Leg assembly of foot type robot and foot type robot

Abstract

The utility model provides a leg assembly of a foot type robot and the foot type robot, the leg assembly of the foot type robot comprises a shell, a joint motor assembly and a driving plate assembly; the joint motor assembly and the driving plate assembly are arranged on the two opposite sides of the shell correspondingly, the output end of the joint motor assembly is arranged on the side, facing the shell, of the joint motor assembly, and the driving plate assembly is electrically connected with the joint motor assembly. Compared with the prior art, the leg component of the foot type robot has the advantages that the driving plate component and the joint motor component are separately arranged, so that overheating caused by superposition of heat generated by the driving plate component and the joint motor component is avoided; heat generated on the driving plate assembly can be transmitted to the shell, the shell is utilized for effective heat dissipation, heat accumulation on the driving plate assembly is avoided, and the waterproof protection performance of the driving plate assembly is good.

Description

Technical Field

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

[0002] Legged robots typically consist of a body assembly and leg assemblies. Joints between the leg and body assemblies are typically equipped with joint motors to drive the leg assemblies. These joint motors typically require a driver board to control them. Currently, the driver board is typically packaged at the rear of the joint motor, placing them relatively close to the joint motor. Because the joint motor and driver board generate significant heat during operation, the combined heat generation of the joint motor and driver board, as heat sources, can cause significant heat accumulation, leading to rapid local temperature increases and a high risk of overheating. Utility Model Content

[0003] The purpose of the present invention is to overcome the shortcomings and deficiencies in the prior art and to provide a leg assembly of a footed robot and a footed robot.

[0004] One embodiment of the utility model provides a leg assembly of a footed robot, comprising: a housing, a joint motor assembly, and a drive plate assembly;

[0005] The joint motor assembly and the drive plate assembly are respectively arranged on opposite sides of the housing. The output end of the joint motor assembly is arranged on the side of the joint motor assembly facing the housing. The drive plate assembly is electrically connected to the joint motor assembly.

[0006] In some optional embodiments, the leg assembly of the leg-type robot further includes a cover plate, which is disposed on the outer shell, and a sealed space is formed between the cover plate and the outer shell, and the drive plate assembly is located in the sealed space.

[0007] In some optional embodiments, a sealing ring surrounding the sealed space is provided between the cover plate and the outer shell, and the cover plate presses the sealing ring against the outer shell.

[0008] In some optional embodiments, the drive plate assembly is electrically connected to the joint motor assembly via a wire, a wiring channel communicating with the sealed space is formed between the housing and the cover plate, and the wire portion is passed through the wiring channel.

[0009] In some optional embodiments, the wiring channel is filled with a colloid structure, and the colloid structure seals the wiring channel.

[0010] In some optional embodiments, a wiring groove is formed on the housing, and the wiring groove is located at the edge of the side of the housing where the drive board assembly is provided, and the wiring channel is formed between the cover plate and the inner wall of the wiring groove.

[0011] In some optional embodiments, a blocking portion is provided on the side of the cover plate, and the blocking portion protrudes from the side of the cover plate along the extension direction of the wiring trough, and the wiring channel is formed between the cover plate and the inner wall of the wiring trough and between the blocking portion and the inner wall of the wiring trough.

[0012] In some optional embodiments, the width of the cross section of the routing channel is greater than the diameter of the wire.

[0013] In some optional embodiments, the leg assembly of the foot-type robot further includes a buffer jacket, wherein the buffer jacket is disposed on the outer side of the cover plate, and the buffer jacket shields at least a portion of the wires located outside the sealed space.

[0014] In some optional embodiments, the drive plate assembly is electrically connected to the joint motor assembly via a wire, the outer side of the wire is sheathed with a bellows, and the outer side of the bellows has a plurality of concave portions arranged along the axial direction of the bellows;

[0015] A plurality of wiring harness clamps are provided on the housing and / or the joint motor assembly, a limiting groove is provided on the wiring harness clamp, a plurality of protruding positioning ribs are provided in the limiting groove, the bellows is passed through the limiting groove, and the positioning ribs are engaged with the grooved portion to limit the axial movement of the bellows relative to the limiting groove along the bellows.

[0016] Another embodiment of the present invention provides a legged robot, comprising: a body and several leg assemblies of the legged robot as described above, wherein the joint motor assembly is connected to the body.

