Mechanical leg and robot
By designing a mechanical leg including a first leg mechanism, a second leg mechanism and a driving mechanism, the problems of complex structure and poor stability of the mechanical leg in the prior art are solved, and efficient travel and stability improvement of the robot are achieved.
Patent Information
- Application Number
- CN202420288502.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-06
- Publication Date
- 2025-02-28
- Estimated Expiration
- 2034-02-06
AI Technical Summary
The mechanical legs of existing robots use linkage structure, which leads to complex structure, large space occupancy, and difficult to achieve balance, and poor stability.
A mechanical leg is designed, including a first leg mechanism, a second leg mechanism and a driving mechanism, and the expansion and self-balancing of the mechanical leg are achieved through the driving mechanism. The second leg mechanism is slidably connected to the first leg mechanism, and a limiting member and a touch switch are provided to control the sliding range and avoid collision.
It improves the travel efficiency and stability of the robot, avoids collision and damage of parts, and enhances the mobility in a limited space.
Smart Images
Figure 00000000_0000_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a mechanical leg and a robot. Background Art
[0002] With the continuous development of science and technology, robots are now widely used in defense, military industry, biomedicine, transportation and other fields. In order to enhance the robot's ability to overcome obstacles, the robot's mechanical legs in related technologies use a connecting rod structure to achieve telescopic extension to adjust the distance between the body and the foot of the mechanical leg. However, due to the large amount of telescopic extension required for the mechanical leg, the connecting rod structure includes multiple connecting rods and hinges, which is complex and requires a large space. In addition, the angles between the connecting rods are constantly changing, making it difficult for the robot to achieve balance and poor stability. Utility Model Content
[0003] The embodiments of the utility model provide a mechanical leg and a robot, aiming to improve the traveling efficiency of the robot, ensure the stability of the robot, and prevent the robot parts from being damaged by collision.
[0004] In a first aspect, an embodiment of the utility model provides a mechanical leg, comprising:
[0005] A first leg mechanism, used for rotationally connecting to the body of the robot, wherein the first leg mechanism is provided with a first limiting member;
[0006] A second leg mechanism, slidably connected to the first leg mechanism, the second leg mechanism being provided with a second limiting member;
[0007] A driving mechanism, the driving mechanism is used to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage, and drive the second leg mechanism to move along a first direction relative to the first leg mechanism, so that the mechanical leg can be extended and retracted, and the first direction is the extension and retraction direction of the mechanical leg;
[0008] The second limiting member is used to abut against the first limiting member when the second leg mechanism slides to an extreme position relative to the first leg mechanism, so as to limit the sliding of the second leg mechanism.
[0009] In the mechanical leg of the present invention, the first leg mechanism is provided with at least two first position-limiting members, the two first position-limiting members are arranged at intervals along the first direction, and the second position-limiting member is located between the two first position-limiting members.
[0010] In the mechanical leg of the present invention, one of the first leg mechanism and the second leg mechanism is provided with a touch switch, and the other is provided with a touch member, and the touch switch is used to abut against the touch member to send a signal when the second leg mechanism slides to an extreme position relative to the first leg mechanism.
[0011] In the mechanical leg of the present invention, the first leg mechanism is also provided with a third limiter, and the fuselage is provided with a fourth limiter. The third limiter is used to abut against the fourth limiter when the first leg mechanism and the second leg mechanism are rotated to an extreme position as a whole relative to the fuselage, so as to limit the rotation of the first leg mechanism and the second leg mechanism as a whole relative to the fuselage.
[0012] In the mechanical leg of the utility model, the first leg mechanism is further provided with a weight-reducing groove, and the third limiting member is provided with a clamping portion, and the clamping portion is clamped in the weight-reducing groove.
[0013] In the mechanical leg of the utility model, the mechanical leg further comprises an angle detection mechanism, and the angle detection mechanism is used to detect the rotation angle of the first leg mechanism and the second leg mechanism as a whole when the first leg mechanism and the second leg mechanism as a whole rotate relative to the fuselage.
[0014] In the mechanical leg of the utility model, the angle detection mechanism comprises:
[0015] A magnet sensor, disposed on the body;
[0016] A magnet, disposed on the first leg mechanism and arranged opposite to the magnet sensor;
[0017] The magnet sensor is used to sense the magnet when the first leg mechanism and the second leg mechanism rotate as a whole relative to the body, so as to detect the rotation angle of the first leg mechanism and the second leg mechanism as a whole.
