Leg structure of biped robot

Abstract

The utility model discloses a leg structure of a biped robot, which belongs to the technical field of robots and comprises supporting legs, a first rectangular cylinder and a second rectangular cylinder, rectangular plates are sleeved on the outer walls of the first rectangular cylinder and the second rectangular cylinder, canvas is fixedly connected between the two rectangular plates, and the canvas is fixedly connected with the supporting legs. Connecting columns are symmetrically and fixedly connected to the two sides of the first rectangular cylinder and the two sides of the second rectangular cylinder, the side walls of the multiple connecting columns are rotationally sleeved with mounting sleeves, limiting cylinders are fixedly connected to the lower ends of the mounting sleeves on the side walls of the connecting columns fixedly connected to the side wall of the first rectangular cylinder, and telescopic rods are slidably connected to the interiors of the limiting cylinders; the telescopic rod slidably extends to the outer side of the limiting cylinder and is fixedly connected with a mounting sleeve rotationally connected to the side wall of a connecting column fixedly connected to the side wall of the second rectangular cylinder in a sleeving mode. Compared with the prior art, the device can effectively protect parts of the legs of the robot, and meanwhile, the parts of the legs of the robot can be cooled.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, in particular to a leg structure of a biped robot. Background Art

[0002] With the advancement of science and technology, intelligent robots are increasingly being used in all walks of life, especially in the service industry. In the past, the form of intelligent robots was relatively simple. For example, the walking system of intelligent robots generally used a wheeled motion system instead. Now, intelligent robots are increasingly tending to be humanoid in design, so bipedal robots came into being.

[0003] The legs of existing bipedal robots are mostly exposed, and there are many gears, bearings and other parts in the legs of bipedal robots that are constantly running. The leg structure does not have any dust prevention measures, so dust in the air can easily enter the interior of the gears and bearings. Therefore, long-term dust accumulation will directly affect the normal operation of the bipedal robot and even cause damage. Therefore, a bipedal robot leg structure is urgently needed to improve this problem. Utility Model Content

[0004] The utility model aims to provide a leg structure of a biped robot to solve the problems raised in the background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a leg structure of a bipedal robot, including a leg in the leg structure of the bipedal robot, wherein the upper and lower parts of the leg are respectively sealed with a first rectangular tube and a second rectangular tube, the outer walls of the first rectangular tube and the second rectangular tube are both sleeved with a rectangular plate, and the rectangular plates are spliced, a canvas is fixedly connected between the two rectangular plates, both sides of the first rectangular tube and the second rectangular tube are symmetrically fixedly connected with connecting columns, the side walls of the plurality of connecting columns are rotatably sleeved with mounting sleeves, and the side walls of the first rectangular tube are respectively sleeved with a first rectangular tube and a second rectangular tube. The lower ends of the mounting sleeves on the side walls of the connecting columns fixedly connected to the wall are fixedly connected to the limiting cylinder, the interior of the limiting cylinder is slidably connected with a telescopic rod, and the telescopic rod slides and extends to the outside of the limiting cylinder and is fixedly connected to the mounting sleeve rotatably sleeved on the side walls of the connecting columns fixedly connected to the side walls of the second rectangular cylinder, the outer wall of the first rectangular cylinder is fixedly connected to a dust removal box, one side of the dust removal box is fixedly connected to a rectangular frame, the interior of the rectangular frame is fixedly connected to a fan, a strip hole is provided on the top surface of the dust removal box, a filter screen is clamped inside the strip hole, and the filter screen extends to the interior of the dust removal box.

[0006] Preferably, a sealing ring is fixedly connected to one side of the first rectangular tube and the second rectangular tube that are in contact with the supporting legs.

[0007] Preferably, the spliced ​​rectangular plates are respectively fixedly connected with mounting plates, and threaded holes are provided on the two mounting plates.

[0008] Preferably, the two mounting plates are threadedly mounted by means of screws.

[0009] Preferably, the inner wall of the limiting cylinder is symmetrically provided with limiting grooves, and the side walls of the telescopic rod are symmetrically fixedly connected with limiting blocks.

