Mechanical device and robot
By setting limiters and anti-collision components on the robot's mechanical devices, the problem of easy collision of mechanical legs or arms during movement is solved, and the stability and stability of the robot are improved.
Patent Information
- Application Number
- CN202422636555.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-30
- Publication Date
- 2025-09-12
- Estimated Expiration
- 2034-10-30
AI Technical Summary
The robot's mechanical legs or arms are prone to collisions during movement, resulting in poor stability.
A first limiter and a second limiter are respectively provided on the first object and the second object of the mechanical device, and are equipped with anti-collision components to limit the range of movement of the objects, reduce movement impact, and improve stability.
It effectively reduces the collision damage of mechanical parts and improves the overall stability of the robot and the smoothness of movement.
Smart Images
Figure CN223327617U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of robots, in particular to a mechanical device and a robot. Background Art
[0002] With the continuous development of science and technology, robots are now gradually being widely used in many fields such as national defense, biomedicine, transportation, etc.
[0003] To enhance a robot's obstacle-crossing capabilities, related art robots employ a connecting rod structure to extend and retract its legs, adjusting the distance between the robot's body and the leg's base. However, during robot movement, components of the robot's legs or arms may collide and become damaged, resulting in poor robot stability. Utility Model Content
[0004] An embodiment of the present invention provides a mechanical device applicable to a robot, for improving the stability of the robot.
[0005] In a first aspect, an embodiment of the present invention provides a mechanical device, comprising: a first driving object, the first driving object comprising a first object and a second object, the first object being provided with a first limit member, and the second object being provided with a second limit member; wherein the first object is connected to the body of the robot, and the second object is connected to the first object; a first driving mechanism being provided at one end of the first object, for driving the second object to slide relative to the first object along a first direction; wherein the first limit member is provided with a first anti-collision component, and / or the second limit member is provided with a second anti-collision component, the second limit member being used to abut against the first limit member when the second object slides to an extreme position relative to the first object, so as to limit the sliding of the second object; the first anti-collision component and / or the second anti-collision component being used to slow down the motion impact generated during the sliding of the second object relative to the first object.
[0006] In the embodiments of the present application, the mechanical device may be, for example, a robotic leg or robotic arm. Accordingly, the first object may be a first leg mechanism of the robotic leg, and the second object may be a second leg mechanism of the robotic leg; alternatively, the first object may be a first arm mechanism of the robotic arm, and the second object may be a second arm mechanism of the robotic arm. The second leg mechanism may include one or more leg sections, and the second arm mechanism may include one or more arm sections, which are not specifically limited in the embodiments of the present application.
[0007] The mechanical device provided by the embodiment of the present utility model has a first limiter and a second limiter respectively provided on the first object and the second object in the mechanical device, so that when the second object slides relative to the first object along the first direction to the extreme position, the first limiter can abut against the second limiter, thereby limiting the movement of the second object relative to the first object, thereby reducing the collision between the second object and the first object, or ensuring that the second object will not separate from the first object, thereby effectively improving the stability of the mechanical device. In addition, the first limiter is provided with a first anti-collision component, and the second limiter is provided with a second anti-collision component, which can reduce the motion impact generated by the second object during its movement relative to the first object, which is conducive to further improving the stability of the mechanical device.
[0008] In one possible design, the first limiting member is provided with a first anti-collision component, including: the first anti-collision component is sleeved on the first limiting member; or, the first anti-collision component covers the surface of the first limiting member; and / or, the second limiting member is provided with a second anti-collision component, including: the second anti-collision component covers the surface of the second limiting member.
[0009] In a possible design, the first limiting member includes at least two first components, the at least two first components are spaced apart along the first direction, and the second limiting member is located between the at least two first components.
[0010] In one possible design, the first driven object is further provided with a third limiter, configured to abut against a fourth limiter when the first and second objects rotate as a whole relative to the body to an extreme position, thereby limiting the rotation of the first and second objects as a whole relative to the body. The fourth limiter is provided in the mechanical device or robot.
[0011] In a possible design, it further includes a second driven object, which is connected to the second object; and the first driving mechanism is further used to drive the second driven object to rotate relative to the first driven object.
[0012] In a possible design, a second driving mechanism is further included; the second driving mechanism is used to drive the second driving object and the first driving object to rotate as a whole relative to the body of the robot along a first axis; the first axis corresponds to the front-to-back direction and / or left-to-right direction of the robot.
[0013] In a possible design, the first leg mechanism is further provided with a weight-reducing groove, and the third limiting member is provided with a clamping portion, and the clamping portion is clamped in the weight-reducing groove.