[0018] In the mechanical leg of the present invention, the driving mechanism also includes a first driving mechanism and a second driving mechanism. The first driving mechanism can cooperate with the second driving mechanism to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage, and cooperate to drive the second leg mechanism to move relative to the first leg mechanism along the first direction.
[0019] In the mechanical leg of the utility model, the first driving mechanism includes a first motor and a first transmission assembly, the second driving mechanism includes a second motor and a second transmission assembly, the first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged;
[0020] The first transmission assembly is connected to the output shaft of the first motor and connected to the second leg mechanism, and the second transmission assembly is connected to the output shaft of the second motor and connected to the second leg mechanism;
[0021] The rotation axis of the first leg mechanism is coaxial with the rotation axes of the first motor and the second motor.
[0022] In the mechanical leg of the utility model, the second leg mechanism comprises:
[0023] a sliding portion, slidably connected to the first leg mechanism; and
[0024] A foot portion, rotatably connected to the sliding portion, the foot portion being used to support the bearing surface;
[0025] The driving mechanism is also used to drive the foot to rotate relative to the sliding part, so that the foot rolls on the bearing surface to achieve the movement of the robot.
[0026] In a second aspect, an embodiment of the utility model provides a robot, comprising a body and a mechanical leg as described in the first aspect above, wherein the first leg mechanism of the mechanical leg is rotatably connected to the body.
[0027] The mechanical leg and robot provided by the embodiment of the utility model drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the body through the driving mechanism, and drive the second leg mechanism to move relative to the first leg mechanism along the first direction to achieve the extension and retraction of the mechanical leg, so as to achieve the self-balancing of the robot when walking or standing. Among them, the second leg mechanism can move linearly along the first direction relative to the first leg mechanism, that is, the extension and retraction direction of the mechanical leg, which is conducive to controlling the volume of the robot in the lateral direction perpendicular to the first direction, ensuring the extension and retraction amount of the mechanical leg, and improving the robot's mobility in a limited space. In addition, the activity direction of the second leg mechanism is consistent with the extension and retraction direction of the mechanical leg, which is conducive to the robot maintaining balance and improving the stability of the robot's movement.
[0028] In addition, a first limit member and a second limit member are respectively provided on the first leg mechanism and the second leg mechanism, so that when the second leg mechanism moves to an extreme position along the first direction relative to the first leg mechanism, the first limit member can abut against the second limit member, thereby limiting the movement of the second leg mechanism relative to the first leg mechanism, ensuring that the second leg mechanism will not collide with the structure on the first leg mechanism, or the second leg mechanism will not separate from the first leg mechanism, which is beneficial to further improve the stability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS
[0029] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.
[0030] Figure 1 A schematic diagram of the structure of a mechanical leg provided by an embodiment of the utility model;
[0031] Figure 2 A front view of a mechanical leg provided by an embodiment of the utility model;
[0032] Figure 3 An exploded schematic diagram of a mechanical leg provided by an embodiment of the utility model;
[0033] Figure 4 A schematic diagram of the structure of the sliding part provided in the embodiment of the utility model;
[0034] Figure 5 A schematic structural diagram of a first leg mechanism, a first transmission assembly and a second transmission assembly provided in an embodiment of the utility model.
[0035] Description of main reference numerals:
[0036] 1. First leg mechanism; 11. First limit member; 12. Support member; 121. Weight reduction groove; 13. Sliding member; 14. Touch switch; 15. Third limit member; 151. Clamping part; 16. Fourth limit member; 2. Second leg mechanism; 21. Second limit member; 22. Sliding part; 221. Sliding groove; 222. First slider; 223. Second slider; 23. Foot; 24. Touch member; 3. Driving mechanism; 31. First driving mechanism; 311. First motor; 312. First transmission assembly; 32. Second driving mechanism; 321. Second motor; 322. Second transmission assembly; 4. Angle detection mechanism; 41. Magnet sensor; 42. Magnet. DETAILED DESCRIPTION
[0037] 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 part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of 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.
