Robot leg structure with increased torque and quadruped robot with same

Abstract

The utility model relates to the technical field of robots, in particular to a robot leg structure with increased torque and a quadruped robot with the same, the robot leg structure with increased torque comprises a thigh and a shank, one end of the thigh is rotatably connected with the shank, and the other end of the thigh is provided with a driving device for driving the shank to rotate. The driving device comprises a driving source, a driving gear is arranged at the output end of the driving source, a gear ring which is coaxially distributed is arranged outside the driving gear, a planet wheel is arranged between the driving gear and the gear ring, and a transmission pull rod hinged to the shank is arranged on the planet wheel. According to the equipment provided by the scheme, a reduction gear does not need to be independently designed, the occupied size is smaller, the structure is more compact, meanwhile, the performance requirement for the motor can be lowered, a more economical motor can be selected, and the production cost is saved.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a robot leg structure with increased torque and a quadruped robot with the structure. Background Art

[0002] In current technology, the transmission solution based on a reducer is widely used. This traditional solution has many practical problems, the most prominent of which is the large number of parts involved. This multitude of parts not only increases manufacturing costs and process complexity, but also requires a significant amount of manpower and time during assembly to ensure that each component is installed accurately and securely.

[0003] At the same time, due to the structural characteristics of the reducer itself, sufficient assembly space must be reserved during the design and installation process. This requirement results in the joint unit occupying a large volume in the overall layout, thus failing to achieve the design goal of a compact structure. This less than compact structure is severely limited in some space-critical applications, such as precision instruments and equipment, small robots, or space-constrained automated production lines, and may even fail to meet actual needs.

[0004] Alternatively, a dual-gear structure can be installed at the motor output to replace the complex reducer structure. This solution has certain advantages, such as the ability to increase torque within a certain range, thus providing a viable solution for equipment with high torque requirements. However, this dual-gear structure is not perfect and is severely limited by the space it is located in. Due to insufficient space, a large reduction ratio cannot be installed, which means that the increase in reduction ratio is very limited. In some situations where a high reduction ratio is required for precise control and efficient transmission, the limitations of this dual-gear structure are exposed, making it unable to meet complex working requirements. Utility Model Content

[0005] In order to solve the above problems, the embodiments of the present invention provide a robot leg structure with a compact structure and increased torque, and a quadruped robot having such a structure. By setting a planetary reduction structure instead of a complex reducer structure, the calf can be rotated relative to the thigh, thereby further increasing the output torque of the calf, thereby increasing the overall load capacity of the robot, reducing the power consumption of the motor, and allowing a more economical motor to be selected as the drive, saving production costs.

[0006] In order to achieve the above-mentioned purpose, the embodiment of the present utility model specifically adopts the following technical solutions: a torque-increased robot leg structure, comprising a thigh and a calf, one end of the thigh being rotatably connected to the calf, and the other end being provided with a driving device for driving the calf to rotate, the driving device comprising a driving source, an output end of the driving source being provided with a driving gear, a coaxially distributed ring gear being provided on the outside of the driving gear, a planetary gear being provided between the driving gear and the ring gear, and a transmission pull rod hinged to the calf being provided on the planetary gear.

[0007] As a further improvement of the above technical solution:

[0008] The thigh includes an inner shell and an outer shell. The upper part of the inner shell is provided with a storage chamber for installing a drive device. The upper part of the outer shell is provided with a protective cover corresponding to the position of the storage chamber. The inner side of the protective cover is provided with a limiting component for limiting the travel range of the transmission rod.

[0009] The limiting assembly includes a rotating bearing located on the inner side of the protective cover, a planetary wheel carrier hinged to the planetary wheel is provided in the rotating bearing, a limiting protrusion is provided on the inner side of the planetary wheel carrier, and a limiting block corresponding to the position of the limiting protrusion is provided on the inner side wall of the protective cover.

