Thigh structure of simulation robot

Abstract

The utility model provides a simulation robot thigh structure which comprises a thigh body, a belt transmission piece and a tension degree adjusting piece, the thigh body comprises an inner shell frame and a hip joint connecting piece, and the hip joint connecting piece is arranged at the upper end of the inner shell frame; the belt transmission part comprises a driving belt wheel, a driven belt wheel and a synchronous belt, the driving belt wheel and the driven belt wheel are rotationally arranged in the inner shell frame, and the synchronous belt is in transmission connection with the driving belt wheel and the driven belt wheel; the tensioning degree adjusting part comprises a swing arm, a tensioning wheel and a driving rod, one end of the swing arm is rotationally arranged in the inner shell frame, the tensioning wheel is rotationally arranged on the swing arm and located on one side of the synchronous belt, and the driving rod is arranged on the inner shell frame and movably connected with the other end of the swing arm. Through the synergistic effect of a swing arm, a tensioning wheel and a driving rod in the tensioning degree adjusting piece, the tensioning degree of the synchronous belt can be effectively adjusted, and it is ensured that the synchronous belt is always kept in the optimal working state.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a thigh structure of a simulation robot. Background Art

[0002] In the design of simulation robots, the thigh structure is the core component, which directly determines the robot's motion performance and stability.

[0003] At present, the common driving modes of the thigh structure on the market are belt drive or connecting rod drive. Among them, belt drive is lighter than connecting rod drive and is therefore widely used. However, since the belt drive uses a synchronous belt with a certain elasticity, the synchronous belt will inevitably deform after long-term use. This deformation will cause the length of the synchronous belt to change, which will in turn lead to a decrease in the control accuracy of the leg drive structure. The legged robot may even fail to work properly due to the synchronous belt being too loose. Utility Model Content

[0004] Based on this, the purpose of the utility model is to provide a simulated robot thigh structure to solve the technical problems mentioned in the above background technology.

[0005] The utility model provides a simulation robot thigh structure, comprising:

[0006] A thigh body, the thigh body comprising an inner shell and a hip joint connector, the hip joint connector being disposed at an upper end of the inner shell;

[0007] A belt transmission member, the belt transmission member comprises a driving pulley, a driven pulley and a synchronous belt, the driving pulley and the driven pulley are both rotatably arranged in the inner shell frame, and the synchronous belt transmission connects the driving pulley and the driven pulley;

[0008] The tension adjusting part includes a swing arm, a tensioning wheel and a driving rod, one end of the swing arm is rotatably disposed in the inner shell frame, the tensioning wheel is rotatably disposed on the swing arm and is located on one side of the synchronous belt, the driving rod is disposed on the inner shell frame and is movably connected to the other end of the swing arm, and the driving rod is used to drive the swing arm to swing so that the tensioning wheel is close to or away from the synchronous belt.

[0009] Furthermore, the simulated robot thigh structure, wherein the inner shell frame includes a left inner shell component and a right inner shell component, the left inner shell component is provided with a plurality of connecting columns, the right inner shell component is provided with a sleeve corresponding to the connecting columns, the connecting columns are used to cooperate and connect with the sleeves, so that the left inner shell component and the right inner shell component are spliced ​​into one.

[0010] Furthermore, in the simulated robot thigh structure, one end of the swing arm is rotatably connected to the connecting column, and the other end is movably connected to the driving rod.

[0011] Furthermore, the simulated robot thigh structure, wherein the left inner shell component is provided with a connecting seat, the end of the swing arm connected to the driving rod is provided with a linear slide groove, and a sliding piece is slidably connected in the linear slide groove, one end of the driving rod is connected to the sliding piece, and the other end is connected to the connecting seat, and the driving rod can be extended and retracted relative to the connecting seat, thereby pushing the sliding piece, so that the swing arm swings forward or backward.

[0012] Furthermore, the simulated robot thigh structure, wherein the connecting seat is provided with a threaded hole, and the driving rod includes a threaded portion, an optical axis portion and an end portion in sequence along the length direction, the threaded portion is threadedly connected to the threaded hole, the optical axis portion is rotatably connected to the sliding member, and the sliding member is limited between the end portion and the threaded portion along the axial direction of the driving rod.

[0013] Furthermore, in the simulated robot thigh structure, the inner side surface of the left inner shell component is provided with a plurality of reinforcing ribs, and the reinforcing ribs extend from the edge position of the left inner shell component to the side edge of each of the connecting columns.

