Leg supporting piece for robot

Abstract

The utility model discloses a leg supporting piece for a robot, which belongs to the technical field of robot limb structures and comprises a leg support which extends in an arc shape and is hollow inside to form a wiring cavity, and a connecting seat with an assembly hole, a wiring groove and a wire passing hole is convexly arranged at the upper end of the leg support. Coaxial mounting holes are formed in the two ends of the leg support, hinge seats with wire passing grooves are assembled, and reinforcing ribs with groove openings are arranged in the wiring cavities. The technical effects of line full-path hiding and damage prevention, stable supporting piece structure and deformation resistance, flexible leg movement without blockage, adaptation to the small AI robot, improvement of operation stability and prolonging of the service life are achieved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to robot limb structure technical field, concretely relates to a leg support for small -size AI robot, is used to realize the connection, support and hidden arrangement of internal circuit of robot leg and body / head. BACKGROUND

[0002] The small robot in prior art refers to small -size AI robot, such as desktop robot etc., and this robot focuses on AI part, and in limb movement part, it is relatively weak, and one part of reason is that the wiring of joint position is easy to expose in the design process of robot leg.

[0003] The leg support is the key structure for connecting the body (or head) and the leg of the robot, which not only needs to bear the function of supporting the body weight and transmitting the driving force, but also needs to adapt to the arrangement requirements of the internal circuit of the robot (such as power supply line and signal line).

[0004] In the prior art, the leg support of small -size AI robot often has obvious defects: due to the small overall size of the robot, the internal space is limited, and the line arrangement in the joint and support area lacks reasonable hidden channel, which causes the line to be easily exposed on the surface of the support or the joint gap. The exposed wiring design brings many problems, such as that the line is easy to be affected by collision, friction and other external forces to cause wear and breakage; the exposed line will interfere with the flexible movement of the leg joint, which may cause the robot to move due to line winding and pulling, limit the fluency of limb movement; the exposed line also damages the overall appearance integrity of the robot, reduces the product's aesthetic degree. UTILITY MODEL CONTENTS

[0005] In view of the above problems, the utility model provides a leg support for robot, which adopts a hollow structure, realizes hidden arrangement of lines through the cooperation of wiring groove and wire passing hole, ensures support strength and movement flexibility, and solves the defect of line exposure in the prior art.

[0006] To achieve the above purpose, the utility model adopts the technical scheme of:

[0007] A leg support for robot, comprising a leg support in inverted U shape or inverted V shape, a wiring cavity is formed in the hollow inside the leg support; a connecting seat for connecting with a driving mechanism is protruded on the upper end of the leg support, an assembly hole is arranged on the top of the connecting seat, a wiring groove is arranged on the side of the connecting seat, and the wiring groove penetrates the upper end surface of the connecting seat along the axial direction of the connecting seat; a wire passing hole is arranged on the bottom of the connecting seat and on the side of the wiring groove, and the wire passing hole penetrates the two sides of the connecting seat and communicates with the wiring cavity.

[0008] The technical scheme has the beneficial effects that: the leg support is in inverted U shape or inverted V shape, which can better adapt to the installation of the robot leg, and improve the fitting degree of limb movement; the internal hollow wiring cavity cooperates with the wiring groove and the wire passing hole of the connecting seat to form a complete internal wiring path from the leg support to the connecting seat, so that the robot circuit can be completely hidden, avoiding damage caused by external force due to exposure of the circuit, and meanwhile, the connecting seat is stably connected with the driving mechanism through the assembly hole, which takes into account the wiring function and assembly reliability, and ensures that the leg support does not loosen and the circuit is not damaged during movement.

[0009] As a further improvement of the above scheme, the wiring groove is exposed on the slot of the outer wall of the leg support, and the internal width is wider than the slot opening, so that the cross section of the wiring groove cavity is T-shaped.

[0010] The technical scheme has the beneficial effects that: the T-shaped cross section of the wiring groove can accommodate multiple circuits at the same time, avoiding mutual extrusion and entanglement of the circuits, and the narrower slot opening can limit the circuits to a certain extent, preventing the circuits from falling out of the wiring groove during robot movement; meanwhile, the T-shaped structure facilitates quick placement of the circuits into the groove during assembly, reduces the difficulty of threading, improves production and assembly efficiency, and ensures smooth communication between the wiring groove, the wire passing hole and the wiring cavity, without affecting the overall wiring continuity.

