Mechanical leg and robot thereof

Abstract

The utility model provides a mechanical leg which is applied to a robot, the mechanical leg comprises a leg mechanism and a driving mechanism, the leg mechanism is rotationally connected to a robot body, and the driving mechanism comprises a first motor, a second motor, a transmission wheel assembly and a flexible transmission part; the transmission wheel assembly is in transmission connection with output shafts of the first motor and the second motor and is connected with the leg mechanism, and the flexible transmission part is in transmission connection with the transmission wheel assembly; the first motor and the second motor coaxially rotate; the first motor and the second motor are used for jointly working and cooperatively driving the transmission wheel assembly to drive the leg mechanism to rotate around a first axis, and are also used for jointly working and cooperatively driving the leg mechanism as a whole to rotate around a second axis; the first axis and the second axis are not parallel.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent devices, and in particular to a mechanical leg and a robot thereof. Background Art

[0002] With the continuous development of science and technology, robots are widely used in various fields. In existing robots, the mechanical legs are usually able to rotate relative to the body, making the robot more flexible and able to adapt to different terrains and environments. However, the mechanical leg structure of existing robots is relatively complex, resulting in large control errors of the mechanical legs, which in turn leads to poor flexibility of the robot legs. Utility Model Content

[0003] The embodiment of the utility model provides a mechanical leg and a robot thereof.

[0004] In a first aspect, the present application provides a mechanical leg for use in a robot, wherein the mechanical leg comprises a leg mechanism and a drive mechanism, wherein the leg mechanism is rotatably connected to the robot body.

[0005] The driving mechanism includes a first motor, a second motor, a transmission wheel assembly and a flexible transmission member;

[0006] The transmission wheel assembly is transmission-connected to the output shafts of the first motor and the second motor and is connected to the leg mechanism, and the flexible transmission member is transmission-connected to the transmission wheel assembly;

[0007] The first motor and the second motor rotate coaxially;

[0008] The first motor and the second motor are used to work together to drive the transmission wheel assembly to drive the leg mechanism to rotate around the first axis, and are also used to work together to drive the leg mechanism as a whole to rotate around the second axis;

[0009] The first axis and the second axis are non-parallel.

[0010] The robotic leg proposed in this application achieves two degrees of freedom by providing only a single flexible transmission element. This simplifies the structure and significantly reduces control errors, significantly enhancing the leg's flexibility. Furthermore, by enabling the first and second motors to work together to coordinate and drive the two degrees of freedom of the robotic leg, and by connecting the first and second motors in parallel, the parameters required for motor drive are reduced, minimizing errors, increasing the robot's operating speed, and lowering its operating costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained from these drawings without any creative work.

[0012] Figure 1 This is a schematic diagram of the structure of the mechanical leg proposed in an embodiment of the present application.

[0013] Figure 2 This is a schematic diagram of some components of the first leg mechanism and the second leg mechanism after extension according to an embodiment of the present application.

[0014] Figure 3 This is a schematic diagram of the structure of the drive structure proposed in an embodiment of the present application.

[0015] Figure 4 This is an exploded schematic diagram of the drive structure proposed in an embodiment of the present application.

[0016] Figure 5 This is an exploded schematic diagram from another perspective of the driving structure proposed in an embodiment of the present application.

[0017] Figure 6 This is a schematic structural diagram of the support assembly proposed in an embodiment of the present application.

[0018] Figure 7 This is an exploded schematic diagram of the support assembly proposed in an embodiment of the present application.

[0019] Description of reference numerals:

[0020] 100. Mechanical leg; 10. Driving mechanism; 11. First motor; 12. Second motor; 13. Transmission wheel assembly; 131. First driving wheel; 132. Second driving wheel; 133. First driven wheel; 134. Second driven wheel; 14. Flexible transmission member; 15. Limit stopper; 20. Leg mechanism; 30. Support frame assembly; 31. Connecting frame; 311. Accommodating cavity; 3111. Fixing hole; 312. Through hole; 313. Limit block; 32. Pre-tightening shaft; 321. Threaded hole; 322. Fastening hole; 33. Pre-tightening screw; a. First axis; b. Second axis. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0022] It should be understood that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0023] It should also be understood that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element through an intervening element.