[0014] In a possible design, the mechanical leg further includes an angle detection mechanism, which is used to detect the rotation angle of the first object and the second object as a whole when the first object and the second object rotate as a whole relative to the fuselage.
[0015] In one possible design, the angle detection mechanism includes: a magnet sensor, provided on the fuselage; a magnet, provided on the first object and arranged opposite to the magnet sensor; the magnet sensor is used to sense the magnet when the first object and the second object rotate as a whole relative to the fuselage, so as to detect the rotation angle of the first object and the second object as a whole.
[0016] In a second aspect, an embodiment of the present application further provides a robot, comprising a body and a mechanical device of the above-mentioned first aspect and any one of the optional designs in the first aspect, wherein the mechanical device is connected to the body.
[0017] The robot provided by the present invention is provided with a first limiter and a second limiter on a first object and a second object, respectively. This allows the first limiter to abut against the second limiter when the second object moves relative to the first object along a first direction to its limit position, thereby limiting the second object's movement relative to the first object and ensuring that the second object does not collide with structures on the first object or separate from the first object, thereby further improving the robot's stability. Furthermore, a first anti-collision component is provided on the first limiter, and a second anti-collision component is provided on the second limiter, which can mitigate the impact of collisions caused by the second object's movement relative to the first object on the robot, thereby effectively improving the robot's stability. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] 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 based on these drawings without any creative work.
[0019] Figure 1 A schematic diagram of the structure of a possible robot provided by an embodiment of the present utility model;
[0020] Figure 2 One of the structural schematic diagrams of a possible mechanical device provided by an embodiment of the utility model;
[0021] Figure 3 A second structural diagram of a possible mechanical device provided by an embodiment of the present utility model;
[0022] Figure 4The third structural diagram of a possible mechanical device provided by an embodiment of the present utility model;
[0023] Figure 5 A fourth structural diagram of a possible mechanical device provided in an embodiment of the present utility model;
[0024] Figure 6 A fifth structural diagram of a possible mechanical device provided by an embodiment of the present utility model;
[0025] Figure 7 This is one of the schematic diagrams of a possible transmission structure of a mechanical device provided in an embodiment of the present utility model;
[0026] Figure 8 A second schematic diagram of a possible transmission structure of a mechanical device provided in an embodiment of the present utility model;
[0027] Figure 9 A sixth structural diagram of a possible mechanical device provided by an embodiment of the present utility model;
[0028] Figure 10 The seventh structural diagram of a possible mechanical device provided by an embodiment of the present utility model;
[0029] Figure 11 The eighth structural diagram of a possible mechanical device provided by an embodiment of the present utility model;
[0030] Description of main reference numerals:
[0031] 1000. Robot; 100. Mechanical device; 200. Mechanical device.
[0032] 10. First driven object; 10a. First object; 10b. Second object; 1011. First position-limiting member; 1011a. First component; 1011b. First component; 1011c. Anti-collision assembly; 1011d. Anti-collision assembly; 1011e. Weight-reducing groove; 1012. Second position-limiting member; 1012a. Anti-collision assembly; 1013. Third position-limiting member; 1014. Fourth position-limiting member;
[0033] 20. Second driven object; 21. Wheel; 22. Wheel axle;
[0034] 30. First drive mechanism; 30a. First drive member; 31. First motor; 311. Motor frame; 32. First transmission assembly; 321. First driving pulley; 322. First transmission pulley; 323. Second transmission pulley; 324. First driven pulley; 325. First flexible transmission member; 326. First limiting member; 327. First preload pulley; 30b. Second drive member; 33. Second motor; 34. Second transmission assembly; 341. Second driving pulley; 342. Third transmission pulley; 343. Fourth transmission pulley; 344. Second flexible transmission member; 345. Second limiting member; 346. Second preload pulley;
[0035] 40. Second drive mechanism; 40a. Third drive member; 40b. Fourth drive member; 41. Third motor; 42. Third transmission assembly; 421. Third driving wheel; 422. Second driven wheel; 423. Third flexible transmission member; 424. Fifth transmission wheel; 425. Sixth transmission wheel; 43. Fourth motor; 44. Fourth transmission assembly; 441. Fourth driving wheel; 442. Fourth flexible transmission member; 443. Seventh transmission wheel; 444. Eighth transmission wheel;
[0036] 50. Support frame; 51. First connecting frame; 52. Second connecting frame; 53. Third connecting frame; 54. Fourth connecting frame;
[0037] 60. Body. DETAILED DESCRIPTION
[0038] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.
