Robot leg transmission assembly

Abstract

The utility model discloses a robot leg transmission assembly which comprises a first connecting joint, the lower end of the inner side of the first connecting joint is rotationally connected with a thigh supporting assembly, the lower end of the outer side of the thigh supporting assembly is rotationally connected with a second connecting joint, and the lower end of the inner side of the second connecting joint is rotationally connected with a shank supporting assembly. A third connecting joint is rotationally connected to the lower end of the outer side of the shank supporting assembly, and a hand screwing piece is rotated, so that a supporting plate stably moves to the bottom of the footstep supporting assembly under the rotation of a third screw rod and the guiding of a guide rod, and the contact area between the footstep supporting assembly and the ground is increased; and the loosening phenomenon can be avoided through the springs arranged between the hand screwing pieces and the expansion plates, meanwhile, the anti-skid capacity of the robot in the advancing process can be improved through the anti-skid pads arranged at the bottoms of the supporting plates, and therefore the overturning phenomenon of the robot in the advancing process is avoided.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a robot leg transmission assembly. Background Art

[0002] A robot is an automated device or system that can perform complex tasks. They are designed to mimic human behavior and perform a variety of tasks, or to perform tasks that people are unable or unwilling to perform. Robots are generally capable of sensing the environment, processing information, making decisions, and performing tasks. Robots can be used in a variety of fields, such as industrial production, healthcare, military applications, education, and entertainment. In industrial production, robots can perform dangerous, repetitive, or heavy tasks to improve production efficiency and quality. In the healthcare field, robots can be used for tasks such as surgery, rehabilitation, and assisted care. In military applications, robots can perform tasks such as reconnaissance, explosive removal, and rescue. In the fields of education and entertainment, robots can be used for teaching, interactive entertainment, and companionship.

[0003] The contact area between the leg assemblies of some existing robots and the ground is relatively fixed. When the robot is heavily loaded or the ground is not flat, it is very easy to overturn during movement, which is very inconvenient. Utility Model Content

[0004] The technical problem to be solved by the utility model is to overcome the existing defects and provide a robot leg transmission assembly to solve the problem that some existing robot leg assemblies proposed in the above background technology have a relatively fixed contact area with the ground, and when the robot is heavily loaded or the ground flatness is low, it is very easy to overturn during movement, which is quite inconvenient.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a robot leg transmission assembly, including a first connecting joint, the lower end of the inner side of the first connecting joint is rotatably connected to a thigh support assembly, the lower end of the outer side of the thigh support assembly is rotatably connected to a second connecting joint, the lower end of the inner side of the second connecting joint is rotatably connected to a calf support assembly, the lower end of the outer side of the calf support assembly is rotatably connected to a third connecting joint, the lower end of the outer side of the third connecting joint is rotatably connected to a foot support assembly, one side of the upper end inside the foot support assembly and one end of the second connecting joint are respectively fixedly connected to a second support block and a first support block, and the first support block and the second support block are rotatably connected to each other A first pneumatic telescopic rod is connected, and a second pneumatic telescopic rod is rotatably connected between the first connecting joint and the second connecting joint and between the second connecting joint and the third connecting joint. The bottom of the foot support assembly is fixedly connected to a base, and an expansion plate is symmetrically arranged on one side inside the base. A first screw is rotatably connected inside the base, and a knob is fixedly connected to the top of the first screw. An active bevel gear is fixedly connected to the upper end of the outer side of the first screw, and a driven bevel gear is meshedly connected to the outer side of the active bevel gear, and a second screw is fixedly connected inside the driven bevel gear, and a third screw is rotatably connected inside the expansion plate, the bottom of the third screw is rotatably connected to a support plate, and the top of the third screw is fixedly connected to a hand-tightening piece.

[0006] Preferably, four of the second pneumatic telescopic rods are symmetrically arranged, and two of them are symmetrically arranged between the first connecting joint and the second connecting joint, and two of them are symmetrically arranged between the second connecting joint and the third connecting joint.

[0007] Preferably, the knob is located at the top of the base for rotational connection.

