A robot motion structure and a robot

Abstract

The application provides a robot motion structure and a robot. The robot motion structure comprises a base shell, a connecting piece, a driving assembly, a control assembly and a motion assembly. The base shell comprises a connecting part and a plurality of fixing parts. One end of the connecting piece is adapted to be fixedly connected with a robot trunk, and the other end of the connecting piece is movably connected with the connecting part. The driving assembly comprises a plurality of driving pieces. Any driving piece is connected with a fixing part to enable the driving piece to move synchronously with the base shell. One driving end of one driving piece is connected with the connecting piece to drive the base shell to rotate relative to the connecting piece. The control assembly is arranged in the base shell and is electrically connected with the driving pieces. The motion assembly is connected with the driving assembly and is configured to be driven by the driving assembly to generate motion. When the robot motion structure needs to be detached from the robot trunk, only the shell and the connecting piece need to be separated. Compared with the prior art in which fasteners between side swing rudders and the robot trunk need to be detached one by one, the application can improve the detachment efficiency.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a robot motion structure and a robot. Background Technology

[0002] A quadruped robot is a type of biomimetic robot that mimics the movement of quadrupedal animals. Simply put, its structure includes a torso and four legs located in four directions on the torso, with each leg consisting of a thigh and a calf.

[0003] The prior art discloses a leg mechanism and a multi-legged robot. The leg mechanism includes a joint assembly, a thigh structure, a lower leg structure, and a lower leg transmission assembly. The joint assembly includes a lateral swing servo, a thigh servo, and a lower leg servo. The mounting end of the lateral swing servo is connected to the robot's torso via several fasteners. The output end of the lateral swing servo is connected to the thigh and lower leg servos to drive them to achieve lateral swing motion. The thigh servo is connected to the thigh structure to drive the thigh structure to move. The lower leg structure is rotatably connected to the thigh structure, and the lower leg structure is connected to the lower leg servo via the lower leg transmission assembly so that the lower leg servo can drive the lower leg structure to move.

[0004] However, in the aforementioned leg mechanisms and multi-legged robots, the thigh structure, lower leg structure, and lower leg transmission components are all connected to the robot's torso via lateral servos in the joint assembly. In other words, the leg mechanism is connected to the robot's torso through lateral servos. When disassembling, repairing, or replacing the leg mechanism as a whole, the connection between the lateral servo mounting end and the robot's torso is secured by several fasteners. This requires removing each fastener individually, which is time-consuming and labor-intensive. Summary of the Invention

[0005] Therefore, the technical problem to be solved by the present invention lies in the leg mechanism and multi-legged robot in the prior art. Since the thigh structure, lower leg structure and lower leg transmission assembly are all connected to the robot body through the side-swing servo in the joint assembly, that is, the leg mechanism is connected to the robot body through the side-swing servo. When the leg mechanism is disassembled, repaired or replaced as a whole, the connection between the side-swing servo mounting end and the robot body is fixed by several fasteners. Therefore, when the leg mechanism is disassembled as a whole, the fasteners must be removed one by one, which is time-consuming and laborious.

[0006] Therefore, the present invention provides a robot motion structure, comprising:

[0007] A base shell, the base shell including a connecting part and several fixing parts;

[0008] A connector, one end of which is adapted to be fixedly connected to the robot's torso, and the other end of which is movably connected to the connecting part;

[0009] a driving assembly comprising a plurality of driving members, any one of the driving members being connected with the fixed part to make the driving member move synchronously with the base shell, wherein a driving end of one of the driving members is connected with the connecting member to drive the base shell to rotate relative to the connecting member;

[0010] a control assembly arranged in the base shell and electrically connected with the driving members;

[0011] a moving assembly connected with the driving assembly, the moving assembly being configured to move driven by the driving assembly to move the robot trunk.

[0012] Optionally, one end of the fixed part is provided with an arc-shaped groove, and a peripheral side outer wall of the driving member is connected with the arc-shaped groove.

[0013] Optionally, the driving assembly comprises a first driving member, and the first driving member is connected with one of the fixed parts.