[0038] See also Figures 1 to 4In the first aspect, an embodiment of the utility model provides a mechanical leg that can be applied to a robot. Specifically, the mechanical leg includes a first leg mechanism 1, a second leg mechanism 2 and a driving mechanism 3. Among them, the first leg mechanism 1 is used to be rotatably connected to the body of the robot, and the first leg mechanism 1 is provided with a first limiter 11. The second leg mechanism 2 is slidably connected to the first leg mechanism 1, and the second leg mechanism 2 is provided with a second limiter 21. The driving mechanism 3 is used to drive the first leg mechanism 1 and the second leg mechanism 2 to rotate as a whole relative to the body, and to drive the second leg mechanism 2 to move relative to the first leg mechanism 1 along a first direction so that the mechanical leg can be extended and retracted, and the first direction is the extension and retraction direction of the mechanical leg. The second limiter 21 is used to abut against the first limiter 11 when the second leg mechanism 2 slides to the extreme position relative to the first leg mechanism 1, so as to limit the sliding of the second leg mechanism 2.
[0039] The first direction can be Figure 1 As shown in the Z direction in FIG, the first direction is the extension and retraction direction of the mechanical leg.
[0040] It can be understood that the driving mechanism 3 can drive the first leg mechanism 1 and the second leg mechanism 2 to rotate as a whole relative to the body, and drive the second leg mechanism 2 to move relative to the first leg mechanism 1 along the first direction to achieve the extension and retraction of the mechanical legs, so as to achieve the self-balancing of the robot when walking or standing. Among them, the second leg mechanism 2 is slidably connected to the first leg mechanism 1, and the second leg mechanism 2 is driven by the driving mechanism 3 to move linearly along the first direction relative to the first leg mechanism 1 to achieve the extension and retraction of the mechanical legs. While ensuring the extension and retraction of the mechanical legs, the structure of the mechanical legs can be simplified, the volume of the mechanical legs in the direction perpendicular to the first direction can be controlled, and the mobility of the robot in a limited space can be improved. In addition, the sliding direction of the second leg mechanism 2 is consistent with the extension and retraction direction of the mechanical legs, which is conducive to the robot maintaining its own balance when the mechanical legs are extended and retracted, and improving the robot's motion stability.
[0041] In addition, by setting a first limit member 11 on the first leg mechanism 1 and a second limit member 21 on the second leg mechanism 2, the first limit member 11 can abut against the second limit member 21 when the second leg mechanism 2 moves to the extreme position along the first direction relative to the first leg mechanism 1, thereby limiting the sliding of the second leg mechanism 2 relative to the first leg mechanism 1, controlling the sliding range of the second leg mechanism 2, ensuring that the second leg mechanism 2 will not collide with the structure on the first leg mechanism 1, or the second leg mechanism 2 will not separate from the first leg mechanism 1, which is beneficial to further improve the stability of the robot.
[0042] Specifically, one of the second leg mechanism 2 and the first leg mechanism 1 may be provided with a slide groove 221 extending along the first direction, and the other may be provided with a sliding member 13 extending along the first direction, and the sliding member 13 is inserted into the slide groove 221 to achieve sliding connection between the first leg mechanism 1 and the second leg mechanism 2. For example, Figure 1 and Figure 3 As shown, the second leg mechanism 2 is provided with two slide grooves 221, and the two slide grooves 221 are respectively located on both sides of the second leg mechanism 2 along the X direction, the first leg mechanism 1 includes a support member 12 and two sliding members 13, the support member 12 and the sliding member 13 extend along the first direction, the support member 12 is rotatably connected to the fuselage, the first limit member 11 can be connected to the support member 12, the two sliding members 13 are respectively connected to both sides of the support member 12 along the X direction, and are respectively penetrated in the two slide grooves 221 of the second leg mechanism 2, so as to realize the sliding connection between the first leg mechanism 1 and the second leg mechanism 2.
[0043] In some embodiments, such as Figure 1 , Figure 2 and Figure 5 As shown, the driving mechanism 3 includes a first driving mechanism 31 and a second driving mechanism 32. The first driving mechanism 31 can cooperate with the second driving mechanism 32 to drive the first leg mechanism 1 and the second leg mechanism 2 to rotate relative to the body as a whole, and cooperate to drive the second leg mechanism 2 to move along the first direction relative to the first leg mechanism 1. The first driving mechanism 31 and the second driving mechanism 32 cooperate with each other to realize the rotation of the mechanical legs and the extension and retraction of the mechanical legs, which is conducive to reducing the number of the total driving mechanisms 3 of the robot while ensuring the response speed of the robot, making the structure of the robot more compact, reducing the size of the robot, and facilitating the robot to move in a limited space.