[0010] Both ends of the limiting block are provided with limiting end surfaces used in conjunction with the limiting protrusions.

[0011] One end of the transmission pull rod is connected to the planetary gear, and the other end is connected to the outside of the connection point between the thigh and the calf.

[0012] There are multiple planetary gears that are evenly distributed along the circumferential direction of the driving gear, and the transmission pull rod is hinged to one of the planetary gears.

[0013] A quadruped robot comprises the above-mentioned robot leg structure with increased torque.

[0014] The beneficial effects of the embodiments of the present utility model are as follows: the robot leg structure with increased torque includes a thigh and a calf, one end of the thigh is rotatably connected to the calf, and the other end is provided with a driving device for driving the calf to rotate. Compared with the traditional driving structure with a reducer, the equipment provided by this solution does not require a separately designed reduction device, occupies a smaller volume, and has a more compact structure. At the same time, it can also reduce the performance requirements of the motor, and a more economical motor can be selected to save production costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0016] Figure 2This is a schematic diagram of the installation structure of the drive device in the utility model;

[0017] Figure 3 This is a schematic structural diagram of the inner shell of the present invention;

[0018] Figure 4 This is a schematic structural diagram of the outer shell of the utility model;

[0019] Figure 5 It is a structural schematic diagram of the driving device in the utility model.

[0020] In the figure: 1. thigh; 2. calf; 3. driving source; 4. driving gear; 5. ring gear; 6. planetary gear; 7. transmission rod; 8. inner shell; 9. outer shell; 10. storage chamber; 11. protective cover; 12. rotating bearing; 13. planetary gear carrier; 14. limiting protrusion; 15. limiting block; 16. limiting end face. DETAILED DESCRIPTION

[0021] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0022] like Figure 1-5 As shown, the torque-enhanced robot leg structure of this embodiment includes a thigh 1 and a shank 2. One end of the thigh 1 is rotatably connected to the shank 2, and the other end is provided with a drive device for driving the shank 2 to rotate. The drive device includes a drive source 3, which is a structure capable of rotating such as an electric motor or a pneumatic motor and is installed on the inner side of the thigh 1. The output end of the drive source 3 is provided with a driving gear 4. The outer portion of the driving gear 4 is provided with a ring gear 5 coaxially distributed with the driving gear 4. A planetary gear 6 is provided between the driving gear 4 and the ring gear 5. A transmission rod 7 hinged to the shank 2 is installed on the planetary gear 6. The driving gear 4, the ring gear 5 and the planetary gear 6 are meshed and connected. The rotation of the driving gear 4 can drive the planetary gear 6 to move along its circumferential direction, thereby driving the end of the transmission rod 7 to move to achieve a height change, ultimately achieving the rotation of the shank 2. Compared with the traditional drive structure with a reducer, the device provided by this solution does not require a separate design of a reduction device, occupies a smaller volume, has a more compact structure, and can also reduce the performance requirements of the motor, allowing the selection of a more economical motor, saving production costs.

[0023] The thigh 1 includes an inner shell 8 and an outer shell 9. The upper part of the inner shell 8 is provided with a storage chamber 10 for installing the drive device, and the upper part of the outer shell 9 is provided with a protective cover 11 corresponding to the position of the storage chamber 10. The drive source 3 is installed in the storage chamber 10 and the output end faces the protective cover 11. The output end of the drive source 3 is provided with a flange connected to the driving gear 4. The inner side of the protective cover 11 is provided with a limit assembly for limiting the travel range of the transmission rod 7. The design of the limit assembly can limit the transmission rod 7 to move between the two limit end faces 16, thereby limiting the rotation angle of the calf 3.