[0010] Preferably, the two limiting blocks fixedly connected to the side wall of the telescopic rod are respectively slidably connected to the inside of two limiting grooves starting from the inner wall of the limiting cylinder.

[0011] Preferably, a rectangular hole is fixedly opened on one side of the dust removal box, a collecting frame is clamped inside the rectangular hole, and the collecting frame extends into the dust removal box and slidably fits on the side wall of the filter screen.

[0012] Compared with the prior art, the technical effects and advantages of the utility model are as follows:

[0013] The leg structure of the bipedal robot, when it is necessary to protect the leg parts of the bipedal robot, firstly, the first rectangular tube and the second rectangular tube are respectively sleeved on the thigh and calf of the robot, and then the two rectangular plates are respectively fixedly installed on the first rectangular tube and the second rectangular tube through screws and mounting plates, and the two rectangular plates are respectively located on the upper and lower sides of the limit tube and the telescopic rod, and then the canvas is fixedly sleeved on the two rectangular plates, so as to protect the limit tube and the telescopic rod, when the robot needs to walk, the connection between the thigh and the calf is bent, and at this time, the two sets of limit tubes and telescopic rods will shrink and extend with the bending of the robot legs, so as to cooperate with the walking of the robot legs, and then the air is pumped into the interior of the dust removal box by the fan and filtered through the filter net into the interior of the first rectangular tube and then conducted to the interior of the second rectangular tube through the canvas, and with the continuous operation of the fan, a steady stream of air will be pumped into it, so as to dissipate the heat of the robot leg parts. Compared with the prior art, the device can effectively protect the robot leg parts and dissipate the heat of the robot leg parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of the structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the leg structure of the bipedal robot in the utility model;

[0017] Figure 3 This is a schematic diagram of the connection between the first rectangular tube and the second rectangular tube in the utility model;

[0018] Figure 4 For this utility model Figure 1 A schematic diagram of the structure of part B in the middle is enlarged;

[0019] Figure 5 It is a planar cross-sectional view of the limiting cylinder in the utility model;

[0020] Figure 6 For this utility model Figure 1 A schematic diagram of the enlarged structure of part A.

[0021] Description of reference numerals:

[0022] In the figure: 1. support leg; 2. first rectangular tube; 3. second rectangular tube; 4. rectangular plate; 5. canvas; 6. connecting column; 7. limiting tube; 8. telescopic rod; 9. dust removal box; 10. rectangular frame; 11. filter screen; 12. fan; 13. sealing ring; 14. mounting plate; 15. screw; 16. limiting block; 17. rectangular hole; 18. collecting frame. DETAILED DESCRIPTION

[0023] In the following description, a large number of specific details are given to provide a more thorough understanding of the utility model. However, it is obvious to those skilled in the art that the utility model can be implemented without one or more of these details. In other examples, in order to avoid confusion with the utility model, some technical features known in the art are not described.

[0024] Unless otherwise defined, the directions of up, down, left, right, front, back, inside and outside involved in this document are based on the directions of up, down, left, right, front, back, inside and outside in the figures shown in the present utility model, and are explained here together.

[0025] The connection method can be bonding, welding, bolt connection, etc., depending on actual needs.

[0026] like Figures 1 to 6The main structure of the leg structure of a bipedal robot shown is a leg 1, the upper and lower parts of the leg 1 are respectively sealed with a first rectangular tube 2 and a second rectangular tube 3, and the first rectangular tube 2 and the second rectangular tube 3 are fixedly connected with a sealing ring 13 on one side that is in contact with the leg 1. The sealing ring 13 can effectively form a seal between the inner wall of the first rectangular tube 2 and the second rectangular tube 3 and the outer wall of the leg 1. The shapes of the first rectangular tube 2 and the second rectangular tube 3 are both rectangular, so that they can better fit with the outer wall of the leg 1. The outer walls of the first rectangular tube 2 and the second rectangular tube 3 are both sleeved with a rectangular plate 4, and the rectangular plates 4 are spliced. The splicing of the rectangular plates 4 is respectively fixedly connected with mounting plates 14, and threaded holes are opened on the two mounting plates 14. The two mounting plates 14 are threadedly installed by screws 15 passing through the two rectangular plates 4. They are respectively formed by splicing two U-shaped plates, and the two U-shaped plates are fixedly connected with a mounting plate 14 at the connection points, and the screw 15 is threadedly penetrated through the two mounting plates 14, so that the rectangular plate 4 can be effectively installed through the mounting plate 14 and the screw 15, and a canvas 5 is fixedly connected between the two rectangular plates 4. At this time, because the canvas 5 is a soft material, the canvas 5 is set at the connection bend of the leg 1 without hindering the normal walking of the leg 1;

