Leg structure

Abstract

The utility model provides a leg structure which comprises a hip joint, a first thigh component, a second thigh component and a shank component, the first end of the first thigh component is movably connected with the first end of the hip joint, and the second end of the first thigh component is movably connected with the first end of the shank component. The first end of the second thigh component is movably connected with the second end of the hip joint, and the second end of the second thigh component is movably connected with the shank component. The distance between the connecting position of the second thigh component and the shank component and the first end of the shank component is smaller than the distance between the connecting position of the second thigh component and the shank component and the second end of the shank component and is smaller than the distance between the first end and the second end of the hip joint. A walking part is arranged at the second end part of the shank component. According to the utility model, the real-time performance of kinematics calculation of the robot can be greatly improved, so that the reliability of data issuing of the controller is ensured.

Description

Technical Field

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

[0002] Leg robots play an important role in some specific scenarios, such as post-earthquake disaster relief scenarios. The leg structures of existing leg robots are relatively heavy, which is not conducive to the completion of jumping actions and the movement effect is poor. Summary of the Utility Model

[0003] In view of the above technical problems, the technical solution adopted by the utility model is as follows:

[0004] An embodiment of the utility model provides a leg structure, including: a hip joint, a first thigh member, a second thigh member and a calf member. The first end of the first thigh member is movably connected to the first end of the hip joint, the second end of the first thigh member is movably connected to the first end of the calf member, the first end of the second thigh member is movably connected to the second end of the hip joint, the second end of the second thigh member is movably connected to the calf member, and the distance between the connection position of the second thigh member and the calf member and the first end of the calf member is less than the distance between the connection position of the second thigh member and the calf member and the second end of the calf member, and is less than the distance between the first end and the second end of the hip joint. A walking part is arranged on the second end of the calf member.

[0005] The utility model has at least the following beneficial effects:

[0006] For the leg structure provided by the utility model, since the hip joint, the thigh member and the calf member form a four-bar linkage structure, in the actual application scenario, due to its inherent characteristics, the kinematics of the robot with it can be simplified, converting complex mathematical derivations into simple triangle-solving calculations, thereby greatly improving the real-time performance of the robot kinematics calculation, and thus ensuring the reliability of the data sent by the controller. At the same time, the four-bar linkage structure ensures that the robot only needs one joint motor to achieve jumping, and there is no need to additionally increase the motor to ensure that the center of mass of the robot hardly moves during jumping. In this way, the mass of the robot base part is reduced, which is more conducive to the improvement of the jumping height. Description of the Drawings

[0007] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0008] Figure 1 Schematic diagram of the leg structure provided by the embodiment of the present invention;

[0009] Figure 2 Exploded view of the leg structure provided by the embodiment of the present invention;

[0010] Figure 3 Schematic diagram of the leg robot provided by the embodiment of the present invention;

[0011] Figure 4 Exploded view of the leg robot provided by the embodiment of the present invention;

[0012] Figure 5 Side view of the leg robot provided by the embodiment of the present invention. Detailed implementation manners

[0013] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present invention.

[0014] (Embodiment 1)

[0015] This embodiment provides a leg structure, as shown in Figure 1 and Figure 2 , including: hip joint 1, first thigh member 2, second thigh member 3, and calf member 4.

[0016] Among them, the hip joint 1, first thigh member 2, second thigh member 3, and calf member 4 form a four-bar linkage structure, as shown in Figure 1 and Figure 2As shown, the first thigh member 2 is located behind the second thigh member 3, that is, the first thigh member 2 is the rear thigh member, and the second thigh member 3 is the front thigh member. Specifically, the first end of the first thigh member 2 is movably connected to the first end of the hip joint 1, the second end of the first thigh member 2 is movably connected to the first end of the calf member 4, the first end of the second thigh member 3 is movably connected to the second end of the hip joint 1, the second end of the second thigh member 3 is movably connected to the calf member 4, and the distance between the connection position of the second thigh member 3 and the calf member 4 and the first end of the calf member 4 is less than the distance between the connection position of the second thigh member and the calf member 4 and the second end of the calf member 4, and is less than the distance between the first end and the second end of the hip joint. A walking part 5 is provided on the second end of the calf member.

