Leg-foot robot joint

Abstract

The utility model provides a leg-foot robot joint, which relates to the technical field of robots and comprises a thigh arm and a shank arm, a first connecting frame is fixed at one end of the thigh arm, a second connecting frame is fixed at one end of the shank arm, and the first connecting frame and the second connecting frame are hinged through a first rotating shaft; the thigh arm is a hollow pipe body in the axis direction, a hydraulic cylinder is fixed in the thigh arm, a hydraulic rod of the hydraulic cylinder extends towards the end close to the shank arm, the end of the hydraulic rod is hinged to a connecting rod through a second rotating shaft, the other end of the connecting rod is hinged to the shank arm through a third rotating shaft, and the hydraulic rod stretches out and draws back to change the angle of the thigh arm and the shank arm; the hydraulic rod is arranged in the thigh arm and hinged to the shank arm through the connecting rod, in the rotation process of the shank arm, the hydraulic rod and the thigh arm are combined and do not rotate, and the first connecting frame is provided with the protective cover used for protecting the connecting rod. And the hydraulic rod and the connecting rod are prevented from being damaged.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and more specifically, to a legged robot joint. Background Technology

[0002] Legged robots, inspired by biological locomotion mechanisms, possess high flexibility and the ability to adapt to complex terrain. Their multi-limb, multi-degree-of-freedom design allows them to "actively" adjust their body height according to operational requirements, ensuring balance and stability. The joints of a legged robot are key components of its leg structure; their design and performance directly affect the robot's mobility, stability, and adaptability.

[0003] The relevant technology can be found in the utility model patent with announcement number CN218021917U, which discloses a servo pump-controlled direct drive robot leg system, including a base, a lateral swing joint, a lateral swing joint and a lower leg joint connected in sequence. A lateral swing cylinder is provided between the lateral swing joint and the lateral swing joint, and a lower leg cylinder is provided between the lateral swing joint and the lower leg joint.

[0004] Regarding the aforementioned technologies, the swing cylinder drives the swing joint to swing. The swing cylinder is located on the outside and has a large swing amplitude, making it prone to damage. Utility Model Content

[0005] The purpose of this invention is to address the problems in the prior art by providing a legged robot joint in which the hydraulic cylinder and the thigh arm combine during the swinging of the lower leg arm, the swing amplitude of the connecting rod is small, and a protective cover is provided to protect the connecting rod.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] This utility model provides a legged robot joint, including a thigh arm and a lower leg arm. One end of the thigh arm is fixed with a first connecting frame, and one end of the lower leg arm is fixed with a second connecting frame. The first connecting frame and the second connecting frame are hinged together by a first pivot.

[0008] The thigh arm is a hollow tube along the axial direction. A hydraulic cylinder is fixed inside the thigh arm. The hydraulic rod of the hydraulic cylinder extends towards the end near the lower leg arm. The end of the hydraulic rod is hinged to a connecting rod via a second pivot. The other end of the connecting rod is hinged to the lower leg arm via a third pivot. The hydraulic rod extends and retracts to change the angle between the thigh arm and the lower leg arm.

[0009] The first connecting frame is provided with a protective cover for protecting the connecting rod.

[0010] Optionally, a slide rail is provided inside the thigh arm, and a slider is provided at the end of the hydraulic rod, the slider sliding within the slide rail;

[0011] The slider is used to connect the second rotating shaft.

[0012] Optionally, the first connecting frame has two first ear plates, and the second connecting frame has two second ear plates;

[0013] The two second ear plates are located outside the two first ear plates respectively and are connected by two coaxial first rotating shafts respectively;

[0014] The connecting rod is disposed between the two second ear plates and is hinged to the two second ear plates via the third pivot.

[0015] Optionally, the third pivot is connected to the two second ear plates near their ends, and the first pivot is connected to the middle of the two second ear plates.

[0016] Optionally, the protective cover includes side plates that respectively connect the edges of the two first ear plates;

[0017] The side plate is a rubber sheet.

[0018] Optionally, the end of the lower leg arm away from the upper leg arm is connected to a foot joint.

[0019] Optionally, the foot joint includes an elastic inner capsule, and the elastic inner capsule is covered with a foot sleeve.

[0020] Optionally, the foot joint is a shell-shaped foot.

