Robot leg structure and robot

Abstract

The utility model provides a robot leg structure and a robot, and relates to the technical field of robots, the robot leg structure comprises a base, a driver, a double-rocker mechanism and a horizontal supporting platform, the driver is mounted on the base, the double-rocker mechanism is in driving connection with the driver, and the horizontal supporting platform is connected with the double-rocker mechanism. The driver is used for driving the double-rocker mechanism to swing so as to drive the horizontal supporting platform to move in the vertical direction. And due to the design of the double-rocker mechanism, the horizontal supporting platform can keep a stable horizontal state in the moving process in the vertical direction, so that stable operation of the upper body structure of the robot is ensured, and unstable posture or operation errors caused by inclination are avoided. Besides, according to the robot leg structure, the double-rocker mechanism can be driven only through one driver, then the horizontal supporting platform is driven to move, the manufacturing difficulty, the system cost and the control complexity are remarkably reduced, manufacturing and maintenance are more economical, the reliability of the whole robot is improved, and the service life of the whole robot is prolonged.

Description

Technical Field

[0001] The present application relates to the field of robotics technology, and in particular to a robot leg structure and a robot. Background Art

[0002] The rapid development of robotics has penetrated into various fields, from industrial automation to home services, from medical care to military applications, and the application scope of robots is constantly expanding. The application requirements of robots in these fields are different, which also puts higher requirements on the leg structure of robots. In the existing technology, the leg structure of robots usually uses two independent actuators to drive the rotation of two joints respectively.

[0003] Although this design can give the robot high flexibility and motion capabilities, it also has some significant problems. First, each actuator requires not only high-precision machining and assembly, but also an independent control system and drive circuit, which makes the processing process complicated and increases manufacturing costs. Second, the movement of each actuator needs to be precisely coordinated to ensure the synchronization and coordinated movement between the two joints, which increases the difficulty of system development and may also lead to higher energy consumption and complexity of the control system. Utility Model Content

[0004] The purpose of this application is to provide a robot leg structure and a robot to address the deficiencies in the above-mentioned prior art.

[0005] To achieve the above purpose, the technical solution adopted in the embodiment of the present application is as follows:

[0006] According to one aspect of an embodiment of the present application, a robot leg structure is provided, including a base, a driver, a double rocker mechanism and a horizontal support platform, the driver is installed on the base, the double rocker mechanism is connected to the driver, the horizontal support platform is connected to the double rocker mechanism, and the driver is used to drive the double rocker mechanism to swing, so as to drive the horizontal support platform to move in a vertical direction.

[0007] Optionally, the double rocker mechanism includes a first link, a second link and a third link, one end of the first link is driven and connected to the driver, one end of the third link is hinged to the base, the other end of the first link and the other end of the third link are respectively hinged to different positions of the second link, and the horizontal support platform is hinged to the second link.

[0008] Optionally, the second connecting rod includes a connecting section and an extending section which are connected in sequence, the first connecting rod and the third connecting rod are respectively hinged at two ends of the connecting section, and the horizontal supporting platform is hinged at one end of the extending section away from the connecting section.

[0009] Optionally, the robot leg structure also includes a fourth link and a horizontal link, one end of the fourth link is hinged to the base, and the other end of the fourth link and an end of the first link away from the driver are respectively hinged to two ends of the horizontal link.

[0010] Optionally, the fourth connecting rod is hinged to the base at the first hinge point, a line connecting the rotation center of the first connecting rod and the first hinge point is parallel to the horizontal connecting rod, and the fourth connecting rod is parallel to the first connecting rod.

[0011] Optionally, the robot leg structure further includes a fifth link, one end of the fifth link is hinged to an end of the horizontal support platform away from the second link, and the other end of the fifth link is hinged to the horizontal link.

[0012] Optionally, the fifth link is parallel to the second link.

[0013] Optionally, the fourth link, the fifth link and the horizontal link are hinged at the same point.

[0014] Optionally, the robot leg structure further includes a horizontal sensor disposed on the horizontal support platform, and the horizontal sensor is used to detect a horizontal state of the horizontal support platform.

[0015] According to another aspect of an embodiment of the present application, a robot is provided, comprising an upper body structure of the robot and any one of the above-mentioned robot leg structures, wherein the upper body structure of the robot is installed on a horizontal support platform of the robot leg structure.