[0027] Both sides of the first rectangular tube 2 and the second rectangular tube 3 are symmetrically fixedly connected with connecting columns 6, and the side walls of the plurality of connecting columns 6 are rotatably sleeved with mounting sleeves. The lower ends of the mounting sleeves of the side walls of the connecting columns 6 fixedly connected to the side walls of the first rectangular tube 2 are fixedly connected to the limiting tube 7, and the inside of the limiting tube 7 is slidably connected with a telescopic rod 8, and the telescopic rod 8 slides and extends to the outside of the limiting tube 7 and is fixedly connected with the mounting sleeve rotatably sleeved on the side wall of the connecting column 6 fixedly connected to the side wall of the second rectangular tube 3. At this time, the inner wall of the limiting tube 7 is symmetrically provided with limiting grooves, and the side wall of the telescopic rod 8 The limiting blocks 16 are symmetrically fixedly connected on the upper side, and the two limiting blocks 16 fixedly connected on the side wall of the telescopic rod 8 are respectively slidably connected to the inside of the two limiting grooves starting from the inner wall of the limiting cylinder 7. The two limiting blocks 16 on the side wall of the telescopic rod 8 can effectively limit the sliding direction of the telescopic rod 8. The two groups of limiting cylinders 7 and the telescopic rod 8 are rotatably connected to the connecting columns 6 fixedly connected on the side walls of the first rectangular cylinder 2 and the second rectangular cylinder 3. Therefore, as the robot legs are bent, the two groups of limiting cylinders 7 and the telescopic rod 8 will shrink and extend accordingly, so as to cooperate with the walking of the robot legs;

[0028] The outer wall of the first rectangular tube 2 is fixedly connected to a dust removal box 9, one side of the dust removal box 9 is fixedly connected to a rectangular frame 10, the interior of the rectangular frame 10 is fixedly connected to a fan 12, and the top surface of the dust removal box 9 is provided with a strip hole, a filter screen 11 is clamped inside the strip hole, and the filter screen 11 extends to the interior of the dust removal box 9. Thanks to the filter screen 11 sliding and extending to the interior of the strip hole, when there is too much dust on the surface of the filter screen 11 and the dust does not automatically fall into the collection frame 18, the filter screen 11 can be pulled out of the strip hole and the dust accumulated on the surface of the filter screen 11 can be cleaned in time.

[0029] A rectangular hole 17 is fixedly opened on one side of the dust removal box 9, and a collecting frame 18 is clamped inside the rectangular hole 17. The collecting frame 18 extends into the dust removal box 9 and slides onto the side wall of the filter 11. When too much dust accumulates inside the collecting frame 18, the collecting frame 18 can be pulled out of the rectangular hole 17, so the dust in the collecting frame 18 can be cleaned in time.