[0008] Preferably, the driven bevel gear and the second screw are rotatably connected inside the base, and the second screw is threadably connected inside the expansion plate.

[0009] Preferably, an anti-skid pad is fixedly connected to the bottom of the support plate, and a tooth groove is provided at the lower end of the anti-skid pad.

[0010] Preferably, a spring is provided on the outer side of the third screw rod, and the spring is located between the hand-tightening member and the expansion plate.

[0011] Preferably, a guide rod is symmetrically and slidably connected to one end of the extension plate, a support plate is fixedly connected to the bottom of the guide rod, and a limit block is fixedly connected to the top of the guide rod.

[0012] Compared with the prior art, the utility model provides a robot leg transmission assembly, which has the following beneficial effects:

[0013] 1. The utility model forms a robot leg transmission assembly by arranging a first connecting joint, a thigh support assembly, a second connecting joint, a calf support assembly, a third connecting joint, a foot support assembly, a first support block, a second support block, a first pneumatic telescopic rod and a second pneumatic telescopic rod, so that the robot leg bending operation can be completed under the telescopic action of the first pneumatic telescopic rod and the second pneumatic telescopic rod, and the support mechanism composed of a base, an expansion plate, a third screw rod, a support plate, an anti-skid pad, a hand-tightening piece, a spring and a guide rod arranged at the bottom of the foot support assembly can improve the stability of the robot during movement, and the hand-tightening piece is used to rotate the support plate so that the support plate can be smoothly moved to the bottom of the foot support assembly under the rotation of the third screw rod and the guidance of the guide rod to increase the contact area between the foot support assembly and the ground, and the spring arranged between the hand-tightening piece and the expansion plate can avoid loosening, and the anti-skid pad arranged at the bottom of the support plate can increase the anti-skid ability of the robot during movement, thereby avoiding the robot from overturning during movement;

[0014] 2. The utility model provides an expansion mechanism consisting of a base, an expansion plate, a knob, a first screw, an active bevel gear, a driven bevel gear and a second screw. When the robot's feet are in contact with the ground, the knob can be turned to rotate the first screw and the active bevel gear located inside the base, while driving the driven bevel gear and the second screw to rotate. The expansion plate can be expanded and retracted under the threaded connection of the second screw, thereby further increasing the contact area between the robot's feet and the ground, so as to further improve the stability of the robot during movement.

[0015] The parts not involved in the device are the same as the existing technology or can be implemented by using the existing technology. The utility model has a scientific and reasonable structure, is safe and convenient to use, and provides great help to people. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the accompanying drawings:

[0017] Figure 1 This is a schematic diagram of the shaft side structure of a robot leg transmission assembly proposed by the utility model;

[0018] Figure 2 This is a schematic diagram of the axial structure of the other side of a robot leg transmission assembly proposed by the utility model;

[0019] Figure 3 This is a schematic diagram of the base structure of a robot leg transmission assembly proposed by the utility model;

[0020] Figure 4 This is a schematic diagram of the internal structure of a base of a robot leg transmission assembly proposed by the utility model;

