A dual-drive linkage robot leg structure

Abstract

This invention relates to the field of robotics, specifically to a dual-drive linkage robot leg structure. The structure includes a main support, a first drive device and a second drive device respectively connected to both sides of the main support, a first linkage connected to the first drive device, a second linkage connected to the second drive device, and a third drive device connected to the first and second linkages. The main support includes a connecting plate, a first connecting frame and a second connecting frame respectively connected to both sides of the connecting plate. The first drive device has a first base, which is fixedly connected to the first connecting frame. The second drive device has a second base, which is fixedly connected to the second connecting frame. This invention's main support, with its connecting plate, two connecting frames, and the bases of the two drive devices, provides a stable and reliable structure suitable for various robot leg movements.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a leg structure for a dual-drive linkage robot. 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 address the aforementioned issues, this invention provides a dual-drive linkage robot leg structure where the main support is equipped with a connecting plate that connects to two connecting frames and two drive devices via a base. This structure is stable and reliable, making it suitable for various robot leg movements.

[0005] The technical solution adopted in this invention is: a dual-drive linkage robot leg structure, including a main support, a first drive device and a second drive device respectively connected to both sides of the main support, a first linkage device connected to the first drive device, a second linkage device connected to the second drive device, and a third drive device connected to the first linkage device and the second linkage device; the main support includes a connecting plate, a first connecting frame and a second connecting frame respectively connected to both sides of the connecting plate, the first drive device having a first base, the first base being fixedly connected to the first connecting frame, the second drive device having a second base, the second base being fixedly connected to the second connecting frame.

[0006] A further improvement to the above solution is that the connecting plate is provided with a fixed connecting groove and a fixed connecting hole. The fixed connecting groove is a rectangular groove or a polygonal connecting groove that passes through the connecting plate. The first connecting frame is provided with a first positioning platform, and the second connecting frame is provided with a second positioning platform. Both the first positioning platform and the second positioning platform are assembled in the fixed connecting groove.

[0007] A further improvement to the above solution is that the first connecting frame has a first assembly groove on the side facing away from the first positioning table, the first assembly groove is fixedly assembled with the first base, the first assembly groove is connected to a first wiring groove, and the first wiring groove extends to the outside of the first connecting frame; the second connecting frame has a second assembly groove on the side facing away from the second positioning table, the second assembly groove is fixedly assembled with the second base, the second assembly groove is connected to a second wiring groove, and the second wiring groove extends to the outside of the second connecting frame.

[0008] A further improvement to the above solution is that the first connecting frame is provided with a first fixing arm evenly arranged in the circumference, and the first fixing arm is provided with a first locking hole, which corresponds to the fixing connection hole; the second connecting frame is provided with a second fixing arm evenly arranged in the circumference, and the second fixing arm is provided with a second locking hole, which is connected to the first locking hole by a screw passing through the fixing connection hole.

[0009] A further improvement to the above solution is that the first drive device is an external rotor direct drive motor, the first drive device is provided with a first rotor housing, and the first rotor housing is rotatably connected to a first base; the second drive device is an external rotor direct drive motor, the second drive device is provided with a second rotor housing, and the second rotor housing is rotatably connected to a second base.

[0010] A further improvement to the above solution is that the first linkage device includes a first connecting part connected to the first driving device, a first extension leg connected to the first connecting part, and a first movable leg movably connected to the first extension leg. A first rotating shaft is provided between the first extension leg and the first movable leg, and a first guide wheel is connected to the first rotating shaft.

[0011] A further improvement to the above solution is that the first connecting part includes a first fixed locking sleeve and a first movable locking sleeve. The first fixed locking sleeve and the first movable locking sleeve cooperate to form a first locking cavity. The first locking cavity is fixedly locked to the first driving device. The first extension foot and the first fixed locking sleeve are integrally formed. The first extension foot is provided with a first limiting block corresponding to the first movable foot. The first extension foot is provided with a first reinforcing rib. The first reinforcing rib is connected to the first fixed locking sleeve.

[0012] A further improvement to the above scheme is that the second linkage device includes a second connecting part connected to the second drive device, a second extension leg connected to the second connecting part, and a second movable leg movably connected to the second extension leg. A second rotating shaft is provided between the second extension leg and the second movable leg. A third rotating shaft is provided at the end of the second movable leg away from the second rotating shaft, and the third rotating shaft is connected to the first movable leg.

[0013] A further improvement to the above solution is that the second connecting part includes a second fixed locking sleeve and a second movable locking sleeve. The second fixed locking sleeve and the second movable locking sleeve cooperate to form a second locking cavity. The second locking cavity is fixedly locked to the second driving device. The second extension foot and the second fixed locking sleeve are integrally formed. The second extension foot is provided with a second limiting block corresponding to the second movable foot. The second extension foot is provided with a second reinforcing rib. The second reinforcing rib is connected to the second fixed locking sleeve.

