Foot type robot power assisting structure
By introducing an elastic mechanical leg assist structure into a legged robot and using tension springs to provide reverse torque at different connection points, the problem of limited load capacity was solved, achieving the effects of increased load capacity and reduced energy consumption.
Patent Information
- Application Number
- CN202422998515.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-05
- Publication Date
- 2026-01-30
- Estimated Expiration
- 2034-12-05
AI Technical Summary
The load capacity of existing legged robots is limited by the weight and performance of the geared motors at the joints, making it difficult to increase in a limited space. Furthermore, existing assistive structures have failed to effectively improve load capacity in complex environments.
It adopts an elastic mechanical leg assist structure, including a hip joint motor, thigh and calf mechanisms. Through tension springs, it provides reverse torque at different connection points to counteract the body's weight and inertia. The design is simple and does not affect the movement ability.
Without increasing size or interference, the load capacity of the legged robot was improved and energy consumption was reduced, thus enhancing the robot's motion performance.
Smart Images
Figure CN223850718U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to robot power assisting structure field, provide a foot formula robot power assisting structure. BACKGROUND
[0002] With the development of robot technology, more and more foot formula robots appear in laboratory and market. Among them, four-foot robots, such as Spot of Boston Dynamics, GO1 of Yushu Technology, etc. have completed marketization and are used in industry and life. And biped humanoid robots, such as Atlas of Boston, are gradually moving from laboratory to industrial application with the development of artificial intelligence. However, the performance of foot formula robots depends on the load capacity of the reduction motor at the joint. But due to the weight and motor performance limitations, it is difficult to improve the load capacity of foot formula robots in limited space. Therefore, a simple structure, high efficiency, small size, low weight and low cost power assisting structure has become indispensable for foot formula robot industry.
[0003] The structure applied in the utility model can be called elastic mechanical leg power assisting structure, which contains one or more springs or air cylinders for each movable mechanical leg, and a cantilever extending a distance about the rotation axis of the mechanical leg. In the above and many foot formula robots, there is no reasonable power assisting structure to improve the load capacity. However, in industrial robot arms, spring power assisting structures similar to the underlying principles of the utility model have been widely used. For example, the spring power assisting structures applied in US4592697, JPH01109088A and CN104440865A all use spring sets to offset the load of the first and second arms of the robot arm on the reduction joint to achieve the effect of power assistance. Currently, there is no elastic power assisting structure used in foot formula robots. In the robot arm power assisting structure using similar principles, since the robot arm is generally used in indoor fixed position, the consideration of space and structure layout is often poor compared to the wheel group robot which needs to work in outdoor complex environment. In addition, since the leg of the foot formula robot often needs to move at high speed, the resistance often comes from the inertia of the leg structure and the weight of the main body, so complex dynamics analysis is needed to determine the torque load of each joint of the leg in the gait. Therefore, although the underlying principles of the design of the power assisting structure of the foot formula robot are similar, the structure and power assisting method often need deeper torque analysis to determine the specific power assisting size. SUMMARY
[0004] The utility model provides a foot formula robot power assisting structure, which aims to realize the effect of improving the motion and load capacity of the robot with extremely simple structure and extremely low volume without affecting the motion ability of the mechanical leg and with extremely small interference volume.
[0005] The utility model discloses a kind of legged robot power assisting structure, including crotch joint motor, thigh mechanism and shank mechanism, it is characterized by: the crotch joint motor is connected with the thigh mechanism by connector, the thigh mechanism is connected with the shank mechanism, first cantilever is extended in the lower of the connector;
[0006] The thigh mechanism includes thigh motor, thigh arm and first group of tension springs, the thigh motor is rigidly connected with the thigh arm, first connecting point and second connecting point are formed on the thigh arm, one end of the first group of tension springs is connected with the first cantilever, the first connecting point is connected on the first group of tension springs away from the first cantilever.
[0007] According to the legged robot power assisting structure of claim, characterized in that: the shank mechanism includes shank motor, shank arm and second group of tension springs, the shell of the shank motor is rigidly connected with the output end of the thigh motor, the shank arm is connected with the thigh arm by bearing group, the output end of the shank motor is connected with the shank arm by connecting rod through inside thigh arm.
[0008] According to the legged robot power assisting structure of claim, characterized in that: second cantilever is formed on the end of the shank arm, one end of the second group of tension springs is connected with the second connecting point, the second connecting point is connected on the second group of tension springs away from the second connecting point with the second cantilever.
[0009] According to the legged robot power assisting structure of claim, characterized in that: the crotch joint motor is connected with the thigh motor by the connector 90 °. The utility model reaches the beneficial effects: by the power of first group of springs, first group of springs, act on first connecting point and second connecting point with rotation center a certain distance, produce the torque of offsetting legged robot dead weight and motion inertia, to reach the purpose of increasing legged robot load capacity, reducing its energy consumption and running time. BRIEF DESCRIPTION OF DRAWINGS
[0010] Fig. 1 It is the overall first visual angle structure schematic diagram of the utility model;
[0011] Fig. 2 It is the overall second visual angle structure schematic diagram of the utility model;
[0012] Fig. 3 It is the overall third visual angle structure schematic diagram of the utility model;In the drawing: 1, crotch joint motor;2, thigh motor;3, shank motor;4, thigh arm;5, shank arm;6, connector;7, first cantilever;8, first connecting point;9, second connecting point;10, second cantilever;11, first group of tension springs;12, second group of tension springs. DETAILED DESCRIPTION
[0013] In order to make the purpose, technical scheme and advantages of the utility model more clearly, the utility model is further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and are not used to limit the utility model.