[0039] An embodiment of the present utility model provides a mechanical device that can be applied to a robot, and is used to improve the stability of the robot. The mechanical device includes a first driving object, the first driving object includes a first object and a second object, and a first limiter and a second limiter are respectively provided on the first object and the second object, so that when the second object slides to an extreme position along the first direction relative to the first object, the first limiter can abut against the second limiter, thereby limiting the movement of the second object relative to the first object, thereby reducing the collision between the second object and the first object, or ensuring that the second object will not separate from the first object, thereby effectively improving the stability of the mechanical device. In addition, a first anti-collision component is provided on the first limiter, and a second anti-collision component is provided on the second limiter, which can slow down the motion impact generated by the second object during the movement relative to the first object, which is conducive to further improving the stability of the mechanical device.
[0040] In the embodiments of the present application, the mechanical device may be, for example, a robotic leg or robotic arm. Accordingly, the first object may be a first leg mechanism of the robotic leg, and the second object may be a second leg mechanism of the robotic leg; alternatively, the first object may be a first arm mechanism of the robotic arm, and the second object may be a second arm mechanism of the robotic arm. The second leg mechanism may include one or more leg sections, and the second arm mechanism may include one or more arm sections, which are not specifically limited in the embodiments of the present application.
[0041] See also Figure 1 , Figure 1 The embodiment of the present application provides a possible robot 1000, which includes a mechanical device 100 and a mechanical device 200. The mechanical device 100 may be a mechanical leg or a mechanical arm of the robot, and the mechanical device 200 may be a mechanical device 100 or a mechanical device 200 of the robot. Figure 1 The mechanical devices 100 and 200 are merely examples of mechanical legs, and are not intended to limit the embodiments of the present application. In addition, in other embodiments of the present application, the number of mechanical devices included in the robot 1000 may be one or more, and the embodiments of the present application do not impose any limitation thereto.
[0042] exist Figure 1 The structures of the mechanical device 100 and the mechanical device 200 are similar, and the structure of the mechanical device 100 is used as an example for description. Figure 1 As shown, the mechanical device 100 includes a first driven object 10, a second driven object 20, a first driving mechanism 30, and a second driving mechanism 40. In some embodiments, the second driven object 20 and / or the second driving mechanism 40, that is, the mechanical device 100 may include the second driven object 20 and / or the second driving mechanism 40, or may not include the second driven object 20 and / or the second driving mechanism 40.
[0043] like Figure 2 As shown, the first driving object 10 includes a first object 10a and a second object 10b, and the second object 10b is connected to the first object 10a; and the first object 10a can be connected to the body of the robot 1000; or, a frame is provided in the mechanical device 100, and the first object 10a can be connected to the body of the robot 1000 through the frame; when the mechanical device 100 includes a second driving object 20, the second object 10b can be connected to the second driving object 20. The first driving mechanism 30 is provided at one end of the first object 10a, and can drive the second object 10b to slide relative to the first object 10a along a first direction. The first direction can be as shown in FIG. Figure 1 In the up and down directions, the first direction is the extension and contraction direction of the mechanical device 100.
[0044] like Figure 3 As shown, a first limiter 1011 is provided on the first object 10a; a second limiter 1012 is provided on the second object 10b. The second limiter 1012 is used to abut against the first limiter 1012 when the second object 10b slides to the extreme position relative to the first object 10a to limit the sliding of the second object 10b.
[0045] In an embodiment of the present application, the first limit member 1011 may be provided with a first anti-collision component, and / or the second limit member 1011 may be provided with a second anti-collision component; the first anti-collision component and / or the second anti-collision component may be used to slow down the motion impact generated during the sliding of the second object 10b relative to the first object 10a.
[0046] In the embodiment of the present application, the first stopper 1011 may be provided with a first anti-collision component, including but not limited to the following: Case 1, the first anti-collision component is sleeved on the first stopper 1011; Case 2, the first anti-collision component covers the surface of the first stopper 1011. The second stopper 1012 may be provided with a second anti-collision component, which may cover the surface of the second stopper 1012. The first anti-collision component and the second anti-collision component are elastic materials, such as springs, rubber, and other elastic cushioning materials.
[0047] In the embodiment of the present application, the first stopper 1011 and the second stopper 1012 can be implemented in a variety of ways, including but not limited to the following ways:
[0048] In embodiment 1, the first position-limiting member may include at least two first components, the at least two first components are spaced apart along the first direction, and the second position-limiting member is located between the at least two first components.
