Leg mechanism of robot

Abstract

The utility model discloses a leg mechanism 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 assembly 4 outside a thigh assembly 2 and a shank assembly 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, an upper joint of the auxiliary leg main body 41 is installed on the thigh main body 21, the auxiliary leg moving unit 43 is arranged on a lower joint of the auxiliary leg main body 41, and the auxiliary leg driving unit 42 is installed on the thigh main body 21 and used for assisting the leg main body 41 to move around the thigh main body 21.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a leg mechanism for a robot. 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 leg mechanism for a robot. By setting an auxiliary leg component 4 in addition to the thigh component 2 and the lower leg component 3, the stability of the robot's movement can be improved and it is easier to get up when it falls, thus solving the defects of the prior art.

[0006] The robot leg mechanism 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 lower leg assembly 3 includes a lower leg body 31, a lower leg drive unit 32, and a lower leg movement unit 33. The upper joint of the lower leg body 31 is mounted on the lower leg drive unit 32, and the lower leg movement unit 33 is provided on the lower joint of the lower leg body 31. The lower leg drive unit 32 is mounted on the lower joint of the thigh body 21 and is used to drive the lower leg 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, 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.

[0010] Preferred,

[0011] The lower leg moving unit 33 is a power-driven roller.

[0012] Preferred,

[0013] The upper joint of the auxiliary leg body 41 is mounted on the output shaft of the auxiliary leg drive unit 42.

[0014] Preferred,

[0015] The center lines of the output shafts of the thigh drive unit 22 and the auxiliary leg drive unit 42 are located on the same straight line or are parallel to each other.

[0016] Preferred,

[0017] The auxiliary leg moving unit 43 is either a non-powered roller or a powered roller.

[0018] Preferred,

[0019] The thigh drive unit 22, the calf drive unit 32 and the auxiliary leg drive unit 42 are all motor assemblies with reducers.

[0020] Preferred,

[0021] 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.

[0022] Preferred,

[0023] 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.

[0024] Preferred,

[0025] The telescopic component is an electrically controlled roller screw.

[0026] Preferred,

[0027] 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.

[0028] The present invention discloses a leg mechanism for a robot, used 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, and the lower joint of the thigh body 21 is connected to the lower leg assembly 3; 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 lower leg body 31... The upper joint of the lower leg assembly 31 is mounted on the lower leg drive unit 32. A lower leg movement unit 33 is disposed on the lower joint of the lower leg body 31. The lower leg drive unit 32 is mounted on the lower joint of 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, 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 lower joint of the auxiliary leg body 41 is disposed on the auxiliary leg movement unit 43. The auxiliary leg drive unit 42 is mounted on the thigh body 21 and is used to assist the leg body 41 in moving around the thigh body 21. By setting the auxiliary leg assembly 4 outside of the thigh assembly 2 and the lower leg assembly 3, this utility model discloses a robot leg mechanism. The lower leg assembly 3 and the auxiliary leg assembly 4 have no fewer 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 after a fall, thus overcoming the shortcomings of the existing technology. Attached Figure Description

[0029] Figure 1 This is a structural schematic diagram of the leg mechanism of the robot according to an embodiment of the present utility model;

[0030] Figure 2 This is a schematic diagram of the structure of the hidden thigh body 21 of the robot's leg mechanism in an embodiment of this utility model. Detailed Implementation

[0031] This utility model discloses a leg mechanism for a robot. By setting an auxiliary leg component 4 in addition to the thigh component 2 and the lower leg component 3, the stability of the robot's movement can be improved and it is easier to get up when it falls, thus solving the defects of the prior art.

[0032] 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... Figure 1 and 2 The present invention provides a leg mechanism for a robot, which 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.

[0033] 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.

[0034] The lower leg assembly 3 includes a lower leg body 31, a lower leg drive unit 32, and a lower leg movement unit 33. The upper joint of the lower leg body 31 is mounted on the lower leg drive unit 32, and the lower leg movement unit 33 is provided on the lower joint of the lower leg body 31. The lower leg drive unit 32 is mounted on the lower joint of the thigh body 21 and is used to drive the lower leg body 31 to move around the thigh body 21.

[0035] 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.

[0036] In this embodiment of the invention, the robot's leg mechanism 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 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 component 4 can be retracted, and walking can be done solely by the lower leg components 3. Once a risk of falling is detected, the auxiliary leg component 4 can be quickly deployed, so that the robot has at least three contact points with the ground, that is, at least a stable triangle can be formed. Of course, the auxiliary leg component 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.