[0044] Further, the first driving mechanism 31 includes a first motor 311 and a first transmission assembly 312, and the second driving mechanism 32 includes a second motor 321 and a second transmission assembly 322. The first motor 311 and the second motor 321 are used to be connected to the fuselage, and the first motor 311 and the second motor 321 are coaxially arranged. The first transmission assembly 312 is connected to the output shaft of the first motor 311 and connected to the second leg mechanism 2, and the second transmission assembly 322 is connected to the output shaft of the second motor 321 and connected to the second leg mechanism 2. The rotation axis of the first leg mechanism 1 is coaxial with the rotation axis of the first motor 311 and the second motor 321. It can be understood that the first motor 311 drives the second leg mechanism 2 through the first transmission assembly 312, and the second motor 321 drives the second leg mechanism 2 through the second transmission assembly 322. By controlling the first motor 311 and the second motor 321, the overall movement of the second leg mechanism 2 can be adjusted to achieve the sliding of the second leg mechanism 2 relative to the first leg mechanism 1, or the second leg mechanism 2 drives the first leg mechanism 1 to rotate as a whole relative to the fuselage.
[0045] It is worth mentioning that the first motor 311 and the second motor 321 are coaxially arranged. In other words, the output shaft of the first motor 311 and the output shaft of the second motor 321 are coaxially arranged. Specifically, the output shaft of the first motor 311 and the output shaft of the second motor 321 can be arranged relatively spaced to achieve coaxial arrangement, or the output shaft of the first motor 311 can be nested with the output shaft of the second motor 321 to achieve coaxial arrangement. The output shaft of the first motor 311 and the output shaft of the second motor 321 are coaxially arranged, so that the first motor 311 and the second motor 321 can be connected in parallel, thereby reducing the parameters required for motor drive, reducing drive errors, improving the running speed of the robot, and reducing the use cost of the robot. The rotation axis of the first leg mechanism 1 is coaxially arranged with the rotation axis of the first motor 311 and the second motor 321, so that the first drive mechanism 31 and the second drive mechanism 32 cooperate to drive the first leg mechanism 1 to rotate.
[0046] Exemplarily, the first transmission assembly 312 and the second transmission assembly 322 can be driven by belt drive or chain drive. Taking the first transmission assembly 312 and the second transmission assembly 322 as belt drive assemblies as an example, the first drive mechanism 31 and the second drive mechanism 32 can be respectively located on opposite sides of the first leg mechanism 1 along the Y direction, the first motor 311 and the second motor 321 are arranged on the fuselage, the first transmission assembly 312 may include a first driving wheel, a first driven wheel and a first synchronous belt, the second transmission assembly 322 may include a second driving wheel, a second driven wheel and a second synchronous belt, the first driving wheel is connected to the output shaft of the first motor 311, the first driven wheel is rotatably connected to the support 12, the first synchronous belt is wound around the outer periphery of the first driving wheel and the first driven wheel and connected to one side of the second leg mechanism 2 along the X direction, the second driving wheel is connected to the output shaft of the second motor 321, the second driven wheel is rotatably connected to the support 12, and the second synchronous belt is wound around the outer periphery of the second driving wheel and the second driven wheel and connected to the other side of the second leg mechanism 2 along the X direction.
[0047] When the first motor 311 drives the first driving wheel to rotate, the first driving wheel drives the first driven wheel to rotate through the first synchronous belt, and when the second motor 321 drives the second driving wheel to rotate, the second driving wheel drives the second driven wheel to rotate through the second synchronous belt. By controlling the rotation direction of the first motor 311 and the second motor 321, the direction of the force applied by the first synchronous belt and the second synchronous belt to the second leg mechanism 2 can be changed, so that the second leg mechanism 2 can be driven to slide relative to the first leg mechanism 1, or the second leg mechanism 2 and the first leg mechanism 1 can be driven to rotate relative to the fuselage as a whole. For example, when the first synchronous belt and the second synchronous belt pull the second leg mechanism 2 toward the fuselage at the same time or pull the second leg mechanism 2 away from the fuselage at the same time, the second leg mechanism 2 can be driven to slide relative to the first leg mechanism 1 along the first direction, and when one of the first synchronous belt and the second synchronous belt pulls the second leg mechanism 2 toward the fuselage and the other pulls the second leg mechanism 2 away from the fuselage, the second leg mechanism 2 can drive the first leg mechanism 1 to rotate relative to the fuselage.