[0014] Example one
[0015] With reference to Figs. 1-3 The utility model discloses a kind of foot type robot power assisting structure, including crotch joint motor 1, thigh mechanism and shank mechanism, it is characterized by: crotch joint motor 1 is connected with thigh mechanism by connector 6, thigh mechanism is connected with shank mechanism, connector 6 is extended with first cantilever 7 below;
[0016] Thigh mechanism includes thigh motor 2, thigh arm 4 and first group of tension spring 11, thigh motor 2 is rigidly connected with thigh arm 4, first connecting point 8 and second connecting point 9 are formed on thigh arm 4, one end of first group of tension spring 11 is connected with first cantilever 7, first connecting point 8 is connected on first group of tension spring 11 away from first cantilever 7.
[0017] Shank mechanism includes shank motor 3, shank arm 5 and second group of tension spring 12, the shell of shank motor 3 is rigidly connected with the output end of thigh motor 2, shank arm 5 is connected with thigh arm 4 by bearing group, the output end of shank motor 3 is connected with shank arm 5 by connecting rod passing through inside thigh arm 4.
[0018] Second cantilever 10 is formed on the end of shank arm 5, one end of second group of tension spring 12 is connected with second connecting point 9, second cantilever 10 is connected on second group of tension spring 12 away from second connecting point 9.
[0019] Crotch joint motor 1 is connected with thigh motor 2 by connector 6 and is 90 °.
[0020] The working principle of the utility model: crotch joint motor 1 is responsible for controlling the lateral swing of entire mechanical leg, thigh motor 2 controls thigh arm 4 swing, simultaneously, shank motor 3 controls shank arm 5 swing.
[0021] The utility model discloses beneficial effect, wherein, the top of first group tension spring 11 is connected in the first cantilever 7 of the connector 6 extension, and the bottom of first group tension spring 11 is connected in the first connecting point 8 on the thigh arm 4. First group tension spring 11 because the first cantilever 7 deviates the thigh motor rotation center, so its tension gives the thigh arm 4 a with the body weight generated moment of force opposite torque, and thus reduced the load of body weight to thigh motor 2. At the same time, because first group tension spring 11 is in the inside of thigh arm 4, reasonable utilization of space, almost will cause mechanical leg movement process and other articles interference collision.
[0022] The top of second group tension spring 12 is connected in the second connecting point 9 on the thigh arm 4, and the bottom of second group tension spring 12 is connected in the second cantilever 10 of calf arm 5. Second group tension spring 12 because the first cantilever 10 deviates the calf connecting axle rotation center, so its tension gives the calf arm 5 a with the body weight generated moment of force opposite torque, and thus reduced the load of body weight to calf motor 3. Because second group tension spring 12 is located the rear of thigh arm 4, will not affect mechanical leg movement ability similarly. The above only for the preferred embodiment of the utility model has been described, and does not use to limit the utility model, any modification, equivalent replacement and improvement etc. that are made in the spirit and principle of the utility model, should be included in the protection scope of the utility model.
Claims
1. A robot assisting structure of a leg type, comprising a hip joint motor (1), a thigh mechanism, and a lower leg mechanism, characterized by: The hip joint motor (1) is connected with the thigh mechanism through the connector (6), the thigh mechanism is connected with the lower leg mechanism, and the connector (6) extends downwards with the first cantilever (7); The thigh mechanism comprises a thigh motor (2), a thigh arm (4) and a first set of tension springs (11), the thigh motor (2) is rigidly connected with the thigh arm (4), the first connecting point (8) and the second connecting point (9) are formed on the thigh arm (4), one end of the first set of tension springs (11) is connected with the first cantilever (7), and the first connecting point (8) is connected with the first set of tension springs (11) away from the first cantilever (7).
2. The foot robot assisting structure according to claim 1, characterized by: The lower leg mechanism comprises a lower leg motor (3), a lower leg arm (5) and a second set of tension springs (12), the shell of the lower leg motor (3) is rigidly connected with the output end of the thigh motor (2), the lower leg arm (5) is connected with the thigh arm (4) through a bearing set, and the output end of the lower leg motor (3) is connected with the lower leg arm (5) through a connecting rod penetrating through the inside of the thigh arm (4).
3. The foot robot assisting structure according to claim 2, characterized by: The second set of tension springs (12) is connected with the second connecting point (9) on the lower leg arm (5), and the second cantilever (10) is connected with the second set of tension springs (12) away from the second connecting point (9).
4. The foot robot assisting structure according to claim 3, characterized by: The hip joint motor (1) is connected with the thigh motor (2) at an angle of 90° through the connector (6).