Robot foot rack structure
By connecting the motor and the foot via a transmission system, adjusting the chain tension, and implementing independent transmission for both motors, the problems of easy motor damage and complex transmission were solved, enabling flexible movement of the robot's foot and extending the lifespan of the motor.
Patent Information
- Application Number
- CN202511477529.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-10-16
- Publication Date
- 2025-12-26
AI Technical Summary
In existing robot foot structures, the motors are directly connected to the legs, which makes the motors prone to damage. Furthermore, the transmission method is complex and the tightness cannot be adjusted, affecting the service life and flexibility.
The motor and foot are connected by a transmission method. The chain tension is adjusted by a tensioning component. The two motors are driven independently to avoid direct impact on the motors, thus enabling independent movement of the thigh and calf.
To improve motor lifespan, ensure smooth transmission, meet the robot's flexible movement requirements, and enable independent rotation of the thigh and calf.
Smart Images
Figure CN121201239A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of robot structure, and in particular to a robot foot rack structure. BACKGROUND
[0002] In the existing biped bionic robot structure, in order to be able to imitate the movement mode of human body or other organisms, the foot structure is usually provided with thigh and calf components, such as the existing robot dog, humanoid robot, etc., so that it can evolve and adjust different actions.
[0003] The existing structure mainly adopts the motor direct drive mode for driving the thigh or calf, that is, the output shaft of the motor is fixedly connected with one end of the thigh or calf, the thigh or calf is driven to rotate by the motor, and the bending, swinging and other action effects are realized. However, in the use process, for example, the pressure or step of the foot in the weight bearing state, or the reaction force received by the leg during the step movement, is directly transmitted to the output shaft of the motor, which causes the motor to be easily damaged in the long-term practical process, affecting the service life. The existing structure is complex and cannot adjust the tightness of the transmission belt or chain. SUMMARY
[0004] The purpose of the present application is to provide a robot foot rack structure, which connects the motor and the foot through transmission, transfers the impact force generated during leg movement, avoids direct action on the motor, and sets a structure for adjusting the tightness of the chain transmission to ensure the smoothness of the transmission.
[0005] The technical scheme adopted by the robot foot rack structure disclosed by the present application is as follows: A robot foot rack structure, comprising a base, the base is provided with a motor mounting plate on both sides, the battery mounting plate is provided with a driving assembly; The driving assembly comprises a first motor, a second motor and a motor side plate, the motor side plate is fixed to the middle part of the inner side of the battery mounting plate, a plurality of transverse waist-shaped holes are formed at both ends of the motor mounting plate, the first motor and the second motor are fixed to both ends of the motor mounting plate through fasteners penetrating the waist-shaped holes, and the motor side plate is provided with a tensioning assembly between the first motor and the second motor, respectively, and the distance between the battery side plate and the first motor and the second motor is adjusted by the tensioning assembly; A leg assembly, the leg assembly comprises a calf rotating rod and a thigh rotating rod, one end of the thigh rotating rod is rotatably connected with the base, and the other end of the calf rotating rod and the thigh rotating rod is rotatably connected; A transmission assembly is arranged outside the battery mounting plate, the first motor drives the thigh rotating rod to rotate through the transmission assembly, and the second motor drives the shank rotating rod to rotate around the thigh rotating rod through the transmission assembly.
[0006] As a preferred solution, the transmission assembly comprises a thigh gear and a shank gear, the output shafts of the first motor and the second motor extend outside the battery mounting plate, the output shafts of the first motor and the second motor are provided with transmission gears, the thigh gear and the shank gear are rotatably connected between the two transmission gears, the thigh gear and the shank gear are independently connected with the two transmission gears through chains, one end of the thigh rotating rod is fixed to the thigh gear, and the shank gear is in transmission connection with the shank rotating rod.
[0007] As a preferred solution, a bearing pipe is arranged in the base, the bearing pipe extends to the surface of the battery mounting plate at both ends, the shank gear is rotatably connected with the bearing pipe through a gear flange, the thigh gear is rotatably connected with the gear flange through a connecting ring, and the thigh rotating rod is fixed to the connecting ring.
[0008] As a preferred solution, the transmission assembly further comprises a straight link and a shank link, one end of the straight link is fixedly connected with the gear flange, the other end of the straight link is rotatably connected with one end of the shank link, one end of the shank rotating rod close to the thigh rotating rod is provided with a lug, and the other end of the shank link is rotatably connected with the lug, so as to realize the transmission connection between the shank gear and the shank rotating rod.