[0024] The terms used in this specification are for the purpose of describing specific embodiments only and are not intended to limit this application. For example, the terms "first," "second," and so on are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, the term "first" or "second" may explicitly or implicitly include at least one of the features.

[0025] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0026] like Figures 1 to 7 As shown, in the present application, the mechanical leg 100 includes a leg mechanism 20 and a driving mechanism 10, the leg mechanism 20 is rotatably connected to the robot body, and the driving mechanism 10 includes a first motor 11, a second motor 12, a transmission wheel assembly 13 and a flexible transmission member 14; the transmission wheel assembly 13 is transmission-connected to the output shafts of the first motor 11 and the second motor 12 and is connected to the leg mechanism 20, and the flexible transmission member 14 is transmission-connected to the transmission wheel assembly 13; the first motor 11 and the second motor 12 are used to work together to drive the transmission wheel assembly 13 to drive the leg mechanism 20 to rotate around the first axis a, and are also used to work together to drive the leg mechanism 20 to rotate around the second axis b; the first axis and the second axis are not parallel.

[0027] By providing only one flexible transmission member 14, the robotic leg 100 can achieve two degrees of freedom, resulting in a simple structure and significantly reducing control errors of the robotic leg 100, greatly enhancing its flexibility. Furthermore, by having the first motor 11 and the second motor 12 work together to coordinately drive the two degrees of freedom of the robotic leg 100, and by connecting the first motor 11 and the second motor 12 in parallel, the parameters required for motor drive can be reduced, errors can be minimized, the robot's operating speed can be increased, and its operating cost can be lowered.

[0028] Specifically, for example, with respect to multiple flexible transmission members 14, the aging degree of each flexible transmission member 14 is different, and each flexible transmission member 14 is connected to the motor transmission. Since the aging degree of each flexible transmission member 14 is different, the rotation speed of each flexible transmission member 14 is different under the same motor speed. Due to these errors, the control of the robot becomes complicated, which will affect the response speed of the robot.

[0029] In some embodiments, the first motor 11 and the second motor 12 are disposed on the body. Disposing the first motor 11 and the second motor 12 at the upper end of the leg can help raise the center of gravity of the robotic leg 100 and reduce the moment of inertia of the robotic leg 100 when rotating relative to the body, thereby helping to control the robot's energy consumption and improve the robot's response speed.

[0030] In this embodiment, the first axis a is parallel to the front-rear direction, and the second axis b is parallel to the left-right direction.

[0031] In some embodiments, the robotic leg 100 has a first motion state, a second motion state, and a third motion state, and the robotic leg 100 can freely switch between the first motion state, the second motion state, and the third motion state. In the first motion state, the drive mechanism 10 is only used to drive the leg mechanism 20 to rotate about the first axis a, and the leg mechanism 20 is stationary in the second direction. In the second motion state, the drive mechanism 10 is only used to drive the leg mechanism 20 to rotate about the second axis b, and the leg mechanism 20 is stationary in the first direction. In the third motion state, the drive mechanism 10 is used to drive the leg mechanism 20 to rotate about the first axis a while driving the leg mechanism 20 to rotate about the second axis b. The robot has multiple motion states, so that the robot can adapt to different environments according to different gaits.

[0032] In some embodiments, the first motor and the second motor are arranged relative to each other. When the first motor 11 and the second motor 12 rotate in the same direction and the torque of the first motor 11 and the second motor 12 is the same, the leg mechanism 20 rotates around the first axis a and the leg mechanism 20 remains stationary in the second direction; when the first motor 11 and the second motor 12 rotate in opposite directions and the torque of the first motor 11 and the second motor 12 is the same, the leg mechanism 20 rotates around the second axis b and the leg mechanism 20 remains stationary in the first direction; when the first motor 11 and the second motor 12 rotate in opposite or same directions and the torque of the first motor 11 and the second motor 12 is different, the leg mechanism 20 rotates around the first axis a and the second axis b at the same time.