[0017] Compared with the existing technology, the leg assembly of the foot-type robot of the present invention arranges the drive plate assembly and the joint motor assembly separately to avoid overheating caused by the superposition of heat generated by the drive plate assembly and the joint motor assembly; the heat generated on the drive plate assembly can be transferred to the outer casing, and the outer casing is used for effective heat dissipation, thereby avoiding heat accumulation on the drive plate assembly; through the structural design of the cover plate, sealing ring, etc., the waterproof protection effect of the drive plate assembly is better; in addition, it can also achieve better guiding and storage effects for the wires.

[0018] In order to more clearly understand the present invention, the specific implementation of the present invention will be described below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 An exploded view of a leg assembly of a legged robot according to an embodiment of the present invention;

[0020] Figure 2 This is a structural schematic diagram of one side of a leg assembly of a foot-type robot according to one embodiment of the present invention;

[0021] Figure 3 for Figure 2 A cross-sectional view of section B is shown;

[0022] Figure 4 for Figure 3 An enlarged view of point D is shown;

[0023] Figure 5 for Figure 2 A cross-sectional view of section C is shown;

[0024] Figure 6 for Figure 5 An enlarged view of point E is shown;

[0025] Figure 7 for Figure 1 An enlarged view of point A is shown;

[0026] Figure 8 This is a schematic structural diagram of a wiring harness clamp according to an embodiment of the present invention;

[0027] Figure 9 This is a structural diagram of the leg assembly and foot of a legged robot according to an embodiment of the present invention.

[0028] Description of reference numerals:

[0029] 10. Housing; 11. Wiring trough; 12. Wiring clamp; 121. Limiting groove; 122. Positioning rib; 20. Joint motor assembly; 21. First motor assembly; 22. Second motor assembly; 30. Drive plate assembly; 31. Wire; 32. Bellows; 321. Concave portion; 40. Cover; 41. Sealing ring; 42. Sealing space; 43. Wiring channel; 44. Sealing portion; 50. Cushioning jacket; 60. Foot. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the description of the present invention, unless otherwise specified, "multiple" means 2 or more, and "several" means 1 or more. In addition, unless otherwise specified, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0032] In the description of this utility model, unless otherwise expressly specified or limited, the terms "installed," "connected," "connect," and "fixed" should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction 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] In the description of this utility model, reference to the terms "one embodiment," "some optional implementations," or "some optional embodiments" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the utility model. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0034] At present, in the leg components of legged robots, based on protection and sealing considerations, the existing practice is usually to encapsulate the drive board on the joint motor assembly and seal the joint motor assembly to meet the waterproof and protection requirements. However, the joint motor and the drive board are both components with high heat generation. The joint motor and the drive board are arranged together, resulting in rapid accumulation of heat. Moreover, in a closed environment, the heat is not easy to dissipate. Therefore, the temperature can easily rise to exceed the safety threshold, that is, it is easy to overheat.

[0035] The utility model separates the two heat sources by arranging the joint motor and the drive plate separately on both sides of the shell of the leg assembly, thereby avoiding rapid accumulation of heat, reducing the rate of temperature rise, and effectively avoiding the occurrence of overheating.

[0036] See also Figure 1 One embodiment of the present invention provides a leg assembly of a footed robot, including: a housing 10 , a joint motor assembly 20 and a drive plate assembly 30 .

[0037] The joint motor assembly 20 and the drive plate assembly 30 are respectively arranged on opposite sides of the housing 10, and the output end of the joint motor assembly 20 is arranged on the side of the joint motor assembly 20 facing the housing 10, and the drive plate assembly 30 is electrically connected to the joint motor assembly 20. By arranging the drive plate assembly 30 and the joint motor assembly 20 on opposite sides of the housing 10, a separate arrangement is achieved, thereby avoiding the situation where the heat generated by the drive plate assembly 30 and the joint motor assembly 20 is superimposed and causes overheating, wherein the heat generated on the drive plate assembly 30 can be transferred to the housing 10, and the housing 10 is used for effective heat dissipation, thereby avoiding heat accumulation on the drive plate assembly 30. In this embodiment, heat dissipation fins can also be provided on the joint motor assembly 20 to facilitate the heat dissipation of the joint motor assembly 20, or the joint motor can also be in direct contact with the housing 10, transfer heat to the housing 10, and dissipate heat through the housing 10.

[0038] In one embodiment, the outer shell 10 is a thigh shell, which has an inner side facing the fuselage and an outer side opposite to the inner side. The drive plate assembly 30 is arranged on the outer side of the thigh shell, and the joint motor assembly 20 is arranged on the inner side of the thigh shell, so as to avoid the heat generated by the drive plate assembly 30 from accumulating between the thigh shell and the fuselage. At this time, the drive plate assembly 30 is equivalent to an external state for the overall foot-type robot, which is beneficial to the heat dissipation of the drive plate assembly 30.