[0021] In the figure: a first connecting joint 1, a thigh support assembly 2, a second connecting joint 3, a calf support assembly 4, a third connecting joint 5, a foot support assembly 6, a first support block 7, a second support block 8, a first pneumatic telescopic rod 9, a base 10, an expansion plate 11, a knob 12, a first screw 13, an active bevel gear 14, a driven bevel gear 15, a second screw 16, a third screw 17, a support plate 18, an anti-slip pad 19, a tooth groove 20, a hand-tightening piece 21, a spring 22, a guide rod 23, a limit block 24, and a second pneumatic telescopic rod 25. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0023] See also Figure 1-4The utility model provides a technical solution: a robot leg transmission assembly, including a first connecting joint 1, the lower end of the inner side of the first connecting joint 1 is rotatably connected to a thigh support assembly 2, the lower end of the outer side of the thigh support assembly 2 is rotatably connected to a second connecting joint 3, the lower end of the inner side of the second connecting joint 3 is rotatably connected to a calf support assembly 4, the lower end of the outer side of the calf support assembly 4 is rotatably connected to a third connecting joint 5, the lower end of the outer side of the third connecting joint 5 is rotatably connected to a foot support assembly 6, one side of the upper end inside the foot support assembly 6 and one end of the second connecting joint 3 are respectively fixedly connected to a second support block 8 and a first support block 7, a first pneumatic telescopic rod 9 is rotatably connected between the first support block 7 and the second support block 8, and then the robot leg bending operation can be completed under the telescopic action of the first pneumatic telescopic rod 9 and the second pneumatic telescopic rod 25, the first connecting joint 1 and the second connecting joint 3 and the second connecting joint 5 are rotatably connected to the second pneumatic telescopic rod 25, the bottom of the foot support assembly 6 is fixedly connected to a base 10, the inside of the base 10 An expansion plate 11 is symmetrically arranged on one side, a first screw 13 is rotatably connected inside the base 10, a knob 12 is fixedly connected to the top of the first screw 13, an active bevel gear 14 is fixedly connected to the upper end of the outer side of the first screw 13, a driven bevel gear 15 is meshedly connected to the outer side of the active bevel gear 14, a second screw 16 is fixedly connected inside the driven bevel gear 15, a third screw 17 is rotatably connected inside the expansion plate 11, a support plate 18 is rotatably connected to the bottom of the third screw 17, and a hand-tightening piece 21 is fixedly connected to the top of the third screw 17, which can improve the robot's To ensure stability during movement, the hand-operated piece 21 is rotated so that the support plate 18 can be smoothly moved to the bottom of the foot support assembly 6 under the rotation of the third screw 17 and the guidance of the guide rod 23, so as to increase the contact area between the foot support assembly 6 and the ground. The spring 22 provided between the hand-operated piece 21 and the expansion plate 11 can prevent loosening. At the same time, the anti-slip pad 19 provided at the bottom of the support plate 18 can increase the anti-slip ability of the robot during movement, thereby preventing the robot from overturning during movement.

[0024] In the utility model, preferably, four second pneumatic telescopic rods 25 are symmetrically arranged, and two are symmetrically arranged between the first connecting joint 1 and the second connecting joint 3 , and two are symmetrically arranged between the second connecting joint 3 and the third connecting joint 5 .

[0025] In the present invention, preferably, the knob 12 is located at the top of the base 10 for rotational connection.

[0026] In the present invention, preferably, the driven bevel gear 15 and the second screw rod 16 are located inside the base 10 and are rotatably connected, and the second screw rod 16 is located inside the expansion plate 11 and is threadedly connected.

[0027] In the present invention, preferably, an anti-skid pad 19 is fixedly connected to the bottom of the support plate 18 , and a tooth groove 20 is provided at the lower end of the anti-skid pad 19 .

[0028] In the present invention, preferably, a spring 22 is provided on the outer side of the third screw rod 17 , and the spring 22 is located between the hand-tightening member 21 and the expansion plate 11 .

[0029] In the present invention, preferably, a guide rod 23 is symmetrically slidably connected to one end of the expansion plate 11 , the bottom of the guide rod 23 is fixedly connected to the support plate 18 , and the top of the guide rod 23 is fixedly connected to the limiting block 24 .