[0049] For example, Figure 4 As shown, the first position-limiting member 1011 includes a first component 1011a and a second component 1011b, the first component 1011a is provided with an anti-collision component 1011c, the first component 1011b is provided with an anti-collision component 1011d; and / or, the second position-limiting member 1012 is provided with an anti-collision component 1012a. Figure 4In the embodiment, the first component 1011a and the second component 1011b are guide rods, and the anti-collision components 1011c and 1011d are springs. The anti-collision component 1011c is sleeved on the first component 1011a, and the anti-collision component 1011d is sleeved on the first component 1011b. The anti-collision component 1012a is a rubber pad, and covers the upper surface of the second stopper 1012. In this way, when the second object 10b moves relative to the first object 10a, the anti-collision components 1011c and 1011d can buffer the impact of the second object 10b moving relative to the first object 10a. And / or, when the second object 10b slides to an extreme position relative to the first object 10a, the anti-collision component 1012a can buffer the impact of the second stopper 1012 abutting against the first stopper 1011. In this way, the damage to the components of the mechanical device 100 due to collision can be reduced, thereby effectively improving the stability of the robot.
[0050] In embodiment 2, the first position-limiting member is a single component, the first object is provided with at least two guide rods, and the second position-limiting member is located between the at least two guide rods.
[0051] For example, please see Figure 3 By providing an anti-collision pad on the lower surface of the first stopper 1011 and / or an anti-collision pad on the upper surface of the second stopper 1012, when the second object 10b slides to the extreme position relative to the first object 10a, the anti-collision pad on the lower surface of the first stopper 1011 and / or the anti-collision pad on the upper surface of the second stopper 1012 can cushion the impact of movement generated when the second stopper 1012 abuts against the first stopper 1011. This can reduce damage to components of the mechanical device 100 due to collisions, thereby effectively improving the stability of the robot 1000.
[0052] In an embodiment of the present application, the mechanical device 100 can be, for example, a robotic leg or robotic arm of a robot. Accordingly, the first object 10a can be the first leg mechanism of the robotic leg, and the second object 10b can be the second leg mechanism of the robotic leg; or, the first object 10a can be the first arm mechanism of the robotic arm, and the second object 10b can be the second arm mechanism of the robotic arm.
[0053] Optionally, the first drive mechanism 30 can also drive the second driven object 20 to move relative to the first driven object 10. The second driven object 20 can, for example, be a foot component (e.g., a wheel or sole) or a hand component (e.g., a palm and / or hand joint) of a robot. In Example 1, the second driven object 10 is a robot leg and the second driven object 20 is a wheel. The first drive mechanism 30 can also drive the second driven object 20 to rotate relative to the first driven object 10. In Example 2, the second driven object 10 is a robot leg and the second driven object 20 is a sole. The first drive mechanism 30 can also drive the second driven object 20 and the first driven object 10 to walk.
[0054] In some usage scenarios, the robot 1000 is in a standing state. When the robot 1000 needs to maintain the leg height of the robot 1000 unchanged but needs to move from one place to another, the first drive mechanism 30 only drives the second drive object 20 to rotate so that the robot 1000 can move. At this time, the second object 10b is stationary relative to the first object 10a to keep the leg height of the robot 1000 unchanged; in some usage scenarios, the robot 1000 only needs to adjust the leg height of the robot 1000. The first drive mechanism 30 is only used to drive the second object 10b to move linearly in the up and down directions relative to the first object 10a, and the second drive object 20 does not rotate; in other usage scenarios, the robot 1000 not only needs to adjust the leg height of the robot 1000 but also needs to move in space. The first drive mechanism 30 is used to drive the second drive object 20 to rotate while driving the second object 10b to move linearly in the up and down directions relative to the first object 10a.
[0055] like Figure 4As shown, in some embodiments, the first driving mechanism 30 includes a first driving member 30a and a second driving member 30b, and the power sources of the first driving member 30a and the second driving member 30b are connected to the upper end of the first object 10a, and the first driving member 30a is connected to the first object 10a, the second object 10b, and the second driven object 20; the second driving member 30b is connected to the first object 10a and the second object 10b; the first driving member 30a and the second driving member 30b are used to work together to drive the second driven object 20 to rotate relative to the second object 10b; the first driving member 30a and the second driving member 30b are also used to work together to drive the second object 10b to move linearly in the up and down directions relative to the first object 10a. Therefore, the first driving member 30a and the second driving member 30b need to cooperate with the driving object 10 to extend and retract or drive the second driving object 20 to rotate relative to the object 10, or the second driving object 20 to perform a compound movement of rotation and extension and retraction of the object 10. The first driving member 30a and the second driving member 30b work together to cooperate with the driving of the second driving object 20 to rotate and / or the extension and retraction of the object 10, so that the power sources of the first driving member 30a and the second driving member 30b are connected in parallel, which can reduce the parameters required for the power source drive, reduce errors, improve the operating speed of the robot 1000, and reduce the cost of use.
