Hip joint rotating mechanism and foot type robot

Abstract

The utility model discloses a hip joint rotating mechanism and a foot type robot, and relates to the technical field of robots. The hip joint rotating mechanism comprises a mounting base, a hip joint motor, an adapter, a limiting piece and a stopping piece. The hip joint motor is installed on the installation base and connected with the adapter, the adapter is detachably connected with the limiting piece, the hip joint motor is used for driving the limiting piece to rotate through the adapter, and the stopping piece is detachably installed on the installation base and used for abutting against the limiting piece when the hip joint motor rotates to the limiting position. Compared with the prior art, the hip joint rotating mechanism provided by the utility model has the advantages that the limiting piece detachably connected with the adapter and the stop piece detachably mounted on the mounting seat are adopted, so that the limiting piece and the stop piece can be detached in a common scene, and the load is reduced; in addition, the mounting of a limiting piece and a stopping piece can be realized in a special scene, so that the hip joint motor is limited, mechanical damage is avoided, and the reliability is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a hip joint rotation mechanism and a foot-type robot. Background Art

[0002] At present, legged robots on the market generally control the rotation angle of the hip joint motor through electronic programs. However, in some special scenarios, if the hip joint runs out of control or the encoder is abnormally misplaced, it will cause collisions between the robotic arms of the legged robot, causing greater mechanical damage to the legged robot and poor reliability.

[0003] In view of this, it is particularly important to design and manufacture a reliable hip joint rotation mechanism and a legged robot, especially in robot production. Utility Model Content

[0004] The purpose of the present utility model is to provide a hip joint rotation mechanism, which can realize the disassembly of the limiter and the stopper in normal scenarios to reduce the load, and can also realize the installation of the limiter and the stopper in special scenarios to limit the hip joint motor, avoid mechanical damage, and ensure reliability.

[0005] Another object of the present utility model is to provide a legged robot that can realize the disassembly of the limiter and the stopper in normal scenarios to reduce the load, and can also realize the installation of the limiter and the stopper in special scenarios to limit the hip joint motor to avoid mechanical damage and ensure reliability.

[0006] The present invention is achieved by adopting the following technical solutions.

[0007] A hip joint rotation mechanism includes a mounting seat, a hip joint motor, an adapter, a limiter and a stopper. The hip joint motor is mounted on the mounting seat and connected to the adapter. The adapter and the limiter are detachably connected. The hip joint motor drives the limiter to rotate via the adapter. The stopper is detachably mounted on the mounting seat. The stopper is used to abut against the limiter when the hip joint motor rotates to the extreme position.

[0008] Optionally, the hip joint motor is mounted on the first surface of the mounting seat, the stopper is mounted on the second surface of the mounting seat, the second surface faces away from the first surface, the mounting seat is provided with an avoidance hole passing through the first surface and the second surface, and the adapter passes through the avoidance hole.

[0009] Optionally, the limiting member includes a first limiting section, a connecting section and a second limiting section, the first limiting section and the second limiting section are relatively arranged at the two ends of the connecting section, and the connecting section is detachably connected to the adapter; wherein, the extreme position includes a first extreme position and a second extreme position, the hip joint motor reciprocates between the first extreme position and the second extreme position, and at the first extreme position, the stop member abuts against the first limiting section, and at the second extreme position, the stop member abuts against the second limiting section.

[0010] Optionally, the first limit section and the second limit section are both set at a preset angle to the connecting section, and the stop member is relatively provided with a first stop surface and a second stop surface, the first stop surface is configured to abut against the first limit section when the hip joint motor rotates to the first limit position, and the second stop surface is configured to abut against the second limit section when the hip joint motor rotates to the second limit position.

[0011] Optionally, the stopper includes a positioning block and a buffer member, the buffer member is arranged on the positioning block, the positioning block is connected to the mounting seat, and the buffer member is configured to buffer and abut against the limiting member.

[0012] Optionally, the hip joint motor has a connecting flange for transmitting rotational power, and the adapter includes a fixing platform and a fastener. The fixing platform is fixed to the end face of the connecting flange by the fastener, and the fixing platform is detachably connected to the limiting member.

[0013] Optionally, the fixing platform is in a rectangular frame shape, comprising a first long side, a first short side, a second long side and a second short side connected end to end, and the limiting member is connected to the outer side of the first long side.