[0033] It should be noted that the rotation directions of the two motors here are referenced to the earth. The following describes several scenarios for the two motors: When the two motors are set opposite each other (i.e., mirrored), with the earth as the reference, when one motor rotates counterclockwise, the other also rotates counterclockwise. However, if the motors are used as the reference, if one motor rotates counterclockwise, the other also rotates clockwise. When the two motors are set apart but not mirrored, with the earth as the reference, if one motor rotates counterclockwise, the other also rotates counterclockwise. If the motors are used as the reference, if one motor rotates counterclockwise, the other also rotates counterclockwise.

[0034] In some embodiments, the transmission wheel assembly 13 includes a first driving wheel 131, a second driving wheel 132, a first driven wheel 133, a second driven wheel 134 and a flexible transmission member 14; the output shaft of the first motor 11 is connected to the first driving wheel 131; the output shaft of the second motor 12 is connected to the second driving wheel 132; the first driven wheel 133 is tightly connected to the leg mechanism 20, and when the first driven wheel 133 rotates, the leg mechanism 20 is driven to rotate; the rotation axes of the first driving wheel 131 and the second driving wheel 132 are coaxial, and the rotation axes of the first driving wheel 131 and the second driving wheel 132 rotate coaxially with the first axis a; the rotation axis of the first driven wheel 133 rotates coaxially with the second axis b; the first axis a and the second axis b are perpendicular to each other; the flexible transmission member 14 is transmission-connected to the first driving wheel 131, the second driving wheel 132, the first driven wheel 133 and the second driven wheel 134.

[0035] This embodiment can enable the mechanical leg 100 to move with two degrees of freedom by setting a flexible transmission member 14. The structure is simple and the control error of the mechanical leg 100 is greatly reduced. Specifically, for example, compared with multiple flexible transmission members 14, the aging degree of each flexible transmission member 14 is different, and each flexible transmission member 14 is connected to the motor transmission. Since the aging degree of each flexible transmission member 14 is different, the rotation speed of each flexible transmission member 14 is different when the motor has the same speed. Due to these errors, the control of the robot becomes complicated, which will affect the response speed of the robot.

[0036] In this embodiment, the first driving wheel 131 and the second driving wheel 132 rotate around the first axis a, and the first driven wheel 133 rotates around the second axis b.

[0037] Of course, in other embodiments, the first driving wheel 131 and the second driving wheel 132 may also rotate around the second axis b, and in this case, the first driven wheel 133 rotates around the first axis a.

[0038] In some embodiments, the radii of the first driving wheel 131 and the second driving wheel 132 are the same, and the radii of the first driven wheel 133 and the second driven wheel 134 are the same. The radius of the first driven wheel 133 is larger than the radii of the first driving wheel 131 and the second driving wheel 132. This helps to increase the transmission ratio between the driving wheel and the transmission wheel, increase the torque of the first driven wheel 133, enable the robotic leg 100 to adapt to harsh environments such as rugged or muddy terrain, and improve the robot's obstacle-crossing ability.

[0039] In some embodiments, the mechanical leg 100 also includes a support frame assembly 30, which is rotatably connected to the first driving wheel 131 and the second driving wheel 132; the support frame assembly 30 is also rotatably connected to the first driven wheel 133 and the second driven wheel 134; when the leg mechanism 20 rotates around the second axis b, the support frame assembly 30 remains stationary; when the leg mechanism 20 rotates around the first axis a, the support frame assembly 30 and the leg mechanism 20 rotate around the first axis a.

[0040] By providing the support frame assembly 30 , the support frame assembly 30 connects the first driven wheel 133 and the second driven wheel 134 , thereby supporting the first driven wheel 133 and the second driven wheel 134 and improving the stability of the structure.