[0017] Further, a first mounting hole 101 is provided on the first end of the hip joint 1, a second mounting hole 102 is provided on the second end of the hip joint 1, and two connecting cylinders are respectively provided on the first end and the second end of the first thigh member 2, that is, two connecting cylinders 201 are provided on the first end, and two connecting cylinders 202 are provided on the second end. Two connecting cylinders 201 are provided on the first end of the second thigh member 3, two connecting ends 202 are provided on the second end of the second thigh member 3, two connecting cylinders 401 are provided on the first end of the calf member 4, two connecting cylinders 402 are provided at the connection position where the calf member 4 is connected to the second thigh member, and a walking part connecting end 403 is provided on the second end of the calf member 4; the two connecting cylinders 201 on the first end of the first thigh member 2 are respectively connected to the two connecting cylinders 401 on the first end of the calf member 4 by a rotating shaft, the two connecting cylinders 202 on the second end of the first thigh member 3 are connected to the first mounting hole 101 of the first end of the hip joint by a rotating shaft, the two connecting cylinders 201 on the first end of the second thigh member 3 are respectively connected to the two connecting cylinders 402 at the connection position by a rotating shaft, and the two connecting ends 202 on the first end of the second thigh member 3 are movably connected to the second mounting hole 102 of the hip joint.

[0018] In this embodiment, a lubricating member may be provided outside the rotating shaft to reduce the frictional force. In a schematic embodiment, the lubricating member may be made of graphite.

[0019] Further, as Figure 1 and Figure 2 shown, in the embodiment of the present utility model, the first thigh member 2, the second thigh member 3, and the calf member 4 are formed into a hollow structure to reduce the overall mass of the leg structure.

[0020] Those skilled in the art know that the hollow structure can be set according to actual needs, and the present utility model does not make special limitations.

[0021] Further, the first thigh member 2, the second thigh member 3 and the calf member 4 can be formed by 3D printing using nylon material, which can further reduce the overall mass of the leg structure.

[0022] Further, a torsion spring (not shown) is provided between the first thigh member 2 and the calf member 4. The torsion spring is arranged between two connecting cylinders on the first end of the first thigh member. Specifically, the torsion spring is located between two connecting cylinders on the first end of the first thigh member, and both ends are respectively connected to the first thigh member and the calf member. The torsion spring can increase the jumping performance of the leg structure. In a schematic embodiment, the stiffness of the torsion spring can be 250.8 N / m.

[0023] In this embodiment, the difference between the length of the first thigh member 2 and the length of the second thigh member 3 is less than a set difference. The set difference can be set according to actual needs, for example, less than 10 mm.

[0024] In this embodiment, the initial state of the leg structure, that is, the relative position relationship between the components, can be set according to actual needs. In a specific schematic embodiment, the initial angle between the first thigh member and the hip joint can be 54°, the initial angle between the first thigh member and the calf member can be 4°, the initial angle between the second thigh member and the hip joint can be 99°, the initial angle between the second thigh member and the calf member can be 31°, and the angle between the calf member and the ground can be 2°. The distance between the connection position of the second thigh member 3 and the calf member 4 and the first end of the calf member 4 is 72.5 / 318.5 of the length of the calf member.

[0025] In this embodiment, the walking part 5 can be a roller. The roller can be installed on the walking part connection end 403 at the second end of the calf member 4 through a rotating shaft.

[0026] (Embodiment 2)

[0027] This embodiment provides a leg robot, including the leg structure provided in Embodiment 1.

[0028] As Figures 3 to 5 shown, the leg robot provided in this embodiment includes: a base 6 and two leg structures connected to both ends of the base 6. Joint motors 7 are provided at both ends of the base. The leg structure is formed into a four-bar linkage structure. Each joint motor 6 is used to drive the corresponding leg structure to move. A hub motor (not shown) is provided on the leg structure.

[0029] In this embodiment, the second end of the hip joint 1 is used to mount the joint motor 7, and the two connection ends on the second end of the second thigh member 3 are connected to the drive shaft of the joint motor. The hub motor is provided on the second end of the calf member 4, and the profile motor is used to drive the rollers to walk.

[0030] In this embodiment, in the embodiment of the present utility model, the joint motor 7 is provided on the second end of the hip joint, which can make the mass distribution more reasonable and is conducive to the completion of the jumping action. The joint motor 7 is a motor with high torque and high execution efficiency. For example, it can be a motor with a rated torque of 13 Nm, a rated speed of 300 rpm, and a maximum communication rate of 250 Hz.

[0031] In this embodiment, the hub motor can be an integrated hub motor to simplify the complexity of the leg mechanical design.

[0032] In this embodiment, the base is used to place the hardware device 9, and the hardware device can include devices such as sensors, an on-board computer, and a power system.

[0033] Further, in this embodiment, the base includes a body, and a plurality of strip-shaped openings 8 are formed on the body. As Figure 1 shown, the strip-shaped openings 8 extend along the width direction of the body and are arranged at intervals along the length direction of the body. The strip-shaped openings 8 can not only reduce the weight of the base, but also facilitate the internal wiring and installation of the hardware device.

