Mechanical leg structure

Abstract

The utility model discloses a mechanical leg structure, which belongs to the field of robots and can improve the moving stability of a robot and enable the robot to be easier to fall down by arranging an auxiliary leg assembly 4 outside a thigh assembly 2 and a shank assembly 3, and can overcome the defects in the prior art. The mechanical leg structure comprises a thigh mounting seat 1, at least two thigh assemblies 2, at least two shank assemblies 3 and at least one auxiliary leg assembly 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 shank driving unit 32 comprises a shank motor assembly 321, a driving rod 322 and a connecting rod 323 which are connected in sequence; the auxiliary leg assembly 4 includes an auxiliary leg main body 41, an auxiliary leg driving unit 42, and an auxiliary leg moving unit 43.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a mechanical 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 mechanical 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 existing technology.

[0006] The mechanical 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 calf drive unit 32 includes a calf motor assembly 321, a drive rod 322, and a connecting rod 323 connected in sequence; the upper joint of the calf body 31 is mounted on the thigh body 21 via a pivot; both ends of the calf body 31 are connected to the connecting rod 323 and the calf moving unit 33 respectively, and both ends of the connecting rod 323 are connected to the calf body 31 and the drive rod 322 respectively.

[0010] 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, and the auxiliary leg movement unit 43 is provided 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 auxiliary leg body 41 to move around the thigh body 21.

[0011] Preferred,

[0012] The lower leg moving unit 33 is a driven roller;

[0013] The auxiliary leg moving unit 43 is either a non-powered roller or a powered roller.

[0014] Preferred,

[0015] The auxiliary leg drive unit 42 is installed at the lower joint of the thigh body 21.

[0016] Preferred,

[0017] The center line of the output shaft of the auxiliary leg drive unit 42 is on the same straight line as the center line of the rotation axis where the upper joint of the lower leg body 31 is located.

[0018] Preferred,

[0019] The thigh drive unit 22, the calf motor assembly 321, and the auxiliary leg drive unit 42 are all motor assemblies with reducers.

[0020] Preferred,

[0021] The center lines of the output shafts of the thigh drive unit 22 and the calf motor assembly 321 are located on the same straight line or are parallel to each other.

[0022] Preferred,

[0023] 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.

[0024] Preferred,

[0025] 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.

[0026] Preferred,

[0027] The telescopic component is an electrically controlled roller screw.

[0028] Preferred,

[0029] 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.

[0030] This utility model discloses a mechanical 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. It is used to drive the lower leg body 31 to move around the thigh body 21; the lower leg drive unit 32 includes a lower leg motor assembly 321, a drive rod 322 and a connecting rod 323 connected in sequence; the upper joint of the lower leg body 31 is mounted on the thigh body 21 through a rotating shaft; the two ends of the lower leg body 31 are respectively connected to the connecting rod 323 and the lower leg moving unit 33, and the two ends of the connecting rod 323 are respectively connected to the lower leg body 31 and the drive rod 322; the auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg drive 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 auxiliary leg moving 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 to assist the lower leg body 41 to move around the thigh body 21. 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 mechanical 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

[0031] Figure 1 This is a schematic diagram of the mechanical leg structure of an embodiment of the present utility model;

[0032] Figure 2 This is a schematic diagram of the structure of the hidden thigh body 21 in an embodiment of the mechanical leg structure of this utility model;

[0033] Figure 3 This is another structural schematic diagram of an embodiment of the mechanical leg structure of this utility model;

[0034] Figure 4 This is another structural diagram of the hidden part of the thigh body 21 in the embodiment of the mechanical leg structure of this utility model. Detailed Implementation

[0035] This utility model discloses a mechanical 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 existing technology.

[0036] 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 4 The mechanical 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.

[0037] 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.

[0038] 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.

[0039] The calf drive unit 32 includes a calf motor assembly 321, a drive rod 322, and a connecting rod 323 connected in sequence; the upper joint of the calf body 31 is mounted on the thigh body 21 via a pivot; both ends of the calf body 31 are connected to the connecting rod 323 and the calf moving unit 33 respectively, and both ends of the connecting rod 323 are connected to the calf body 31 and the drive rod 322 respectively.

[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, and the auxiliary leg movement unit 43 is provided 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 auxiliary leg body 41 to move around the thigh body 21.

[0041] In this embodiment of the invention, the mechanical 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 no less than one auxiliary leg component 4 that contacts the ground. Generally, two auxiliary leg components 4 corresponding to the number of lower leg components 3 can be used. 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 put down. At this time, 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.