[0048] Of course, in other embodiments, the first driving mechanism 31 and the second driving mechanism 32 can also be used to respectively realize the rotation of the first leg mechanism 1 relative to the fuselage, and the movement of the second leg mechanism 2 relative to the first leg mechanism 1. For example, the first driving mechanism 31 may include a first motor 311, which may be a linear motor. The first motor 311 is disposed on the support member 12 and connected to the second leg mechanism 2 to drive the second leg mechanism 2 to slide along the first direction relative to the first leg mechanism 1. The second driving mechanism 32 may include a second motor 321, which may be a rotary motor. The second motor 321 is disposed on the fuselage and can be directly or indirectly connected to the support member 12 through a second transmission assembly 322 to drive the first leg mechanism 1 and the second leg mechanism 2 to rotate relative to the fuselage as a whole.
[0049] In some embodiments, such as Figure 1 , Figure 3 and Figure 4 As shown, the second leg mechanism 2 includes a sliding portion 22 and a foot 23, the sliding portion 22 is slidably connected to the first leg mechanism 1, and the foot 23 is connected to the sliding portion 22 and is used to support the bearing surface. The foot 23 is rotatably connected to the sliding portion 22, and the driving mechanism 3 is also used to drive the foot 23 to rotate relative to the sliding portion 22, so that the foot 23 rolls on the bearing surface to achieve the movement of the robot. It can be understood that the foot 23 may include a roller, the roller is rotatably connected to the sliding portion 22, and the driving mechanism 3 is used to drive the roller to rotate relative to the sliding portion 22, so that the roller rolls on the bearing surface, so that the robot moves forward or backward on the bearing surface to achieve the movement of the robot. The movement of the robot is achieved by rolling the roller on the bearing surface, which is conducive to making the robot suitable for harsh environments with rugged terrain or muddy terrain, and improving the robot's obstacle crossing ability.
[0050] Specifically, the sliding portion 22 may be provided with the above-mentioned sliding groove 221, and cooperate with the sliding member 13 of the first leg mechanism 1 to realize the sliding connection between the second leg mechanism 2 and the first leg mechanism 1. The sliding portion 22 may be provided with the above-mentioned first limiting member 11, and the supporting member 12 may be provided with the above-mentioned second limiting member 21. When the sliding portion 22 slides to the extreme position relative to the sliding member 13, the first limiting member 11 abuts against the second limiting member 21 to limit the sliding of the sliding portion 22.
[0051] For example, Figure 3 As shown, the sliding portion 22 may include a first slider 222 and a second slider 223. The first slider 222 is provided with a first groove body, and the second slider 223 is provided with a second groove body. The second slider 223 is connected to the first slider 222 so that the first groove body and the second groove body are connected to form a slide groove 221. The sliding member 13 is movably clamped in the slide groove 221 to realize the sliding connection between the first leg mechanism 1 and the second leg mechanism 2.
[0052] In other embodiments, the foot 23 may also include a flat plate, which is rotatably connected to the sliding portion 22 and used to support the load-bearing surface. The contact surface between the flat plate and the load-bearing surface is a plane. The driving mechanism 3 can drive the flat plate to rotate relative to the leg, and cooperate with the rotation of the mechanical leg relative to the body, as well as the extension and retraction of the mechanical leg, to realize the movement of the robot.
[0053] Exemplarily, the driving mechanism 3 may include a third driving mechanism (not shown), which is used to drive the foot 23 to rotate relative to the sliding part 22. The third driving mechanism may include a third motor provided on the sliding part 22, the third motor may be a rotary motor, and the foot 23 may be directly or indirectly connected to the third motor through a third transmission assembly, so as to rotate relative to the sliding part 22 under the drive of the third motor.