[0041] like Figures 4 to 7 As shown, in some embodiments, the support frame assembly 30 includes a connecting frame 31, a pre-tightening shaft 32, a pre-tightening screw 33, and a fixing screw; the connecting frame 31 is rotatably connected to the first driving wheel 131, the second driving wheel 132, and the first driven wheel 133, and the pre-tightening shaft 32 is rotatably connected to the second driven wheel 134; the connecting frame 31 is provided with a accommodating cavity 311, and a through hole 312 is provided on the outer wall of the connecting frame 31, and the pre-tightening shaft 32 is provided with a threaded hole 321 corresponding to the through hole 312, the pre-tightening screw 33 passes through the through hole 312 and is threadedly connected to the threaded hole 321 so that the pre-tightening shaft 32 can move in the accommodating cavity 311, and a fixing hole 3111 is provided on the cavity wall of the accommodating cavity 311, and a fastening hole 322 is provided on the pre-tightening shaft 32 corresponding to the fixing hole 3111, and the pre-tightening shaft 32 is fastened to the fixing hole 3111 by the fixing screw passing through the fastening hole 322 to be arranged in the accommodating cavity 311.

[0042] The support frame assembly 30 includes a connecting frame 31, a pre-tightening shaft 32, a pre-tightening screw 33, and a fixing screw to connect the first driven wheel 133 and the second driven wheel 134 with the first driving wheel 131 and the second driving wheel 132, supporting the first driven wheel 133 and the second driven wheel 134, improving the structural stability of the structure, and at the same time, providing a pre-tightening shaft to pre-tighten the flexible transmission member.

[0043] like Figure 4 and Figure 5As shown, in some embodiments, the drive mechanism 10 further includes a limit stop 15. The connecting frame 31 is provided with a limit block 313. The limit stop 15 is provided in the rotation direction of the limit block 313. When the connecting frame 31 rotates to a certain position, the limit block 313 abuts against the limit stop 15. The limit stop 15 serves to limit the rotation angle of the motor.

[0044] In some embodiments, the flexible transmission member 14 is a synchronous belt, and the first driving wheel 131 , the second driving wheel 132 , the first driven wheel 133 , and the second driven wheel 134 are synchronous pulleys.

[0045] Optionally, the flexible transmission member 14 can be a rope or other flexible transmission member 14, which can play a buffering role, reduce the impact of the impact force directly acting on the motor, and increase the durability and operational stability of the drive mechanism 10.

[0046] In a second aspect, this embodiment provides a robot comprising a body and the robotic leg 100 of the first aspect, wherein the robotic leg 100 is rotatably connected to the body. The robotic leg 100 in the embodiment of the present application can have the same structure as any of the robotic legs 100 in the above embodiments and can provide the same or similar beneficial effects. For details, please refer to the description in the above embodiments and will not be repeated in this embodiment. Furthermore, the number of robotic legs 100 provided on the body can be one or more, and those skilled in the art can configure them accordingly based on actual needs.

[0047] Those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples without mutual contradiction.

[0048] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

[0049] In case of mutual contradiction, those skilled in the art may combine and combine different embodiments or examples as well as features of different embodiments or examples described in this specification.

[0050] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in the present application, and such modifications or substitutions should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A mechanical leg, applied to a robot, characterized in that: The mechanical leg includes a leg mechanism and a driving mechanism, and the upper end of the leg mechanism is rotatably connected to the robot body; The driving mechanism includes a first motor, a second motor, a transmission wheel assembly and a flexible transmission member; The transmission wheel assembly is transmission-connected to the output shafts of the first motor and the second motor and is connected to the leg mechanism, and the flexible transmission member is transmission-connected to the transmission wheel assembly; The first motor and the second motor rotate coaxially; The first motor and the second motor are used to work together to drive the transmission wheel assembly to drive the leg mechanism to rotate around the first axis, and are also used to work together to drive the leg mechanism as a whole to rotate around the second axis; The first axis and the second axis are non-parallel.

2. The mechanical leg according to claim 1, wherein: The first motor and the second motor are arranged on the fuselage.

3. The mechanical leg according to claim 1, wherein: The robotic leg has a first motion state, a second motion state, and a third motion state, and the robotic leg can freely switch between the first motion state, the second motion state, and the third motion state; In the first motion state, the driving mechanism is only used to drive the leg mechanism to rotate around the first axis, and the leg mechanism is stationary in the second direction; In the second motion state, the driving mechanism is only used to drive the leg mechanism to rotate around the second axis, and the leg mechanism is stationary in the first direction; In the third motion state, the driving mechanism is used to drive the leg mechanism to rotate around the first axis and simultaneously drive the leg mechanism to rotate around the second axis.