[0014] Furthermore, in the simulated robot thigh structure, the right inner shell component is provided with a first circular hole corresponding to the driving pulley and a second circular hole corresponding to the driven pulley, and a plurality of special-shaped holes are provided between the first circular hole and the second circular hole.

[0015] Furthermore, the simulated robot thigh structure, wherein the side edge of the right inner shell component is provided with a first groove and a second groove, the first groove is symmetrically arranged on both sides of the driving pulley, and the second groove extends from one side of the driven pulley along the contour of the right inner shell component to the other side of the tensioning pulley.

[0016] Furthermore, in the simulated robot thigh structure, a calf drive motor is provided on the outer side of the left inner shell component, the output shaft of the calf drive motor extends into the inner shell frame to be connected to the driving pulley, and the driven pulley is rotatably arranged between the left inner shell component and the right inner shell component.

[0017] Furthermore, in the simulated robot thigh structure, the portion of the left inner shell component corresponding to the driving pulley is provided with an outwardly inclined inclined surface, the calf drive motor is mounted on the inclined surface through a fixing frame, and a portion of the calf drive motor is located in the inner shell frame.

[0018] Compared with the prior art, the beneficial effects of the utility model are:

[0019] Through the coordinated action of the swing arm, tensioning wheel and driving rod in the tension adjustment part, the tension of the synchronous belt can be effectively adjusted to ensure that it always remains in the best working state. This helps to reduce the length change caused by deformation of the synchronous belt, thereby improving the control accuracy of the leg drive structure and enabling the robot to perform predetermined actions more accurately. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A three-dimensional diagram of the thigh structure of the simulation robot in the utility model;

[0021] Figure 2 It is a three-dimensional image of the thigh body in the utility model from the first viewing angle;

[0022] Figure 3 It is a stereoscopic image of the thigh body in the utility model from a second viewing angle;

[0023] Figure 4 It is a side chamber diagram of the thigh body in the utility model;

[0024] Figure 5 for Figure 4 Sectional view at the AA position;

[0025] Figure 6 for Figure 5 A partial enlarged schematic diagram of position A in the middle;

[0026] Figure 7 The specific structural diagram of the driving rod in the utility model is

[0027] Description of main component symbols:

[0028] 610, thigh body; 611, inner shell frame; 6111, left inner shell member; 6112, right inner shell member; 6113, connecting column; 6114, shaft sleeve; 612, hip joint connector; 6121, fixing flange; 6122, connecting plate; 620, belt transmission member; 621, driving pulley; 622, driven pulley; 623, synchronous belt; 631, swing arm; 632, tensioner; 633, driving rod; 633 1. Threaded portion; 6332. Optical axis portion; 6333. End portion; 6334. Hexagonal screw groove; 634. Connecting seat; 635. Linear slide groove; 636. Sliding member; 641. Reinforcing rib; 642. First circular hole; 642. Second circular hole; 643. Special-shaped hollow hole; 644. First slot; 645. Second slot; 651. Lower leg driving motor; 652. Fixing bracket; 653. Inclined surface; 660. Protective housing.

[0029] The following specific implementation manner will further illustrate the present utility model in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0030] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0031] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0032] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0033] See also Figures 1 to 6 The thigh structure of the simulated robot in the utility model includes a thigh body 610, a belt transmission member 620 and a tension adjustment member. The thigh body 610 includes an inner shell frame 611 and a hip joint connection member 612. The hip joint connection member 612 is arranged at the upper end of the inner shell frame 611.

[0034] The belt transmission member 620 includes a driving pulley 621, a driven pulley 622 and a synchronous belt 623. The driving pulley 621 and the driven pulley 622 are both rotatably arranged in the inner frame 611. The synchronous belt 623 is connected to the driving pulley 621 and the driven pulley 622 in a transmission manner.

[0035] The tension adjusting member includes a swing arm 631, a tensioning wheel 632 and a driving rod 633. One end of the swing arm 631 is rotatably disposed in the inner frame 611. The tensioning wheel 632 is rotatably disposed on the swing arm 631 and is located on one side of the synchronous belt 623. The driving rod 633 is disposed on the inner frame 611 and is movably connected to the other end of the swing arm 631. The driving rod 633 is used to drive the swing arm 631 to swing so as to make the tensioning wheel 632 approach or move away from the synchronous belt 623.

[0036] Through the coordinated action of the swing arm 631, the tensioning wheel 632 and the driving rod 633 in the tension adjusting member, the tension of the synchronous belt 623 can be effectively adjusted to ensure that it always remains in the best working state. This helps to reduce the length change caused by the deformation of the synchronous belt 623, thereby improving the control accuracy of the leg driving structure and enabling the robot to perform predetermined actions more accurately.

