Robot leg structure and foot type robot

Abstract

The utility model relates to the technical field of foot type robots, and discloses a robot leg structure and a foot type robot. The robot leg structure comprises a thigh rod piece, a shank rod piece and a shank power unit for driving the shank rod piece to rotate relative to the thigh rod piece, a containing cavity for fixing the shank power unit is formed in the thigh rod piece, and the shank power unit is arranged in the containing cavity. According to the leg structure of the robot, the shank power unit for driving the shank rod piece is arranged in the thigh rod piece, compared with a traditional structure in which the shank power unit and the thigh power unit are arranged side by side, the leg structure of the robot is small in occupied space and compact in structure, and the width of a robot body of the foot type robot is reduced; and therefore, the overall size of the foot type robot is more compact.

Description

TECHNICAL FIELD

[0001] The utility model relates to foot formula robot technical field especially relates to a robot leg structure and foot formula robot. BACKGROUND

[0002] At present, the thigh power unit and the calf power unit of the foot formula robot are integrated together. For example, a robot integrated joint unit and a foot formula robot using the same are disclosed in Chinese Patent No. CN209921456U, which comprises a first motor and reducer assembly, a second motor assembly, a second reducer assembly, and a first output link. The first motor and reducer assembly is provided with a first output link at the output shaft end. The second motor assembly is fixedly installed on the other side of the first motor and reducer assembly. The second reducer assembly is arranged in the first output link. The output shaft of the second motor assembly penetrates through the first motor and reducer assembly and is fixedly connected with the input end of the second reducer assembly. In the above technical solution, the first motor and reducer assembly, the second motor assembly, and the second reducer assembly are arranged side by side, which results in a large body width of the foot formula robot and an uncompact structure.

[0003] The information disclosed in this background section is only for the purpose of understanding the background of the utility model concept, so it can include information that does not constitute the prior art. CONTENT OF THE UTILITY MODEL

[0004] In view of the above problems or one of the above problems, the first object of the utility model is to provide a robot leg structure and a foot formula robot. The calf power unit is placed inside the thigh link, which occupies a small space and has a compact structure.

[0005] In view of the above problems or one of the above problems, the second object of the utility model is to provide a robot leg structure and a foot formula robot. The calf power unit for driving the calf link is placed in the accommodating cavity of the thigh link. Compared with the traditional structure in which the calf power unit and the thigh power unit are arranged side by side, this structure can effectively reduce the space occupation of the body of the robot. In particular, the use of bevel gear transmission structure makes the axis of the calf power unit basically consistent with the length direction of the thigh link, so that the diameter of the thigh link is smaller, the body width of the foot formula robot is smaller, and the overall size of the foot formula robot is more compact.

[0006] To achieve one of the above objects, the first technical solution of the utility model is as follows:

[0007] A robot leg structure comprises a thigh link, a calf link, and a calf power unit for driving the calf link to rotate relative to the thigh link,

[0008] The thigh link is provided with an accommodating cavity for fixing the calf power unit,

[0009] The shank power unit is arranged in the accommodating cavity.

[0010] The shank power unit is arranged in the accommodating cavity.

[0011] As a preferred technical measure:

[0012] The output end of the shank power unit is provided with a first bevel gear, and the thigh link is internally provided with a second bevel gear which is adaptively driven with the first bevel gear, so as to form a bevel gear transmission structure.

[0013] As a preferred technical measure:

[0014] The second bevel gear and the shank link are provided with a transmission rod, one end of the transmission rod is rotationally connected with the second bevel gear, and the other end is rotationally connected with the shank link; the second bevel gear drives the shank link to swing around the thigh link through the transmission rod.

[0015] As a preferred technical measure:

[0016] The shank link is in a curved structure, an arc structure, a square structure or a columnar structure, and is provided with a closed cavity.

[0017] Alternatively, the shank link is in an S-shaped structure, and the diameter of the shank link is smaller than that of the thigh link.

[0018] Preferably, the shank link is in an approximate S-shaped structure, can effectively buffer the impact, and enhances the visual aesthetics.

[0019] As a preferred technical measure:

[0020] The shank power unit is a rotary motor or a driving motor equipped with a speed reducer.

[0021] As a preferred technical measure:

[0022] The thigh link is in an arc structure, a square structure or a columnar structure, and is provided with a closed accommodating cavity or a mounting groove.