[0014] Optionally, the hip joint rotation mechanism further includes a leg robotic arm having a connecting cover, which is simultaneously arranged outside the first short side, the second long side and the second short side, and is fixedly connected to the second long side.

[0015] Optionally, the connecting cover includes a first ear plate, a second ear plate and a third ear plate connected in sequence, the first ear plate, the second ear plate and the third ear plate enclose a receiving space with an opening, the fixing platform is inserted into the receiving space, the first ear plate abuts against the first short side, the second ear plate abuts against the second long side and is fixedly connected to the second long side, and the third ear plate abuts against the second short side.

[0016] A legged robot includes the hip joint rotation mechanism provided by any of the aforementioned embodiments. The hip joint rotation mechanism includes a mounting base, a hip joint motor, an adapter, a limiter, and a stopper. The hip joint motor is mounted on the mounting base and connected to the adapter. The adapter is detachably connected to the limiter. The hip joint motor is configured to drive the limiter for rotation via the adapter. The stopper is detachably mounted on the mounting base and is configured to abut the limiter when the hip joint motor rotates to its limit position.

[0017] The utility model has the following beneficial effects:

[0018] The hip joint rotation mechanism provided by the present invention has a hip joint motor installed on a mounting seat and connected to an adapter, the adapter is detachably connected to a limiter, the hip joint motor is used to drive the limiter to rotate through the adapter, the stopper is detachably installed on the mounting seat, and the stopper is used to abut against the limiter when the hip joint motor rotates to the extreme position. Compared with the prior art, the hip joint rotation mechanism provided by the present invention adopts a limiter detachably connected to the adapter and a stopper detachably installed on the mounting seat, so that the limiter and the stopper can be disassembled in ordinary scenarios to reduce the load, and can also be installed in special scenarios to limit the hip joint motor, avoid mechanical damage, and ensure reliability. It is flexible to load and unload, and convenient to replace and maintain.

[0019] The legged robot provided by this utility model includes the aforementioned hip joint rotation mechanism. The limiter and stopper can be removed in common scenarios to reduce load, and can also be installed in special scenarios to limit the position of the hip joint motor, avoid mechanical damage, and ensure reliability. Flexible assembly and disassembly facilitates replacement and maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 A schematic structural diagram of a legged robot provided in some embodiments of the present invention;

[0022] Figure 2 A schematic structural diagram of a hip joint rotation mechanism provided in some embodiments of the present utility model;

[0023] Figure 3 An exploded view of a hip joint rotation mechanism provided in some embodiments of the present invention;

[0024] Figure 4 A schematic diagram of the structure of the connection between the stopper and the mounting seat of the hip joint rotation mechanism provided by some embodiments of the present utility model;

[0025] Figure 5 A schematic structural diagram of a mounting seat in a hip joint rotation mechanism provided by some embodiments of the present utility model;

[0026] Figure 6 A schematic structural diagram of a connecting cover in a leg robotic arm in a hip joint rotation mechanism provided in some embodiments of the present invention.

[0027] Icons: 10-legged robot; 100-hip joint rotation mechanism; 110-mounting seat; 111-avoidance hole; 120-hip joint motor; 130-adapter; 131-connecting flange; 132-fixed platform; 133-first long side; 134-first short side; 135-second long side; 136-second short side; 140-limiting member; 141-first limiting section; 142-connecting section; 143-second limiting section; 150-stop member; 151-first stop surface; 152-second stop surface; 153-positioning block; 154-buffer; 160-leg robotic arm; 161-connecting cover; 162-first ear plate; 163-second ear plate; 164-third ear plate; 165-accommodating space; 200-fuselage. DETAILED DESCRIPTION

[0028] To make the purpose, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings herein can be arranged and designed in various different configurations.

[0029] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but rather merely represents selected embodiments of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without creative effort are also within the scope of protection of the present invention.

[0030] 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, it does not need to be further defined or explained in subsequent drawings.

[0031] In the description of this utility model, it should be noted that the terms "inner," "outer," "upper," "lower," and "horizontal" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, or the orientations or positional relationships in which the utility model product is typically placed when in use. These terms are intended solely to facilitate the description of this utility model and simplify the description, and are not intended to indicate or imply that the device or component referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on this utility model. Furthermore, the terms "first," "second," and "third," etc., are used solely for distinction and description and should not be construed as indicating or implying relative importance.

