Leg structure and plane type shell assembly for robot

Abstract

The utility model discloses a leg structure for a robot and a plane type shell assembly. The leg structure comprises a plurality of tendons and a three-section sleeve; the three-section sleeve is used as a leg main supporting structure; the three-section type sleeve is composed of three sections of pipe bodies, the diameters of the three sections of pipe bodies are sequentially arranged in a sleeved mode from large to small, a limiting ring is arranged at the joint of each section of pipe body, a ring groove is formed in the contact face, corresponding to the inner circumferential wall of the pipe body, of each limiting ring, and a sealing ring is arranged in each ring groove. The planar shell assembly comprises an octagonal shell; each side of the octagonal shell is provided with the corresponding leg structure; according to the specific installation mode, the upper sealing blocks of the leg structures are fixedly connected with the edges of the octagonal shell through bolts; the closed air cavities of every two adjacent leg structures are communicated with each other through air pipes connected between the air pipe connectors, the closed air cavities are filled with air, and the air circulation and mutual pumping effects of all the leg structures are achieved.

Description

Technical Field

[0001] The utility model relates to a component applied to a robot, in particular to a leg structure and a plane shell component used for the robot. Background Art

[0002] Mobile robots can assist or replace humans in performing a variety of tasks, such as surveying, search and rescue, logistics, etc. These robots can be divided into multiple categories according to their different movement methods, such as wheeled robots, legged robots, and tumbling robots. How to pass through unstructured natural environments has always been one of the challenges in the field of mobile robots. Tumbling robots rely on methods such as center of gravity offset or changes in overall shape to achieve movement.

[0003] Currently, most soft tumbling robots need to be connected to a fixed energy system (such as an air pump or power supply), which limits their range of motion and application scenarios.

[0004] Existing untethered soft tumbling robot technologies are limited by their actuation methods and present various challenges. For example, untethered soft tumbling robots based on thermally active smart materials (such as SMAs) are limited by the material's long cooling time, resulting in slow movement. Robots based on electroactive smart materials require an onboard high-voltage power supply, which poses certain risks and has limited load capacity. Untethered soft tumbling robots based on magnetic field actuation rely on external magnetic field actuation devices, while those based on temperature and humidity fields are dependent on the environment, limiting their use cases and hindering flexible deployment. Pneumatic untethered soft tumbling robots offer diverse deformation modes and high output force, but are limited by the low flow rate of micropumps, resulting in slow actuation speeds and difficulty achieving continuous and precise control. Motor-driven systems offer better controllability and flexibility, but struggle to balance compliance and structural rigidity.

[0005] The leg and body structures of existing untethered soft tumbling robots are relatively complex, and the mechanical failure rate is high, making it difficult to complete posture movements stably and efficiently. Summary of the Invention

[0006] The purpose of the present invention is to overcome the shortcomings and deficiencies of the above-mentioned existing robot leg mechanical structure, and to provide a leg structure and a planar shell assembly for a robot with a simple mechanical structure and stable movement.

[0007] The utility model is achieved through the following technical solutions:

[0008] A leg structure includes a plurality of tendons 1 and a three-section sleeve 3: the three-section sleeve 3 serves as the main supporting structure of the leg;

[0009] The three-section sleeve 3 is composed of three sections of pipe bodies, which are sequentially sleeved from large to small in diameter. A limit ring 5 is provided at the connection between each section of the pipe body. A ring groove is provided on the contact surface of the limit ring 5 corresponding to the inner peripheral wall of the pipe body, and a sealing ring 55 is provided in the ring groove.

[0010] An upper sealing block 4 and a lower sealing block 41 are provided at both ends of the three-section sleeve 3, respectively, so that a closed air cavity 33 is formed inside the three-section sleeve 3; two air pipe joints 2 are provided on the upper sealing block 4, and the two air pipe joints 2 are connected to the closed air cavity 33;

[0011] The upper sealing block 4 is provided with a threading channel 11 for the tendon 1 to pass through and a bus outlet 12;

[0012] Multiple tendons 1 are evenly distributed around the outer circumference of the three-section sleeve 3. One end of each tendon 1 is fixed to the outer edge of the lower sealing block 41, and the other end passes through multiple threading channels 11 correspondingly opened on the upper sealing block 4, and then converges to the bus outlet 12 to form a strand and extends out of the bus outlet 12.