[0042] Specifically, the calf drive unit 32 includes a calf motor assembly 321, a drive rod 322, and a connecting rod 323 connected in sequence. The motor assembly 321 drives the rotation of the calf body 31 through the drive rod 322 and the connecting rod 323. The connecting rod 323 can enhance the stability and strength of the movement of the calf body 31 to a certain extent. The calf motor assembly 321 can be set at multiple positions on the thigh body 21, such as... Figure 1 In the middle, the center lines of the output shafts of the thigh drive unit 22 and the calf motor assembly 321 are located on the same straight line, for example... Figure 3 In this embodiment, the calf motor assembly 321 is located in the middle of the thigh body 21. In this embodiment, the auxiliary leg drive unit 42 can be mounted on the lower joint of the thigh body 21, and the center lines of the output shaft of the auxiliary leg drive unit 42 and the rotation shaft of the upper joint of the calf motor assembly 321 can be located on the same straight line.

[0043] Preferred,

[0044] The lower leg moving unit 33 is a driven roller;

[0045] The auxiliary leg moving unit 43 is either a non-powered roller or a powered roller.

[0046] It should be noted that the lower leg moving unit 33 needs to be powered, while the auxiliary leg moving unit 43 is generally unpowered, such as a non-powered roller. It can also be designed to be powered, such as a powered roller, depending on actual needs.

[0047] Preferred,

[0048] The auxiliary leg drive unit 42 is installed at the lower joint of the thigh body 21.

[0049] Preferred,

[0050] The center line of the output shaft of the auxiliary leg drive unit 42 is on the same straight line as the center line of the rotation axis where the upper joint of the lower leg body 31 is located.

[0051] Preferred,

[0052] The thigh drive unit 22, the calf motor assembly 321, and the auxiliary leg drive unit 42 are all motor assemblies with reducers.

[0053] It should be noted that the thigh drive unit 22, the calf drive unit 32 and the auxiliary leg drive unit 42 can all be motor assemblies with reducers, or other devices with rotational drive capabilities, and are not limited here.

[0054] Preferred,

[0055] The center lines of the output shafts of the thigh drive unit 22 and the calf motor assembly 321 are located on the same straight line or are parallel to each other.

[0056] Preferred,

[0057] 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.

[0058] 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.

[0059] Preferred,

[0060] 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.

[0061] Preferred,

[0062] The telescopic component is an electrically controlled roller screw.

[0063] 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.

[0064] Preferred,

[0065] 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.

[0066] This utility model discloses a mechanical 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. It is used to drive the lower leg body 31 to move around the thigh body 21; the lower leg drive unit 32 includes a lower leg motor assembly 321, a drive rod 322 and a connecting rod 323 connected in sequence; the upper joint of the lower leg body 31 is mounted on the thigh body 21 through a rotating shaft; the two ends of the lower leg body 31 are respectively connected to the connecting rod 323 and the lower leg moving unit 33, and the two ends of the connecting rod 323 are respectively connected to the lower leg body 31 and the drive rod 322; the auxiliary leg assembly 4 includes an auxiliary leg body 41, an auxiliary leg drive 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 auxiliary leg moving 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 to assist the lower leg body 41 to move around the thigh body 21. 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 mechanical 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.

[0067] The mechanical 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 method and application scope based on the idea 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 mechanical leg structure for use in a robot, characterized by, The application relates to a multi-leg 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 calf driving unit (32) comprises a calf motor assembly (321), a driving rod (322) and a connecting rod (323) which are sequentially connected; the upper joint of the calf body (31) is mounted on the thigh body (21) through a rotating shaft; the two ends of the calf body (31) are connected with the connecting rod (323) and the calf moving unit (33) respectively, and the two ends of the connecting rod (323) are connected with the calf body (31) and the driving rod (322) respectively. 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 calf moving unit (33) is a powered roller.

2. The mechanical leg structure according to claim 1, characterized by The auxiliary leg moving unit (43) is a non-powered roller or a powered roller. The auxiliary leg driving unit (42) is mounted at the lower joint of the thigh body (21).

3. The mechanical leg structure according to claim 1, characterized by The center line of the output shaft of the auxiliary leg driving unit (42) and the center line of the rotating shaft where the upper joint of the calf body (31) is located are located on the same straight line.

4. The mechanical leg structure according to claim 1, characterized by The thigh driving unit (22), the calf motor assembly (321) and the auxiliary leg driving unit (42) are all motor assemblies with reducers.

5. The mechanical leg structure according to claim 1, characterized by The center lines of the output shafts of the thigh driving unit (22) and the calf motor assembly (321) are located on the same straight line or are parallel to each other.

6. The mechanical leg structure according to claim 5, characterized by The thigh mounting base (1) comprises an upper connecting plate (11) and two lower mounting plates (12), and the thigh driving unit (22) and the upper joint of the thigh body (21) are arranged on the two sides of the lower mounting plates (12) respectively.

7. The mechanical leg structure according to any one of claims 1 to 6, characterized by, The auxiliary leg body (41) is of a telescopic structure and comprises 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.

8. The mechanical leg structure according to any one of claims 1 to 6, characterized by, The telescopic assembly is an electric control roller screw.

9. The mechanical leg structure according to claim 8, characterized by ​ 10. The mechanical leg structure according to any one of claims 1 to 6, characterized by, The lower leg main bodies (31) and the auxiliary leg main bodies (41) are provided on both sides of the upper leg main body (21), respectively.

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