[0032] It should also be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "disposed," "connected," "installed," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0033] The following describes some embodiments of the present invention in detail with reference to the accompanying drawings. In the absence of conflict, the features of the following embodiments can be combined with each other.

[0034] Please refer to Figures 1 to 6 Some embodiments of the present invention provide a hip joint rotation mechanism 100, and some embodiments provide a legged robot 10 having the hip joint rotation mechanism 100. Specifically, the legged robot 10 includes a body 200 and the hip joint rotation mechanism 100. The hip joint rotation mechanism 100 is mounted on the body 200.

[0035] refer to Figures 2 to 6 In some embodiments, the hip joint rotation mechanism 100 includes a mounting seat 110, a hip joint motor 120, an adapter 130, a limiter 140, a stopper 150, and a leg robotic arm 160. The hip joint motor 120 is mounted on the mounting seat 110 and connected to the adapter 130. The adapter 130 and the limiter 140 are detachably connected. The hip joint motor 120 is used to drive the limiter 140 to rotate through the adapter 130. The stopper 150 is detachably mounted on the mounting seat 110. The stopper 150 is used to abut against the limiter 140 when the hip joint motor 120 rotates to the limit position, thereby mechanically limiting the limit position of the hip joint motor 120.

[0036] Furthermore, the leg robotic arm 160 is detachably connected to the adapter 130 , and the hip joint motor 120 also drives the leg robotic arm 160 to rotate through the adapter 130 .

[0037] In normal scenarios, the limiter 140 can be removed from the adapter 130 and the stopper 150 can be removed from the mounting base 110 to achieve the removal of the limiter 140 and the stopper 150, thereby reducing the load of the entire legged robot 10. In special scenarios, the limiter 140 can be connected to the adapter 130 and the stopper 150 can be installed on the mounting base 110 to achieve the installation of the limiter 140 and the stopper 150, thereby limiting the hip joint motor 120 and preventing the hip joint motor 120 from excessive rotation and causing collision between the leg robot arm 160 and other components, thereby avoiding mechanical damage and ensuring reliability. Flexible assembly and disassembly and convenient maintenance.

[0038] refer to Figures 2 to 6 In some embodiments, the hip joint motor 120 is installed on the first surface of the mounting base 110, and the stopper 150 is installed on the second surface of the mounting base 110, with the second surface facing away from the first surface. The mounting base 110 is provided with an avoidance hole 111 that passes through the first surface and the second surface, and the adapter 130 passes through the avoidance hole 111. The mounting base 110 is used to fix and shield the hip joint motor 120 to effectively protect the hip joint motor 120. The adapter 130 passing through the avoidance hole 111 is simultaneously connected to the limiter 140 and the leg robotic arm 160 to synchronously drive the limiter 140 and the leg robotic arm 160 to rotate under the action of the hip joint motor 120.

[0039] In some embodiments, reference Figures 2 to 4 The limiting member 140 includes a first limiting section 141, a connecting section 142, and a second limiting section 143. The first limiting section 141, the connecting section 142, and the second limiting section 143 are sequentially connected, and the first limiting section 141 and the second limiting section 143 are oppositely disposed at the ends of the connecting section 142. The connecting section 142 is detachably connected to the adapter 130, so that the limiting member 140 can be removed from the adapter 130. Specifically, the limit position includes a first limit position and a second limit position. The stopper 150 is used to abut against the first limit section 141 when the hip joint motor 120 rotates to the first limit position. The stopper 150 is also used to abut against the second limit section 143 when the hip joint motor 120 rotates to the second limit position, that is, the hip joint motor 120 rotates back and forth between the first limit position and the second limit position, and at the first limit position, the stopper 150 abuts against the first limit section 141, and at the second limit position, the stopper 150 abuts against the second limit section 143.

[0040] In some embodiments, reference Figures 2 to 4The first limiting section 141 and the second limiting section 143 are both set at a preset angle to the connecting section 142, and the stop member 150 is relatively provided with a first stop surface 151 and a second stop surface 152. The first stop surface 151 is configured to abut against the first limiting section 141 when the hip joint motor 120 rotates to the first limit position, and the second stop surface 152 is configured to abut against the second limiting section 143 when the hip joint motor 120 rotates to the second limit position. Specifically, the first stop surface 151 is used to be fitted with the first limit section 141 when the hip joint motor 120 rotates to the first limit position, so as to ensure the stopping effect of the first stop surface 151 on the first limit section 141, and prevent relative sliding between the stop member 150 and the first limit section 141; the second stop surface 152 is used to be fitted with the second limit section 143 when the hip joint motor 120 rotates to the second limit position, so as to ensure the stopping effect of the second stop surface 152 on the second limit section 143, and prevent relative sliding between the stop member 150 and the second limit section 143.