[0054] In some embodiments, the first leg mechanism 1 is provided with at least two first stoppers 11, the two first stoppers 11 are arranged at intervals along the first direction, and the second stopper 21 is located between the two first stoppers 11. It can be understood that one of the first stoppers 11 is located on the side close to the fuselage in the first direction, and the other first stopper 11 is located on the other side away from the fuselage in the first direction, so that the second leg mechanism 2 slides relative to the first leg mechanism 1 along the first direction to approach the fuselage or move away from the fuselage, and when sliding to any extreme position, the second stopper 21 can abut against a stopper, ensuring that the sliding of the second leg mechanism 2 is limited within a suitable range.
[0055] It can be understood that the robot is provided with a control mechanism, which can be arranged on the body, and the control mechanism is electrically connected to the driving mechanism 3, so as to control the driving mechanism 3 to drive the first leg mechanism 1 and the second leg mechanism 2 to rotate as a whole relative to the body, and drive the second leg mechanism 2 to slide along the first direction relative to the first leg mechanism 1.
[0056] In some embodiments, such as Figure 4 and Figure 5 As shown, one of the first leg mechanism 1 and the sliding part 22 is provided with a touch switch 14, and the other is provided with a touch member 24. The touch switch 14 is used to contact with the touch member 24 to send a signal when the second leg mechanism 2 slides to the limit position relative to the first leg mechanism 1. It can be understood that the touch switch 14 can send a signal when it contacts with the touch member 24. The control mechanism of the robot can receive the signal sent by the touch switch 14 and control the driving mechanism 3 to stop driving the second leg mechanism 2 to slide relative to the first leg mechanism 1 according to the signal, thereby facilitating further ensuring the structural stability of the robot leg.
[0057] Specifically, the first leg mechanism 1 may be provided with two touch switches 14, which are arranged at intervals along the first direction, and the second leg mechanism 2 may be provided with at least one touch member 24, which is located between the two touch switches 14. In this way, no matter the second leg mechanism 2 is close to or away from the fuselage along the first direction relative to the first leg mechanism 1, when the second leg mechanism 2 slides to any extreme position, the touch member 24 can abut against a touch switch 14, so that the touch switch 14 can send a signal to the control mechanism, and after receiving the signal, the control mechanism controls the driving mechanism 3 to stop driving the second leg mechanism 2 to slide relative to the first leg mechanism 1, so as to ensure that the sliding of the second leg mechanism 2 is limited within a suitable range. In addition, since the first leg mechanism 1 only rotates relative to the fuselage, when the control mechanism is arranged on the fuselage, the first leg mechanism 1 is provided with a touch switch 14, which is conducive to the electrical connection between the touch switch 14 and the control mechanism of the robot.
[0058] For example, Figure 4 As shown, the touch member 24 can be connected to the second slider 223 of the sliding part 22, and the touch member 24 extends along the first direction so that both ends of the touch member 24 protrude in the first direction relative to the second slider 223, thereby facilitating the touch member 24 to abut against the touch switch 14 and avoiding collision between the sliding part 22 and the first leg mechanism 1 and / or the structure of the fuselage.
[0059] In some embodiments, such as Figure 2 and Figure 3 As shown, the first leg mechanism 1 is also provided with a third limit member 15, and the fuselage is provided with a fourth limit member 16. The third limit member 15 is used to abut against the fourth limit member 16 when the first leg mechanism 1 and the second leg mechanism 2 are rotated to the extreme position as a whole relative to the fuselage, so as to limit the rotation of the first leg mechanism 1 and the second leg mechanism 2 as a whole relative to the fuselage.
[0060] It can be understood that the driving mechanism 3 can drive the first leg mechanism 1 and the second leg mechanism 2 to rotate as a whole relative to the fuselage. By setting the third limit member 15 on the first leg mechanism 1 and the fourth limit member 16 on the fuselage, when the first leg mechanism 1 and the second leg mechanism 2 are rotated to the extreme position relative to the fuselage as a whole, the third limit member 15 can abut against the fourth limit member 16, thereby limiting the rotation of the first leg mechanism 1 and the second leg mechanism 2, controlling the rotation range of the first leg mechanism 1 and the second leg mechanism 2, and avoiding the first leg mechanism 1, the second leg mechanism 2 colliding with the fuselage, or the first leg mechanism 1 and the second leg mechanism 2 rotating at too large an angle relative to the fuselage, thereby causing instability when the robot is moving or standing.