[0014] A further improvement to the above scheme is that the third driving device is provided with a third base, the third base is connected to the second movable foot, the third driving device is a hub motor, which is provided with a third rotor housing, the third rotor housing is rotatably connected to the third base, and a wheel sleeve is fitted on the outside of the third rotor housing.

[0015] The beneficial effects of this invention are:

[0016] Compared to existing robot leg structures, this invention features a first and second driving device, working in conjunction with a first and second linkage device, to enable movement of the robot's leg structure. Simultaneously, a main support frame is equipped with a connecting plate that connects to the bases of the two driving devices, resulting in a stable and reliable structure suitable for various robot leg movements. Specifically, the invention includes a main support frame, a first and second driving device connected to both sides of the main support frame, a first linkage device connected to the first driving device, a second linkage device connected to the second driving device, and a third driving device connected to the first and second linkage devices. The main support frame includes a connecting plate and a first and second connecting frame connected to both sides of the connecting plate. The first driving device has a first base, which is fixedly connected to the first connecting frame. The second driving device has a second base, which is fixedly connected to the second connecting frame. The connecting frames on both sides, in conjunction with the connecting plate, connect to the robot's frame, facilitating assembly. The stable driving effect of the driving device and linkage device ensures a reliable structure, enabling the robot to perform various stable movements. Attached Figure Description

[0017] Figure 1 This is a three-dimensional structural diagram of the leg structure of the dual-drive linkage robot of the present invention;

[0018] Figure 2 for Figure 1 An exploded view of the leg structure of a dual-drive linkage robot;

[0019] Figure 3 for Figure 1 An exploded view of the leg structure of a dual-drive linkage robot from another perspective.

[0020] Explanation of reference numerals in the attached drawings: Main bracket 1, connecting plate 11, fixed connecting groove 111, fixed connecting hole 112, first connecting frame 12, first positioning platform 121, first assembly groove 122, first wiring groove 123, first fixing arm 124, first locking hole 124a, second connecting frame 13, second positioning platform 131, second assembly groove 132, second wiring groove 133, second fixing arm 134, second locking hole 134a, first driving device 2, first base 21, first rotor housing 22, second driving device 3, second base 31, second rotor housing 32, etc. A first connecting rod device 4, a first connecting part 41, a first fixed locking sleeve 411, a first movable locking sleeve 412, a first extension foot 42, a first limiting block 421, a first reinforcing rib 422, a first movable foot 43, a first rotating shaft 44, a first guide wheel 441, a second connecting rod device 5, a second connecting part 51, a second fixed locking sleeve 511, a second movable locking sleeve 512, a second extension foot 52, a second rotating shaft 521, a second reinforcing rib 522, a second movable foot 53, a third rotating shaft 531, a third driving device 6, a third base 61, a third rotor housing 62, and a wheel sleeve 63. Detailed Implementation

[0021] 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.

[0022] 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.

[0023] 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.

[0024] like Figures 1-3As shown, a dual-drive linkage robot leg structure includes a main support 1, a first drive device 2 and a second drive device 3 respectively connected to both sides of the main support 1, a first linkage device 4 connected to the first drive device 2, a second linkage device 5 connected to the second drive device 3, and a third drive device 6 connected to the first linkage device 4 and the second linkage device 5. The main support 1 includes a connecting plate 11, a first connecting frame 12 and a second connecting frame 13 respectively connected to both sides of the connecting plate 11. The first drive device 2 is provided with a first base 21, which is fixedly connected to the first connecting frame 12. The second drive device 3 is provided with a second base 31, which is fixedly connected to the second connecting frame 13.

[0025] The connecting plate 11 is provided with a fixed connecting groove 111 and a fixed connecting hole 112. The fixed connecting groove 111 is a rectangular groove or a polygonal connecting groove and passes through the connecting plate 11. The first connecting frame 12 is provided with a first positioning platform 121 and the second connecting frame 13 is provided with a second positioning platform 131. The first positioning platform 121 and the second positioning platform 131 are both assembled in the fixed connecting groove 111. The positioning platform cooperates with the fixed connecting groove 111 for fixed connection. The structure is easy to assemble and has good stability.