[0021] This utility model provides a legged robot joint, including a thigh arm and a lower leg arm. One end of the thigh arm is fixed with a first connecting frame, and one end of the lower leg arm is fixed with a second connecting frame. The first and second connecting frames are hinged together by a first pivot. The thigh arm is a hollow tube along its axial direction, and a hydraulic cylinder is fixed inside the thigh arm. The hydraulic rod of the hydraulic cylinder extends towards the end near the lower leg arm, and the end of the hydraulic rod is hinged to a connecting rod via a second pivot. The other end of the connecting rod is hinged to the lower leg arm via a third pivot. The hydraulic rod extends and retracts to change the angle between the thigh arm and the lower leg arm. The first connecting frame is provided with a protective cover for protecting the connecting rod. In this utility model, the hydraulic rod is placed inside the thigh arm and hinged to the lower leg arm via the connecting rod. During the rotation of the lower leg arm, the hydraulic rod and the thigh arm remain connected and do not rotate. Furthermore, the protective cover on the first connecting frame protects the connecting rod from damage. Attached Figure Description

[0022] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0023] Figure 1 This is one of the structural schematic diagrams of a legged robot joint provided in an embodiment of this application;

[0024] Figure 2 This is a second schematic diagram of the structure of a legged robot joint provided in an embodiment of this application;

[0025] Figure 3 for Figure 2 A magnified structural diagram at point A;

[0026] Figure 4 This is the third schematic diagram of the structure of a legged robot joint provided in the embodiments of this application;

[0027] Figure 5 This is the fourth schematic diagram of the structure of a legged robot joint provided in the embodiments of this application;

[0028] Figure 6 This is a schematic diagram of the shell-shaped support foot of a legged robot joint provided in an embodiment of this application.

[0029] Icons: 10. Thigh arm; 11. First connecting frame; 12. First ear plate; 13. Side plate; 14. Slide rail; 15. First pivot; 20. Lower leg arm; 21. Second connecting frame; 22. Second ear plate; 30. Hydraulic cylinder; 31. Hydraulic rod; 32. Slider; 33. Second pivot; 40. Connecting rod; 41. Third pivot; 51. Foot sleeve; 52. Elastic inner bladder; 53. Shell-shaped support foot. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of this application. It should be noted that, without conflict, the various features in the embodiments of this application can be combined with each other, and the combined embodiments are still within the protection scope of this application.

[0031] Legged robots, drawing inspiration from biological walking mechanisms, possess high flexibility and the ability to adapt to complex terrain. Their multi-limb, multi-degree-of-freedom design allows them to "actively" adjust their body height according to operational requirements, ensuring balance and stability. The joints of a legged robot are key components of its leg structure; their design and performance directly affect the robot's mobility, stability, and adaptability. A related technology can be found in utility model patent CN218021917U, which discloses a servo-pump-controlled direct-drive robot leg system, including a base, a lateral swing joint, a lateral swing joint, and a lower leg joint connected in sequence. A lateral swing cylinder is located between the lateral swing joint and the lateral swing joint, and a lower leg cylinder is located between the lateral swing joint and the lower leg joint. Regarding the aforementioned related technology, the lateral swing cylinder drives the lateral swing joint's swing; however, the lateral swing cylinder is located on the outer side and has a large swing amplitude, making it prone to damage.

[0032] To address the aforementioned issues, this application provides a legged robot joint in which the hydraulic cylinder and the thigh arm 10 engage during the swinging of the lower leg arm, the swing amplitude of the connecting rod 40 is small, and a protective cover is provided to protect the connecting rod 40.

[0033] like Figure 1 and Figure 2 As shown, Embodiment 1 of this application provides a legged robot joint, including a thigh arm 10 and a lower leg arm 20. One end of the thigh arm 10 is fixed with a first connecting frame 11, and one end of the lower leg arm 20 is fixed with a second connecting frame 21. The first connecting frame 11 and the second connecting frame 21 are hinged together by a first pivot 15. The thigh arm 10 is a hollow tube along the axial direction. A hydraulic cylinder 30 is fixed inside the thigh arm 10. The hydraulic rod 31 of the hydraulic cylinder 30 extends toward the end near the lower leg arm 20. The end of the hydraulic rod 31 is hinged to a connecting rod 40 by a second pivot 33. The other end of the connecting rod 40 is hinged to the lower leg arm 20 by a third pivot 41. The hydraulic rod 31 extends and retracts to change the angle between the thigh arm 10 and the lower leg arm 20. The first connecting frame 11 is provided with a protective cover for protecting the connecting rod 40. Figure 4 and Figure 5 These are schematic diagrams showing the structure at different angles between the thigh arm 10 and the calf arm 20.

[0034] Specifically, the thigh arm 10 is provided with a slide rail 14, and the end of the hydraulic rod 31 is provided with a slider 32, which slides in the slide rail 14; the slider 32 is used to connect the second rotating shaft 33 to ensure that the hydraulic rod 31 moves along the axial direction.