[0016] The beneficial effects of this application include:

[0017] The present application provides a robot leg structure, including a base, a driver, a double rocker mechanism and a horizontal support platform, wherein the driver is mounted on the base, the double rocker mechanism is connected to the driver by driving, and the horizontal support platform is connected to the double rocker mechanism. The base is the installation base of the robot leg structure, and the horizontal support platform is the installation base of the robot upper body structure, and the two provide stable support and fixing points for the smooth operation of the entire robot. The driver is mounted on the base, and is used to drive the double rocker mechanism to swing, so as to drive the horizontal support platform to move in the vertical direction. The design of the double rocker mechanism enables the horizontal support platform to maintain a stable horizontal state during the movement in the vertical direction, thereby ensuring the smooth operation of the robot upper body structure and avoiding unstable posture or operation errors caused by tilt. In addition, the robot leg structure only requires one driver to realize the drive of the double rocker mechanism, and then drive the horizontal support platform to move, which significantly reduces the manufacturing difficulty, system cost and control complexity, makes manufacturing and maintenance more economical, and improves the overall reliability and service life of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 A schematic diagram of a robot leg structure provided in an embodiment of the present application;

[0020] Figure 2 A simplified diagram of a robot leg structure provided in an embodiment of the present application.

[0021] Icon: 1-base; 2-driver; 3-horizontal support platform; 41-first connecting rod; 42-second connecting rod; 421-connecting section; 422-extension section; 43-third connecting rod; 51-fourth connecting rod; 52-horizontal connecting rod; 53-fifth connecting rod. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0023] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for protection, but merely represents selected embodiments of the present application. It should be noted that, in the absence of conflict, the various features in the embodiments of the present application can be combined with each other, and the combined embodiments are still within the scope of protection of the present application.

[0024] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0025] In the description of this application, it should be noted that the terms "center", "upper", "lower", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the product of the application is usually placed when in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on this application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0026] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0027] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] In the prior art, the leg structure of the robot usually uses two actuators to drive the two joints to rotate, which results in a high overall cost and also brings complexity in control. In addition, when the existing robot leg structure drives the robot's upper body structure to move vertically, it is often difficult to ensure the horizontality of the robot's upper body structure, affecting the operation accuracy and stability.

[0029] In order to solve the above problems, one aspect of the embodiments of the present application provides a robot leg structure, such as Figure 1 and Figure 2 As shown, it includes a base 1, a driver 2, a double rocker mechanism and a horizontal support platform 3. The driver 2 is installed on the base 1, the double rocker mechanism is connected to the driver 2, and the horizontal support platform 3 is connected to the double rocker mechanism.

[0030] Specifically, the base 1 is the installation base of the robot leg structure, and the horizontal support platform 3 is the installation base of the robot upper body structure. The two provide stable support and fixing points for the smooth operation of the entire robot. The driver 2 is installed on the base 1, and is used to drive the double rocker mechanism to swing, so as to drive the horizontal support platform 3 to move in the vertical direction. The design of the double rocker mechanism enables the horizontal support platform 3 to maintain a stable horizontal state during the movement in the vertical direction, thereby ensuring the smooth operation of the robot upper body structure and avoiding posture instability or operation errors caused by tilt. In addition, the robot leg structure only requires one driver 2 to drive the double rocker mechanism, and then drive the horizontal support platform 3 to move, which significantly reduces the manufacturing difficulty, system cost and control complexity, making manufacturing and maintenance more economical, and improving the overall reliability and service life of the robot.

[0031] It should be noted that the driver 2 can be an electric motor. As the driver 2, the electric motor is responsible for converting electrical energy into mechanical energy, thereby driving the various moving parts of the robot leg structure. The torque and speed of the motor can be controlled by adjusting the current and voltage. However, since the speed of the motor itself is usually high, directly driving a complex mechanical structure may result in reduced control accuracy and unstable motion. Therefore, a reducer can be equipped. The reducer can convert the high-speed rotation of the motor into a low-speed, high-torque output to provide appropriate torque and speed, so that the movement of the dual rocker mechanism becomes smoother, reducing high-frequency vibration and impact, and ensuring the smooth operation of the robot leg structure.

[0032] Alternatively, if Figure 1 and Figure 2 As shown, the double rocker mechanism is composed of a first link 41, a second link 42 and a third link 43. In a specific implementation, one end of the first link 41 is connected to the driver 2 for driving, so as to achieve force transmission and motion control. One end of the third link 43 is hingedly connected to the base 1 to form a fixed fulcrum.