[0013] Multiple wire-threading channels 11 are radially buried inside the upper sealing block 4 ; the wire-threading channels 11 are L-shaped pipes; the opening of the short tube of the L-shaped pipe faces the lower sealing block 41 ; the long tube of the L-shaped pipe extends toward the center along the outer edge of the upper sealing block 4 and converges to the bus outlet 12 .

[0014] The axis of the tendon 1 located in the short tube of the L-shaped pipeline is parallel to the axis of the three-section sleeve 3; the axis of the tendon 1 located in the long tube of the L-shaped pipeline is perpendicular to the axis of the three-section sleeve 3.

[0015] There are 4 to 6 tendons 1 and 4 to 6 threading channels 11.

[0016] A rubber pad 6 is mounted on the end of the lower sealing block 41 as a foot.

[0017] A planar housing assembly includes an octagonal housing 7; the leg structure is mounted on each side of the octagonal housing 7; the upper sealing block 4 of the leg structure is fixedly connected to the side of the octagonal housing 7 by bolts;

[0018] The closed air cavities 33 of each adjacent leg structure are interconnected through the air pipe 8 connected between the air pipe joints 2. The closed air cavities 33 are filled with gas, so that each leg structure forms a gas circulation and mutual pumping effect.

[0019] Inside the octagonal shell 7, a servo 15 is provided on the fixed plate 13 corresponding to each side, and a turntable 10 is installed on the rotating shaft of the servo 15; the tendon 1 of the bus outlet 12 of the leg structure is wrapped around the turntable 10, and when the turntable 10 rotates, it pulls the tendon 1, causing the tendon 1 to tighten or relax.

[0020] The tendon 1 is a nylon line or a carbon line; a protective cover 14 is provided on the outside of the turntable 10; and a gap is maintained between the protective cover 14 and the turntable 10.

[0021] The octagonal shell 7 has a built-in pneumatic mechanism; the pneumatic mechanism is connected to the air pipe 8 and is used to fill the closed air cavity 33 of each leg structure with gas of the required pressure to stretch the three-section sleeve 3 to the required length or stiffness.

[0022] A robot comprises the leg structure and / or the planar shell assembly.

[0023] Compared with the prior art, the present invention has the following advantages and effects:

[0024] The leg of the utility model is composed of a closed air cavity formed by a hollow three-section sleeve, and multiple tendons are evenly distributed around the three-section sleeve. The multiple tendons are gathered into one through the threading channel 11 and the bus outlet 12 and connected to the steering gear. The rotation of the steering gear's turntable can drive the tendons to realize the extension and contraction of the leg structure.

[0025] Each leg structure is provided with an air pipe joint, so that multiple legs are connected through the air pipe, thereby realizing gas circulation and mutual pumping effect of all leg structures.

[0026] A rubber pad 6 (hemispherical) is installed at the end of the lower sealing block 41, serving as the foot of the leg structure for contacting the ground and providing stable support.

[0027] Considering that a leg structure primarily supported by flexible materials is prone to unpredictable flexion in other directions during extension and retraction, which could affect leg deformation and lead to rollover failure, the present invention designs the leg structure as a closed air cavity within a three-section rigid sleeve, with sealing rings 55 placed at the joints between each section. This leg structure is longitudinally compressible and exhibits a certain degree of lateral rigidity. Experimental verification has shown that this three-section rigid sleeve (piston-type) not only increases the initial rigidity of the leg but also effectively limits the flexion deformation of the leg structure during extension and retraction, with the deformation sufficient to meet the leg length change requirements during a robot rollover.

[0028] As a leg component of a robot, the utility model has the advantages of simple and easy technical means, simple structure, flexibility and reliability, and convenient maintenance. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a schematic diagram of the leg structure of the utility model.

[0030] Figure 2 This is a schematic diagram of the installation of the shell and leg structure of the planar shell assembly of the present invention.

[0031] Figure 3 for Figure 2 Schematic diagram of the overall internal layout of the planar shell assembly.

[0032] Figure 4 for Figure 2 Schematic diagram of the local structure inside the shell of the planar shell assembly.

[0033] Figure 5 This is a schematic diagram of the leg structure and planar shell assembly of the utility model when applied to a tumbling robot. DETAILED DESCRIPTION

[0034] The present invention will be described in further detail below with reference to specific embodiments.

