Robot leg structure

Abstract

The utility model discloses a robot leg structure, which adopts a mode that a corner driving component consisting of a motor and a corner speed reducer is used as driving power of the robot leg structure, on one hand, the cost is lower, on the other hand, the arrangement of the motor can be matched with the direction of the leg, and the layout is more reasonable. The defects in the prior art can be overcome. The utility model comprises a crotch unit 1, a thigh unit 2, a shank unit 3 and a sole unit 4 which are connected in sequence, the thigh unit 2 comprises a thigh main body 21 and a first power part 22; the shank unit 3 comprises a shank main body 31 and a second power part 32; the sole unit 4 comprises a sole 41 and a sole driving part 42; the crotch unit 1 comprises a crotch main body 11, a third power part 12 and a connecting seat 13; at least one of the first power component 22, the second power component 32 and the third power component 12 is a corner driving component, and the corner driving component comprises a motor 01 and a corner speed reducer 02.

Description

Technical Field

[0001] This utility model relates to the field of robotics, and in particular to a robot 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. Humanoid robots mostly employ a bipedal design, meaning they move using two legs. The robot's lower limb or leg structure, including the thigh, calf, and foot, is driven by a power module, such as the movement of the thigh. The power module itself is expensive, which increases the cost of the robot and, to some extent, hinders its widespread adoption and development.

[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 robot leg structure. By using a corner drive component consisting of a motor and a corner reducer as the driving power for the robot leg structure, the cost is lower and the arrangement of the motor can be matched with the direction of the leg, resulting in a more reasonable layout and overcoming the shortcomings of the existing technology.

[0006] The robot leg structure provided by this utility model is used in a robot and includes: a hip unit, a thigh unit, a calf unit and a foot unit connected in sequence.

[0007] The thigh unit includes a thigh body and a first power component, wherein the first power component is used to drive the swing of the thigh body, and the thigh body is mounted on the hip unit through the first power component;

[0008] The lower leg unit includes a lower leg body and a second power component, wherein the second power component is used to drive the swing of the lower leg body, and the lower leg body is mounted on the thigh unit through the second power component;

[0009] The foot unit includes a foot and a foot drive component, wherein the foot drive component is mounted on the lower leg unit and connected to the foot, and is used to drive the movement of the foot.

[0010] The hip unit includes a hip body, a third power component for driving the thigh unit to swing, and a connecting seat. Both the first power component and the third power component are connected to the connecting seat.

[0011] At least one of the first power component, the second power component, and the third power component is a cornering drive component, and the cornering drive component includes a motor and a cornering reducer.

[0012] Preferred,

[0013] The first power unit and the second power unit are corner drive units;

[0014] The motors of both the first and second power components are arranged along the leg direction of the thigh body.

[0015] Preferred,

[0016] Angle reducer includes a transmission assembly, a reduction assembly, and a connecting plate;

[0017] The motor is connected to the transmission assembly, and drives the reduction assembly through the transmission assembly;

[0018] The reduction gear assembly is connected to the connecting plate and drives the connecting plate to move. The straight line of the motor shaft is perpendicular to the rotation center line of the connecting plate.

[0019] Preferred,

[0020] The first power unit, the second power unit, and the third power unit are all corner drive units;

[0021] The third power unit is installed on the hip body, and the connecting plate of the third power unit is connected to the connecting plate of the first power unit through the connecting seat.

[0022] The first power unit and the second power unit are respectively located at both ends of the thigh body;

[0023] The connecting plate of the second power component is connected to the lower leg body.

[0024] Preferred,

[0025] The speed reduction assembly is a cycloidal pinwheel;

[0026] The transmission assembly consists of two bevel gears set at right angles, one of which is mounted on the motor shaft and the other on the reduction assembly.

[0027] Preferred,

[0028] The thigh body includes an upper thigh and a lower thigh, and the hip body, the upper thigh, the lower thigh, and the calf body are connected in sequence.

[0029] The thigh unit also includes a fourth power component mounted on the upper part of the thigh and connected to the lower part of the thigh, the fourth power component being used to drive the rotation of the lower part of the thigh;

[0030] The lower leg body is mounted on the lower part of the thigh via a second power component.