[0030] The working principle and use process of the utility model are as follows: when in use, a robot leg transmission assembly is formed by setting a first connecting joint 1, a thigh support assembly 2, a second connecting joint 3, a calf support assembly 4, a third connecting joint 5, a foot support assembly 6, a first support block 7, a second support block 8, a first pneumatic telescopic rod 9 and a second pneumatic telescopic rod 25, and then the robot leg bending operation can be completed under the telescopic action of the first pneumatic telescopic rod 9 and the second pneumatic telescopic rod 25. The support mechanism composed of a base 10, an expansion plate 11, a third screw 17, a support plate 18, an anti-slip pad 19, a hand screw 21, a spring 22 and a guide rod 23 arranged at the bottom of the foot support assembly 6 can improve the stability of the robot during movement. By rotating the hand screw 21, the support plate 18 is smoothly moved to the bottom of the foot support assembly 6 under the rotation of the third screw 17 and the guidance of the guide rod 23, so as to increase the foot support assembly 6. The contact area with the ground is increased, and the spring 22 provided between the hand-tightening piece 21 and the expansion plate 11 can avoid loosening. At the same time, the anti-skid pad 19 provided at the bottom of the support plate 18 can increase the anti-skid ability of the robot during movement, thereby avoiding the robot from overturning during movement. By setting an expansion mechanism composed of a base 10, an expansion plate 11, a knob 12, a first screw 13, an active bevel gear 14, a driven bevel gear 15 and a second screw 16, during the contact between the robot foot and the ground, the knob 12 can be turned to make the first screw 13 and the active bevel gear 14 rotate inside the base 10, and at the same time drive the driven bevel gear 15 and the second screw 16 to rotate, and the expansion plate 11 can be expanded and contracted under the threaded connection of the second screw 16, thereby further increasing the contact area between the robot foot and the ground, so as to further improve the stability of the robot during movement.

[0031] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot leg transmission assembly, comprising a first connecting joint (1), characterized in that: The lower end of the inner side of the first connection joint (1) is rotatably connected to a thigh support assembly (2), the lower end of the outer side of the thigh support assembly (2) is rotatably connected to a second connection joint (3), the lower end of the inner side of the second connection joint (3) is rotatably connected to a calf support assembly (4), the lower end of the outer side of the calf support assembly (4) is rotatably connected to a third connection joint (5), the lower end of the outer side of the third connection joint (5) is rotatably connected to a foot support assembly (6), one side of the upper end of the foot support assembly (6) and one end of the second connection joint (3) are respectively fixedly connected to a second support block (8) and a first support block (7), the first support block (7) and the second support block (8) are rotatably connected to a first pneumatic telescopic rod (9), the first connection joint (1) and the second connection joint (3) are connected to the second connection joint (3) and The third connecting joints (5) are rotatably connected with a second pneumatic telescopic rod (25); the bottom of the foot support assembly (6) is fixedly connected with a base (10); an expansion plate (11) is symmetrically arranged on one side of the base (10); a first screw rod (13) is rotatably connected inside the base (10); a knob (12) is fixedly connected to the top of the first screw rod (13); an active bevel gear (14) is fixedly connected to the upper end of the outer side of the first screw rod (13); a driven bevel gear (15) is meshingly connected to the outer side of the active bevel gear (14); a second screw rod (16) is fixedly connected inside the driven bevel gear (15); a third screw rod (17) is rotatably connected inside the expansion plate (11); a support plate (18) is rotatably connected to the bottom of the third screw rod (17); and a hand-tightening piece (21) is fixedly connected to the top of the third screw rod (17).

2. A robot leg transmission assembly according to claim 1, characterized in that: Four of the second pneumatic telescopic rods (25) are symmetrically arranged, with two being symmetrically arranged between the first connecting joint (1) and the second connecting joint (3), and two being symmetrically arranged between the second connecting joint (3) and the third connecting joint (5).

3. The robot leg transmission assembly according to claim 1, characterized in that: The knob (12) is located at the top of the base (10) and is rotatably connected.

4. The robot leg transmission assembly according to claim 1, characterized in that: The driven bevel gear (15) and the second screw rod (16) are rotatably connected inside the base (10), and the second screw rod (16) is threadably connected inside the expansion plate (11).

5. The robot leg transmission assembly according to claim 1, characterized in that: The bottom of the support plate (18) is fixedly connected with an anti-skid pad (19), and the lower end of the anti-skid pad (19) is provided with a tooth groove (20).

6. The robot leg transmission assembly according to claim 1, characterized in that: A spring (22) is arranged on the outside of the third screw rod (17), and the spring (22) is located between the hand-tightening piece (21) and the expansion plate (11).

7. The robot leg transmission assembly according to claim 1, characterized in that: A guide rod (23) is symmetrically and slidably connected to one end of the expansion plate (11), a support plate (18) is fixedly connected to the bottom of the guide rod (23), and a limit block (24) is fixedly connected to the top of the guide rod (23).

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