[0026] The first connecting frame 12 has a first assembly groove 122 on the side facing away from the first positioning platform 121. The first assembly groove 122 is fixedly assembled and connected to the first base 21. The first assembly groove 122 is connected to a first wiring groove 123, which extends to the outside of the first connecting frame 12. The second connecting frame 13 has a second assembly groove 132 on the side facing away from the second positioning platform 131. The second assembly groove 132 is fixedly assembled and connected to the second base 31. The second assembly groove 132 is connected to a second wiring groove 133, which extends to the outside of the second connecting frame 13. Through the fixed connection of the assembly groove and the base, the structure is easy to assemble, stable and reliable. At the same time, the wiring groove is provided for the routing of the drive device's wiring, making the overall structure simple and reliable.

[0027] The first connecting frame 12 is uniformly provided with first fixing arms 124 in a circumferential direction. The first fixing arms 124 have first locking holes 124a, which correspond to the fixing connection holes 112. The second connecting frame 13 is uniformly provided with second fixing arms 134 in a circumferential direction. The second fixing arms 134 have second locking holes 134a. The second locking holes 134a are connected to the first locking holes 124a by screws passing through the fixing connection holes 112. The fixing arms are used for structural fixing connection, which makes the connection between the drive device and the connecting frame and the main support 1 more stable. The overall structure is reliable and can be assembled with screws, which is convenient.

[0028] The first drive device 2 is an external rotor direct drive motor. The first drive device 2 is provided with a first rotor housing 22, which is rotatably connected to the first base 21. The second drive device 3 is an external rotor direct drive motor. The second drive device 3 is provided with a second rotor housing 32, which is rotatably connected to the second base 31. The use of an external rotor motor as the drive for the structure facilitates the movement of the linkage device, enabling the robot's leg structure to stand and lie down.

[0029] The first linkage device 4 includes a first connecting portion 41 connected to the first driving device 2, a first extension leg 42 connected to the first connecting portion 41, and a first movable leg 43 movably connected to the first extension leg 42. A first rotating shaft 44 is provided between the first extension leg 42 and the first movable leg 43. The first rotating shaft 44 is connected to a first guide wheel 441. The first connecting portion 41 includes a first fixed locking sleeve 411 and a first movable locking sleeve 412. The first fixed locking sleeve 411 and the first movable locking sleeve 412 cooperate to form a first locking cavity. The first locking cavity is fixedly locked to the first driving device 2. The first extension leg 42 and the first fixed locking sleeve 411 are integrally formed. The first extension leg 42 is provided with a first limiting block 421 corresponding to the first movable leg 43. The first extension leg 42 is provided with a first reinforcing rib 422, and the first reinforcing rib 422 is connected to the first fixed locking sleeve 411. Further improved, the second linkage device 5 includes a second connecting portion 51 connected to the second driving device 3 and a second extension leg connected to the second connecting portion 51. 52. A second movable foot 53 is movably connected to the second extension foot 52. A second rotating shaft 521 connects the second extension foot 52 and the second movable foot 53. A third rotating shaft 531 is provided at the end of the second movable foot 53 away from the second rotating shaft 521. The third rotating shaft 531 is connected to the first movable foot 43. The second connecting part 51 includes a second fixed locking sleeve 511 and a second movable locking sleeve 512. The second fixed locking sleeve 511 and the second movable locking sleeve 512 cooperate to form a second locking cavity. The second locking cavity is fixedly locked to the second driving device 3. The second extension foot 52 and the second fixed locking sleeve 511 are integrally formed. The second extension foot 52 is provided with a second limiting block 521 corresponding to the second movable foot 53. The second extension foot 52 is provided with a second reinforcing rib 522. The second reinforcing rib 522 is connected to the second fixed locking sleeve 511. The connecting part is set to cooperate with the rotor shell for fixed connection, which makes the structure stable. At the same time, the extension foot and the movable foot are provided to cooperate, which makes the structure reliable. In addition, the guide wheel is provided to assist in movement when lying down.

[0030] The third drive device 6 is provided with a third base 61, which is connected to the second movable foot 53. The third drive device 6 is a hub motor, which is provided with a third rotor housing 62. The third rotor housing 62 is rotatably connected to the third base 61. A wheel sleeve 63 is fitted on the outside of the third rotor housing 62. The hub motor is used for the movement of the leg structure. The third base 61 is fixedly connected with the second movable foot 53, which is convenient for assembly.