[0056] At the same time, the power sources of the first driving member 30a and the second driving member 30b are connected to the upper end of the first object 10a, which is beneficial to improving the center of gravity of the mechanical device 100 and reducing the rotational inertia of the mechanical device 100 when it rotates relative to the fuselage 60, and thus is beneficial to controlling the energy consumption of the robot 1000 and improving the response speed of the robot 1000.
[0057] like Figure 5-Figure 6As shown, in some embodiments, the first driving member 30a includes a first motor 31 and a first transmission assembly 32, the first motor 31 is connected to the upper end of the object 10; the first transmission assembly 32 is connected to the output shaft of the first motor 31 and is connected to the second driving object 20, the first object 10a, and the second object 10b; the second driving member 30b includes a second motor 33 and a second transmission assembly 34, the second motor 33 is connected to the upper end of the first object 10a; the second transmission assembly 34 is connected to the output shaft of the second motor 33 and is connected to the first object 10a and the second object 10b; the first motor 31 and the second motor 33 are used to respectively drive the first transmission assembly 32 and the second transmission assembly 34 to cooperate to drive the second driving object 20 to rotate relative to the second object 10b and drive the second object 10b to move linearly in the up and down directions relative to the first object 10a. Among them, the first motor 31 and the second motor 33 are arranged in parallel, thereby driving the first transmission component 32 and the second transmission component 34 to work together to drive the second driving object 20 to rotate and / or the object 10 to extend and retract, which can reduce the parameters required for motor drive, reduce errors, improve the operating speed of the robot 1000, and reduce the cost of use.
[0058] In some embodiments, in a first motion state, when the first motor 31 and the second motor 33 rotate in the same direction and the output torques of the first motor 31 and the second motor 33 are the same, the second driven object 20 rotates and the second object 10b remains stationary relative to the first object 10a; in a second motion state, when the first motor 31 and the second motor 33 rotate in opposite directions and the output torques of the first motor 31 and the second motor 33 are the same, the second driven object 20 does not rotate, and the second object 10b moves linearly in the up-down direction relative to the first object 10a; in a third motion state, when the first motor 31 and the second motor 33 rotate in the same or opposite directions but the output torques of the first motor 31 and the second motor 33 are different, the second driven object 20 rotates and the second object 10b moves linearly in the up-down direction relative to the first object 10a.
[0059] 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, when one motor rotates counterclockwise, the other rotates clockwise. When the two motors are set apart but not mirrored, with the earth as the reference, when one motor rotates counterclockwise, the other also rotates counterclockwise. If the motors are used as the reference, when one motor rotates counterclockwise, the other also rotates counterclockwise.
[0060] In this embodiment, the rotation axis of the second driven object 20 is parallel to the rotation axes of the first motor 31 and the second motor 33. Also, the rotation axis of the second driven object 20 is parallel to the left-right direction.
[0061] In this embodiment, the first transmission assembly 32 includes a first driving wheel 321, at least one first transmission wheel 322, at least one second transmission wheel 323, a first flexible transmission member 325 and at least one first driven wheel 324; the second transmission assembly 34 includes a second driving wheel 341, at least one third transmission wheel 342, at least one fourth transmission wheel 343 and a second flexible transmission member 344; the first driving wheel 321 is connected to the output shaft of the first motor 31, the first driven wheel 324 is rotationally connected to the nth first driving object 10d and is connected to the foot assembly 20, and when the first driven wheel 324 rotates, it can drive the foot assembly 20 to rotate; the second driving wheel 341 is connected to the output shaft of the second motor 33.
[0062] Optional, please continue to see Figure 1 When the robot 1000 includes the second drive mechanism 40, the second drive mechanism 40 can drive the first object 10a and the second object 10b to rotate as a whole. Specifically, the first driven object 10 and the second driven object 20 can move along a first axis relative to the body of the robot 1000. The first axis can be the front-to-back direction and / or the left-to-right direction of the robot.
[0063] In one possible embodiment, by connecting the power source of the second drive mechanism 40 to the body 60 of the robot 1000, the rotational inertia of the mechanical device 100 can be reduced, thereby improving its flexibility. The provision of the second drive mechanism 40 allows the mechanical device 100 to have more degrees of freedom, making it more flexible and facilitating the diverse gaits of the robot 1000. The third drive member 40a and the fourth drive member 40b work together to coordinate the movement of the two degrees of freedom of the first driven object 10. By connecting the power sources of the third and fourth drive members 40a and 40b in parallel, the parameters required for power source drive can be reduced, errors can be minimized, the operating speed of the robot 1000 can be increased, and the cost of use can be reduced.