[0037] In this embodiment, both the lower leg body 31 and the auxiliary leg body 41 are driven by a drive unit, which is generally a motor assembly with a reducer, to directly drive rotation, thus having the advantage of precise control.

[0038] Preferred,

[0039] The lower leg moving unit 33 is a power-driven roller.

[0040] Preferred,

[0041] The upper joint of the auxiliary leg body 41 is mounted on the output shaft of the auxiliary leg drive unit 42.

[0042] Preferred,

[0043] The center lines of the output shafts of the thigh drive unit 22 and the auxiliary leg drive unit 42 are located on the same straight line or are parallel to each other.

[0044] Preferred,

[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, specifically it can be a powered roller, while the auxiliary leg moving unit 43 is generally unpowered, such as an unpowered roller, but it can also be designed to be powered, such as a powered roller, depending on actual needs.

[0047] Preferred,

[0048] The thigh drive unit 22, the calf drive unit 32 and the auxiliary leg drive unit 42 are all motor assemblies with reducers.

[0049] Specifically, the lower leg drive unit 32 can be directly installed on the lower joint of the thigh body 21. The lower leg drive unit 32, for example, can be a motor assembly with a reducer, which directly drives the rotation of the lower leg body 31 through the output shaft. The auxiliary leg drive unit 42 can be installed at multiple positions on the thigh body 21. For example, the center lines of the output shafts of the thigh drive unit 22 and the auxiliary leg body 41 can be located on the same straight line, and the upper joint of the auxiliary leg drive unit 42 can be installed on the output shaft of the auxiliary leg drive unit 42. Alternatively, the center lines of the output shafts of the lower leg drive unit 32 and the auxiliary leg body 41 can be located on the same straight line. There is no limitation here.

[0050] Preferred,

[0051] 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.

[0052] 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.

[0053] Preferred,

[0054] 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.

[0055] Preferred,

[0056] The telescopic component is an electrically controlled roller screw.

[0057] 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.

[0058] Preferred,

[0059] 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.

[0060] The present invention discloses a leg mechanism for a robot, used 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, and the lower joint of the thigh body 21 is connected to the lower leg assembly 3; 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 lower leg body 31... The upper joint of the lower leg assembly 31 is mounted on the lower leg drive unit 32. A lower leg movement unit 33 is disposed on the lower joint of the lower leg body 31. The lower leg drive unit 32 is mounted on the lower joint of 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, 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 lower joint of the auxiliary leg body 41 is disposed on the auxiliary leg movement unit 43. The auxiliary leg drive unit 42 is mounted on the thigh body 21 and is used to assist the leg body 41 in moving around the thigh body 21. By setting the auxiliary leg assembly 4 outside of the thigh assembly 2 and the lower leg assembly 3, this utility model discloses a robot leg mechanism. The lower leg assembly 3 and the auxiliary leg assembly 4 have no fewer 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 after a fall, thus overcoming the shortcomings of the existing technology.

[0061] The foregoing has provided a detailed description of the robot's leg mechanism. For those skilled in the art, based on the ideas of the embodiments of this utility model, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this utility model.

Claims

1. A leg mechanism of a robot 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 mounted on the calf driving unit (32), 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 lower joint of 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 calf moving unit (33) is a powered roller.

2. The leg mechanism of the robot according to claim 1, characterized by, The upper joint of the auxiliary leg body (41) is mounted on the output shaft of the auxiliary leg driving unit (42).

3. The leg mechanism of the robot according to claim 1, characterized by, The center lines of the output shafts of the thigh driving unit (22) and the auxiliary leg driving unit (42) are located on the same line or are parallel to each other.

4. The leg mechanism of the robot according to claim 3, characterized by The auxiliary leg moving unit (43) is a non-powered roller or a powered roller.

5. The leg mechanism of the robot according to claim 1, characterized by, The thigh driving unit (22), the calf driving unit (32) and the auxiliary leg driving unit (42) are all motor assemblies provided with reducers.

6. The leg mechanism of the robot according to any one of claims 1 to 5, characterized in that, 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 leg mechanism of the robot according to any one of claims 1 to 5, characterized in that, 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 leg mechanism of the robot according to any one of claims 1 to 5, characterized in that, The telescopic assembly is an electric control roller screw.

9. The leg mechanism of the robot according to claim 8, characterized by, The calf body (31) and the auxiliary leg body (41) are arranged on the two sides of the thigh body (21) respectively.

10. The leg mechanism of the robot according to any one of claims 1 to 5, characterized in that, ​

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