[0011] As a further improvement of the above scheme, the inner wall of the assembly hole is provided with a positioning structure, which is a positioning groove or a positioning protrusion arranged in a ring shape on the inner wall of the assembly hole and extending in the axial direction.

[0012] The technical scheme has the beneficial effects that: the positioning groove or the positioning protrusion on the inner wall of the assembly hole can realize accurate positioning during assembly of the connecting seat and the driving mechanism, avoiding deviation or misalignment during assembly, and ensuring that the connection angle of the leg support and the driving mechanism meets the movement requirements of the robot; the ring-shaped distribution and the axial extension design can make the positioning structure fully match the adaptive structure of the driving mechanism, improve the connection stability, prevent the support from shaking due to assembly gap during robot movement, and further prevent the circuits from being pulled or worn in the internal wiring channel, thereby ensuring the stability of the robot operation.

[0013] As a further improvement of the above scheme, reinforcing ribs for reinforcement are arranged in the wiring cavity along the length direction of the leg support, the two ends of the reinforcing ribs are connected to the two side walls of the wiring cavity, and a slot is formed in the middle of the reinforcing rib for wiring.

[0014] The technical scheme has the beneficial effects that: the two ends of the reinforcing ribs are connected to the two side walls of the wiring cavity, which can greatly enhance the structural strength of the arc-shaped leg support, avoid deformation or fracture of the leg support due to bearing the weight of the robot body or long-term movement, and prolong the service life of the support; the slot in the middle of the reinforcing rib does not block the threading of the circuits in the wiring cavity, and can guide the circuits.

[0015] As a further improvement of the above scheme, the two ends of the leg support are provided with mounting holes, and the two mounting holes are located on the same axis.

[0016] The mounting holes at the two ends of the leg support are located on the same axis, which can ensure that the subsequently assembled components (such as the hinge seat) rotate coaxially, so that the trajectory of the robot leg movement is more accurate and smooth, and the movement jamming and stagnation caused by the misalignment of the mounting holes are avoided.

[0017] As a further improvement of the above scheme, the mounting hole is provided with a hinge seat, and the hinge seat comprises a shaft sleeve for inserting into the mounting hole, and a flange plate provided at one end of the shaft sleeve; the side edge of the shaft sleeve is open to form a wire slot, and the wire slot penetrates through both ends of the shaft sleeve.

[0018] The shaft sleeve of the hinge seat is inserted into the mounting hole of the leg support, and the flange plate can realize stable connection of the hinge seat and the leg support, preventing the hinge seat from falling off during movement; the wire slot at the side edge of the shaft sleeve penetrates through both ends, which can make the wire in the wire cavity smoothly pass into the shaft sleeve and continue to extend to other components of the robot leg, realizing full-path hidden wiring and avoiding the exposure of the wire at the hinge part; at the same time, the structural design of the shaft sleeve adapts to the rotation requirement of the leg joint, ensuring that the robot leg can rotate flexibly, and the wire slot does not affect the rotation performance of the shaft sleeve, balancing the hidden wiring and flexible movement.

[0019] Compared with the prior art, the beneficial effects of the utility model are as follows:

[0020] Good wire hiding property: through the cooperative design of the hollow wire cavity of the leg support, the wire slot of the connecting seat and the wire passing hole, the wire from the robot foot to the leg to the body / head is completely hidden inside the support, completely avoiding the exposure of the wire, effectively preventing the wear and breakage of the wire, and improving the running stability and service life of the robot;

[0021] Does not affect the flexible movement: the assembly structure and movement trajectory of the wire structure, the support and the hinge seat are adapted, the wire is arranged in order inside, and does not occur winding and pulling, ensuring that the leg joint moves smoothly and does not interfere with the limb movement of the robot;

[0022] Reliable structural strength: the reinforcing ribs in the leg support enhance the structural strength without affecting the wire, and the shaft sleeve and the flange plate of the hinge seat ensure the connection stability, balancing the light weight and support performance;

[0023] Aesthetics and safety are improved: the hidden wire design optimizes the overall appearance of the robot, and eliminates the safety hazards such as accidental touch and winding caused by the exposed wire, which is especially suitable for small AI robots and educational products;

[0024] Easy assembly: The T-shaped cross-section of the cable tray, the through-hole design of the cable passage hole, and the cable passage structure of the hinged seat facilitate the installation and assembly of the cable, reduce the difficulty of production and assembly, and improve production efficiency. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the leg support structure.

[0026] Figure 2 This is a schematic diagram of the overall structure of the support component.