[0009] As a preferred solution, sliding grooves are formed in the both sides of the battery side plate, the tensioning assembly comprises a tensioning push plate and a wedge-shaped block, the tensioning push plate is arranged in the sliding groove, one side of the tensioning push plate is in contact with the first motor or the second motor, the wedge-shaped block is arranged between the other side of the tensioning push plate and the inner wall of the sliding groove, and the distance between the wedge-shaped block and the inner wall of the sliding groove is adjusted through sliding.
[0010] As a preferred solution, one side of the tensioning push plate close to the first motor or the second motor is in arc surface structure, a machine screw is arranged above the wedge-shaped block, the machine screw is in threaded connection with the battery side plate, and one end of the machine screw abuts against the wedge-shaped block.
[0011] As a preferred solution, the base comprises a bottom plate, a top plate and two sealing plates, the sealing plates are arranged at the front end and the rear end of the bottom plate respectively, the top plate is fixed above the sealing plates, and the battery mounting plate is fixed between the top plate and the bottom plate.
[0012] As a preferred solution, a rolling wheel and a driving motor are arranged at the end of the shank rotating rod away from the thigh rotating rod, the driving motor is fixedly connected with the shank rotating rod, the rolling wheel is arranged outside the shank rotating rod and is fixedly connected with the output shaft of the driving motor.
[0013] The robot foot rack structure has the advantages that the motor mounting plates are provided with transverse waist-shaped holes at two ends, the first motor and the second motor can slide integrally in the holes, the first motor and the second motor can be adjusted away from or close to the transmission gear through the tensioning assembly, the center distance between the first motor, the second motor and the transmission gear is changed, the tightness of the chain is adjusted, the transmission effect is ensured, the motors are avoided from being directly connected with the leg assembly, the impact force on the motors is reduced, and the service life is improved; and the two motors are independently driven, the thigh and the calf are decoupled, the first motor drives the leg rotating rod, the second motor drives the calf rotating rod, the two chains are completely isolated, and the calf rotating rod is rotatably connected with the thigh rotating rod, so that the thigh and the calf of the simulated leg are independently rotated, the leg bending, straightening and lifting actions are realized, and the flexibility requirement of the robot is met. BRIEF DESCRIPTION OF DRAWINGS
[0014] Figure 1 is a structural schematic view of the robot foot rack structure.
[0015] Figure 2 is a structural schematic view of the robot foot rack structure.
[0016] Figure 3 is an exploded view of the robot foot rack structure.
[0017] Figure 4 is a front view of the battery mounting plate and the driving assembly of the robot foot rack structure. DETAILED DESCRIPTION
[0018] The application will be further described and illustrated below in combination with specific embodiments and the accompanying drawings: Please refer to Figure 1 A robot foot rack structure comprises a base 10, motor mounting plates 20 are arranged on both sides of the base 10, and a driving assembly 30 is arranged on a battery mounting plate.
[0019] The driving assembly 30 comprises a first motor 31, a second motor 32 and a motor side plate 33, the motor side plate 33 is fixed to the middle part of the inner side of the battery mounting plate, transverse waist-shaped holes 21 are arranged at two ends of the motor mounting plate 20, the first motor 31 and the second motor 32 are fixed to the two ends of the motor mounting plate 20 through fasteners penetrating through the waist-shaped holes 21, and the tensioning assembly 40 is arranged between the motor side plate 33 and the first motor 31 and the second motor 32 respectively, so as to adjust the distance between the battery side plate and the first motor 31 and the second motor 32.
[0020] The motor mounting plate 20 is provided with a transverse waist-shaped hole 21 at both ends, and the first motor 31 and the second motor 32 can slide integrally in the hole. The first motor 31 and the second motor 32 are adjusted by the tensioning assembly 40, that is, the first motor 31 and the second motor 32 are moved away from or close to the transmission gear 64, the center distance between the first motor 31 and the second motor 32 and the transmission gear 64 is changed, the tightness of the chain 61 is adjusted, the transmission effect is ensured, and at the same time, the motors are not directly connected with the leg assembly 50, the impact force on the motors is reduced, and the service life is improved.
[0021] The leg assembly 50 includes a calf rotating rod 52 and a thigh rotating rod 51. The thigh rotating rod 51 is rotationally connected to the base 10 at one end, and the calf rotating rod 52 is rotationally connected to the other end of the thigh rotating rod 51.