[0039] The housing 10 itself has a large surface area, so the heat dissipation effect is better. In some optional embodiments, the housing 10 is a heat-conducting housing 10, thereby further improving the heat dissipation effect of the housing 10. In this embodiment, the housing 10 is an aluminum alloy housing 10.

[0040] See also Figures 1 to 4 In some optional embodiments, the leg assembly of the legged robot further includes a cover plate 40, which is disposed on the housing 10. For example, the cover plate 40 is connected to the housing 10 by means of a snap-fit ​​or screw connection. A sealed space 42 is formed between the cover plate 40 and the housing 10, and the drive plate assembly 30 is located in the sealed space 42. The cover plate 40 protects the drive plate assembly 30 from impact in the event of a fall. The cover plate 40 also provides waterproof and dustproof protection for the drive plate assembly 30. In this embodiment, to improve heat dissipation, the cover plate 40 is made of an aluminum alloy with high thermal conductivity.

[0041] See also Figure 1 and Figure 4 In some optional embodiments, a sealing ring 41 is disposed between the cover plate 40 and the housing 10, surrounding a sealed space 42. The cover plate 40 presses the sealing ring 41 against the housing 10, thereby enhancing the waterproof and dustproof properties of the sealed space 42. The sealing ring 41 can be made of an elastic material such as silicone.

[0042] See also Figure 1 and Figure 4 In some optional embodiments, the drive plate assembly 30 is electrically connected to the joint motor assembly 20 via a wire 31. A wiring channel 43 communicating with the sealed space 42 is formed between the housing 10 and the cover 40. The wire 31 is partially inserted into the wiring channel 43, which allows the wire 31 to pass through and guide and position the wire 31. Of course, a channel for the wire 31 to pass through can also be provided in the housing 10, allowing the wire 31 to pass directly through the housing 10 and then connect to the joint motor assembly 20. Alternatively, an opening for the wire 31 to pass through can be directly opened in the cover 40, allowing the wire 31 to connect to the outside of the sealed space 42.

[0043] To prevent dust and water from entering the sealed space 42 through the wiring channel 43, in some optional embodiments, the wiring channel 43 is filled with a colloid structure. The colloid structure seals the wiring channel 43 and prevents the wiring channel 43 from affecting the waterproof and dustproof effect of the sealed space 42. The colloid structure also secures the wire 31 to prevent the wire 31 from being pulled and affecting the connection stability between the wire 31 and the drive board assembly 30. The colloid structure can be filled after the cover plate 40, the drive board assembly 30, and the wire 31 are installed, thereby preventing the colloid structure from interfering with the installation process of the cover plate 40, the drive board assembly 30, and the wire 31.

[0044] See also Figure 1 and Figure 4To facilitate the formation of the wiring channel 43, in some optional embodiments, a wiring groove 11 is formed on the housing 10. The wiring groove 11 is located at the edge of the housing 10 on the side where the drive board assembly 30 is provided. The wiring channel 43 is formed between the cover plate 40 and the inner wall of the wiring groove 11. The wire 31 can run from the edge of the housing 10 to the outside of the sealed space 42, and then extend along the side wall of the housing 10 to the side of the housing 10 away from the drive board assembly 30, shortening the path of the wire 31. In addition, when a sealing ring 41 is provided, this design can also avoid the occurrence of a partition position between the cover plate 40 and the sealing ring 41, which may cause the cover plate 40 and the sealing ring 41 to not fully fit together. In this embodiment, the sealing ring 41 is partially located inside the wiring channel 43. In addition, the design of the wiring groove 11 can facilitate the storage of the colloid structure when filling it.

[0045] Of course, in some other optional implementations, a wiring groove 11 may also be formed on the cover plate 40 , and a wiring channel 43 is formed between the surface of the housing 10 and the wiring groove 11 .

[0046] In addition, in this embodiment, the wiring groove 11 also extends to the side of the housing 10 located between the joint motor assembly 20 and the drive plate assembly 30, so that the wire 31 extends from the wiring channel 43 along the wiring groove 11 to the joint motor assembly 20, which is conducive to guiding the wire 31.

