Robot leg structure

Abstract

The utility model discloses a leg structure of a robot, which belongs to the field of robots and can improve the moving stability of the robot and enable the robot to be easier to fall down by arranging an auxiliary leg component 4 outside a thigh component 2 and a shank component 3, and can overcome the defects in the prior art. The rehabilitation training device comprises a thigh mounting seat 1, at least two thigh components 2, at least two shank components 3 and at least one auxiliary leg component 4, the thigh assembly 2 comprises a thigh main body 21 and a thigh driving unit 22; the shank assembly 3 comprises a shank main body 31, a shank driving unit 32 and a shank moving unit 33; the auxiliary leg assembly 4 comprises an auxiliary leg main body 41, an auxiliary leg driving unit 42 and an auxiliary leg moving unit 43; a lower joint of the thigh main body 21 is provided with a connecting shaft 211; an upper joint of the auxiliary leg main body 41 is mounted on the connecting shaft 211; the auxiliary leg driving unit 42 comprises an auxiliary motor assembly 421, an auxiliary driving rod 422 and an auxiliary connecting rod 423 which are connected in sequence.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robot leg structure. Background Technology

[0002] A robot is an intelligent machine that can work semi-autonomously or fully autonomously. Robots can perform tasks such as jobs or movement through programming and automatic control.

[0003] Robots move using their lower limbs. Most humanoid robots are bipedal, meaning they move using two legs. Some have drive wheels on their legs, while others have feet. However, existing bipedal robots suffer from instability when walking, especially on uneven surfaces. Furthermore, if a robot falls, it has difficulty getting up using only its legs.

[0004] The existing technology has the technical defects described above, which has become a major technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This utility model discloses a robot leg structure. By setting an auxiliary leg component 4 in addition to the thigh component 2 and the lower leg component 3, the stability of robot movement can be improved and it is easier to get up when falling, which can solve the defects of the prior art.

[0006] The robot leg structure provided by this utility model is used in a robot and includes: a thigh mounting base 1, at least two thigh components 2, at least two lower leg components 3, and at least one auxiliary leg component 4.

[0007] The thigh assembly 2 includes a thigh body 21 and a thigh drive unit 22, wherein the upper joint of the thigh body 21 is mounted on the thigh mounting seat 1, the lower joint of the thigh body 21 is connected to the calf assembly 3, and the thigh drive unit 22 is mounted on the thigh mounting seat 1 and is used to drive the thigh body 21 to move around the thigh mounting seat 1.

[0008] The calf assembly 3 includes a calf body 31, a calf drive unit 32, and a calf movement unit 33. The upper joint of the calf body 31 is connected to the lower joint of the thigh body 21. The calf movement unit 33 is provided on the lower joint of the calf body 31. The calf drive unit 32 is installed on the thigh body 21 and is used to drive the calf body 31 to move around the thigh body 21.

[0009] The auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg drive unit 42, and an auxiliary leg movement unit 43. The upper joint of the auxiliary leg body 41 is mounted on the thigh body 21, the auxiliary leg movement unit 43 is provided on the lower joint of the auxiliary leg body 41, and the auxiliary leg drive unit 42 is mounted on the thigh body 21 and is used for the auxiliary leg body 41 to move around the thigh body 21.

[0010] The lower joint of the thigh body 21 is provided with a connecting shaft 211; two lower leg bodies 31 are provided at both ends of the connecting shaft 211, and an auxiliary leg body 41 is provided between the two lower leg bodies 31. The upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211.

[0011] The auxiliary leg drive unit 42 includes an auxiliary motor assembly 421, an auxiliary drive rod 422, and an auxiliary connecting rod 423 connected in sequence. The two ends of the auxiliary leg body 41 are respectively connected to the auxiliary connecting rod 423 and the auxiliary leg moving unit 43. The two ends of the auxiliary connecting rod 423 are respectively connected to the auxiliary leg body 41 and the auxiliary drive rod 422.

[0012] Preferred,

[0013] The connecting shaft 211 is mounted on the lower joint of the thigh body 21 via a bearing;

[0014] The upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211 via a bearing.

[0015] Preferred,

[0016] The thigh body 21 has a hollow structure and is provided with a slot 212 to accommodate the rotation of the auxiliary leg body 41;

[0017] The lower joint of the thigh body 21 includes a first support body 213 and a second support body 214. The first support body 213, the auxiliary leg body 41 and the second support body 214 are arranged in sequence. The first support body 213 is provided with a lower leg drive unit 32.

[0018] Preferred,

[0019] At least one lower leg body 31 on a thigh body 21 is provided with a driven roller.