[0035] like Figure 1-5 The utility model discloses a leg structure, comprising a plurality of tendons 1 and a three-section sleeve 3: the three-section sleeve 3 serves as the main supporting structure of the leg;

[0036] The three-section sleeve 3 is composed of three sections of pipe bodies, which are sequentially sleeved from large to small in diameter. A limit ring 5 is provided at the connection between each section of the pipe body. A ring groove is provided on the contact surface of the limit ring 5 corresponding to the inner peripheral wall of the pipe body, and a sealing ring 55 is provided in the ring groove.

[0037] An upper sealing block 4 and a lower sealing block 41 are provided at both ends of the three-section sleeve 3, respectively, so that a closed air cavity 33 is formed inside the three-section sleeve 3; two air pipe joints 2 are provided on the upper sealing block 4, and the two air pipe joints 2 are connected to the closed air cavity 33;

[0038] The upper sealing block 4 is provided with a threading channel 11 for the tendon 1 to pass through and a bus outlet 12;

[0039] Multiple tendons 1 are evenly distributed around the outer circumference of the three-section sleeve 3. One end of each tendon 1 is fixed to the outer edge of the lower sealing block 41, and the other end passes through multiple threading channels 11 correspondingly opened on the upper sealing block 4, and then converges to the bus outlet 12 to form a strand and extends out of the bus outlet 12.

[0040] Multiple wire-threading channels 11 are radially buried inside the upper sealing block 4 ; the wire-threading channels 11 are L-shaped pipes; the opening of the short tube of the L-shaped pipe faces the lower sealing block 41 ; the long tube of the L-shaped pipe extends toward the center along the outer edge of the upper sealing block 4 and converges to the bus outlet 12 .

[0041] The axis of the tendon 1 located in the short tube of the L-shaped pipeline is parallel to the axis of the three-section sleeve 3; the axis of the tendon 1 located in the long tube of the L-shaped pipeline is perpendicular to the axis of the three-section sleeve 3.

[0042] There are 4 to 6 tendons 1 and 4 to 6 threading channels 11.

[0043] The lower sealing block 41 is provided with a rubber pad 6 as a foot.

[0044] The planar shell assembly comprises an octagonal shell 7, and a leg structure is respectively arranged on each side of the octagonal shell 7.

[0045] The closed air cavities 33 of each adjacent leg structure are communicated with each other through the air pipes 8 connected between the air pipe joints 2, and the closed air cavities 33 are filled with gas, so that the gas circulation and mutual pumping effect of each leg structure are realized.

[0046] The steering engine 15 is arranged on the fixed plate 13 corresponding to each side in the octagonal shell 7, and the rotating shaft of the steering engine 15 is provided with the rotating disc 10; the tendon 1 of the bus outlet 12 of the leg structure is wound on the rotating disc 10, and the tendon 1 is pulled when the rotating disc 10 rotates, so that the tendon 1 is tightened or relaxed.

[0047] The tendon 1 is a nylon wire or a carbon wire; the rotating disc 10 is provided with the protective cover 14; and a gap is kept between the protective cover 14 and the rotating disc 10.

[0048] The octagonal shell 7 is internally provided with a pneumatic mechanism; the pneumatic mechanism is connected with the air pipes 8, and is used for filling the closed air cavities 33 of each leg structure with gas of a required pressure, so that the three-section sleeve 3 is stretched to a required length or rigidity.

[0049] The robot comprises the leg structure and / or the planar shell assembly; and the robot can adopt the rolling mechanism of the rolling robot.

[0050] The tendon 1 of each leg is pulled by the steering engine to be tightened or relaxed, the leg structure is stretched or shortened according to a required order, the rolling mechanism is in an unstable state, the gravity center of the overall structure is offset, and then the regular movement of the leg structure realizes the continuous rolling of the rolling mechanism. Figure 5 As shown in the specific state, in the initial state, the lengths of all the leg structures are the same, the two legs with the codes ① and ② contact the ground, then the leg with the code ① is gradually stretched, at the same time, the legs with the codes ② and ③ are gradually shortened, at this time, the rolling mechanism is in an unstable state, until the gravity center is changed, and the rolling mechanism is rolled to the next stable state. The shortening of the three-section sleeve 3 mainly depends on the tendon 1 being tightened by the steering engine 15, and the stretching mainly depends on the air pressure in the closed air cavity 33 and the tendon 1 being simultaneously released.