[0047] See also Figure 1 and Figure 4 In some optional embodiments, a sealing portion 44 is provided on the side of the cover plate 40. The sealing portion 44 protrudes from the side of the cover plate 40 along the extension direction of the wiring trough 11, and the wiring channel 43 is formed between the cover plate 40 and the inner wall of the wiring trough 11, and between the sealing portion 44 and the inner wall of the wiring trough 11. The design of the sealing portion 44 allows the length of the colloid structure connected to the cover plate 40 along the extension direction of the wiring trough 11 to be longer, thereby increasing the adhesion area between the colloid structure and the cover plate 40, thereby improving the waterproof and dustproof effect and the stability of the bonding and fixing of the wire 31 and the cover plate 40. At the same time, the sealing portion 44 can abut against the wire 31, and combined with the bonding effect of the colloid structure, the wire 31 will not shake, making it more stable.

[0048] See also Figure 5 and Figure 6In some optional embodiments, the width of the cross section of the routing channel 43 is greater than the diameter of the wire 31, leaving a certain gap between the wire 31 and the inner wall of the routing channel 43. This allows the colloid structure to flow better within the routing channel 43 when filled, and allows a certain amount of colloid structure to fill between the wire 31 and the inner wall of the routing channel 43, thereby facilitating a more stable bonding and fixation between the wire 31 and the inner wall of the routing channel 43. In this embodiment, the routing channel 43 has a rectangular cross section with a width of 3.5 mm and a guide diameter of 3 mm. A 0.5 mm gap is reserved between the inner wall of the routing channel 43 and the wire 31 for the colloid structure to be stored, thereby improving the stability of the bonding between the wire 31 and the routing channel 43 through the colloid structure.

[0049] See also Figure 1 and Figure 3 In some optional embodiments, the leg assembly of the legged robot further includes a cushioning jacket 50, which is disposed on the housing 10 and covers the outside of the drive plate assembly 30. The cushioning jacket 50 provides a cushioning effect, protecting the drive plate assembly 30 from rigid impact. In this embodiment, the cushioning jacket 50 covers the outside of the cover plate 40, providing the primary level of protection, while the cover plate 40 provides the secondary level of protection. The cushioning jacket 50 can be made of an elastic silicone jacket, or other suitable cushioning material / structure.

[0050] See also Figure 1 and Figure 2 In some optional embodiments, the buffer jacket 50 shields at least a portion of the wire 31 outside the sealed space 42, thereby preventing the wire 31 from being exposed and affecting the appearance and preventing the wire 31 from being scratched and worn.

[0051] See also Figure 1 、 Figure 7 and Figure 8In some optional embodiments, the drive plate assembly 30 is electrically connected to the joint motor assembly 20 through a wire 31, and a bellows 32 is provided on the outside of the wire 31, and the outside of the bellows 32 has a plurality of grooves 321 arranged along the axial direction of the bellows 32; a plurality of wiring harness clamps 12 are provided on the housing 10 and / or the joint motor assembly 20, and a limiting groove 121 is provided on the wiring harness clamp 12, and a plurality of protruding positioning ribs 122 are provided in the limiting groove 121, and the bellows 32 is passed through the limiting groove 121, and the positioning rib 122 is engaged with the groove 321. Since there may be a phase difference between the joint motor assembly 20 and the housing 10 Regarding movement, the cooperation between the positioning rib 122 and the groove portion 321 can prevent the bellows 32 from moving axially relative to the limiting groove 121 along the bellows 32, thereby preventing the bellows 32 from changing its routing pattern. This effectively protects the wires 31 within the bellows 32. For example, it can prevent the bellows 32 from sliding along the limiting groove 121, causing portions of the bellows 32 to bend excessively and protrude outside the housing 10 or the joint motor assembly 20, causing the bellows 32 to become entangled or hooked on certain structures in the legged robot or the environment, causing the wires 31 within the bellows 32 to be pulled, causing damage, or affecting the connection stability of the wires 31. In this embodiment, the bellows 32 is arranged between the limiting groove 121 and the joint motor assembly 20, so that the bellows 32 is confined within the limiting groove 121 by the joint motor assembly 20.

[0052] In addition, the buffer jacket 50 and the wiring harness clamp 12 can cooperate to shield the portion of the wire 31 outside the sealed space 42 and the corrugated tube 32 as much as possible, so that the wire 31 is completely shielded or only partially exposed in the gap between the buffer jacket 50 and the wiring harness clamp 12, thereby providing more effective protection for the wire 31.