[0020] Preferred,

[0021] Each of the two lower leg bodies 31 on the thigh body 21 is equipped with a driving roller.

[0022] Preferred,

[0023] The auxiliary leg moving unit 43 includes two non-powered rollers that are mounted on both sides of the auxiliary leg body 41 via a pivot.

[0024] Preferred,

[0025] The thigh mounting base 1 includes an upper connecting plate 11 and two lower mounting plates 12. The upper joints of the thigh drive unit 22 and the thigh body 21 are respectively located on both sides of the lower mounting plate 12.

[0026] Preferred,

[0027] The auxiliary leg body 41 is a telescopic structure, including an upper part of the auxiliary leg body, a telescopic component, and a lower part of the auxiliary leg body, wherein an auxiliary leg moving unit 43 is provided on the lower part of the auxiliary leg body.

[0028] Preferred,

[0029] The telescopic component is an electrically controlled roller screw.

[0030] Preferred,

[0031] The lower leg main body 31 and the auxiliary leg main body 41 are respectively located on both sides of the thigh main body 21.

[0032] This utility model discloses a robot leg structure for use in a robot, comprising: a thigh mounting base 1, at least two thigh assemblies 2, at least two lower leg assemblies 3, and at least one auxiliary leg assembly 4; the thigh assembly 2 includes a thigh body 21 and a thigh drive unit 22, wherein the upper joint of the thigh body 21 is mounted on the thigh mounting base 1, the lower joint of the thigh body 21 is connected to the lower leg assembly 3, and the thigh drive unit 22 is mounted on the thigh mounting base 1 and is used to drive the thigh body 21 to move around the thigh mounting base 1; the lower leg assembly 3 includes a lower leg body 31, a lower leg drive unit 32, and a lower leg movement unit 33, wherein the upper joint of the lower leg body 31 is connected to the lower joint of the thigh body 21, the lower joint of the lower leg body 31 is provided with the lower leg movement unit 33, and the lower leg drive unit 32 is mounted on the thigh body 21 and is used to drive the lower leg body 31 to move around the thigh body 21; the auxiliary leg assembly 4 includes an auxiliary leg body 41. The system includes an auxiliary leg drive unit 42 and an auxiliary leg movement unit 43. The upper joint of the auxiliary leg body 41 is mounted on the thigh body 21, and the auxiliary leg movement unit 43 is mounted on the lower joint of the auxiliary leg body 41. The auxiliary leg drive unit 42 is mounted on the thigh body 21 and is used for the movement of the auxiliary leg body 41 around the thigh body 21. The lower joint of the thigh body 21 is provided with a connecting shaft 211. Two lower leg bodies 31 are provided at both ends of the connecting shaft 211, and the auxiliary leg body 41 is provided between the two lower leg bodies 31. The upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211. The auxiliary leg drive unit 42 includes an auxiliary motor assembly 421, an auxiliary drive rod 422, and an auxiliary connecting rod 423 connected in sequence. The two ends of the auxiliary leg body 41 are respectively connected to the auxiliary connecting rod 423 and the auxiliary leg movement unit 43, and the two ends of the auxiliary connecting rod 423 are respectively connected to the auxiliary leg body 41 and the auxiliary drive rod 422. By setting an auxiliary leg assembly 4 in addition to the thigh assembly 2 and the lower leg assembly 3, this utility model discloses a robot leg structure. The lower leg assembly 3 and the auxiliary leg assembly 4 have no less than three contact points with the ground, which can form a relatively stable polygon, thereby improving the stability of robot movement and making it easier to get up when falling, thus solving the defects of the existing technology. Attached Figure Description

[0033] Figure 1 This is a front view of the robot leg structure embodiment of the present invention.

[0034] Figure 2 This is a perspective view of an embodiment of the robot leg structure of this utility model;

[0035] Figure 3 This is a schematic diagram of the structure of the hidden part of the thigh body 21 in the embodiment of the robot leg structure of this utility model. Detailed Implementation

[0036] This utility model discloses a robot leg structure. By setting an auxiliary leg component 4 in addition to the thigh component 2 and the lower leg component 3, the stability of robot movement can be improved and it is easier to get up when falling, which can solve the defects of the prior art.

[0037] The technical solutions of the present utility model will be clearly and thoroughly described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present utility model, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the scope of protection of the present utility model. Please refer to... Figures 1 to 3 The present invention provides a robot leg structure for use in a robot, comprising: a thigh mounting base 1, at least two thigh components 2, at least two lower leg components 3, and at least one auxiliary leg component 4;

[0038] The thigh assembly 2 includes a thigh body 21 and a thigh drive unit 22, wherein the upper joint of the thigh body 21 is mounted on the thigh mounting seat 1, the lower joint of the thigh body 21 is connected to the calf assembly 3, and the thigh drive unit 22 is mounted on the thigh mounting seat 1 and is used to drive the thigh body 21 to move around the thigh mounting seat 1.