[0014] The moving assembly comprises a first moving member, the first moving member is fixedly connected with an output end of the first driving member, and the first moving member is configured to rotate around an axis of the first driving member driven by the first driving member.

[0015] Optionally, the driving assembly further comprises a second driving member, and the second driving member is connected with another one of the fixed parts.

[0016] The moving assembly further comprises a second moving member, one end of the second moving member is rotatably connected with the first moving member, and the other end of the second moving member is connected with the second driving member, the second moving member is configured to rotate around the connection with the first moving member driven by the second driving member.

[0017] Optionally, the moving assembly further comprises:

[0018] an adapter connected with the second moving member, and the adapter is arranged at the rotatable connection between the second moving member and the first moving member.

[0019] a transmission member, one end of the transmission member is connected with the adapter, and the other end of the transmission member is connected with a driving end of the second driving member, the transmission member is configured to drive the adapter to rotate around an axis of the adapter driven by the second driving member, so as to drive the second moving member to rotate around the connection with the first moving member.

[0020] Optionally, the driving assembly further comprises a third driving member, and the third driving member is connected with another one of the fixed parts.

[0021] Further comprising a rotating assembly connected between the third driving member and the connecting member, the rotating assembly being configured to be driven by the third driving member to rotate the base shell around the connecting member axis.

[0022] Optionally, the rotating assembly comprises:

[0023] A first gear member fixedly connected with the connecting member;

[0024] A second gear member meshing with the first gear member, and the second gear member being fixedly connected with the third driving member driving end, the second gear member being configured to be driven by the third driving member to rotate around the first gear member to drive the base shell connected with the third driving member to rotate around the connecting member.

[0025] Optionally, the first driving member and the second driving member are coaxially arranged, and the third driving member axis is perpendicular to the second driving member axis.

[0026] Optionally, further comprising a heat dissipation member arranged on the base shell to dissipate heat of the control assembly in the base shell.

[0027] A robot comprising a robot trunk and a robot motion structure, the robot motion structure being the robot motion structure described above, and the robot trunk being fixedly connected with the connecting member.

[0028] The technical solution provided by the application has the following advantages:

[0029] 1. The application provides a robot motion structure comprising a base shell, a connecting member, a driving assembly, a control assembly and a motion assembly; wherein the base shell comprises a connecting part and a plurality of fixed parts, one end of the connecting member is adapted to be fixedly connected with a robot trunk, and the other end of the connecting member is movably connected with the connecting part; the driving assembly comprises a plurality of driving members, any driving member is connected with the fixed part to make the driving member move synchronously with the base shell, one driving member driving end is connected with the connecting member to drive the base shell to rotate relative to the connecting member; the control assembly is arranged in the base shell, and the control assembly is electrically connected with the driving member, the motion assembly is connected with the driving assembly, and the motion assembly is configured to be driven by the driving assembly to generate motion to drive the robot trunk to move.

[0030] The robot motion structure comprises a driving assembly, a control assembly and a motion assembly, wherein the driving assembly is connected with the control assembly, the control assembly is electrically connected with the driving assembly, the motion assembly is connected with the driving assembly, and the motion assembly is configured to be driven by the driving assembly to generate motion to drive the robot trunk to move; one end of a connecting piece is fixedly connected with the robot trunk, and the other end of the connecting piece is movably connected with the connecting part; one driving end of one of the driving assemblies is connected with the connecting piece to drive the base shell to rotate relative to the connecting piece.

[0031] 2. The robot motion structure comprises a driving assembly, a control assembly and a motion assembly, wherein the driving assembly is connected with the control assembly, the control assembly is electrically connected with the driving assembly, the motion assembly is connected with the driving assembly, and the motion assembly is configured to be driven by the driving assembly to generate motion to drive the robot trunk to move; one end of a connecting piece is fixedly connected with the robot trunk, and the other end of the connecting piece is movably connected with the connecting part; one driving end of one of the driving assemblies is connected with the connecting piece to drive the base shell to rotate relative to the connecting piece.

