drive device 7 includes a third base 71 and a third rotor housing 72 rotatably connected to the third base 71. The third rotor housing 72 is fitted with a wheel sleeve 73. The third base 71 is installed in the movable mounting position 65. The third drive device 7 is a hub motor, which drives the leg structure to move under the action of the hub motor.

[0033] A robot with the above-mentioned leg structure allows the second link 6 to move at the connection position with the first link 5, thereby driving the movement of the robot's leg joints. The drive is stable, the structure is reliable, and the motor load is reduced.

[0034] This invention connects a rope drive disc 4 to the second drive device 3. The rope drive disc 4, in conjunction with the drive rope 41, drives the second link 6, causing the connection position between the second link 6 and the first link 5 to move. This achieves stable driving of the robot's leg joints, ensuring structural reliability and reducing motor load. Specifically, the invention comprises a first drive device 1, a drive bracket 2 connected to the first drive device 1, a second drive device 3 connected to the drive bracket 2, a rope drive disc 4 connected to the second drive device 3, a first link 5 connected to the rope drive disc 4, a second link 6 connected to the first link 5, and a third drive device 7 mounted on the second link 6. The rope drive disc 4 is connected to the drive rope 41, which is connected to one end of the second link 6. The first drive device 1 drives the first link 5, the second drive device 3 drives the rope 41 to drive the disc 4, which in turn drives the second link 6, while the third drive device 7 drives the leg structure to move, resulting in stable overall structural movement.

[0035] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A leg structure based on wire drive, characterized in that: It includes a first driving device, a driving bracket connected to the first driving device, a second driving device connected to the driving bracket, a rope driving disc connected to the second driving device, a first connecting rod connected to the rope driving disc, a second connecting rod connected to the first connecting rod, and a third driving device installed on the second connecting rod; the rope driving disc is connected to a driving rope, and the driving rope is connected to one end of the second connecting rod. The first driving device is an external rotor motor, and the first driving device includes a first base and a first rotor housing connected to the first base. The second driving device is an external rotor motor, and the second driving device includes a second base and a second rotor housing connected to the second base. The first connecting rod includes a first rod and a second rod. One end of the first rod is connected to the first rotor housing and the other end is connected to the second connecting rod. One end of the second rod is connected to the rope drive disc and the other end is connected to the second connecting rod. A connecting post is provided between the first rod and the second rod. The second rod is provided with a first rotating shaft, and the first rotating shaft is connected to the rope drive disc. The second connecting rod has a first movable guide groove and a second movable guide groove on both sides, the first rod has a second rotating shaft connected to the first movable guide groove, and the second rod has a third rotating shaft connected to the second movable guide groove.

2. The leg structure based on wire drive according to claim 1, characterized in that: The drive bracket includes a first connecting panel, a second connecting panel, and a connecting beam. The connecting beam connects the first connecting panel and the second connecting panel. The first connecting panel is connected to a first base, and the second connecting panel is connected to a second base.

3. The leg structure based on wire drive according to claim 2, characterized in that: The pull rope drive disc is fixedly installed on the second rotor housing. The pull rope drive disc has a storage groove, and the drive pull rope is wound around the storage groove.

4. The leg structure based on line drive according to claim 1, characterized in that: The second link is movably hinged to the first link on both sides with a first connector and a second connector, and the first connector and the second connector are respectively connected to the two ends of the drive rope.

5. The leg structure based on wire drive according to claim 4, characterized in that: The second link is provided with a movable mounting position, and the third drive device is mounted on the movable mounting position.

6. The leg structure based on wire drive according to claim 5, characterized in that: The third driving device is an external rotor motor. The third driving device includes a third base and a third rotor housing that is rotatably connected to the third base. The third rotor housing is fitted with wheel sleeves. The third base is installed in a movable mounting position.

7. A robot, characterized in that: Includes the leg structure based on wire drive as described in any one of claims 1 to 6.

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