[0041] In some embodiments, reference Figures 2 to 5 The stopper 150 includes a positioning block 153 and a buffer 154. The buffer 154 is disposed on the positioning block 153, which is connected to the mounting base 110. The buffer 154 is configured to buffer and abut against the stopper 140. Specifically, the buffer 154 is disposed outside the positioning block 153. The first stop surface 151 and the second stop surface 152 are both disposed on the buffer 154. The positioning block 153 is used to fix and limit the buffer 154. The buffer 154 is used to abut against the stopper 140 to achieve a buffering function.

[0042] Specifically, the buffer member 154 is made of shock-absorbing materials such as silicone or rubber. In the process of using the stop member 150 to stop and limit the limit member 140, the limit member 140 and the positioning block 153 quickly absorb the impact force through the buffer member 154 in the middle, which greatly reduces the impact force of the limit member 140 on the positioning block 153, avoids mechanical damage, and also greatly reduces the noise generated during the collision.

[0043] In some embodiments, reference Figures 2 to 4 The hip joint motor 120 has a connecting flange 131 for transmitting rotational power. The adapter includes a fixing platform 132 and fasteners. The fixing platform 132 is fixed to the end surface of the connecting flange 131 via the fasteners. The fixing platform 132 is detachably connected to the limiter 140. Specifically, one side of the connecting flange 131 is connected to the fixing platform 132 via fasteners, and the other side is connected to the hip joint motor 120. The hip joint motor 120 can drive the fixing platform 132 to rotate through the connecting flange 131, thereby driving the limiter 140 to rotate. The fixing platform 132 and the limiter 140 are detachably connected, and the limiter 140 can be removed from the fixing platform 132.

[0044] In some embodiments, reference Figures 2 to 4 The fixing platform 132 is rectangular and includes a first long side 133, a first short side 134, a second long side 135, and a second short side 136, which are connected end to end. The stopper 140 is connected to the outer side of the first long side 133 to ensure a sufficient assembly surface between the stopper 140 and the fixing platform 132, enhancing assembly efficiency and facilitating operation. Specifically, the connecting section 142 of the stopper 140 is connected to the first long side 133 via screws, thereby achieving a detachable connection between the stopper 140 and the adapter 130.

[0045] In some embodiments, reference Figures 3 to 6 The leg manipulator 160 has a connecting cover 161. The connecting cover 161 is simultaneously arranged to cover the first short side 134, the second long side 135, and the second short side 136, and is fixedly connected to the second long side 135. When the hip joint motor 120 drives the fixed platform 132 to rotate via the connecting flange 131, the fixed platform 132 drives the leg manipulator 160 to rotate by cooperating with the first short side 134, the second long side 135, and the second short side 136 and the connecting cover 161. This prevents the connecting cover 161 from slipping relative to the fixed platform 132, ensuring stability and reliability. Specifically, the connecting cover 161 is connected to the second long side 135 via screws to achieve a detachable connection between the adapter 130 and the leg manipulator 160.

[0046] In some embodiments, reference Figures 3 to 6 The connecting cover 161 includes a first ear plate 162, a second ear plate 163, and a third ear plate 164 connected in sequence. The first ear plate 162, the second ear plate 163, and the third ear plate 164 enclose an opening and a receiving space 165. The fixing platform 132 is inserted into the receiving space 165. The first ear plate 162 abuts the first short side 134, the second ear plate 163 abuts and is fixedly connected to the second long side 135, and the third ear plate 164 abuts the second short side 136. This ensures a reliable connection between the connecting cover 161 and the fixing platform 132 and ensures a good transmission effect.

[0047] In some embodiments, reference Figures 2 to 4 The number of hip joint motors 120, adapters 130, limiters 140, stoppers 150, and leg manipulators 160 is two each. The two hip joint motors 120 are spaced apart, each hip joint motor 120 is connected to a respective adapter 130, each adapter 130 is simultaneously connected to a limiter 140 and a leg manipulator 160, each stopper 150 is configured to abut against a respective limiter 140, and the two leg manipulators 160 are disposed on opposite sides of the body 200.