[0032] The robot motion structure comprises a driving assembly, a control assembly and a motion assembly, wherein the driving assembly is connected with the control assembly, the control assembly is electrically connected with the driving assembly, the motion assembly is connected with the driving assembly, and the motion assembly is configured to be driven by the driving assembly to generate motion to drive the robot trunk to move; one end of a connecting piece is fixedly connected with the robot trunk, and the other end of the connecting piece is movably connected with the connecting part; one driving end of one of the driving assemblies is connected with the connecting piece to drive the base shell to rotate relative to the connecting piece. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or the prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0034] Figure 1 The robot motion structure and the overall structure of the robot provided in the embodiments of the present application are shown in the schematic view;

[0035] Figure 2 The robot motion structure and another structure of the robot provided in the embodiments of the present application are shown in the schematic view;

[0036] Figure 3 The structure of the robot motion structure in the robot provided in the embodiments of the present application is shown in the schematic view;

[0037] Figure 4 Another structural schematic view of the robot motion structure and the robot motion structure in the robot provided in the embodiments of the present application;

[0038] Figure 5 An exploded view of the robot motion structure and the robot motion structure in the robot provided in the embodiments of the present application;

[0039] Figure 6 A structural schematic view of the rotating assembly in the robot motion structure and the robot provided in the embodiments of the present application;

[0040] Explanation of reference signs:

[0041] 1 - base shell; 11 - fixing part;

[0042] 21 - first driving member; 22 - second driving member; 23 - third driving member;

[0043] 31 - first moving member; 32 - second moving member; 33 - adapter; 34 - transmission member;

[0044] 4 - heat dissipation member;

[0045] 5 - robot trunk;

[0046] 6 - connecting member;

[0047] 71 - first gear member; 72 - second gear member. DETAILED DESCRIPTION

[0048] The technical solutions of the present application will be described clearly and completely below in conjunction with the drawings. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0049] In the description of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, the technical features involved in the different embodiments of the present application described below can be combined with each other as long as they do not conflict with each other.

[0050] Embodiment 1

[0051] This embodiment provides a robot motion structure, such as Figures 1 to 6 As shown, it includes a base shell 1, a connector 6, a drive assembly, a control assembly, and a motion assembly. The connector 6 is connected between the base shell 1 and the robot body 5. The drive assembly is connected to the base shell 1. The control assembly is disposed in the base shell 1 and is electrically connected to the drive assembly. The motion assembly is connected to the drive assembly. The control assembly is a circuit board disposed inside the base shell 1.

[0052] like Figures 3 to 5 As shown, the base shell 1 includes a connecting part and a fixing part 11. The fixing part 11 is a fixing plate disposed on one side of the base shell 1 body. The end of the fixing plate away from the base shell 1 body has an arc-shaped groove. The outer wall of the driving component in the driving assembly is fixedly connected to the arc-shaped groove. The connecting part is a groove formed on the base shell body. The connecting part and the fixing part 11 are disposed on adjacent surfaces of the base shell 1 body. There are three fixing parts 11, and the three fixing parts 11 are disposed on the same side of the base shell 1 body. It can be understood that in other embodiments, the number of fixing parts 11 may be other, such as one, two, or other numbers, depending on actual production needs.

[0053] like Figures 3 to 5 As shown, the drive assembly includes a first drive member 21, a second drive member 22, and a third drive member 23. All three drive members 21, 22, and 23 are fixedly connected to a fixing part 11. This means that the first drive member 21 is connected to one of the three fixing parts 11, the second drive member 22 is connected to another, and the third drive member 23 is connected to the last. By integrating the first drive member 21, 22, and 23 with the base shell 1, the overall disassembly of the robot's motion structure is facilitated.

[0054] The present invention integrates the first driving component 21, the second driving component 22 and the third driving component 23 on the base shell 1, and the control component is disposed inside the base shell 1. The control component is electrically connected to the first driving component 21, the second driving component 22 and the third driving component 23, which can save assembly space, optimize power supply and communication cables and save manufacturing costs.