[0027] Figure 3 This is a schematic diagram of the hinge mounting structure on the leg support.

[0028] Figure 4 This is a schematic diagram of the cable routing hole structure on the leg support.

[0029] Figure 5 This is a schematic diagram of the hinged seat structure.

[0030] Figure 6 This is a schematic diagram of the wiring channel structure on the connector for cable routing.

[0031] In the diagram: 401, leg bracket; 405, hinge seat; 408, support cover plate; 4010, connecting seat; 4011, cable tray; 4012, cable hole; 4013, assembly hole; 4051, bushing; 4052, cable tray; 4053, flange plate; 4054, boss with hole. Detailed Implementation

[0032] To enable those skilled in the art to better understand the technical solution, the present invention will be described in detail below with reference to the embodiments. The description in this part is only exemplary and explanatory, and should not be used to limit the scope of protection of the present invention in any way.

[0033] I. Overall Structure Description

[0034] like Figures 1-6 As shown, the leg support component for the robot in this embodiment is used in a small AI desktop robot. The entire component is made of ABS engineering plastic and processed by injection molding. This material has the characteristics of being lightweight, high-strength, and impact-resistant, which is suitable for the weight and strength requirements of the limb structure of small AI robots.

[0035] The support components include a leg bracket 401 in the shape of an inverted U or V, a connecting seat 4010 protruding from the top of the leg bracket 401, and a hinge seat 405 fitted into the mounting holes at both ends of the leg bracket 401. The components are assembled by injection molding or bolt connection to form a complete leg support and wiring structure, which can achieve the technical effects of full-path concealment of the wiring, stable support, and flexible movement.

[0036] II. Processing and assembly steps of each component

[0037] (1) Processing and structure forming of leg support, as shown in Figure 1

[0038] Processing steps: leg support 401 is injection molded using an injection mold, and the mold cavity is designed according to the preset inverted U-shaped parameters. During injection molding, a hollow wiring cavity is reserved inside the leg support 401; at the same time, reinforcing ribs are processed in the wiring cavity along the length direction of the leg support 401, the reinforcing rib spacing is 10 mm, the thickness of each reinforcing rib is 2 mm, both ends are completely connected with the two side walls of the wiring cavity, and a slot with a width of 3 mm is opened in the middle of each reinforcing rib, the slot penetrates the reinforcing rib along the length direction of the leg support 401.

[0039] Purpose and effect of the step: The inverted U-shaped or inverted V-shaped structure design makes the leg support 401 adapt to the small AI robot foot structure, and ensures that the support part is in close contact with the robot limb movement when the leg moves;

[0040] The inverted U-shaped or inverted V-shaped structure design can make the support shape conform to the "natural law" of leg movement, while fixing the support, the activity freedom degree of the joint is maximized, thereby improving the movement performance of the robot leg, as follows:

[0041] (1) Close to the physiological / mechanical trajectory of leg movement: The movement core of the robot leg is the linkage of the hip joint-knee joint-ankle joint, and its activity trajectory changes in an arc or angle. The opening of the inverted U-shaped / inverted V-shaped support is downward, which matches the natural bending direction of the "thigh and calf" of the leg, and the two sides of the support can respectively close to the outside / inside of the thigh and calf, avoiding the "movement interference" problem of straight rod support (such as the support pressing the limb when the leg bends, limiting the joint rotation angle).

[0042] (2) Optimize the stability and stress distribution of installation: The inverted U-shaped / inverted V-shaped support belongs to a symmetrical structure, and when installed, it can be connected with the leg body through multiple contact points of the apex and two sides, forming a "triangular support" or "ring type fixing", compared with the single point / two point fixing of the single rod support, the contact area is larger and the stress is more uniform. This structure can effectively disperse the impact force when the robot walks and jumps, reduce the local wear of the support and the leg body, and at the same time reduce the risk of support loosening.

[0043] ​(3) Improve the flexibility and adaptability of limb movement: The opening angle of the inverted U-shaped / inverted V-shaped bracket in the optimized solution can be designed to be adjustable, which can adapt to robot legs with different length ratios (such as models with different thigh and calf length ratios). In addition, the arc contour of the bracket can reserve installation space for components such as motors and sensors, avoiding the stacking of components from affecting the range of leg movement.