[0037] See also Figure 2 and Figure 3 The inner shell frame 611 includes a left inner shell member 6111 and a right inner shell member 6112. The left inner shell member 6111 is provided with a plurality of connecting columns 6113. The right inner shell member 6112 is provided with a sleeve 6114 corresponding to the connecting columns 6113. The connecting columns 6113 are used to cooperate and connect with the sleeve 6114, so that the left inner shell member 6111 and the right inner shell member 6112 are spliced ​​together. Specifically, in this embodiment, the right inner shell member 6112 is provided with a hole aligned with the sleeve 6114, and the connecting column 6113 is provided with a screw hole colinear with the axis of the hole. Therefore, when the left inner shell member 6111 and the right inner shell member 6112 are spliced ​​together, the screw hole can be connected by passing the bolt through the hole, so that the assembly effect between the left inner shell member 6111 and the right inner shell member 6112 is more firm and stable.

[0038] See also Figure 1 to Figure 3 In this embodiment, the hip joint connector 612 includes a fixing flange 6121 and a connecting plate 6122 disposed at the bottom of the fixing flange 6121. The connecting plate 6122 is disposed between the left inner shell component 6111 and the right inner shell component 6112. The connecting plate 6122 is provided with a positioning hole that matches the connecting column 6113. It can be understood that the connecting column 6113 matches the shaft sleeve 6114 and passes through the positioning hole on the connecting plate 6122, so that the connecting plate 6122 is clamped and fixed between the left inner shell component 6111 and the right inner shell component 6112. This one-step assembly method greatly simplifies the assembly process, and there is no need to set additional assembly parts for the hip joint connector 612, which helps to realize the design of a lightweight structure of the thigh structure of the simulation robot.

[0039] See also Figure 4The outer side of the left inner shell component 6111 is provided with a calf driving motor 651, the output shaft of the calf driving motor 651 extends into the inner shell frame 611 to connect the driving pulley 621, and the driven pulley 622 is rotatably arranged between the left inner shell component 6111 and the right inner shell component 6112. In this embodiment, the driven pulley 622 is used to connect the calf structure (not shown), and the calf driving motor 651 is used to drive the driving pulley 621 to rotate, thereby driving the driven pulley 622 to rotate synchronously under the transmission of the synchronous belt 623, so as to realize the backward leg hooking action of the calf structure.

[0040] Continue reading Figure 4 , the portion of the left inner shell member 6111 corresponding to the driving pulley 621 is provided with an outwardly inclined inclined surface 653, the calf drive motor 651 is mounted on the inclined surface 653 through a fixing frame 652, and a portion of the calf drive motor 651 is located in the inner shell frame 611. It can be understood that the setting of the inclined surface 653 allows more assembly space to be vacated between the left inner shell member 6111 and the right inner shell member 6112, which is convenient for the arrangement of the driving pulley 621 and other structures, and a portion of the calf drive motor 651 extends into the inner shell frame 611, so that the calf drive motor 651 can be better integrated into the thigh body 610, avoiding the overall shape being too bloated.

[0041] See also Figure 5 The swing arm 631 is an obtuse-angled structure as a whole, the tension wheel 632 is rotatably arranged at the corner of the swing arm 631, one end of the swing arm 631 is rotatably connected to the connecting column 6113, and the other end is movably connected to the driving rod 633. It can be understood that in this embodiment, the connecting column 6113 is not only used to cooperate with the shaft sleeve 6114 to realize the assembly of the left inner shell component 6111 and the right inner shell component 6112, but also serves as the rotation fulcrum of the swing arm 631, so there is no need to set an additional rotating shaft for the swing arm 631, which is helpful to realize the design of the lightweight structure of the thigh structure of the simulation robot.

[0042] Specifically, in this embodiment, there are two swing arms 631, and the tensioning wheel 632 is rotatably disposed between the two swing arms 631. Compared with a single swing arm 631 supporting the tensioning wheel 632, the structural design of the double swing arms 631 has a better supporting effect, ensuring the stable operation of the tension adjusting member.