[0055] The first driving member 21 and the second driving member 22 in the driving assembly are coaxially arranged, the first driving member 21 and the second driving member 22 are arranged coaxially and side by side, so that the gap between the first driving member 21 and the second driving member 22 is reduced, and the overall volume of the robot motion structure is further reduced; the axis of the third driving member 23 is perpendicular to the axes of the second driving member 22 and the first driving member 21, the distance between the first driving member 21 and the second driving member 22 and the axis of the third driving member 23 is reduced, so that the resistance arm of the first driving member 21 and the second driving member 22 to the third driving member 23 is shortened, thereby reducing the energy consumption of the third driving member 23 when the third driving member 23 drives the first driving member 21 and the second driving member 22 to move.

[0056] The first driving member 21, the second driving member 22 and the third driving member 23 are fixed on one side of the base shell 1 through the fixing part 11, so that the first driving member 21, the second driving member 22 and the third driving member 23 have high integration and concentrated wiring, and therefore mass production can be realized to reduce the cost.

[0057] As Figures 2 to 5 One end of the connecting piece 6 is fixedly connected with the robot trunk 5, the other end of the connecting piece 6 is inserted into the connecting part on the base shell 1, and the connecting piece 6 can rotate in the connecting part, so that the base shell 1 can rotate relative to the robot trunk 5, when the robot motion structure needs to be disassembled, only the connecting piece 6 and the base shell 1 need to be disassembled, compared with the prior art in which the fasteners between the side swing rudder and the robot trunk 5 need to be disassembled one by one, the disassembly efficiency can be improved.

[0058] In some embodiments, the robot trunk 5 is provided with a mounting groove, the base shell 1 is arranged inside the mounting groove, the number of the connecting pieces 6 is two, and the two ends of the base shell 1 are connected with the side walls of the mounting groove through the two connecting pieces 6, when the base shell 1 is mounted, first, one end of one of the two connecting pieces 6 is fixedly connected with the side wall of the mounting groove close to the middle of the robot trunk 5, then one of the two connecting ends on the base shell 1 is inserted into the other end of the connecting piece 6 and the first gear piece 71 is mounted, so that the connection between one end of the base shell 1 and the side wall of the mounting groove is completed, then the other connecting piece 6 is inserted into the robot trunk 5 from the threaded hole opened on the outer surface of the robot trunk 5 until the connecting piece 6 passes through the threaded hole and enters the other connecting end of the base shell 1, so that the connection between the base shell 1 and the side wall of the mounting groove is completed, when the base shell 1 is disassembled, the connecting piece 6 in the threaded hole is rotated out, so that the base shell 1 can be disassembled, and the robot motion structure is convenient to replace.

[0059] As Figures 4 to 6As shown, the robot motion structure further comprises a rotating assembly, the rotating assembly comprises a first gear member 71 and a second gear member 72, the first gear member 71 is fixedly connected with the connecting member 6 near the middle part of the robot trunk 5, the second gear member 72 is engaged with the first gear member 71, and the second gear member 72 is fixedly connected with the driving end of the third driving member 23, the second gear member 72 is configured to be driven to rotate around the axis of the third driving member 23 by the third driving member 23, since the second gear member 72 is engaged with the first gear member 71, the second gear member 72 will rotate around the first gear member 71, since the first gear member 71 is fixedly connected with the connecting member 6, and the connecting member 6 is fixedly connected with the mounting groove on the robot trunk 5, so that the first gear member 71 remains fixed with the mounting groove on the robot trunk 5, thus the second gear member 72 rotating around the first gear member 71 will drive the base shell 1 fixedly connected with the third driving member 23 to rotate around the connecting member 6, and further drive the first driving member 21, the second driving member 22, the control assembly and the motion assembly to rotate around the connecting member 6, realizing the motion of the robot's crotch.