[0064] like Figure 11As shown, in some embodiments, the third driving member 40a includes a third motor 41 and a third transmission assembly 42, and the fourth driving member 40b includes a fourth motor 43 and a fourth transmission assembly 44; the third motor 41 and the fourth motor 43 are used to be connected to the fuselage 60; the third motor 41 and the fourth motor 43 rotate coaxially and the third motor 41 and the fourth motor 43 rotate around the front and rear direction or the left and right direction; the third transmission assembly 42 is connected to the output shaft of the third motor 41 and is connected to the first driving object 10; the fourth transmission assembly 44 is connected to the output shaft of the fourth motor 43 and is connected to the first driving object 10; the third motor 41 and the fourth motor 43 respectively drive the third transmission assembly 42 and the fourth transmission assembly 44 to jointly drive the first driving object 10 to rotate around the front and rear direction as a whole, and are also used to work together to drive the first driving object 10 as a whole to rotate around the left and right direction.
[0065] Optionally, by connecting the third motor 41 and the fourth motor 43 to the body 60, the center of gravity of the mechanical device 100 can be raised, and the moment of inertia of the mechanical device 100 when rotating relative to the body 60 can be reduced, thereby facilitating control of the energy consumption of the robot 1000 and improving the response speed of the robot 1000. In this embodiment, the third motor 41 and the fourth motor 43 rotate in the front-to-back direction. Of course, in other embodiments, the third motor 41 and the fourth motor 43 can also rotate in the left-to-right direction.
[0066] like Figure 11 As shown, the mechanical device 100 includes a support frame 50, which is rotatably connected to the first driving object 10; when the first driving object 10 rotates in the front-to-back direction, the support frame 50 and the first driving object 10 rotate in the front-to-back direction as a whole; when the first driving object 10 rotates in the left-to-right direction, the support frame remains stationary; the third transmission assembly 42 includes at least one fifth transmission wheel 424 and at least one sixth transmission wheel 425, and the fifth transmission wheel 424 and the sixth transmission wheel 425 are rotatably arranged on the upper and lower sides of the support frame 50; the fourth transmission assembly 44 includes at least a seventh transmission wheel 443 and at least an eighth transmission wheel 444, and the seventh transmission wheel 443 and the eighth transmission wheel 444 are rotatably arranged on the upper and lower sides of the support frame 50; the fifth transmission wheel 424 and the sixth transmission wheel 425 are transmission-connected to the third flexible transmission member 423; the seventh transmission wheel 443 and the eighth transmission wheel 444 are transmission-connected to the fourth flexible transmission member 442.
[0067] By setting up a support frame 50, a fifth transmission wheel 424, a sixth transmission wheel 425, a seventh transmission wheel 443, and an eighth transmission wheel 444 are provided on the support frame 50. By setting up these transmission wheels, when the motor drives the first drive object 10 to rotate in the front-rear direction, the flexible transmission member can transmit force to the support frame 50 through the fifth transmission wheel 424, the sixth transmission wheel 425, the seventh transmission wheel 443, and the eighth transmission wheel 444, and the support frame 50 drives the first drive object 10 to rotate in the front-rear direction. In this way, there is no need to drive the first drive object 10 to rotate only by the second driven wheel 422, so that the structural stability of the robot 1000 is improved.
[0068] In some embodiments, the third driving wheel 421, the second driven wheel 422, and the fourth driving wheel 441 are synchronous pulleys, and the third flexible transmission member 423 and the fourth flexible transmission member 442 are synchronous belts; after the third flexible transmission member 423 is flipped, the non-toothed surface of the third flexible transmission member 423 is transmission-connected to the fifth transmission wheel 424 and the sixth transmission wheel 425; after the fourth flexible transmission member 442 is flipped, the non-toothed surface of the fourth flexible transmission member 442 is transmission-connected to the seventh transmission wheel 443 and the eighth transmission wheel 444.
[0069] Optionally, the third flexible transmission member 423 and the fourth flexible transmission member 442 can also be ropes or other flexible transmission members, so as to 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.
[0070] In some embodiments, the support frame 50 includes a first connecting frame 51, a second connecting frame 52 and a third connecting frame 53, and the first connecting frame 51, the second connecting frame 52 and the third connecting frame 53 are connected; the third connecting frame 53 is rotationally connected to the first driving object 10; the third motor 41 and the fourth motor 43 are symmetrically arranged; the first connecting frame 51 is arranged on the side of the third driving wheel 421 away from the third motor 41; the second connecting frame 52 is arranged on the side of the fourth driving wheel 441 away from the fourth motor 43; the first driving mechanism 30 includes a first motor 31, and the first motor 31 is used to drive the foot assembly 20 to rotate; the first motor 31 is arranged between the third motor 41 and the fourth motor 43 and is located in the space enclosed by the first connecting frame 51, the second connecting frame 52 and the third connecting frame 53.