[0022] By adopting double-motor independent transmission, the thigh and the calf are decoupled, the first motor 31 drives the leg rotating rod, the second motor 32 drives the calf rotating rod 52, the two chains are completely isolated, and on the control side, they can be regarded as two independent servo shafts. The calf rotating rod 52 is rotationally connected to the thigh rotating rod 51 at one end, so that the thigh and the calf of the simulated leg are independently rotated, the leg can perform actions such as “bending, straightening and lifting”, and the flexibility requirement of the robot is met.
[0023] The transmission assembly 60 includes a thigh gear 62 and a calf gear 63. The output shafts of the first motor 31 and the second motor 32 extend to the outside of the battery mounting plate. The output shafts of the first motor 31 and the second motor 32 are each provided with a transmission gear 64. The thigh gear 62 and the calf gear 63 are rotationally connected between the two transmission gears 64. The thigh gear 62 and the calf gear 63 are independently transmissionally connected with the two transmission gears 64 through the chain 61. The thigh rotating rod 51 is fixed to the thigh gear 62 at one end. The calf gear 63 is transmissionally connected with the calf rotating rod 52.
[0024] The base 10 is provided with a bearing tube 11 extending to the surface of the battery mounting plate at both ends. The calf gear 63 is rotationally connected with the bearing tube 11 through a gear flange 67. The thigh gear 62 is rotationally connected with the gear flange 67 through a connecting ring 68, and the thigh rotating rod 51 is fixed to the connecting ring 68.
[0025] The thigh gear 62 and the calf gear 63 are coaxially rotationally arranged, and are respectively transmissionally connected with the first motor 31 and the second motor 32 through the chain 61, so that the thigh rotating rod 51 and the calf rotating rod 52 are rotationally controlled at one point.
[0026] And the transmission assembly further comprises a straight link 65 and a shank link 66, one end of the straight link 65 is fixedly connected with a gear flange 67, the other end of the straight link 65 is rotatably connected with one end of the shank link 66, the shank rotating rod 52 is provided with a lug near one end of the thigh rotating rod 51, the other end of the shank link 66 is rotatably connected with the lug, thereby realizing the transmission connection between the shank gear 63 and the shank rotating rod 51.
[0027] The straight link 65 is driven to rotate by the gear flange 67, thereby the other end of the straight link 65 pulls the shank link 66 to move, thereby the shank rotating rod 52 is driven to rotate around the thigh rotating rod 51, thereby realizing the angle change between the thigh rotating rod 51 and the shank rotating rod 52.
[0028] Both sides of the battery side plate are provided with sliding grooves 331, the tensioning assembly 40 comprises a tensioning push plate 41 and a wedge block 42, the tensioning push plate 41 is arranged in the sliding groove 331, one side of the tensioning push plate 41 is in contact with the first motor 31 or the second motor 32, the wedge block 42 is arranged between the other side of the tensioning push plate 41 and the inner wall of the sliding groove 331, and the wedge block 42 adjusts the distance between the tensioning pad block and the inner wall of the sliding groove 331 through sliding.
[0029] One side of the tensioning push plate 41 close to the first motor 31 or the second motor 32 is arc-shaped, and a machine screw 43 is arranged above the wedge block 42, the machine screw 43 is in threaded connection with the battery side plate, and one end of the machine screw 43 abuts against the wedge block 42.
[0030] The length of the machine screw 43 extending into the sliding groove 331 is adjusted by screwing, thereby the depth of the wedge block 42 inserted into the tensioning push plate 41 and the sliding groove 331 is adjusted, the installation position of the first motor 31 or the second motor 32 is adjusted, the lower end of the tensioning push plate 41 is fixedly connected with the sliding groove 331, and the wedge block 42 is pushed to form a structure similar to a shell fragment, thereby the fit between the wedge block 42 is maintained.
[0031] The base 10 comprises a bottom plate 12, a top plate 13 and two sealing plates 14, the sealing plates 14 are arranged at the front end and the rear end of the bottom respectively, the top plate 13 is fixed above the sealing plates 14, and the battery mounting plate is fixed between the top plate 13 and the bottom plate 12, in actual robot assembly, other components of the robot can be mounted above the base 10, and components such as batteries are placed in the base 10, thereby improving the stability of the whole.