[0024] The limiting assembly includes a rotating bearing 12 located on the inner side of the protective cover 11, and a planetary wheel frame 13 hinged to the planetary wheel 6 is provided in the rotating bearing 12. A limiting protrusion 14 is provided on the inner side wall of the planetary wheel frame 13, and a limiting block 15 corresponding to the position of the limiting protrusion 14 is provided on the inner side wall of the protective cover 11. The limiting protrusion 14, the transmission rod 7 and the planetary wheel 6 are coaxially designed. This structure can limit the movement range of the transmission rod 7 to within 0-180 degrees, thereby avoiding overload and damage to the leg structure due to excessive walking range.

[0025] The limiting block 15 is arc-shaped, and both ends of the limiting block 15 are provided with limiting end surfaces 16 used in conjunction with the limiting protrusion 14. The limiting operation is completed by the abutment between the limiting end surfaces 16 and the limiting protrusion 14.

[0026] One end of the transmission rod 7 is connected to the planetary gear 6, and the other end is located outside the connection point between the thigh 1 and the calf 2. The rotation angle of the calf 2 is changed by changing the height of the transmission rod 7.

[0027] There are multiple planetary gears 6 that are evenly distributed along the circumferential direction of the driving gear 4 , and the transmission pull rod 7 is hinged to one of the planetary gears 6 .

[0028] The quadruped robot of this embodiment, including the robot leg structure with increased torque, can reduce the space occupied by the drive device and use a more economical motor as the drive source, saving production costs without affecting the performance of the robot itself.

[0029] It should be noted that in the description of this utility model, terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is merely for ease of description and does not indicate or imply that the device or element described 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" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0030] Furthermore, it should be noted that, in the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0031] The term "comprise" or any other similar term is intended to cover non-exclusive inclusion, such that a process, article, or apparatus / device that comprises a list of elements includes not only those elements but also other elements not expressly listed or inherent to such process, article, or apparatus / device.

[0032] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A robot leg structure with increased torque, comprising a thigh (1) and a shank (2), wherein one end of the thigh (1) is rotatably connected to the shank (2), and the other end is provided with a driving device for driving the shank (2) to rotate, characterized in that: The driving device comprises a driving source (3), an output end of the driving source (3) is provided with a driving gear (4), a coaxially distributed ring gear (5) is provided on the outside of the driving gear (4), a planetary gear (6) is provided between the driving gear (4) and the ring gear (5), and a transmission pull rod (7) hinged to the calf (2) is provided on the planetary gear (6).

2. The robot leg structure with increased torque according to claim 1, characterized in that: The thigh (1) includes an inner shell (8) and an outer shell (9), the upper part of the inner shell (8) is provided with a storage chamber (10) for installing a drive device, the upper part of the outer shell (9) is provided with a protective cover (11) corresponding to the position of the storage chamber (10), and the inner side of the protective cover (11) is provided with a limit assembly for limiting the travel range of the transmission pull rod (7).

3. The robot leg structure with increased torque according to claim 2, characterized in that: The limiting assembly comprises a rotating bearing (12) located inside the protective cover (11); a planetary wheel carrier (13) hinged to the planetary wheel (6) is provided inside the rotating bearing (12); a limiting protrusion (14) is provided inside the planetary wheel carrier (13); and a limiting block (15) corresponding to the position of the limiting protrusion (14) is provided on the inner side wall of the protective cover (11).

4. The robot leg structure with increased torque according to claim 3, characterized in that: Both ends of the limiting block (15) are provided with limiting end surfaces (16) used in conjunction with the limiting protrusion (14).

5. The robot leg structure with increased torque according to claim 3, characterized in that: One end of the transmission pull rod (7) is connected to the planetary gear (6), and the other end is connected to the outside of the connection point between the thigh (1) and the calf (2).

6. The robot leg structure with increased torque according to claim 1, characterized in that: There are multiple planetary gears (6) that are evenly distributed along the circumferential direction of the driving gear (4), and the transmission pull rod (7) is hinged to one of the planetary gears (6).

7. A quadruped robot, characterized in that: A robot leg structure with increased torque comprising the structure described in any one of claims 1-6.

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