[0030] How it works

[0031] The leg structure of the bipedal robot, when in use, firstly sleeves the first rectangular tube 2 and the second rectangular tube 3 onto the thigh and calf of the robot respectively, then fixes the two rectangular plates 4 onto the side walls of the first rectangular tube 2 and the second rectangular tube 3 respectively through the screws 15 and the mounting plates 14, and makes the two rectangular plates 4 located at the upper and lower sides of the limit tube 7 and the telescopic rod 8 installed between the first rectangular tube 2 and the second rectangular tube 3 respectively, then fixes the canvas 5 onto the two rectangular plates 4, so as to protect the two sets of limit tubes 7 and the telescopic rod 8, at this time, when the robot needs to walk, the connection between the thigh and the calf is bent, and at this time The two sets of limiting cylinders 7 and telescopic rods 8 are rotatably connected to the connecting columns 6 fixedly connected on the side walls of the first rectangular cylinder 2 and the second rectangular cylinder 3. Therefore, as the robot legs are bent, the two sets of limiting cylinders 7 and telescopic rods 8 will shrink and extend accordingly to cooperate with the walking of the robot legs. Subsequently, the air is pumped into the interior of the rectangular frame 10 and the dust removal box 9 through the fan 12 and enters the interior of the first rectangular cylinder 2 after being filtered through the filter 11, and the air is conducted to the interior of the second rectangular cylinder 3 through the canvas 5. As the fan 12 continues to operate, a steady stream of air will be pumped into it to dissipate the heat of the robot leg components.

[0032] It should be noted that, in this article, relational terms such as one and two are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions. The sentence "includes an element defined by ... does not exclude the existence of other identical elements in the process, method, article or device including the element".

[0033] 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 bipedal robot leg structure, comprising a leg (1) in the bipedal robot leg structure, characterized in that: The upper and lower halves of the support legs (1) are respectively sealedly sleeved with a first rectangular tube (2) and a second rectangular tube (3); the outer walls of the first rectangular tube (2) and the second rectangular tube (3) are sleeved with rectangular plates (4), and the rectangular plates (4) are spliced; a canvas (5) is fixedly connected between the two rectangular plates (4); both sides of the first rectangular tube (2) and the second rectangular tube (3) are symmetrically fixedly connected with connecting columns (6); the side walls of the plurality of connecting columns (6) are rotatably sleeved with mounting sleeves; the lower ends of the mounting sleeves on the side walls of the connecting columns (6) fixedly connected to the side walls of the first rectangular tube (2) are fixedly connected to the limiting tubes (7); The interior of the limiting cylinder (7) is slidably connected to a telescopic rod (8), and the telescopic rod (8) is slidably extended to the outside of the limiting cylinder (7) and is fixedly connected to a mounting sleeve rotatably sleeved on the side wall of a connecting column (6) fixedly connected to the side wall of the second rectangular cylinder (3); the outer wall of the first rectangular cylinder (2) is fixedly connected to a dust removal box (9), one side of the dust removal box (9) is fixedly connected to a rectangular frame (10), the interior of the rectangular frame (10) is fixedly connected to a fan (12), a strip hole is opened on the top surface of the dust removal box (9), a filter screen (11) is clamped inside the strip hole, and the filter screen (11) extends to the interior of the dust removal box (9).

2. The leg structure of a biped robot according to claim 1, characterized in that: The first rectangular tube (2) and the second rectangular tube (3) are both fixedly connected to a sealing ring (13) on one side where they are in contact with the supporting leg (1).

3. The leg structure of a biped robot according to claim 1, characterized in that: The spliced ​​rectangular plates (4) are respectively fixedly connected to mounting plates (14), and threaded holes are provided on the two mounting plates (14).

4. The leg structure of a biped robot according to claim 3, characterized in that: The two mounting plates (14) are threadedly mounted via screw rods (15).

5. The leg structure of a biped robot according to claim 1, characterized in that: The inner wall of the limiting cylinder (7) is symmetrically provided with limiting grooves, and the side wall of the telescopic rod (8) is symmetrically fixedly connected with a limiting block (16).

6. The leg structure of a biped robot according to claim 5, characterized in that: The two limit blocks (16) fixedly connected to the side wall of the telescopic rod (8) are respectively slidably connected to the inside of two limit grooves starting from the inner wall of the limit cylinder (7).

7. The leg structure of a biped robot according to claim 1, characterized in that: A rectangular hole (17) is fixedly opened on one side of the dust removal box (9), a collection frame (18) is clamped inside the rectangular hole (17), and the collection frame (18) extends into the interior of the dust removal box (9) and slidably fits on the side wall of the filter screen (11).

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