[0061] Exemplarily, the fuselage may be provided with two fourth limiting members 16, which are respectively located on both sides of the third limiting member 15 along the overall rotation direction of the first leg mechanism 1 and the second leg mechanism 2, so that when the first leg mechanism 1 and the second leg mechanism 2 are rotated to the extreme position in the forward or reverse direction of the rotation direction, the third limiting member 15 can abut against a fourth limiting member 16 to ensure that the rotation angle of the first leg mechanism 1 and the second leg mechanism 2 is limited within an appropriate range.
[0062] Furthermore, the first leg mechanism 1 is also provided with a weight reduction groove 121, and the third limiter 15 is provided with a clamping portion 151, and the clamping portion 151 is clamped in the weight reduction groove 121. It can be understood that the first leg mechanism 1 is provided with the weight reduction groove 121, which is conducive to reducing the overall mass of the mechanical leg, thereby reducing the rotational inertia of the first leg mechanism 1 and the second leg mechanism 2 when the whole rotates relative to the body, which is conducive to reducing the driving energy consumption of the robot and improving the response efficiency of the robot.
[0063] For example, Figure 5 As shown, the support member 12 of the first leg mechanism 1 is provided with a weight reducing groove 121 extending along the first direction, and one end of the third limiting member 15 is provided with a clamping portion 151, which is clamped in the weight reducing groove 121, and the other end of the third limiting member 15 extends along the X direction so that the third limiting member 15 can abut against the fourth limiting member 16 on the fuselage.
[0064] In some embodiments, such as Figure 2 As shown, the mechanical leg also includes an angle detection mechanism 4, which is used to detect the rotation angle of the first leg mechanism 1 and the second leg mechanism 2 as a whole when the first leg mechanism 1 and the second leg mechanism 2 rotate relative to the fuselage. By setting the angle detection mechanism 4, the rotation angle of the first leg mechanism 1 and the second leg mechanism 2 relative to the fuselage is detected, and the detection result is transmitted to the control mechanism, so that the control mechanism knows that the first leg mechanism 1 and the second leg mechanism 2 rotate to the limit position relative to the fuselage according to the detection result, and controls the driving mechanism 3 to stop driving the first leg mechanism 1 and the second leg mechanism 2 to rotate, thereby limiting the rotation angle of the first leg mechanism 1 and the second leg mechanism 2 relative to the fuselage, avoiding the collision between the first leg mechanism 1 and the second leg mechanism 2 and the fuselage, or the rotation angle of the first leg mechanism 1 and the second leg mechanism 2 relative to the fuselage is too large, resulting in instability when the robot moves or stands.
[0065] Further, the angle detection mechanism 4 includes a magnet sensor 41 and a magnet 42. The magnet sensor 41 can be arranged on the fuselage, and the magnet 42 is arranged on the first leg mechanism 1 and is arranged opposite to the magnet sensor 41. The magnet sensor 41 is used to sense the magnet 42 when the first leg mechanism 1 and the second leg mechanism 2 rotate as a whole relative to the fuselage, so as to detect the rotation angle of the first leg mechanism 1 and the second leg mechanism 2 as a whole. It can be understood that when the first leg mechanism 1 and the second leg mechanism 2 rotate as a whole relative to the fuselage, the magnet 42 is driven to rotate, and the magnet sensor 41 can sense the rotation angle of the magnet 42 to detect the rotation angle of the first leg mechanism 1 and the second leg mechanism 2.
[0066] Of course, in other embodiments, the angle detection mechanism 4 may also use other sensors, such as a capacitive angular displacement sensor.
[0067] In the second aspect, the embodiment of the utility model provides a robot, the robot comprises a body and the mechanical leg of the first aspect, the first leg mechanism of the mechanical leg is rotatably connected to the body. It can be understood that the robot with the above-mentioned mechanical leg has all the technical effects of the mechanical leg, that is, it can simplify the structure of the mechanical leg while ensuring the extension amount of the mechanical leg, control the volume of the mechanical leg in a direction perpendicular to the first direction, improve the robot's mobility in a limited space, and can control the sliding range of the second leg mechanism 2 to improve the stability of the robot.