[0044] The hollow cable routing cavity provides a hidden channel for the cables, preventing them from being exposed. The reinforcing ribs enhance the structural strength of the leg support 401, preventing it from deforming or breaking due to bearing the weight of the robot (approximately 500g) or long-term movement, thus extending its service life. The groove in the middle of the reinforcing ribs ensures that the cables can be smoothly routed through the cable routing cavity, while also guiding the cables to prevent them from swaying randomly within the cavity and causing mutual friction damage.

[0045] Machining of mounting holes at both ends of leg bracket 401: Circular mounting holes are machined at both ends of leg bracket 401. The two mounting holes are positioned by mold to ensure that their axes coincide and the coaxiality error is controlled within 0.1mm.

[0046] Purpose and function of the steps: The coaxial mounting holes ensure that the hinge base 405 can rotate coaxially in subsequent assembly, avoiding jamming or sticking problems caused by misalignment of the mounting holes when the robot's legs move. At the same time, it reduces the assembly accuracy requirements of the hinge base 405 and improves the product qualification rate.

[0047] The outer wall of the leg support 401 is provided with a removable support cover 408, and the inner cavity can be exposed by opening the support cover 408.

[0048] (ii) Machining and assembly of the connecting seat, such as Figures 1-4 , Figure 6 As shown.

[0049] Processing steps: the connecting seat 4010 and the leg support 401 are integrally formed by injection molding, protruding in the middle position of the upper end of the leg support 401, and the connecting seat 4010 is a whole cylinder structure. A circular assembly hole 4013 is processed on the top of the connecting seat 4010, and a positioning structure is processed on the inner wall of the assembly hole 4013, that is, a plurality of positioning grooves are distributed along the annular of the inner wall of the assembly hole 4013, extending along the axial direction of the assembly hole 4013, and penetrating through the upper end of the assembly hole 4013, cooperating with the gear of the driving mechanism. On the side of the connecting seat 4010, close to the side of the leg support 401, a wiring slot 4011 is processed, the cross section of the cavity of the wiring slot 4011 is T-shaped, the slot exposed on the outer wall of the leg support 401 is small, the inside is wide, the wiring slot 4011 penetrates through the upper end surface of the connecting seat 4010 along the axial direction of the connecting seat 4010, and the lower end communicates with the wiring cavity of the leg support 401. A circular or square wire hole 4012 is processed on the bottom of the connecting seat 4010, on the side of the wiring slot 4011, penetrating through the two sides of the connecting seat 4010, and the wire hole 4012 communicates with the wiring cavity of the leg support 401.

[0050] Step purpose and effect: the integral molding of the connecting seat 4010 and the leg support 401 improves the structural stability, avoids the shaking of the support caused by the assembly gap; the assembly hole 4013 is used for connecting with the driving mechanism of the robot (such as the output shaft of the stepping motor), the positioning groove can be matched with the protruding structure on the output shaft of the driving mechanism, realizing the accurate positioning of the connecting seat 4010 and the driving mechanism, preventing assembly deviation and misplacement, ensuring that the connection angle of the leg support 401 and the driving mechanism meets the motion requirements of the robot, improving the connection stability, and avoiding the line pulling and wear caused by the shaking of the support during the motion of the robot; the T-shaped wiring slot 4011 can accommodate multiple lines (such as 2 power lines and 1 signal line) at the same time, the narrow slot part limits the line to prevent it from coming out during movement, and the wide inner cavity facilitates quick placement during line assembly, reducing the difficulty of threading; the wire hole 4012 realizes the communication between the wiring slot 4011 and the wiring cavity, constructs a complete wiring path, and ensures that the line can enter the wiring cavity from the wiring slot 4011 through the wire hole 4012.

[0051] (Three) hinge seat processing and assembly, as shown in Figure 5

[0052] ​Processing steps: the hinged seat 405 is separately injection molded with ABS engineering plastic, including the shaft sleeve 4051 and the flange plate 4053, the shaft sleeve 4051 is cylindrical structure, and the size of the mounting hole of the leg support 401 is matched; the flange plate 4053 is integrally formed with the shaft sleeve 4051 at one end, and the flange plate 4053 is processed with a boss 4054 with a hole, which is used for connecting with the leg support 401. An opening is processed along the axial direction on the side of the shaft sleeve 4051 to form a wire passing groove 4052, the width of the wire passing groove 4052 is 3mm, the depth is 2mm, and the wire passing groove 4052 penetrates through both ends of the shaft sleeve 4051. The shaft sleeve 4051 is inserted into the mounting hole at both ends of the leg support 401, and the shaft sleeve 4051 is tightly matched with the mounting hole, and the fitting clearance is controlled within 0.05mm, and then the M2 type bolt is threaded through the threaded hole of the flange plate 4053 and the leg support 401 to complete the assembly of the hinged seat 405.