[0032] The shank rotating rod 52 is provided with a rolling wheel 53 and a driving motor 54 at the end away from the thigh rotating rod 51, the driving motor 54 is fixedly connected with the shank rotating rod 52, the rolling wheel 53 is arranged outside the shank rotating rod 52 and is fixedly connected with the output shaft of the driving motor 54, and the robot can be driven to move through the rolling wheel 53.
[0033] The application provides a robot foot rack structure, which connects a motor and a foot through transmission, transfers the impact force generated during leg movement, avoids direct action on the motor, and sets a structure for adjusting the tightness of the adjusting chain 61 to ensure the smoothness of transmission.
[0034] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the scope of protection of the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or replaced by equivalents without departing from the essence and scope of the technical solutions of the present application.
Claims
1. A robotic foot chassis structure, characterized by, Including base, both sides of base are equipped with motor mounting plate respectively, drive assembly is equipped on battery mounting plate; The drive assembly includes a first motor, a second motor and a motor side plate. The motor side plate is fixed to the middle part of the inner side of the battery mounting plate. A plurality of transverse waist-shaped holes are formed at both ends of the motor mounting plate. The first motor and the second motor are fixed to both ends of the motor mounting plate through fasteners passing through the waist-shaped holes. Tensioning assemblies are arranged between the motor side plate and the first motor and the second motor respectively. The distance between the battery side plate and the first motor and the second motor is adjusted through the tensioning assemblies. The leg assembly includes a calf rotating rod and a thigh rotating rod. One end of the thigh rotating rod is rotatably connected with the base. The other end of the calf rotating rod is rotatably connected with the thigh rotating rod. The transmission assembly is arranged on the outer side of the battery mounting plate. The first motor drives the thigh rotating rod to rotate through the transmission assembly. The second motor drives the calf rotating rod to rotate around the thigh rotating rod through the transmission assembly.
2. A robotic foot structure as claimed in claim 1, wherein, The transmission assembly includes a thigh gear and a calf gear. The output shafts of the first motor and the second motor extend to the outer side of the battery mounting plate. Transmission gears are arranged on the output shafts of the first motor and the second motor. The thigh gear and the calf gear are rotatably connected between the two transmission gears. The thigh gear and the calf gear are independently connected with the two transmission gears through chains respectively. One end of the thigh rotating rod is fixed to the thigh gear. The calf gear is in transmission connection with the calf rotating rod.
3. A robotic foot structure as claimed in claim 2, wherein, A bearing pipe is arranged in the base. The bearing pipe extends to the surface of the battery mounting plate at both ends. The calf gear is rotatably connected with the bearing pipe through a gear flange. The thigh gear is rotatably connected with the gear flange through a connecting ring. The thigh rotating rod is fixed to the connecting ring.
4. A robotic foot structure as claimed in claim 2, wherein, The transmission assembly further includes a straight link and a calf link. One end of the straight link is fixedly connected with the gear flange. The other end of the straight link is rotatably connected with one end of the calf link. The calf rotating rod is provided with a lug near one end of the thigh rotating rod. The other end of the calf link is rotatably connected with the lug, so as to realize the transmission connection between the calf gear and the calf rotating rod.
5. A robotic foot structure as in claim 1, wherein, Sliding grooves are formed at both sides of the battery side plate. The tensioning assembly includes a tensioning push plate and a wedge-shaped block. The tensioning push plate is arranged in the sliding groove. One side of the tensioning push plate is in contact with the first motor or the second motor. The wedge-shaped block is arranged between the other side of the tensioning push plate and the inner wall of the sliding groove. The distance between the wedge-shaped block and the inner wall of the sliding groove is adjusted through sliding.
6. A robotic foot structure as claimed in claim 5, wherein, One side of the tensioning push plate near the first motor or the second motor is arc-shaped. A machine screw is arranged above the wedge-shaped block. The machine screw is in threaded connection with the battery side plate. One end of the machine screw abuts against the wedge-shaped block.
7. A robotic foot structure as in claim 1, wherein, The base includes a bottom plate, a top plate and two sealing plates. The sealing plates are arranged at the front end and the rear end of the bottom plate respectively. The top plate is fixed above the sealing plates. The battery mounting plate is fixed between the top plate and the bottom plate.
8. A robotic foot structure as in claim 1, wherein, The small leg rotating lever is provided with a rolling wheel and a driving motor at the end away from the thigh rotating lever, the driving motor is fixedly connected with the small leg rotating lever, the rolling wheel is arranged on the outer side of the small leg rotating lever and is fixedly connected with the output shaft of the driving motor.