[0043] See also Figure 6In this embodiment, a connection seat 634 is provided on the left inner shell member 6111, and a linear slide groove 635 is provided at one end of the swing arm 631 connected to the driving rod 633, and a sliding member 636 is slidably connected in the linear slide groove 635. One end of the driving rod 633 is connected to the sliding member 636, and the other end is connected to the connection seat 634. The driving rod 633 can be extended and retracted relative to the connection seat 634, thereby pushing the sliding member 636 to make the swing arm 631 swing forward or backward. It can be understood that when the synchronous belt 623 is loose, the operator can push the driving rod 633 forward to make the swing arm 631 swing forward, so that the tensioner 632 presses the synchronous belt 623; conversely, when the synchronous belt 623 is too tight, the operator can push the driving rod 633 backward to make the swing arm 631 swing backward, so that the tensioner 632 reduces the pressure on the synchronous belt 623.

[0044] Specific, combined Figure 6 and Figure 7 A threaded hole is provided on the connecting seat 634, and the driving rod 633 includes a threaded portion 6331, an optical axis portion 6332 and an end portion 6333 in sequence along the length direction. The threaded portion 6331 is threadedly connected to the threaded hole, and the optical axis portion 6332 is rotatably connected to the sliding member 636. The sliding member 636 is limited to be located between the end portion 6333 and the threaded portion 6331 along the axial direction of the driving rod 633.

[0045] In actual application, the operator can use a tool to manually or automatically rotate the driving rod 633, so that the driving rod 633 moves forward or backward under the action of the threaded fit, and then the driving rod 633 drives the swing arm 631 to swing forward or backward through the sliding member 636 to adjust the tension of the synchronous belt 623. Figure 7 In one implementation of the present embodiment, a hexagonal screw groove 6334 is provided at one end of the driving rod 633 away from the end portion 6333, and an operator can insert a hexagonal screwdriver into the hexagonal screw groove 6334 to manually drive the driving rod 633 to rotate forward or reverse.

[0046] In another implementation of this embodiment, a micro motor may be provided on the left inner shell component 6111, and the output shaft of the micro motor may be connected to the driving rod 633, so that the driving rod 633 may be driven by the micro motor to rotate forward or reverse.

[0047] It is worth mentioning that in this embodiment, the driving rod 633 and the connecting seat 634 are connected by threaded cooperation, so that the driving rod 633 is not easy to move relative to the connecting seat 634, ensuring that the tensioning wheel 632 can stably tighten the synchronous belt 623 and ensure the control accuracy of the thigh structure.

[0048] For further information, see Figure 5 , the inner side surface of the left inner shell member 6111 is provided with a plurality of reinforcing ribs 641, and the reinforcing ribs 641 extend from the edge of the left inner shell member 6111 to the side edge of each of the connecting columns 6113. It can be understood that the reinforcing ribs 641 are arranged on the inner side surface of the left inner shell member 6111, so that the entire left inner shell member 6111 is not easily deformed or twisted when subjected to external forces. At the same time, the reinforcing ribs 641 extend to each connecting column 6113, which can also effectively increase the structural strength of the connecting column 6113. Similarly, the inner end surface of the right inner shell member 6112 is also provided with reinforcing ribs 641 to achieve the above-mentioned similar technical effects, so it is not repeated here.

[0049] See also Figure 2 The right inner shell member 6112 is provided with a first circular hole 642 corresponding to the driving pulley 621 and a second circular hole 642 corresponding to the driven pulley 622. A plurality of special-shaped holes 643 are provided between the first circular hole 642 and the second circular hole 642. The left inner shell member 6111 also has the same hole arrangement as the right inner shell member 6112. It should be noted that the first circular hole 642 on the left inner shell member 6111 is used for the output shaft of the calf driving motor 651 to pass through, so as to connect the driving pulley 621, while the first circular hole 642 on the right inner shell member 6112 is used to reduce the counterweight; the second circular holes 642 on the left inner shell member 6111 and the right inner shell member 6112 are used to rotatably connect the driven pulley 622; the special-shaped holes 643 are used to reduce the overall counterweight of the inner shell frame 611.

[0050] For further information, see Figure 2 and Figure 3 , the side edge of the right inner shell member 6112 is provided with a first slot 644 and a second slot 645, the first slot 644 is symmetrically arranged on both sides of the driving pulley 621, and the second slot 645 extends from one side of the driven pulley 622 along the contour of the right inner shell member 6112 to the other side of the tensioning pulley 632. Similarly, the left inner shell member 6111 also has the same slot arrangement as the right inner shell member 6112. It can be understood that the design of the first slot 644 and the second slot 645 is intended to further reduce the overall weight of the inner shell frame 611, thereby reducing the load on the motor. Secondly, the second slot 645 extends from one side of the driven pulley 622 along the contour of the left inner shell member 6111 to the other side of the tensioning pulley 632, so that the movement of the calf structure has a greater degree of freedom.