[0039] The calf assembly 3 includes a calf body 31, a calf drive unit 32, and a calf movement unit 33. The upper joint of the calf body 31 is connected to the lower joint of the thigh body 21. The calf movement unit 33 is provided on the lower joint of the calf body 31. The calf drive unit 32 is installed on the thigh body 21 and is used to drive the calf body 31 to move around the thigh body 21.

[0040] The auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg drive unit 42, and an auxiliary leg movement unit 43. The upper joint of the auxiliary leg body 41 is mounted on the thigh body 21, the auxiliary leg movement unit 43 is provided on the lower joint of the auxiliary leg body 41, and the auxiliary leg drive unit 42 is mounted on the thigh body 21 and is used for the auxiliary leg body 41 to move around the thigh body 21.

[0041] The lower joint of the thigh body 21 is provided with a connecting shaft 211; two lower leg bodies 31 are provided at both ends of the connecting shaft 211, and an auxiliary leg body 41 is provided between the two lower leg bodies 31. The upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211.

[0042] The auxiliary leg drive unit 42 includes an auxiliary motor assembly 421, an auxiliary drive rod 422, and an auxiliary connecting rod 423 connected in sequence. The two ends of the auxiliary leg body 41 are respectively connected to the auxiliary connecting rod 423 and the auxiliary leg moving unit 43. The two ends of the auxiliary connecting rod 423 are respectively connected to the auxiliary leg body 41 and the auxiliary drive rod 422.

[0043] In this embodiment of the invention, the robot's leg structure generally includes two thigh components 2, two lower leg components 3, and at least one auxiliary leg component 4, that is, after removing the auxiliary leg component 4, it is a bipedal design. For bipedal robots, the ease of falling is an unavoidable technical problem in the field. In addition to the two lower leg components 3 that contact the ground, this application innovatively adds at least one auxiliary leg component 4 that contacts the ground. Generally, two auxiliary leg components 4 can be used, corresponding to the number of lower leg components 3. During normal walking, that is, when the risk of falling is very low, the auxiliary leg components 4 can be folded up, and walking can be done solely by the lower leg components 3. Once a risk of falling is detected, the auxiliary leg components 4 can be quickly lowered, so that the robot will have at least three contact points with the ground, that is, at least a stable triangle can be formed. Of course, the auxiliary leg components 4 can also be in a working state, that is, walking in coordination with the lower leg components 3. This method can adapt to some rough road surfaces. In addition, when the robot falls, the robot's center of gravity can be quickly moved to the polygon formed by the lower leg components 3 and the auxiliary leg components 4 and the ground, so as to get up quickly. It should be noted that the working and coordination between the lower leg assembly 3 and the auxiliary leg assembly 4 can be set and adjusted according to the actual situation, and is not limited to the example above. No limitation is made here.

[0044] Specifically, two lower leg bodies 31 can be set on the lower joint of the thigh body 21. The two lower leg bodies 31 can be mirrored and move synchronously. The auxiliary leg body 41 is set between the two lower leg bodies 31. This design is more stable than the design of a single lower leg body 31. In this embodiment, the auxiliary leg drive unit 42 includes an auxiliary motor assembly 421, a drive rod 422 and a connecting rod 423 connected in sequence. That is, the auxiliary motor assembly 421 drives the auxiliary leg body 41 through the drive rod 422 and the connecting rod 423. The setting of the auxiliary connecting rod 423 can enhance the stability and strength of the movement of the auxiliary leg body 41 to a certain extent.

[0045] Preferred,

[0046] The connecting shaft 211 is mounted on the lower joint of the thigh body 21 via a bearing;

[0047] The upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211 via a bearing.

[0048] Preferred,

[0049] The thigh body 21 has a hollow structure and is provided with a slot 212 to accommodate the rotation of the auxiliary leg body 41;

[0050] The lower joint of the thigh body 21 includes a first support body 213 and a second support body 214. The first support body 213, the auxiliary leg body 41 and the second support body 214 are arranged in sequence. The first support body 213 is provided with a lower leg drive unit 32.

[0051] Preferred,

[0052] At least one lower leg body 31 on a thigh body 21 is provided with a driven roller.

[0053] Preferred,

[0054] Each of the two lower leg bodies 31 on the thigh body 21 is equipped with a driving roller.