[0033] The other end of the first link 41 and the other end of the third link 43 are respectively hinged to different positions of the second link 42. This connection mode enables the second link 42 to achieve a complex motion trajectory under the joint action of the first link 41 and the third link 43. By accurately designing the length of each link and the position of the hinge point, it can be ensured that the second link 42 can move along a specific path under the action of the driver 2.

[0034] The horizontal support platform 3 is hinged on the second connecting rod 42, and the vertical movement up and down is achieved through the movement of the second connecting rod 42. This design ensures that the horizontal support platform 3 can maintain a horizontal state during the entire movement process. In this way, no matter how the driver 2 drives the double rocker mechanism, the horizontal support platform 3 can always maintain a horizontal state, ensuring the stability and operation accuracy of the upper body structure of the robot above the platform.

[0035] It should be noted that the lengths of the first connecting rod 41, the second connecting rod 42 and the third connecting rod 43 directly affect the range of motion of the robot leg structure. By optimizing the lengths of the three, a larger working range can be achieved, allowing the robot to operate in a wider space. This optimization can enable the robot leg to maintain good movement flexibility when performing vertical movements or complex actions.

[0036] The positions of the hinge points of the first link 41, the second link 42 and the third link 43 have a decisive influence on the motion trajectory of the robot's legs. By adjusting the positions of the hinge points, the relative motion relationship between the links can be accurately controlled to achieve the desired motion trajectory. Optimizing the positions of the hinge points can make the trajectory of the robot's legs more in line with actual operation requirements when performing various actions, and improve operation accuracy and stability. By optimizing the lengths and hinge point positions of the first link 41, the second link 42 and the third link 43, the maximum range of motion and the best motion trajectory can be achieved.

[0037] Alternatively, if Figure 2 As shown, the second connecting rod 42 includes a connecting section 421 and an extension section 422 connected in sequence. The connecting section 421 is the hinge point of the first connecting rod 41 and the third connecting rod 43. One end of the first connecting rod 41 is connected to one end of the connecting section 421 by a hinged manner, and the third connecting rod 43 is connected to the other end of the connecting section 421 by a hinged manner. This design enables the first connecting rod 41 and the third connecting rod 43 to work together under the action of the driver 2 to jointly drive the movement of the second connecting rod 42. It should be understood that the second connecting rod 42 as a whole can be an integrally formed rod, and the connecting section 421 and the extension section 422 are two parts of the second connecting rod 42.

[0038] The horizontal support platform 3 is fixed to the end of the extension section 422 away from the connecting section 421 by a hinged manner. Such a design ensures that the horizontal support platform 3 can be stably attached to the extension section 422 during the overall movement of the double rocker mechanism, so as to move smoothly in the vertical direction with the movement of the second connecting rod 42.

[0039] Alternatively, if Figure 1 and Figure 2As shown, the robot leg structure also includes a fourth link 51 and a horizontal link 52. One end of the fourth link 51 is hinged to the base 1, and the other end of the fourth link 51 and an end of the first link 41 away from the driver 2 are respectively hinged to the two ends of the horizontal link 52.

[0040] Specifically, the introduction of the fourth connecting rod 51 and the horizontal connecting rod 52 can form an additional support point and a stable structure, effectively disperse the load, reduce the problem of excessive force on a single connecting rod, and thus improve the motion stability of the entire double rocker mechanism. Especially in the movement along the vertical direction, this stability is particularly important because it can ensure the stability and accuracy of the horizontal support platform 3. It should be noted that the rotation center of the fourth connecting rod 51 can be coaxial with the rotation center of the third connecting rod 43. Such a design can not only simplify the structure, but also help to improve the coordination and motion accuracy of the robot leg structure.

[0041] Alternatively, if Figure 1 and Figure 2 As shown, one end of the fourth link 51 is connected to the base 1 through the first hinge point. At the same time, the line connecting the rotation center of the first link 41 and the first hinge point is parallel to the horizontal link 52. This design ensures that the fourth link 51 and the first link 41 can remain parallel during the movement, thereby maintaining the smooth movement of the horizontal support platform 3.

[0042] In order to further enhance the stability of the structure, the fourth connecting rod 51 is parallel to the first connecting rod 41. Such a parallel design makes the first connecting rod 41, the horizontal connecting rod 52, the fourth connecting rod 51 and the line connecting the rotation center of the first connecting rod 41 and the first hinge point together form a parallelogram structure. This parallelogram structure has high mechanical stability and can effectively disperse and withstand forces from all directions.