4. The mechanical leg according to claim 1, wherein: The transmission wheel assembly includes a first driving wheel, a second driving wheel, a first driven wheel, and a second driven wheel; The first motor output shaft is connected to the first driving wheel; The second motor output shaft is connected to the second driving wheel; The first driven wheel is tightly connected to the leg mechanism, and when the first driven wheel rotates, the leg mechanism is driven to rotate; The rotation axes of the first driving wheel and the second driving wheel are coaxial, the rotation axes of the first driving wheel and the second driving wheel rotate coaxially with the first axis, and the rotation axis of the first driven wheel rotates coaxially with the second axis; The first axis and the second axis are perpendicular to each other; The flexible transmission member is in transmission connection with the first driving wheel, the second driving wheel, the first driven wheel, and the second driven wheel.

5. The mechanical leg according to claim 4, wherein: The first motor and the second motor are arranged opposite to each other, and when the first motor and the second motor rotate in the same direction and the torque of the first motor and the second motor are the same, the leg mechanism rotates around the first axis, and the leg mechanism remains stationary in the second direction; When the first motor and the second motor rotate in opposite directions and the torques of the first motor and the second motor are the same, the leg mechanism rotates around the second axis and the leg mechanism remains stationary in the first direction; When the first motor and the second motor rotate in opposite or same directions and the torques of the first motor and the second motor are different, the leg mechanism rotates around the first axis and the second axis at the same time.

6. The mechanical leg according to claim 4, wherein: The radius of the first driving wheel and the second driving wheel are consistent, the radius of the first driven wheel and the second driven wheel are consistent, and the radius of the first driven wheel is larger than the radius of the first driving wheel and the second driving wheel.

7. The mechanical leg according to claim 4, wherein: The mechanical leg further includes a support frame assembly, wherein the support frame assembly is rotatably connected to the first driving wheel and the second driving wheel; The support frame assembly is also rotatably connected to the first driven wheel and the second driven wheel; When the leg mechanism rotates about the second axis, the support frame assembly remains stationary; When the leg mechanism rotates around the first axis, the support frame assembly and the leg mechanism rotate around the first axis.

8. The mechanical leg according to claim 7, wherein: The support frame assembly includes a connecting frame, a pre-tightening shaft, a pre-tightening screw, and a fixing screw; The connecting frame is rotatably connected to the first driving wheel, the second driving wheel, and the first driven wheel; The preload shaft is rotatably connected to the second driven wheel; The connecting frame is provided with an accommodating cavity, a through hole is provided on the outer wall of the connecting frame, a threaded hole is provided on the outer wall of the pre-tightening shaft corresponding to the through hole, the pre-tightening screw passes through the through hole and is threadedly connected to the threaded hole so that the pre-tightening shaft can move in the accommodating cavity, a fixing hole is provided on the cavity wall of the accommodating cavity, a fastening hole is provided on the pre-tightening shaft corresponding to the fixing hole, and the pre-tightening shaft is fastened to the fixing hole by a fixing screw passing through the fastening hole to be arranged in the accommodating cavity.

9. The mechanical leg according to claim 8, wherein: The driving mechanism further comprises a limit stopper. The connecting frame is provided with a limit block. The limit stopper is arranged in the rotation direction of the limit block. When the connecting frame rotates to a certain position, the limit block abuts against the limit stopper.

10. The mechanical leg according to claim 9, wherein: The flexible transmission member is a synchronous belt, and the first driving wheel, the second driving wheel, the first driven wheel, and the second driven wheel are synchronous pulleys.

11. A robot, characterized in that: The invention comprises a fuselage and a mechanical leg according to any one of claims 1 to 10, wherein the mechanical leg is rotatably connected to the fuselage.

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