[0071] By setting the support frame 50 into a first connecting frame 51, a second connecting frame 52 and a third connecting frame 53, the first connecting frame 51 and the second connecting frame 52 are respectively set on the sides of the third motor 41 and the fourth motor 43, so that the third motor 41 and the fourth motor 43 can be limited, thereby improving the stability of the motor.
[0072] At the same time, the first motor 31 is arranged in the space enclosed by the first connecting frame 51, the second connecting frame 52 and the third connecting frame 53, which can improve space utilization and make the robot 1000 look more compact.
[0073] In some embodiments, the motor frame 311 of the first motor 31 is fixedly connected to the second driven wheel 422. The motor frame 311 rotates as the second driven wheel 422 rotates. The motor frame 311 is used to fix the motor. The support frame 50 also includes a fourth connecting frame 54, which is connected to the first connecting frame 51 and the second connecting frame 52. The first motor 31 is located in the space enclosed by the first connecting frame 51, the second connecting frame 52, the third connecting frame 53, and the fourth connecting frame 54. The fourth connecting frame 54 is rotatably connected to the motor frame 311. By connecting the motor frame 311 to the support frame 50, the support frame 50 supports the first motor 31, thereby improving the stability of the structure.
[0074] Optional, see Figure 11 The first driven object 10 may also be provided with a third stopper 1013, which may be coupled to a fourth stopper 1014. The fourth stopper 1014 may be provided on the robot's body or on a frame, which may be provided on the robot's body or within the mechanical device 100. When the first and second objects 10a, 10b are rotated to their respective limits relative to the robot's body, the third stopper 1013 may abut against the fourth stopper 1014, thereby limiting the rotation of the first and second objects 10a, 10b relative to the robot's body. In this manner, the third stopper 1013 abuts against the fourth stopper 1014, thereby limiting the rotation of the first and second objects 10a, 10b and controlling their rotational range. This prevents the first and second objects 10a, 10b from colliding with the robot's body, or preventing the first and second objects 10a, 10b from rotating too far relative to the body, thereby preventing instability when the robot is moving or standing.
[0075] Optional, see Figure 4 The first object 10a may also be provided with several weight-reducing grooves, such as weight-reducing groove 1011e. The third stopper 1013 may be provided with a snap-fitting portion that snaps into the weight-reducing groove 1011e. In this manner, the weight-reducing grooves can reduce the weight of the first driven object 10, thereby reducing the moment of inertia of the first and second objects 10a, 10b relative to the robot body. This, in turn, helps reduce the robot's drive energy consumption and improve its response efficiency. Furthermore, the snap-fitting portion of the third stopper 1013, snapping into the weight-reducing groove 1011e, can prevent the second object 10b from colliding with the rotation axis of the first driven object 10.
[0076] In one possible embodiment, the mechanical device further includes an angle detection mechanism configured to detect the rotation angle of the first object 10a and the second object 10b as a whole when the first object 10a and the second object 10b rotate relative to the body. Thus, by providing the angle detection mechanism to detect the rotation angle of the first object 10a and the second object 10b relative to the body and transmitting the detection result to the control mechanism, the control mechanism can control the second drive mechanism 40 to stop rotating the first object 10a and the second object 10b when the first object 10a and the second object 10b have reached their limit relative to the body, thereby limiting the rotation angle of the first object 10a and the second object 10b relative to the body and preventing the first object 10a and the second object 10b from colliding with the body. Alternatively, the control mechanism can prevent the first object 10a and the second object 10b from rotating too far relative to the body, thereby preventing instability when the robot is moving or standing.
[0077] In one possible embodiment, the angle detection mechanism includes: a magnetic sensor disposed on the body; a magnet disposed on the first object and positioned opposite the magnetic sensor; the magnetic sensor is configured to sense the magnet when the first object 10a and the second object 10b rotate as a whole relative to the body, thereby detecting the rotation angle of the first object 10a and the second object 10b as a whole. It will be understood that when the first object 10a and the second object 10b rotate as a whole relative to the body, the magnet rotates, and the magnetic sensor senses the rotation angle of the magnet to detect the rotation angle of the first object 10a and the second object 10b.