[0043] Specifically, by forming a parallelogram structure, each link supports and restricts each other during the movement, so that the horizontal support platform 3 moves more smoothly in the vertical direction. When the driver 2 drives the first link 41 to move, the first link 41 drives the fourth link 51 and the horizontal link 52 to move together through its hinge point. Due to the parallel relationship between these links, the horizontal support platform 3 can remain stable during the movement, thereby ensuring that it always remains in a horizontal state when moving in the vertical direction.

[0044] Alternatively, if Figure 1 and Figure 2As shown, the robot leg structure also includes a fifth link 53, one end of the fifth link 53 is hinged to the end of the horizontal support platform 3 away from the second link 42, and the other end of the fifth link 53 is hinged to the horizontal link 52. This design makes the overall structure of the double rocker mechanism more stable by adding additional support points. The introduction of the fifth link 53 not only provides additional support for the horizontal support platform 3, but also further disperses the stress and load generated during the movement, and forms a more stable and reliable mechanical system through the connection with the horizontal link 52.

[0045] Optionally, the fifth connecting rod 53 is parallel to the second connecting rod 42, and the second connecting rod 42, the horizontal support platform 3, the fifth connecting rod 53 and the horizontal connecting rod 52 together form another parallelogram structure. This parallelogram structure is combined with the aforementioned parallelogram structure composed of the first connecting rod 41, the horizontal connecting rod 52, the fourth connecting rod 51 and the line connecting the rotation center of the first connecting rod 41 and the first hinge point, and together form a double parallelogram mechanism. The design of the double parallelogram mechanism significantly improves the stability of the horizontal support platform 3 in the vertical direction, makes the load distribution of the entire robot more uniform, reduces the force on a single component, and prolongs the service life of the robot.

[0046] In general, the double rocker mechanism consists of a first link 41, a second link 42 and a third link 43. The first link 41 is driven by the driver 2, and acts together with the third link 43 on the second link 42 to make it move along a specific trajectory. The horizontal support platform 3 is hinged to the second link 42, and the movement of the second link 42 realizes smooth movement in the vertical direction. In order to further improve the stability of the structure, the fourth link 51, the fifth link 53 and the horizontal link 52 are introduced into the design to form a double parallelogram mechanism. The double parallelogram mechanism ensures that the horizontal support platform 3 maintains a high degree of stability during the movement in the vertical direction through the parallel relationship between multiple links.

[0047] The design of the double rocker mechanism combined with the double parallelogram mechanism improves the stability and control accuracy of the robot's leg structure, significantly enhances the overall reliability and durability of the robot, and solves the problems of high cost and complex control in the existing technology.

[0048] Alternatively, if Figure 2 As shown, one end of the fourth link 51 is connected to the base 1 through a first hinge point, and the other end is connected to the horizontal link 52 and the fifth link 53 through a second hinge point. One end of the fifth link 53 is hinged to the end of the horizontal support platform 3 away from the second link 42, and the other end is connected to the horizontal link 52 through the same hinge point. This design allows the fourth link 51, the fifth link 53 and the horizontal link 52 to be hinged at the same point, forming a stable connection structure.

[0049] First, by hingedly connecting the fourth connecting rod 51, the fifth connecting rod 53 and the horizontal connecting rod 52 at the same point, a multi-point support structure is formed, which enhances the synergy between the connecting rods and greatly improves the stability and control accuracy of the robot leg structure. Secondly, this design effectively reduces the relative movement between the connecting rods, making the horizontal support platform 3 more stable in the vertical direction, further improving the movement accuracy. In addition, by reducing the number of independent connection points, the structural design is simplified, making the mechanical structure of the robot leg structure more compact, while also reducing the failure points and improving the reliability and durability of the robot.

[0050] It should be noted that the links in the robot leg structure are hingedly connected by bearings. At the joints, the use of bearings can convert the relative motion between the links into low-friction rotation or swing motion. Since the bearing can provide a smooth rotation or swing path, it reduces the energy loss caused by friction and reduces the heat generated during the movement. This not only improves the smoothness and durability of the movement, but also extends the service life of the robot leg structure.

[0051] It should also be noted that each link in the robot's leg structure is made of lightweight, high-strength materials. Lightweight, high-strength materials significantly reduce the weight of the structure while providing sufficient strength and rigidity. By reducing the weight of the links, the weight of the overall structure is reduced, allowing the robot to perform more tasks under lighter load conditions, increasing its load capacity and flexibility.