[0048] The hip joint rotation mechanism 100 provided by the embodiment of the present invention has a hip joint motor 120 installed on the mounting seat 110 and connected to the adapter 130. The adapter 130 is detachably connected to the limit member 140. The hip joint motor 120 is used to drive the limit member 140 to rotate through the adapter 130. The stop member 150 is detachably installed on the mounting seat 110. The stop member 150 is used to abut against the limit member 140 when the hip joint motor 120 rotates to the extreme position. Compared to the prior art, the hip joint rotation mechanism 100 provided by the present invention utilizes a limiter 140 detachably connected to the adapter 130 and a stopper 150 detachably mounted on the mounting base 110. Therefore, the limiter 140 and the stopper 150 can be removed in common scenarios to reduce load, and can also be installed in special scenarios to limit the position of the hip joint motor 120, prevent mechanical damage, and ensure reliability. This makes the legged robot 10 convenient and practical, and allows the hip joint motor 120 to be limited in position, prevent mechanical damage, and ensure reliability.

[0049] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Those skilled in the art will readily appreciate that the present invention is susceptible to various modifications and variations. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A hip joint rotation mechanism, characterized in that: The hip joint motor comprises a mounting seat, a hip joint motor, an adapter, a limiter and a stopper, wherein the hip joint motor is mounted on the mounting seat and connected to the adapter, the adapter and the limiter are detachably connected, the hip joint motor drives the limiter to rotate via the adapter, the stopper is detachably mounted on the mounting seat, and the stopper is used to abut against the limiter when the hip joint motor rotates to the limit position; The limiting member includes a first limiting segment, a connecting segment, and a second limiting segment. The first limiting segment and the second limiting segment are relatively arranged at two ends of the connecting segment. The connecting segment is detachably connected to the adapter. Wherein, the extreme position includes a first extreme position and a second extreme position, the hip joint motor reciprocates between the first extreme position and the second extreme position, and when in the first extreme position, the stop member abuts against the first limit section, and when in the second extreme position, the stop member abuts against the second limit section.

2. The hip joint rotation mechanism according to claim 1, characterized in that: The hip joint motor is mounted on the first surface of the mounting seat, the stop member is mounted on the second surface of the mounting seat, the second surface faces away from the first surface, the mounting seat is provided with an avoidance hole passing through the first surface and the second surface, and the adapter passes through the avoidance hole.

3. The hip joint rotation mechanism according to claim 1, characterized in that: The first limit section and the second limit section are both set at a preset angle to the connecting section, and the stop member is relatively provided with a first stop surface and a second stop surface, the first stop surface is configured to abut against the first limit section when the hip joint motor rotates to the first limit position, and the second stop surface is configured to abut against the second limit section when the hip joint motor rotates to the second limit position.

4. The hip joint rotation mechanism according to claim 1, characterized in that: The stopper comprises a positioning block and a buffering member, wherein the buffering member is arranged on the positioning block, the positioning block is connected to the mounting seat, and the buffering member is configured to buffer and abut against the limiting member.

5. The hip joint rotation mechanism according to any one of claims 1 to 4, characterized in that: The hip joint motor has a connecting flange for transmitting rotational power. The adapter includes a fixing platform and a fastener. The fixing platform is fixed to the end surface of the connecting flange through the fastener. The fixing platform is detachably connected to the limiting member.

6. The hip joint rotation mechanism according to claim 5, characterized in that: The fixing platform is in a rectangular frame shape and includes a first long side, a first short side, a second long side and a second short side connected end to end. The limiting member is connected to the outer side of the first long side.

7. The hip joint rotation mechanism according to claim 6, characterized in that: The hip joint rotation mechanism further includes a leg mechanical arm, which has a connecting cover. The connecting cover is simultaneously arranged outside the first short side, the second long side and the second short side, and is fixedly connected to the second long side.

8. The hip joint rotation mechanism according to claim 7, characterized in that: The connecting cover includes a first ear plate, a second ear plate and a third ear plate connected in sequence, the first ear plate, the second ear plate and the third ear plate enclose a receiving space with an opening, the fixing platform is inserted into the receiving space, the first ear plate abuts against the first short side, the second ear plate abuts against the second long side and is fixedly connected to the second long side, and the third ear plate abuts against the second short side.

9. A legged robot, characterized in that: It comprises the hip joint rotation mechanism as described in any one of claims 1-8.

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