[0060] As shown in the figure, Figures 3 to 5 The motion assembly comprises a first moving member 31 and a second moving member 32, the first moving member 31 is fixedly connected with the output end of the first driving member 21, the first moving member 31 is configured to be driven to rotate around the axis of the first driving member 21 by the first driving member 21, one end of the second moving member 32 is rotationally connected with the first moving member 31, the other end of the second moving member 32 is connected with the second driving member 22, the second moving member 32 is configured to be driven to rotate around the connection with the first moving member 31 by the second driving member 22, thereby realizing the motion of the robot's leg.

[0061] In some embodiments, as shown in the figure, Figure 5 The motion assembly further comprises an adapter 33 and a transmission member 34, the adapter 33 is fixedly connected with the second moving member 32, and the adapter 33 is arranged at the rotationally connected part of the second moving member 32 and the first moving member 31; one end of the transmission member 34 is connected with the adapter 33, and the other end of the transmission member 34 is connected with the driving end of the second driving member 22, the transmission member 34 is configured to be driven to rotate around its axis by the second driving member 22, thereby driving the adapter 33 to rotate around the connection with the first moving member 31. Wherein, the transmission member 34 is a transmission belt connected between the adapter 33 and the second driving member 22.

[0062] As shown in the figure, Figure 1 The robot motion structure further comprises a heat dissipation member 4 arranged on the base shell 1 to dissipate heat for the control assembly in the base shell 1. The heat dissipation member 4 is a fan or a heat sink or other arranged on the base shell 1.

[0063] The robot motion structure provided by the embodiment, as shown in the figure, Figure 3As shown, when the robot thigh moves, first the first driving member 21 is started by the control assembly, and then the first moving member 31 connected with the first driving member 21 rotates around the X axis, so as to realize the thigh movement.

[0064] When the robot calf moves, first the second driving member 22 is started by the control assembly, and then the second driving member 22 drives the transmission member 34 to move, the transmission member 34 drives the adapter 33 connected with the transmission member 34 to rotate around the X axis, and then drives the second moving member 32 connected with the adapter 33 to rotate along the X axis relative to the first moving member 31, so as to realize the calf movement of the robot.

[0065] When the robot hip moves, as shown in Figure 3 and Figure 5 first the third driving member 23 is started by the control assembly, the third driving member 23 drives the second gear member 72 connected with the third driving member 23 to rotate, the rotating second gear member 72 moves around the surface of the first gear member 71, and then drives the base shell 1 to rotate around the Y axis, so as to realize the hip movement of the robot.

[0066] Embodiment 2

[0067] This embodiment provides a robot, as shown in Figure 1 including a robot torso 5 and a robot movement structure, the robot movement structure is the robot movement structure in embodiment 1, and the robot torso 5 is fixedly connected with the connecting member 6.

[0068] Among them, four installation slots are arranged on the robot torso 5, and the installation slots are arranged as openings close to the circumferential side direction of the robot torso 5, so as to expand the movement space of the movement assembly and realize 180-degree rotation of the movement assembly.

[0069] Obviously, the above embodiments are only examples for clearly illustrating, and are not the limitation of the embodiments. For those skilled in the art, on the basis of the above description, other different forms of changes or variations can also be made. Here, all the embodiments need not and cannot be exhausted. The changes or variations derived therefrom are still within the protection scope of the present application.