[0031] This invention employs a first driving device 2 and a second driving device 3, in conjunction with a first link device 4 and a second link device 5, to enable movement of the robot's leg structure. Simultaneously, the main support 1 is equipped with a connecting plate 11, which connects to two connecting frames and the bases of the two driving devices, resulting in a stable and reliable structure suitable for various robot leg movements. Specifically, the invention includes a main support 1, a first driving device 2 and a second driving device 3 connected to both sides of the main support 1, a first link device 4 connected to the first driving device 2, a second link device 5 connected to the second driving device 3, and a third driving device 6 connected to the first link device 4 and the second link device 5. The main support 1 includes a connecting plate 11, a first connecting frame 12 and a second connecting frame 13 connected to both sides of the connecting plate 11. The first driving device 2 has a first base 21, which is fixedly connected to the first connecting frame 12. The second driving device 3 has a second base 31, which is fixedly connected to the second connecting frame 13. The robot's frame is connected by connecting brackets on both sides and connecting plates 11. The structure is easy to assemble and, together with the drive device and linkage device, provides stable drive. The structure is reliable and enables the robot to perform various actions stably.

[0032] 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 for a dual-drive linkage robot, characterized in that: The system includes a main support, a first driving device and a second driving device respectively connected to both sides of the main support, a first connecting rod device connected to the first driving device, a second connecting rod device connected to the second driving device, and a third driving device connected to the first connecting rod device and the second connecting rod device; the main support includes a connecting plate, a first connecting frame and a second connecting frame respectively connected to both sides of the connecting plate, the first driving device having a first base fixedly connected to the first connecting frame, the second driving device having a second base fixedly connected to the second connecting frame; The connecting plate is provided with a fixed connecting groove and a fixed connecting hole. The fixed connecting groove is a rectangular groove or a polygonal connecting groove. The fixed connecting groove passes through the connecting plate. The first connecting frame is provided with a first positioning platform, and the second connecting frame is provided with a second positioning platform. Both the first positioning platform and the second positioning platform are assembled in the fixed connecting groove. The first drive device is an external rotor direct drive motor, and the first drive device is provided with a first rotor housing, which is rotatably connected to a first base; the second drive device is an external rotor direct drive motor, and the second drive device is provided with a second rotor housing, which is rotatably connected to a second base; The first linkage device includes a first connecting part connected to the first driving device, a first extending leg connected to the first connecting part, and a first movable leg movably connected to the first extending leg. A first rotating shaft is provided between the first extending leg and the first movable leg, and a first guide wheel is connected to the first rotating shaft. The first connecting part includes a first fixed locking sleeve and a first movable locking sleeve. The first fixed locking sleeve and the first movable locking sleeve cooperate to form a first locking cavity. The first locking cavity is fixedly locked to the first driving device. The first extension foot and the first fixed locking sleeve are integrally formed. The first extension foot is provided with a first limiting block corresponding to the first movable foot. The first extension foot is provided with a first reinforcing rib. The first reinforcing rib is connected to the first fixed locking sleeve. The second linkage device includes a second connecting part connected to the second drive device, a second extension leg connected to the second connecting part, and a second movable leg movably connected to the second extension leg. A second rotating shaft is provided between the second extension leg and the second movable leg. A third rotating shaft is provided at the end of the second movable leg away from the second rotating shaft, and the third rotating shaft is connected to the first movable leg.

2. The dual-drive linkage robot leg structure according to claim 1, characterized in that: The first connecting frame has a first assembly groove on the side facing away from the first positioning platform. The first assembly groove is fixedly assembled with the first base. The first assembly groove is connected to a first wiring groove, which extends to the outside of the first connecting frame. The second connecting frame has a second assembly groove on the side facing away from the second positioning platform. The second assembly groove is fixedly assembled with the second base. The second assembly groove is connected to a second wiring groove, which extends to the outside of the second connecting frame.

3. The dual-drive linkage robot leg structure according to claim 2, characterized in that: The first connecting frame is provided with a first fixing arm evenly arranged in the circumference, and the first fixing arm has a first locking hole, which corresponds to the fixing connection hole; the second connecting frame is provided with a second fixing arm evenly arranged in the circumference, and the second fixing arm has a second locking hole, which is connected to the first locking hole by a screw passing through the fixing connection hole.

4. The dual-drive linkage robot leg structure according to claim 1, characterized in that: The second connecting part includes a second fixed locking sleeve and a second movable locking sleeve. The second fixed locking sleeve and the second movable locking sleeve cooperate to form a second locking cavity. The second locking cavity is fixedly locked to the second driving device. The second extension foot and the second fixed locking sleeve are integrally formed. The second extension foot is provided with a second limiting block corresponding to the second movable foot. The second extension foot is provided with a second reinforcing rib. The second reinforcing rib is connected to the second fixed locking sleeve.

5. The dual-drive linkage robot leg structure according to claim 4, characterized in that: The third drive device is provided with a third base, which is connected to the second movable foot. The third drive device is a hub motor, which is provided with a third rotor housing. The third rotor housing is rotatably connected to the third base, and a wheel sleeve is fitted on the outside of the third rotor housing.

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