[0034] In one embodiment, the hip joint and the base can be integrally formed. Of course, they can also be separately formed. Further, a protective part 10 is further included, and the protective part 10 is connected to the leg structure and the base. Specifically, as Figure 3 and Figure 4 shown, the protective part 10 is formed by a plurality of connecting rods, including a semi-circular bottom connecting rod, side connecting rods on both sides of the bottom connecting rod, and a top connecting rod connected to the side connecting rods. Among them, both ends of the bottom connecting rod are respectively connected to the two hip joints, one end of the side connecting rod is connected to the first end of the corresponding hip joint, and the other ends are respectively connected to the front side of the base and the bottom connecting rod.

[0035] The working principle of the leg robot provided in this embodiment is as follows: The joint motor controls the movement of the leg structure according to the received control instruction, and at the same time, the hub motor drives the walking part to form, so that the leg robot can move in the set direction. Since a high-torque torsion spring is provided between the first thigh member and the calf member, when the driving force of the joint motor is insufficient, the leg robot can rely on the action of the torsion spring to achieve jumping.

[0036] In summary, the leg robot provided in this embodiment has at least the following advantages:

[0037] (1) The four-bar linkage converts the rotation of the joint motor installed in the base into the flexion and extension of the leg link. Such a design enables the knee joint to have only a hinge connection, which can reduce the mass of the leg.

[0038] (2) The leg structure adopts a hollow structure and is formed by 3D printing with nylon material, which can further reduce the mass of the leg.

[0039] (3) The four-bar linkage can simplify the kinematics, which is equivalent to solving a triangle in engineering. Such simplification will greatly reduce the complexity of the robot kinematics and enhance the real-time performance of the calculation. The straight end trajectory brings more important advantages. When the joint motor rotates to drive the leg to flex and extend, the trunk base moves almost straight up and down, and the center of mass hardly shifts.

[0040] (4) The four-bar linkage generally has a positive effect on robots that need to frequently keep the joint motor in a high-torque state. The four-bar linkage can also achieve different motion effects with different link lengths, thus converting the rotational motion of the joint motor installed on the base into the extension motion or translational motion of the end.

[0041] (5) Different from most similar robots that install the joint motor on the leg, it is installed on the overall trunk base. Such installation is beneficial to reducing the overall mass of the leg, while making the mass distribution more reasonable, which is conducive to the completion of jumping actions.

[0042] Although some specific embodiments of the present utility model have been described in detail by way of examples, those skilled in the art should understand that the above examples are only for illustration and not for limiting the scope of the present utility model. Those skilled in the art should also understand that various modifications can be made to the embodiments without departing from the scope and spirit of the present utility model. The scope disclosed by the present utility model is defined by the appended claims.

Claims

1. A leg structure, characterized in that: include: A hip joint, a first thigh component, a second thigh component and a calf component, wherein the first end of the first thigh component is movably connected to the first end of the hip joint, the second end of the first thigh component is movably connected to the first end of the calf component, the first end of the second thigh component is movably connected to the second end of the hip joint, the second end of the second thigh component is movably connected to the calf component, the distance between the connection position of the second thigh component and the calf component and the first end of the calf component is smaller than the distance between the connection position of the second thigh component and the calf component and the second end of the calf component, and is smaller than the distance between the first end and the second end of the hip joint, and a walking portion is provided on the second end of the calf component.

2. The leg structure according to claim 1, characterized in that: A difference between the length of the first thigh member and the length of the second thigh member is smaller than a set difference.

3. The leg structure according to claim 1, characterized in that: The first thigh member, the second thigh member and the calf member are formed into a hollow structure.

4. The leg structure according to claim 3, characterized in that: A first mounting hole is provided on the first end of the hip joint, and a second mounting hole is provided on the second end of the hip joint. Two connecting tubes are respectively provided at the first and second ends of the first thigh member, two connecting tubes are provided at the first end of the second thigh member, and two connecting ends are provided at the second end of the second thigh member. Two connecting tubes are provided at the first end of the calf member, and two connecting tubes are provided at the connecting position where the calf member and the second thigh member are connected, and a walking part connecting end is provided at the second end of the calf member; the two connecting tubes on the first end of the first thigh member are respectively connected to the two connecting tubes on the first end of the calf member through a rotating shaft, the two connecting tubes on the second end of the first thigh member are connected to the first mounting hole of the first end of the hip joint through a rotating shaft, the two connecting tubes on the first end of the second thigh member are respectively connected to the two connecting tubes at the connecting position through a rotating shaft, and the two connecting ends on the first end of the second thigh member are connected to the second mounting hole of the hip joint.

5. The leg structure according to claim 4, characterized in that: A lubricating member is arranged outside the rotating shaft.

6. The leg structure according to claim 4, characterized in that: A torsion spring is arranged between the first thigh member and the calf member, and the torsion spring is arranged between two connecting tubes on the first end portion of the first thigh member.

7. The leg structure according to claim 1, characterized in that: The first thigh member, the second thigh member and the calf member are formed by 3D printing using nylon material.

8. The leg structure according to claim 1, characterized in that: The walking part is a roller.

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