[0023] Preferably, the thigh link is in an arc structure, can effectively reduce stress concentration, and enhances the visual aesthetics.

[0024] As a preferred technical measure:

[0025] The upper end of the thigh rod is provided with a bearing part for connecting the rotating shaft of the thigh power unit and a circuit board and / or cable for controlling the calf power unit.

[0026] As a preferred technical measure:

[0027] The bearing part is centrally provided with a connecting hole for passing through the rotating shaft of the thigh power unit, and a plurality of assembly holes are arranged around the connecting hole.

[0028] As a preferred technical measure:

[0029] The thigh power unit is a rotary motor or a driving motor equipped with a speed reducer, which is arranged on the outer side of the thigh rod or the lower end of the body, and cooperates with the calf power unit to form a split type series driving mechanism.

[0030] The split type series driving mechanism can further reduce the space occupation of the robot body, and make the body of the leg type robot more compact.

[0031] To achieve one of the above-mentioned purposes, the second technical scheme of the utility model is:

[0032] A leg type robot comprises the above-mentioned robot leg structure.

[0033] The leg type robot is a quadruped robot, a biped robot or a humanoid robot.

[0034] Compared with the prior art, the utility model has the beneficial effects that:

[0035] The robot leg structure provided by the utility model places the calf power unit for driving the calf rod in the accommodating cavity of the thigh rod, and compared with the structure in which the calf power unit and the thigh power unit are arranged side by side and stacked, the structure can effectively reduce the space occupation of the robot body, make the body width of the leg type robot smaller, and further make the overall size of the leg type robot more compact.

[0036] Further, the utility model uses a bevel gear transmission structure, makes the axis of the calf power unit basically consistent with the length direction of the thigh connecting rod, makes the diameter of the thigh connecting rod smaller, and further reduces the body width of the leg type robot.

[0037] The leg of the leg type robot provided by the utility model places the calf power unit for driving the calf rod in the thigh rod, and compared with the structure in which the calf power unit and the thigh power unit are arranged side by side, the structure occupies small space, makes the body width of the leg type robot smaller, and further makes the overall size of the leg type robot more compact.

[0038] The utility model will be described further in connection with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0039] Figure 1 It is a kind of overall schematic diagram of the utility model robot leg structure;

[0040] Figure 2 It is a kind of limit position schematic diagram of the utility model robot leg structure.

[0041] In the drawing: 1, thigh link;2, calf link;3, calf power unit;4, first bevel gear;5, second bevel gear;6, transmission rod;7, circuit board;8, receiving part;81, connecting hole;82, assembly hole. DETAILED DESCRIPTION

[0042] The utility model will be described further in connection with the drawings and specific embodiments, it needs to be explained that under the premise of not conflicting, the following described each embodiment between or each technical feature between can be arbitrarily combined to form new embodiment.

[0043] It needs to be explained that when two elements "fixed connection" or "rotary connection", two elements can be directly connected or also can exist in the middle element. Conversely, when element is referred to as "directly on" another element "on", there is no intermediate element. The term "on", "under" and similar expressions used herein are only for the purpose of illustration.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present application belongs. The terms used herein are only for the purpose of describing specific embodiments and are not intended to limit the present application.

[0045] As Figure 1 , Figure 2 The first specific embodiment of the utility model robot leg structure is as shown in the drawing:

[0046] A kind of robot leg structure, including thigh link 1, calf link 2 and for driving the calf link 2 relative to the thigh link 1 rotation calf power unit 3, the receiving cavity for fixing the calf power unit 3 is equipped in the thigh link 1, the calf power unit 3 is equipped in the receiving cavity.

[0047] The second specific embodiment of the utility model robot leg structure is as shown in the drawing:

[0048] A robot leg structure comprises a thigh link 1, a shank link 2, and a shank power unit 3 for driving the shank link 2 to rotate relative to the thigh link 1, the thigh link 1 is internally provided with a receiving cavity for fixing the shank power unit 3, and the shank power unit 3 is arranged in the receiving cavity.

[0049] The output end of the shank power unit 3 is provided with a first bevel gear 4, and the thigh link 1 is internally provided with a second bevel gear 5 adapted to drive the first bevel gear 4. The bevel gear transmission structure changes the motion transmission direction, and simultaneously reduces the rotation speed and increases the torque.