[0078] Of course, in other embodiments, the angle detection mechanism may also use other sensors, such as a capacitive angular displacement sensor.
[0079] The robot 1000 provided by the embodiment of the present utility model has all the technical effects of the above-mentioned mechanical device 100, that is, it can simplify the structure of the mechanical device while ensuring the extension and contraction amount of the mechanical device, control the volume of the mechanical device in a direction perpendicular to the first direction, improve the robot's ability to move in a limited space, and can control the sliding range of the second object 10b to improve the stability of the robot.
[0080] In specific applications, the robot can be provided with two mechanical legs, and the extension and / or rotation of the two mechanical legs can be controlled to achieve self-balancing of the robot when it is walking or standing. The robot provided by the embodiment of the present utility model drives the first object and the second object to rotate relative to the body as a whole through a driving mechanism, and drives the second object to move relative to the first object along the first direction to achieve the extension and contraction of the mechanical device, thereby achieving self-balancing of the robot when it is walking or standing. Among them, the second object can move linearly along the first direction relative to the first object, that is, in the extension and contraction direction of the mechanical device, which is beneficial to controlling the volume of the robot in the lateral direction perpendicular to the first direction, ensuring the extension and contraction amount of the mechanical device, and improving the robot's ability to move in a limited space. In addition, the movement direction of the second object is consistent with the extension and contraction direction of the mechanical device, which is beneficial to the robot maintaining balance and improving the stability of the robot's movement.
[0081] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention 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 invention, and such modifications or substitutions are intended to be within the scope of protection of the present invention. Therefore, the scope of protection of the present invention shall be subject to the scope of protection of the claims.
Claims
1. A mechanical device, characterized in that: include: A first driving object, the first driving object comprising a first object and a second object, the first object being provided with a first limiting member, and the second object being provided with a second limiting member; wherein the first object is connected to the body of the robot, and the second object is connected to the first object; a first driving mechanism, disposed at one end of the first object, for driving the second object to slide relative to the first object along a first direction; In which, the first limit member is provided with a first anti-collision component, and / or the second limit member is provided with a second anti-collision component, and the second limit member is used to abut against the first limit member when the second object slides to the extreme position relative to the first object to limit the sliding of the second object; the first anti-collision component and / or the second anti-collision component are used to slow down the movement impact generated during the sliding of the second object relative to the first object.
2. The mechanical device according to claim 1, characterized in that: The first position-limiting member is provided with a first anti-collision component, including: the first anti-collision component is sleeved on the first position-limiting member; or, the first anti-collision component covers the surface of the first position-limiting member; and / or, The second position-limiting member is provided with a second anti-collision component, including: the second anti-collision component covers the surface of the second position-limiting member.
3. The mechanical device according to claim 1 or 2, characterized in that: The first limiting member includes at least two first components, the at least two first components are spaced apart along the first direction, and the second limiting member is located between the at least two first components.
4. The mechanical device according to any one of claims 1 to 3, characterized in that: The first driven object is further provided with a third limiting member, which is used to abut against a fourth limiting member when the first object and the second object are rotated to an extreme position relative to the body as a whole, so as to limit the rotation of the first object and the second object relative to the body as a whole; The fourth limiting member is provided in the mechanical device or the robot.
5. The mechanical device according to any one of claims 1 to 4, characterized in that: The mechanical device further includes a second driven object connected to the second object; The first driving mechanism is further used to drive the second driving object to rotate relative to the first driving object.
6. The mechanical device according to claim 5, characterized in that: The mechanical device further includes a second driving mechanism; The second driving mechanism is used to drive the second driving object and the first driving object to rotate as a whole relative to the body of the robot along a first axis; the first axis corresponds to the front-to-back direction and / or left-to-right direction of the robot.
7. The mechanical device according to claim 4, characterized in that The first driving object is further provided with a weight-reducing groove, and the third position-limiting member is provided with a clamping portion, which is clamped in the weight-reducing groove.
8. The mechanical device according to any one of claims 1 to 7, characterized in that: The mechanical device further includes an angle detection mechanism configured to detect a rotation angle of the first object and the second object as a whole when the first object and the second object as a whole rotate relative to the body.
9. The mechanical device according to claim 8, characterized in that The angle detection mechanism includes: a magnet sensor, which is provided on the fuselage; a magnet, which is provided on the first object and arranged opposite to the magnet sensor; the magnet sensor is used to sense the magnet when the first object and the second object rotate as a whole relative to the fuselage, so as to detect the rotation angle of the first object and the second object as a whole.
10. A robot, characterized in that: The robot comprises a body and a mechanical device according to any one of claims 1 to 9, wherein the mechanical device is connected to the body.