[0055] Preferred,

[0056] The auxiliary leg moving unit 43 includes two non-powered rollers that are mounted on both sides of the auxiliary leg body 41 via a pivot.

[0057] It should be noted that the thigh drive unit 22, the lower leg drive unit 32 and the auxiliary leg drive unit 42 can all be motor assemblies with reducers. The lower leg moving unit 33 needs to be powered, while the auxiliary leg moving unit 43 is generally not powered, such as a non-powered roller. It can also be designed to be powered according to actual needs, such as a powered roller.

[0058] Preferred,

[0059] The thigh mounting base 1 includes an upper connecting plate 11 and two lower mounting plates 12. The upper joints of the thigh drive unit 22 and the thigh body 21 are respectively located on both sides of the lower mounting plate 12.

[0060] It should be noted that the design of this utility model is not limited to the use of bipedal robots, such as triped robots. Currently, it is more commonly used in bipedal robots. In bipedal robots, the thigh mounting base 1 includes an upper connecting plate 11 and two lower mounting plates 12. Each lower mounting plate 12 is equipped with a thigh component 2 and a lower leg component 3. At least one thigh component 2 is provided with an auxiliary leg component 4, preferably one auxiliary leg component 4 is provided on each thigh component 2.

[0061] Preferred,

[0062] The auxiliary leg body 41 is a telescopic structure, including an upper part of the auxiliary leg body, a telescopic component, and a lower part of the auxiliary leg body, wherein an auxiliary leg moving unit 43 is provided on the lower part of the auxiliary leg body.

[0063] Preferred,

[0064] The telescopic component is an electrically controlled roller screw.

[0065] It should be noted that in this embodiment of the invention, the auxiliary leg body 41 is a telescopic structure, meaning the distance between the auxiliary leg moving unit 43 and the upper joint of the auxiliary leg body 41 is adjustable. This further enhances the practicality and flexibility of the auxiliary leg assembly 4. The telescopic assembly can be implemented using a belt component, a ball screw component, or an electrically controlled roller screw, with the electrically controlled roller screw enabling more precise and rapid control. Preferably,

[0066] The lower leg main body 31 and the auxiliary leg main body 41 are respectively located on both sides of the thigh main body 21.

[0067] This utility model discloses a robot leg structure for use in a robot, comprising: a thigh mounting base 1, at least two thigh assemblies 2, at least two lower leg assemblies 3, and at least one auxiliary leg assembly 4; the thigh assembly 2 includes a thigh body 21 and a thigh drive unit 22, wherein the upper joint of the thigh body 21 is mounted on the thigh mounting base 1, the lower joint of the thigh body 21 is connected to the lower leg assembly 3, and the thigh drive unit 22 is mounted on the thigh mounting base 1 and is used to drive the thigh body 21 to move around the thigh mounting base 1; the lower leg assembly 3 includes a lower leg body 31, a lower leg drive unit 32, and a lower leg movement unit 33, wherein the upper joint of the lower leg body 31 is connected to the lower joint of the thigh body 21, the lower joint of the lower leg body 31 is provided with the lower leg movement unit 33, and the lower leg drive unit 32 is mounted on the thigh body 21 and is used to drive the lower leg body 31 to move around the thigh body 21; the auxiliary leg assembly 4 includes an auxiliary leg body 41. The system includes an auxiliary leg drive unit 42 and an auxiliary leg movement unit 43. The upper joint of the auxiliary leg body 41 is mounted on the thigh body 21, and the auxiliary leg movement unit 43 is mounted on the lower joint of the auxiliary leg body 41. The auxiliary leg drive unit 42 is mounted on the thigh body 21 and is used for the movement of the auxiliary leg body 41 around the thigh body 21. The lower joint of the thigh body 21 is provided with a connecting shaft 211. Two lower leg bodies 31 are provided at both ends of the connecting shaft 211, and the auxiliary leg body 41 is provided between the two lower leg bodies 31. The upper joint of the auxiliary leg body 41 is mounted on the connecting shaft 211. The auxiliary leg drive unit 42 includes an auxiliary motor assembly 421, an auxiliary drive rod 422, and an auxiliary connecting rod 423 connected in sequence. The two ends of the auxiliary leg body 41 are respectively connected to the auxiliary connecting rod 423 and the auxiliary leg movement unit 43, and the two ends of the auxiliary connecting rod 423 are respectively connected to the auxiliary leg body 41 and the auxiliary drive rod 422. By setting an auxiliary leg assembly 4 in addition to the thigh assembly 2 and the lower leg assembly 3, this utility model discloses a robot leg structure. The lower leg assembly 3 and the auxiliary leg assembly 4 have no less than three contact points with the ground, which can form a relatively stable polygon, thereby improving the stability of robot movement and making it easier to get up when falling, thus solving the defects of the existing technology.