[0035] Specifically, the first connecting frame 11 has two first ear plates 12, and the second connecting frame 21 has two second ear plates 22; the two second ear plates 22 are located outside the two first ear plates 12 respectively and are connected by two coaxial first rotating shafts 15 respectively; the connecting rod 40 is disposed between the two second ear plates 22 and is hinged to the two second ear plates 22 by a third rotating shaft 41.

[0036] Specifically, the third pivot 41 is connected to the two second ear plates 22 near their ends, and the first pivot 15 is connected to the middle of the two second ear plates 22.

[0037] Specifically, such as Figure 3 As shown, the protective cover includes side plates 13 that connect the edges of the two first ear plates 12 respectively. The side plates 13 are located on the side near the third rotating shaft 41 to protect the connecting rod 40 and not affect the normal rotation of the lower leg arm 20. The side plates 13 are rubber plates.

[0038] Specifically, the lower leg arm 20 is connected to the foot joint at the end away from the thigh arm 10.

[0039] Specifically, such as Figure 1 As shown, in one embodiment of this application, the foot joint includes an elastic inner bladder 52, and a foot cover 51 is provided over the elastic inner bladder 52. The elastic inner bladder 52 serves to absorb shock.

[0040] Specifically, such as Figure 6 As shown, in another embodiment of this application, the foot joint is a shell-shaped support foot 53.

[0041] The workflow of a legged robot joint provided in this application embodiment is as follows: the hydraulic rod 31 extends and retracts, which can change the angle between the thigh arm 10 and the lower leg arm 20, such as... Figure 2 , Figure 4 and Figure 5 As shown, during the rotation of the lower leg arm 20, the third rotating shaft 41 and the connecting rod 40 are always inside the protective cover.

[0042] This utility model provides a legged robot joint, in which a hydraulic rod 31 is installed inside the thigh arm 10 and hinged to the lower leg arm 20 via a connecting rod 40. During the rotation of the lower leg arm 20, the hydraulic rod 31 and the thigh arm 10 are connected and do not rotate. Furthermore, the first connecting frame 11 is provided with a protective cover to protect the connecting rod 40, thereby preventing damage to the hydraulic rod 31 and the connecting rod 40.

[0043] The above are merely preferred embodiments of this application and are not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A legged robot joint, comprising a thigh arm (10) and a lower leg arm (20), characterized in that: One end of the thigh arm (10) is fixed with a first connecting frame (11), and one end of the lower leg arm (20) is fixed with a second connecting frame (21). The first connecting frame (11) and the second connecting frame (21) are hinged together by a first pivot (15). The thigh arm (10) is a hollow tube along the axial direction. A hydraulic cylinder (30) is fixed inside the thigh arm (10). The hydraulic rod (31) of the hydraulic cylinder (30) extends toward the end close to the lower leg arm (20). The end of the hydraulic rod (31) is hinged to the connecting rod (40) through a second pivot (33). The other end of the connecting rod (40) is hinged to the lower leg arm (20) through a third pivot (41). The hydraulic rod (31) extends and retracts to change the angle between the thigh arm (10) and the lower leg arm (20). The first connecting frame (11) is provided with a protective cover for protecting the connecting rod (40).

2. The legged robot joint according to claim 1, characterized in that, The thigh arm (10) is provided with a slide rail (14), and the end of the hydraulic rod (31) is provided with a slider (32), which slides in the slide rail (14); The slider (32) is used to connect the second rotating shaft (33).

3. The legged robot joint according to claim 1, characterized in that, The first connecting frame (11) has two first ear plates (12), and the second connecting frame (21) has two second ear plates (22); The two second ear plates (22) are located outside the two first ear plates (12) respectively and are connected by two coaxial first rotating shafts (15); The connecting rod (40) is disposed between the two second ear plates (22) and is hinged to the two second ear plates (22) via the third pivot (41).

4. The legged robot joint according to claim 3, characterized in that, The third pivot (41) is connected to the two second ear plates (22) near their ends, and the first pivot (15) is connected to the middle of the two second ear plates (22).

5. The legged robot joint according to claim 3, characterized in that, The protective cover includes side plates (13) that connect the edges of the two first ear plates (12) respectively; The side plate (13) is a rubber sheet.

6. The legged robot joint according to claim 2, characterized in that, The lower leg arm (20) is connected to a foot joint at the end away from the thigh arm (10).

7. The legged robot joint according to claim 6, characterized in that, The foot joint includes an elastic inner capsule (52), which is covered by a foot cover (51).

8. The legged robot joint according to claim 6, characterized in that, The foot joint is a shell-shaped foot (53).

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