[0051] See also Figure 1The outer sides of the left inner shell member 6111 and the right inner shell member 6112 are respectively provided with protective shells 660. The protective shells 660 are used to cover the hollow holes on the end faces of the left inner shell member 6111 and the right inner shell member 6112 to prevent external dust from entering through the holes on the end faces and affecting the overall working performance.

[0052] In summary, the simulated robot thigh structure in the above-mentioned embodiment of the utility model can effectively adjust the tension of the synchronous belt 623 through the coordinated action of the swing arm 631, the tensioning wheel 632 and the driving rod 633 in the tension adjusting part, ensuring that it always remains in the best working state, which helps to reduce the length change caused by the deformation of the synchronous belt 623, thereby improving the control accuracy of the leg driving structure, so that the robot can perform the predetermined action more accurately.

[0053] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0054] The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A simulated robot thigh structure, characterized in that: include: A thigh body, the thigh body comprising an inner shell and a hip joint connector, the hip joint connector being disposed at an upper end of the inner shell; A belt transmission member, the belt transmission member comprises a driving pulley, a driven pulley and a synchronous belt, the driving pulley and the driven pulley are both rotatably arranged in the inner shell frame, and the synchronous belt transmission connects the driving pulley and the driven pulley; The tension adjusting part includes a swing arm, a tensioning wheel and a driving rod, one end of the swing arm is rotatably disposed in the inner shell frame, the tensioning wheel is rotatably disposed on the swing arm and is located on one side of the synchronous belt, the driving rod is disposed on the inner shell frame and is movably connected to the other end of the swing arm, and the driving rod is used to drive the swing arm to swing so that the tensioning wheel is close to or away from the synchronous belt.

2. The simulation robot thigh structure according to claim 1, characterized in that: The inner shell frame includes a left inner shell component and a right inner shell component. The left inner shell component is provided with a plurality of connecting columns, and the right inner shell component is provided with a sleeve corresponding to the connecting columns. The connecting columns are used to cooperate and connect with the sleeves so that the left inner shell component and the right inner shell component are spliced ​​together.

3. The simulation robot thigh structure according to claim 2, characterized in that: One end of the swing arm is rotatably connected to the connecting column, and the other end is movably connected to the driving rod.

4. The simulation robot thigh structure according to claim 3, characterized in that: A connecting seat is provided on the left inner shell component, and a linear slide groove is provided at one end of the swing arm connected to the driving rod, and a sliding piece is slidably connected in the linear slide groove, one end of the driving rod is connected to the sliding piece, and the other end is connected to the connecting seat, and the driving rod can be extended and retracted relative to the connecting seat, thereby pushing the sliding piece, so that the swing arm swings forward or backward.

5. The simulation robot thigh structure according to claim 4, characterized in that: A threaded hole is provided on the connecting seat, and the driving rod includes a threaded portion, an optical axis portion and an end portion in sequence along the length direction. The threaded portion is threadedly connected to the threaded hole, and the optical axis portion is rotatably connected to the sliding member. The sliding member is limited to be located between the end portion and the threaded portion along the axial direction of the driving rod.

6. The simulation robot thigh structure according to claim 2, characterized in that: The inner side surface of the left inner shell component is provided with a plurality of reinforcing ribs, and the reinforcing ribs extend from the edge position of the left inner shell component to the side edge of each of the connecting columns.

7. The simulation robot thigh structure according to claim 2, characterized in that: The right inner shell component is provided with a first circular hole corresponding to the driving pulley and a second circular hole corresponding to the driven pulley, and a plurality of special-shaped holes are provided between the first circular hole and the second circular hole.

8. The simulated robot thigh structure according to claim 2, characterized in that: The side edge of the right inner shell component is provided with a first slot and a second slot, wherein the first slot is symmetrically arranged on both sides of the driving pulley, and the second slot extends from one side of the driven pulley to the other side of the tensioner along the contour of the right inner shell component.

9. The simulation robot thigh structure according to claim 2, characterized in that: A calf drive motor is arranged on the outer side of the left inner shell component, and the output shaft of the calf drive motor extends into the inner shell frame to be connected with the driving pulley, and the driven pulley is rotatably arranged between the left inner shell component and the right inner shell component.

10. The simulation robot thigh structure according to claim 9, characterized in that: The portion of the left inner shell component corresponding to the driving pulley is provided with an outwardly inclined inclined surface, the calf drive motor is mounted on the inclined surface through a fixing frame, and a portion of the calf drive motor is located in the inner shell frame.

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