[0052] Optionally, the robot leg structure further includes a horizontal sensor disposed on the horizontal support platform 3, and the horizontal sensor is used to detect the horizontal state of the horizontal support platform 3 to ensure that it always remains horizontal during the vertical movement.

[0053] The horizontal sensor is a device that can accurately measure the inclination angle of the platform relative to the horizontal plane. The sensor monitors the inclination of the horizontal support platform 3 and feeds back the actual horizontal state of the horizontal support. This information can be used to adjust the control instructions of the control system to ensure that the horizontal support platform 3 maintains a stable horizontal state during the movement.

[0054] The level sensor is installed on the horizontal support platform 3, and the position design is precisely calculated to ensure that it can cover the horizontal state of the entire horizontal support platform 3. The sensor is connected to the control system, and by transmitting the measurement data in real time, the control system can control the driver 2 to make dynamic adjustments based on the information fed back by the sensor. This design enables the control system to respond quickly to any slight level deviation and adjust the output of the driver 2 to correct the tilt of the platform.

[0055] Another aspect of the embodiment of the present application provides a robot, including any of the above robot leg structures, wherein a robot upper body structure is installed on the horizontal support platform 3 of the robot leg structure, and the robot upper body structure and the robot leg structure work together to provide a high-performance, stable and flexible robot. Since the robot includes the above robot leg structure, it also has the same beneficial effects as the robot leg structure, which will not be repeated here.

[0056] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A robot leg structure, characterized in that: The invention comprises a base (1), a driver (2), a double rocker mechanism and a horizontal support platform (3), wherein the driver (2) is mounted on the base (1), the double rocker mechanism is connected to the driver (2) by driving, and the horizontal support platform (3) is connected to the double rocker mechanism, and the driver (2) is used to drive the double rocker mechanism to swing, so as to drive the horizontal support platform (3) to move in a vertical direction.

2. The robot leg structure according to claim 1, characterized in that: The double rocker mechanism comprises a first connecting rod (41), a second connecting rod (42) and a third connecting rod (43), one end of the first connecting rod (41) is drivingly connected to the driver (2), one end of the third connecting rod (43) is hinged to the base (1), the other end of the first connecting rod (41) and the other end of the third connecting rod (43) are respectively hinged to different positions of the second connecting rod (42), and the horizontal support platform (3) is hinged to the second connecting rod (42).

3. The robot leg structure according to claim 2, characterized in that: The second connecting rod (42) comprises a connecting section (421) and an extending section (422) which are connected in sequence; the first connecting rod (41) and the third connecting rod (43) are respectively hinged at two ends of the connecting section (421); and the horizontal supporting platform (3) is hinged at one end of the extending section (422) which is away from the connecting section (421).

4. The robot leg structure according to claim 2 or 3, characterized in that: The robot leg structure also includes a fourth connecting rod (51) and a horizontal connecting rod (52), one end of the fourth connecting rod (51) is hinged to the base (1), and the other end of the fourth connecting rod (51) and an end of the first connecting rod (41) facing away from the driver (2) are respectively hinged to the two ends of the horizontal connecting rod (52).

5. The robot leg structure according to claim 4, characterized in that: The fourth connecting rod (51) is hinged to the base (1) at a first hinge point, a line connecting the rotation center of the first connecting rod (41) and the first hinge point is parallel to the horizontal connecting rod (52), and the fourth connecting rod (51) is parallel to the first connecting rod (41).

6. The robot leg structure according to claim 4, characterized in that: The robot leg structure also includes a fifth connecting rod (53), one end of which is hinged to an end of the horizontal support platform (3) away from the second connecting rod (42), and the other end of the fifth connecting rod (53) is hinged to the horizontal connecting rod (52).

7. The robot leg structure according to claim 6, characterized in that: The fifth connecting rod (53) is parallel to the second connecting rod (42).

8. The robot leg structure according to claim 6, characterized in that: The fourth connecting rod (51), the fifth connecting rod (53) and the horizontal connecting rod (52) are hinged at the same point.

9. The robot leg structure according to any one of claims 1 to 3, characterized in that: The robot leg structure further comprises a level sensor arranged on the horizontal support platform (3), wherein the level sensor is used to detect the horizontal state of the horizontal support platform (3).

10. A robot, characterized in that: It comprises a robot upper body structure and a robot leg structure as claimed in any one of claims 1 to 9, wherein the robot upper body structure is installed on a horizontal support platform (3) of the robot leg structure.

Images