[0051] Figure 5As shown, by tightening and loosening of the tendon 1 by the steering engine 15 (motor), the extension and contraction speed and length of the eight legs are controlled, so that the robot realizes different motion modes such as advancing, retreating, fast rolling and slow rolling.

[0052] As described above, the utility model can be better realized.

[0053] The embodiments of the utility model are not limited by the above-mentioned embodiments, and any change, modification, replacement, combination, simplification made without departing from the spirit and principle of the utility model should be an equivalent replacement mode, and all are included in the protection scope of the utility model.

Claims

1. A leg structure for a robot, characterized in that: It comprises a plurality of tendons (1) and a three-section sleeve (3): the three-section sleeve (3) serves as the main supporting structure of the leg; The three-section sleeve (3) is composed of three sections of pipe bodies that are sequentially sleeved with diameters from large to small. A limiting ring (5) is provided at the connection between each section of the pipe body. A ring groove is provided on the contact surface of the limiting ring (5) corresponding to the inner peripheral wall of the pipe body, and a sealing ring (55) is provided in the ring groove. An upper sealing block (4) and a lower sealing block (41) are respectively provided at both ends of the three-section sleeve (3), so that a closed air cavity (33) is formed inside the three-section sleeve (3); two air pipe joints (2) are provided on the upper sealing block (4), and the two air pipe joints (2) are in communication with the closed air cavity (33); The upper sealing block (4) is provided with a threading channel (11) for the tendon (1) to pass through and a bus outlet (12); A plurality of tendons (1) are evenly distributed around the outer circumference of the three-section sleeve (3), one end of each tendon (1) is fixed to the outer edge of the lower sealing block (41), and the other end passes through a plurality of threading channels (11) correspondingly opened on the upper sealing block (4), and then converges to the bus outlet (12) to form a stream and extends outside the bus outlet (12).

2. The leg structure for a robot according to claim 1, characterized in that: A plurality of threading channels (11) are radially buried inside the upper sealing block (4); the threading channels (11) are L-shaped pipes; the openings of the short pipes of the L-shaped pipes face the lower sealing block (41); the long pipes of the L-shaped pipes extend along the outer edge of the upper sealing block (4) toward the center and converge into a bus outlet (12).

3. The leg structure for a robot according to claim 1, characterized in that: The axis of the tendon (1) located in the short tube of the L-shaped pipeline is parallel to the axis of the three-section sleeve (3); the axis of the tendon (1) located in the long tube of the L-shaped pipeline is perpendicular to the axis of the three-section sleeve (3).

4. The leg structure for a robot according to claim 1, characterized in that: There are 4 to 6 tendons (1) and 4 to 6 threading channels (11).

5. The leg structure for a robot according to claim 1, characterized in that: The end of the lower sealing block (41) is equipped with a rubber pad (6) as a foot.

6. A planar housing assembly, characterized in that: It comprises an octagonal shell (7); on each side of the octagonal shell (7), a leg structure for a robot according to any one of claims 1 to 5 is respectively installed; the specific installation method is that the upper sealing block (4) of the leg structure is fixedly connected to the side of the octagonal shell (7) by bolts; The closed air cavities (33) of each adjacent leg structure are interconnected via an air pipe (8) connected between the air pipe joints (2), and the closed air cavities (33) are filled with gas, thereby achieving gas circulation and mutual pumping effect in each leg structure.

7. The planar housing assembly according to claim 6, characterized in that: Inside the octagonal shell (7), a steering gear (15) is provided on a fixed plate (13) corresponding to each side, and a turntable (10) is installed on the rotating shaft of the steering gear (15); the tendon (1) of the bus outlet (12) of the leg structure is wound around the turntable (10), and when the turntable (10) rotates, the tendon (1) is pulled, causing the tendon (1) to tighten or relax.

8. The planar housing assembly according to claim 7, characterized in that: The tendon (1) is a nylon line or a carbon line; a protective outer cover (14) is provided on the outside of the turntable (10); and a gap is maintained between the protective outer cover (14) and the turntable (10).

9. The planar housing assembly according to claim 7, wherein: The octagonal shell (7) has a built-in pneumatic mechanism; the pneumatic mechanism is connected to the air pipe (8) and is used to fill the closed air cavity (33) of each leg structure with gas of a required pressure, so that the three-section sleeve (3) is stretched to a required length or rigidity.

Images