[0050] The second bevel gear 5 and the shank link 2 are provided with a transmission rod 6, one end of the transmission rod 6 is rotationally connected with the second bevel gear 5, and the other end is rotationally connected with the shank link 2; the second bevel gear 5 drives the shank link 2 to swing around the thigh link 1 through the transmission rod 6.

[0051] A third specific embodiment of the robot leg structure of the utility model:

[0052] A robot leg structure comprises a thigh link 1, a shank link 2, and a shank power unit 3 for driving the shank link 2 to rotate relative to the thigh link 1, the thigh link 1 is internally provided with a receiving cavity for fixing the shank power unit 3, and the shank power unit 3 is arranged in the receiving cavity.

[0053] The shank link 2 is of a curved structure, and the rod diameter thereof is smaller than that of the thigh link 1.

[0054] The shank power unit 3 is a driving motor assembled with a speed reducer.

[0055] The thigh link 1 is of an arc structure, and is provided with a closed receiving cavity.

[0056] The upper end of the thigh link 1 is provided with a bearing part 8 for connecting a rotating shaft of a thigh power unit and a circuit board 7 for controlling the power unit. The bearing part 8 is centrally provided with a connecting hole 81 for penetrating the rotating shaft of the thigh power unit, and a plurality of assembly holes 82 are arranged around the connecting hole 81. The thigh power unit is a driving motor assembled with a speed reducer, and is assembled on the outer side surface of the thigh link 1.

[0057] A specific embodiment of the utility model foot-type robot:

[0058] A foot-type robot comprises the robot leg structure.

[0059] In the application, the fixed connection mode can be screwing, welding, riveting, splicing or connection through a third part, and a person skilled in the art can select according to the actual situation.

[0060] It should be pointed out finally that the above embodiments are only used to illustrate the technical solutions of the present application but not to limit it. Although the present application has been described in detail with reference to the above embodiments, the ordinary skilled in the art can still modify or equivalently replace the specific embodiments of the present application without departing from the spirit and scope of the present application, and any modification or equivalent replacement not departing from the spirit and scope of the present application should be covered in the protection scope of the claims of the present application.

Claims

1. A robot leg structure, characterized in that, it comprises a thigh link (1), a shank link (2) and a shank power unit (3) for driving the shank link (2) to rotate relative to the thigh link (1), the thigh link (1) is provided with a receiving cavity for fixing the shank power unit (3), and the shank power unit (3) is arranged in the receiving cavity.

2. The robot leg structure according to claim 1, characterized in that, an output end of the shank power unit (3) is provided with a first bevel gear (4), and the thigh link (1) is provided with a second bevel gear (5) which is adapted to drive the first bevel gear (4).

3. The robot leg structure according to claim 2, characterized in that, a transmission rod (6) is arranged between the second bevel gear (5) and the shank link (2), one end of the transmission rod (6) is rotatably connected with the second bevel gear (5), and the other end is rotatably connected with the shank link (2); the second bevel gear (5) drives the shank link (2) to swing around the thigh link (1) through the transmission rod (6).

4. The robot leg structure according to claim 3, characterized in that, the shank link (2) is in a curved, square or columnar structure and is provided with a closed cavity; or, the shank link (2) is in an S-shaped structure and has a smaller diameter than the thigh link (1).

5. The robot leg structure according to claim 3, characterized in that, the shank power unit (3) is a rotary motor or a driving motor equipped with a speed reducer.

6. The robot leg structure according to claim 1, characterized in that, the thigh link (1) is in an arc, square or columnar structure and is provided with a closed receiving cavity or a mounting groove.

7. The robot leg structure according to claim 1, characterized in that, an upper end of the thigh link (1) is provided with a bearing part (8) for connecting a rotating shaft of a thigh power unit and a circuit board (7) and / or a cable for controlling the shank power unit (3).

8. The robot leg structure according to claim 7, characterized in that, the bearing part (8) is centrally provided with a connecting hole (81) for passing through the rotating shaft of the thigh power unit, and a plurality of mounting holes (82) are arranged around the connecting hole (81).

9. The robot leg structure according to claim 7, characterized in that, the thigh power unit is a rotary motor or a driving motor equipped with a speed reducer, which is arranged on the outer side of the thigh link (1) or the lower end of the body and cooperates with the shank power unit (3) to form a split type series driving mechanism.

10. A legged robot characterized by comprising: a robot leg structure according to any one of claims 1-9.

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