[0053] Step purpose and effect: the shaft sleeve 4051 is tightly matched with the mounting hole and the flange plate 4053 is bolted, which ensures that the hinged seat 405 is stably connected with the leg support 401, and prevents the hinged seat 405 from falling off when the robot moves; the wire passing groove 4052 penetrates through both ends of the shaft sleeve 4051, which can make the wire in the wire cavity of the leg support 401 smoothly pass into the shaft sleeve 4051 and extend to other parts of the robot leg (such as the foot joint), realize the full path hidden wiring, and avoid the wire exposed at the hinge part; the structure of the shaft sleeve 4051 is matched with the rotation requirement of the leg joint, which ensures that the robot leg can flexibly rotate around the shaft sleeve 4051, and the wire passing groove 4052 does not affect the rotation performance of the shaft sleeve 4051, and the wire hiding and movement flexibility are considered.

[0054] The leg support provided in the embodiment is used for supporting the leg of the robot, and the support is a hollow structure, the upper end is used for connecting the body or the head, and the lower end is used for connecting the leg, the support is provided with a wire groove 4011 on the side of the connecting seat 4010, and a wire passing hole 4012 is arranged at the bottom of the connecting seat 4010, so that the wire of the foot can enter the support and pass through the wire passing hole 4012 into the wire groove 4011, and then enter the body or the head of the robot from the wire groove 4011, so as to ensure that the wire is completely hidden and does not affect the use of the robot.

[0055] It should be noted that in this paper, the terms: including, containing and any other variants are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. The principle and implementation of the present application are described by using specific examples. The above examples are only used to help understand the method and its core idea. The above is only the preferred embodiment of the present application. It should be pointed out that due to the limited expression of the text, there are objectively infinite specific structures. For ordinary technical personnel in this technical field, without departing from the principle of the present application, some improvements, refinements or changes can be made, and the above technical features can be combined in a proper way; these improvements, refinements, changes or combinations, or without improvement, the concept and technical scheme of the present application are directly applied to other occasions, which should be regarded as the protection scope of the present application.

Claims

1. A leg support for a robot, characterized by, The application relates to a leg support device for a display device, which comprises the following parts: a leg support (401) in the shape of an inverted U or inverted V, which is hollow inside to form a wire cavity; a connecting seat (4010) provided on the upper end of the leg support (401) and used for connecting with a driving mechanism, the top of the connecting seat (4010) is provided with an assembling hole (4013), the side of the connecting seat (4010) is provided with a wire slot (4011), and the wire slot (4011) penetrates through the upper end surface of the connecting seat (4010) along the axial direction of the connecting seat (4010); the bottom of the connecting seat (4010) is provided with a wire passing hole (4012) on the side of the wire slot (4011), and the wire passing hole (4012) penetrates through the two sides of the connecting seat (4010) and communicates with the wire cavity.

2. The leg support for a robot according to claim 1, characterized by, The wire slot (4011) is exposed on the slot of the outer wall of the leg support (401), the slot is narrow on the outside, and the inside is wide, so that the cavity cross section of the wire slot (4011) is T-shaped.

3. The leg support for a robot according to claim 1, characterized by, The inner wall of the assembling hole (4013) is provided with a positioning structure, the positioning structure is a positioning groove or positioning protrusion which is annularly distributed on the inner wall of the assembling hole (4013) and extends along the axial direction.

4. The leg support for a robot according to claim 1, characterized by, The wire cavity is provided with a reinforcing rib strip which is distributed along the length direction of the leg support (401) and is used for reinforcing; the two ends of the reinforcing rib strip are connected with the two side walls of the wire cavity; and a slot is formed in the middle of the reinforcing rib strip and is used for wire arrangement.

5. The leg support for a robot according to claim 1, characterized by, The two ends of the leg support (401) are provided with mounting holes, and the two mounting holes are located on the same axis.

6. The leg support for a robot according to claim 5, wherein, The mounting hole is provided with a hinged seat (405), the hinged seat (405) comprises a shaft sleeve (4051) used for being inserted into the mounting hole, and the one end of the shaft sleeve (4051) is provided with a flange plate (4053); the side of the shaft sleeve (4051) is open to form a wire passing slot (4052), and the wire passing slot (4052) penetrates through the two ends of the shaft sleeve (4051).

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