[0053] See also Figure 9In some optional embodiments, the joint motor assembly 20 includes a first motor assembly 21 and a second motor assembly 22. The first motor assembly 21 and the drive plate assembly 30 are respectively arranged on opposite sides of the housing 10. The output end of the first motor assembly 21 is arranged on the side of the joint motor assembly 20 facing the housing 10, and the second motor assembly 22 is arranged on the side of the first motor assembly 21 away from the housing 10. The output end of the second motor assembly 22 is transmission-connected to the first motor assembly 21, and the drive plate assembly 30 is electrically connected to the first motor assembly 21 and / or the second motor assembly 22. In this embodiment, the first motor assembly 21 can be driven and connected to the foot 60 of the legged robot via a transmission structure to drive the foot 60 to move. The transmission structure is arranged in the housing 10, and the output end of the first motor assembly 21 is transmission-connected to the transmission structure, while the second motor assembly 22 is used to move the second motor assembly 22 and the housing 10 together. Of course, in some other optional embodiments, the joint motor assembly 20 may also not include the second motor assembly 22, or the joint motor assembly 20 may adopt other suitable practical structures, which are not limited to this example.

[0054] It should be noted that, in this embodiment, the drive plate assembly 30 is connected to a plurality of wires 31, and the plurality of wires 31 are electrically connected to the first motor assembly 21 and the second motor assembly 22 respectively. Since the first motor assembly 21 is relatively close to the housing 10, the outer side of the sub-wire 31 connected to the first motor assembly 21 may not be sheathed with a bellows 32, while the outer side of the sub-wire 31 connected to the second motor assembly 22 is sheathed with a bellows 32.

[0055] The leg assembly of the legged robot described above can be applied to a legged robot comprising: a body and a plurality of leg assemblies of a legged robot described above, wherein the joint motor assembly 20 is connected to the body. In this embodiment, the second motor assembly 22 of the drive motor assembly is mounted on the body.

[0056] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A leg assembly of a footed robot, characterized in that: include: Housing, joint motor assembly and drive plate assembly; The joint motor assembly and the drive plate assembly are respectively arranged on opposite sides of the housing. The output end of the joint motor assembly is arranged on the side of the joint motor assembly facing the housing. The drive plate assembly is electrically connected to the joint motor assembly.

2. The leg assembly of a footed robot according to claim 1, characterized in that: The invention further comprises a cover plate, which is arranged on the housing, and a sealed space is formed between the cover plate and the housing, and the driving plate assembly is located in the sealed space.

3. The leg assembly of a footed robot according to claim 2, characterized in that: A sealing ring surrounding the sealed space is provided between the cover plate and the shell, and the cover plate presses the sealing ring against the shell.

4. The leg assembly of a footed robot according to claim 2, wherein: The drive plate assembly is electrically connected to the joint motor assembly via a wire. A wiring channel communicating with the sealed space is formed between the housing and the cover plate, and the wire portion is passed through the wiring channel.

5. The leg assembly of a footed robot according to claim 4, characterized in that: The wiring channel is filled with a colloid structure, and the colloid structure seals the wiring channel.

6. The leg assembly of a footed robot according to claim 4, characterized in that: A wiring groove is formed on the housing. The wiring groove is located at an edge of a side of the housing where the driving board assembly is provided. The wiring channel is formed between the cover plate and an inner wall of the wiring groove.

7. The leg assembly of a footed robot according to claim 6, characterized in that: A blocking portion is provided on the side of the cover plate, which protrudes from the side of the cover plate along the extension direction of the wiring trough. The wiring channel is formed between the cover plate and the inner wall of the wiring trough and between the blocking portion and the inner wall of the wiring trough.

8. The leg assembly of a footed robot according to claim 5, characterized in that: The width of the cross section of the wiring channel is greater than the diameter of the wire.

9. The leg assembly of a footed robot according to claim 4, characterized in that: It also includes a buffer jacket, which is arranged on the outer side of the cover plate and shields at least a portion of the wire located outside the sealed space.

10. The leg assembly of a legged robot according to any one of claims 1 to 9, characterized in that: The drive plate assembly is electrically connected to the joint motor assembly via a wire, the outer side of the wire is sheathed with a bellows, and the outer side of the bellows has a plurality of concave portions arranged along the axial direction of the bellows; A plurality of wiring harness clamps are provided on the housing and / or the joint motor assembly, a limiting groove is provided on the wiring harness clamp, a plurality of protruding positioning ribs are provided in the limiting groove, the bellows is passed through the limiting groove, and the positioning ribs are engaged with the grooved portion to limit the axial movement of the bellows relative to the limiting groove along the bellows.

11. A legged robot, characterized in that: include: A body and several leg assemblies of a footed robot as claimed in any one of claims 1 to 10, wherein the joint motor assembly is connected to the body.

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