[0068] In a specific application, the robot may be provided with two mechanical legs, and the extension and / or rotation of the two mechanical legs may be controlled to achieve self-balancing of the robot when it is moving or standing.
[0069] The above is only a specific implementation of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the utility model, and these modifications or replacements should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.
Claims
1. A mechanical leg, applied to a robot, characterized in that: include: A first leg mechanism, used for rotationally connecting to the body of the robot, wherein the first leg mechanism is provided with a first limiting member; A second leg mechanism, slidably connected to the first leg mechanism, the second leg mechanism being provided with a second limiting member; A driving mechanism, the driving mechanism is used to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage, and drive the second leg mechanism to move along a first direction relative to the first leg mechanism, so that the mechanical leg can be extended and retracted, and the first direction is the extension and retraction direction of the mechanical leg; The second limiting member is used to abut against the first limiting member when the second leg mechanism slides to an extreme position relative to the first leg mechanism, so as to limit the sliding of the second leg mechanism.
2. The mechanical leg according to claim 1, characterized in that: The first leg mechanism is provided with at least two first limiting members, the two first limiting members are spaced apart along the first direction, and the second limiting member is located between the two first limiting members.
3. The mechanical leg according to claim 1, characterized in that: One of the first leg mechanism and the second leg mechanism is provided with a touch switch, and the other is provided with a touch member. The touch switch is used to abut against the touch member to send a signal when the second leg mechanism slides to an extreme position relative to the first leg mechanism.
4. The mechanical leg according to claim 1, characterized in that: The first leg mechanism is also provided with a third limit member, and the fuselage is provided with a fourth limit member. The third limit member is used to abut against the fourth limit member when the first leg mechanism and the second leg mechanism are rotated to an extreme position as a whole relative to the fuselage, so as to limit the rotation of the first leg mechanism and the second leg mechanism as a whole relative to the fuselage.
5. The mechanical leg according to claim 4, characterized in that: The first leg mechanism is further provided with a weight-reducing groove, and the third position-limiting member is provided with a clamping portion, and the clamping portion is clamped in the weight-reducing groove.
6. The mechanical leg according to claim 1, characterized in that: The mechanical leg further includes an angle detection mechanism, and the angle detection mechanism is used to detect the rotation angle of the first leg mechanism and the second leg mechanism as a whole when the first leg mechanism and the second leg mechanism as a whole rotate relative to the fuselage.
7. The mechanical leg according to claim 6, characterized in that: The angle detection mechanism includes: a magnet sensor, which is arranged on the body; a magnet, which is arranged on the first leg mechanism and is arranged opposite to the magnet sensor; the magnet sensor is used to sense the magnet when the first leg mechanism and the second leg mechanism rotate as a whole relative to the body, so as to detect the rotation angle of the first leg mechanism and the second leg mechanism as a whole.
8. The mechanical leg according to any one of claims 1 to 7, characterized in that: The driving mechanism includes a first driving mechanism and a second driving mechanism. The first driving mechanism can cooperate with the second driving mechanism to drive the first leg mechanism and the second leg mechanism to rotate as a whole relative to the fuselage, and cooperate to drive the second leg mechanism to move relative to the first leg mechanism along the first direction.
9. The mechanical leg according to claim 8, characterized in that: The first driving mechanism includes a first motor and a first transmission assembly, the second driving mechanism includes a second motor and a second transmission assembly, the first motor and the second motor are used to be connected to the fuselage, and the first motor and the second motor are coaxially arranged; the first transmission assembly is connected to the output shaft of the first motor and is connected to the second leg mechanism, the second transmission assembly is connected to the output shaft of the second motor and is connected to the second leg mechanism; the rotation axis of the first leg mechanism is coaxial with the rotation axis of the first motor and the second motor.
10. The mechanical leg according to any one of claims 1 to 7, characterized in that: The second leg mechanism comprises: a sliding portion, slidably connected to the first leg mechanism; and The foot is rotatably connected to the sliding part, and the foot is used to support the bearing surface; the driving mechanism is also used to drive the foot to rotate relative to the sliding part, so that the foot rolls on the bearing surface to realize the movement of the robot.
11. A robot, characterized in that: The robot comprises a body and a mechanical leg as described in any one of claims 1 to 10, wherein the first leg mechanism of the mechanical leg is rotatably connected to the body.