Claims

1. A robot kinematic structure, characterized by, The utility model relates to a robot trunk driving mechanism, including: Base shell (1), the base shell (1) includes connecting part and three fixed parts (11) for installing drive assembly; Connecting piece (6), one end is suitable for fixed connection with robot trunk (5), the other end of connecting piece (6) is movably connected with connecting part; Drive assembly, the drive assembly includes three drive pieces, and three drive pieces are used to drive thigh, calf and crotch movement respectively;Three drive pieces are connected with three fixed parts (11) respectively, so that drive piece and base shell (1) synchronous movement, wherein a drive piece drive end is connected with connecting piece (6), to drive base shell (1) relative connecting piece (6) rotation; Control assembly, be located in base shell (1), and control assembly is electrically connected with drive piece; Movement assembly, be connected with drive assembly, movement assembly is configured to be driven by drive assembly and produce movement, to drive robot trunk (5) moves; Wherein, the robot trunk (5) is equipped with mounting groove, base shell (1) is arranged in the inside of mounting groove, the number of connecting piece (6) is two, and the both ends of base shell (1) are connected with the side wall of mounting groove through two connecting pieces (6);When installing base shell (1), first, the side wall of mounting groove close to the middle part of robot trunk (5) is fixedly connected with one end of one of two connecting pieces (6), and then one of two connecting ends on base shell (1) is arranged in the other end of the above-mentioned connecting piece (6), to complete the connection of one end of base shell (1) and the side wall of mounting groove;Then, the other connecting piece (6) of two connecting pieces (6) is inserted into robot trunk (5) from the threaded hole opened on the outer surface of robot trunk (5), until the above-mentioned connecting piece (6) passes through threaded hole and enters the other connecting end of base shell (1), to complete the connection of base shell (1) and the side wall of mounting groove, when disassembling base shell (1), the connecting piece (6) in threaded hole is rotated out, and base shell (1) can be disassembled. The fixed part (11) one end is equipped with arc-shaped recess, and the outer wall of the periphery of drive piece is connected with arc-shaped recess.

2. The robot kinematic structure of claim 1, wherein, The drive assembly includes first drive piece (21), and the first drive piece (21) is connected with one fixed part (11); 3. The robot kinematic structure according to claim 1 or 2, characterized in that, The movement assembly includes first moving piece (31), and the first moving piece (31) is fixedly connected with the output end of first drive piece (21), and the first moving piece (31) is configured to be driven by first drive piece (21) and rotate around the axis of first drive piece (21). The drive assembly also includes second drive piece (22), and the second drive piece (22) is connected with another fixed part (11); 4. The robot kinematic structure of claim 3, wherein, The movement assembly also includes second moving piece (32), and one end of second moving piece (32) is rotatably connected with first moving piece (31), and the other end of second moving piece (32) is connected with second drive piece (22), and second moving piece (32) is configured to be driven by second drive piece (22) and rotate around the connection with first moving piece (31). The movement assembly also includes:

5. The robot kinematic structure of claim 4, wherein, ​ An adapter (33) is connected with the second moving part (32), and the adapter (33) is arranged at the rotating connection between the second moving part (32) and the first moving part (31); A transmission part (34) has one end connected with the adapter (33), and the other end of the transmission part (34) is connected with the driving end of the second driving part (22), and the transmission part (34) is configured to be driven by the second driving part (22) to drive the adapter (33) to rotate around the axis of the adapter (33), so as to drive the second moving part (32) to rotate around the connection with the first moving part (31).

6. The robotic motion structure of claim 1, wherein, The driving assembly further comprises a third driving part (23) connected with another fixed part (11); The rotating assembly is connected between the third driving part (23) and the connecting part (6), and is configured to be driven by the third driving part (23) to drive the base shell (1) to rotate around the axis of the connecting part (6).

7. The robot kinematic structure of claim 6, wherein, The rotating assembly comprises: A first gear part (71) is fixedly connected with the connecting part (6); A second gear part (72) is engaged with the first gear part (71), and the second gear part (72) is fixedly connected with the driving end of the third driving part (23), and the second gear part (72) is configured to be driven by the third driving part (23) to rotate around the first gear part (71), thereby driving the base shell (1) connected with the third driving part (23) to rotate around the connecting part (6).

8. The robot kinematic structure of claim 4, wherein, The first driving part (21) and the second driving part (22) are coaxially arranged, and the axis of the third driving part (23) is perpendicular to the axis of the second driving part (22).

9. A robot kinematic structure according to any one of claims 4-8, characterized in that, A heat dissipation part (4) is arranged on the base shell (1) to dissipate heat for the control assembly in the base shell (1).

10. A robot, characterized in that The robot further comprises a robot trunk (5) and a robot motion structure, the robot motion structure is the robot motion structure according to any one of claims 1-9, and the robot trunk (5) is fixedly connected with the connecting part (6).

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