[0068] The robot leg structure provided by this utility model has been described in detail above. For those skilled in the art, there will be changes in the specific implementation and application scope based on the ideas of the embodiments of this utility model. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A robot leg structure for use in a robot, characterized by, The application relates to a multi-legged walking robot, which comprises a thigh mounting base (1), at least two thigh assemblies (2), at least two calf assemblies (3) and at least one auxiliary leg assembly (4). The thigh assembly (2) comprises a thigh body (21) and a thigh driving unit (22), wherein the upper joint of the thigh body (21) is mounted on the thigh mounting base (1), the lower joint of the thigh body (21) is connected with the calf assembly (3), and the thigh driving unit (22) is mounted on the thigh mounting base (1) and used for driving the thigh body (21) to move around the thigh mounting base (1). The calf assembly (3) comprises a calf body (31), a calf driving unit (32) and a calf moving unit (33), wherein the upper joint of the calf body (31) is connected with the lower joint of the thigh body (21), the lower joint of the calf body (31) is provided with the calf moving unit (33), and the calf driving unit (32) is mounted on the thigh body (21) and used for driving the calf body (31) to move around the thigh body (21). The auxiliary leg assembly (4) comprises an auxiliary leg body (41), an auxiliary leg driving unit (42) and an auxiliary leg moving unit (43), wherein the upper joint of the auxiliary leg body (41) is mounted on the thigh body (21), the lower joint of the auxiliary leg body (41) is provided with the auxiliary leg moving unit (43), and the auxiliary leg driving unit (42) is mounted on the thigh body (21) and used for driving the auxiliary leg body (41) to move around the thigh body (21). The lower joint of the thigh body (21) is provided with a connecting shaft (211); the two ends of the connecting shaft (211) are provided with two calf bodies (31), and the auxiliary leg body (41) is arranged between the two calf bodies (31) and the upper joint of the auxiliary leg body (41) is mounted on the connecting shaft (211). The auxiliary leg driving unit (42) comprises an auxiliary motor assembly (421), an auxiliary driving rod (422) and an auxiliary connecting rod (423) which are sequentially connected, the two ends of the auxiliary connecting rod (423) are connected with the auxiliary leg body (41) and the auxiliary leg moving unit (43) respectively, and the two ends of the auxiliary connecting rod (423) are connected with the auxiliary leg body (41) and the auxiliary driving rod (422) respectively. The connecting shaft (211) is mounted on the lower joint of the thigh body (21) through a bearing.

2. The robotic leg structure of claim 1, wherein, The upper joint of the auxiliary leg body (41) is mounted on the connecting shaft (211) through a bearing. The thigh body (21) is a hollow structure and is provided with a slot (212) for accommodating the rotation of the auxiliary leg body (41).

3. The robotic leg structure of claim 1, wherein, The lower joint of the thigh body (21) comprises a first support body (213) and a second support body (214), the first support body (213), the auxiliary leg body (41) and the second support body (214) are sequentially arranged, and the calf driving unit (32) is arranged on the first support body (213). At least one calf body (31) on one thigh body (21) is provided with a powered roller.

4. The robotic leg structure of claim 1, wherein, Two calf bodies (31) on one thigh body (21) are both provided with powered rollers.

5. The robotic leg structure of claim 4, wherein, The auxiliary leg moving unit (43) comprises two non-powered rollers arranged on the two sides of the auxiliary leg body (41) through rotating shafts.

6. The robotic leg structure of claim 1, wherein, ​ 7. The robotic leg structure of any one of claims 1 to 6, wherein, The thigh mounting base (1) comprises an upper connecting plate (11) and two lower mounting plates (12), and the upper joints of the thigh driving unit (22) and the thigh body (21) are arranged on the two sides of the lower mounting plates (12).

8. The robotic leg structure of any one of claims 1 to 6, wherein, The auxiliary leg body (41) is a telescopic structure, comprising an auxiliary leg body upper part, a telescopic assembly and an auxiliary leg body lower part, wherein the auxiliary leg moving unit (43) is arranged on the auxiliary leg body lower part.

9. The robotic leg structure of claim 8, wherein, The telescopic assembly is an electric control roller screw.

10. The robotic leg structure of any one of claims 1 to 6, wherein, The lower leg body (31) and the auxiliary leg body (41) are arranged on the two sides of the thigh body (21).

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