[0031] Preferred,

[0032] The hip unit also includes a fifth power component, which is used to drive the movement of components related to the hip body.

[0033] Preferred,

[0034] The fifth power component is installed in the middle of the main body of the hip, and there are mounting positions on both sides that are angled downwards and used to install the third power component.

[0035] Preferred,

[0036] The foot is mounted on one end of the lower leg via a cross-shaped axis;

[0037] The foot drive component includes a sixth power assembly, a first link, a seventh power assembly, and a second link. The sixth power assembly is connected to the first link via a first eccentric wheel and is used to drive the first link. The seventh power assembly is connected to the second link via a second eccentric wheel and is used to drive the first link.

[0038] The first and second links are connected to the foot for rotation.

[0039] Preferred,

[0040] The sixth and seventh power components are steering drive components.

[0041] This utility model discloses a robot leg structure for use in a robot, comprising: a hip unit, a thigh unit, a lower leg unit, and a foot unit connected in sequence; the thigh unit includes a thigh body and a first power component, wherein the first power component drives the rotation of the thigh body, and the thigh body is mounted on the hip unit via the first power component; the lower leg unit includes a lower leg body and a second power component, wherein the second power component drives the rotation of the lower leg body, and the lower leg body is mounted on the thigh unit via the second power component; the foot unit includes a foot and a foot driving component, wherein the foot driving component is mounted on the lower leg unit and connected to the foot, and is used to drive the movement of the foot; the hip unit includes a hip body, a third power component for driving the swing of the thigh unit, and a connecting seat, wherein both the first power component and the third power component are connected to the connecting seat; at least one of the first power component, the second power component, and the third power component is a cornering drive component, wherein the cornering drive component includes a motor and a cornering reducer. By using a corner drive component consisting of a motor and a corner reducer as the driving power for the robot's leg structure, the robot leg structure of this utility model has the advantages of lower cost and more reasonable layout, which allows the motor arrangement to match the direction of the leg and solves the defects of the existing technology. Attached Figure Description

[0042] Figure 1 This is a schematic diagram of the robot leg structure according to an embodiment of the present invention;

[0043] Figure 2 This is another structural schematic diagram of the robot leg structure according to an embodiment of the present invention;

[0044] Figure 3 This is an exploded structural diagram of the robot's leg structure according to an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of different designs of the thigh body 21 in the robot leg structure of this utility model embodiment;

[0046] Figure 5 This is an exploded structural diagram showing different designs of the thigh body 21 in the robot leg structure of this embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the cornering drive component in the robot leg structure of this embodiment of the present invention;

[0048] Figure 7 This is a schematic diagram of the robot leg structure including the outer shell according to an embodiment of the present invention;

[0049] Figure 8 This is another structural diagram of the robot leg structure including the outer shell, according to an embodiment of the present invention. Detailed Implementation

[0050] This utility model discloses a robot leg structure. By using a corner drive component consisting of a motor 01 and a corner reducer 02 as the driving power for the robot leg structure, the cost is lower and the arrangement of the motor 01 can be matched with the direction of the leg, resulting in a more reasonable layout and overcoming the shortcomings of the existing technology.

[0051] 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 8 The present invention provides a robot leg structure for use in a robot, comprising: a hip unit 1, a thigh unit 2, a calf unit 3, and a foot unit 4 connected in sequence.

[0052] Thigh unit 2 includes thigh body 21 and first power component 22, wherein the first power component 22 is used to drive the swing of thigh body 21, and thigh body 21 is mounted on hip unit 1 through the first power component 22.

[0053] The lower leg unit 3 includes a lower leg body 31 and a second power component 32, wherein the second power component 32 is used to drive the swing of the lower leg body 31, and the lower leg body 31 is mounted on the thigh unit 2 through the second power component 32.

[0054] The foot unit 4 includes a foot 41 and a foot driving component 42, wherein the foot driving component 42 is mounted on the lower leg unit 3 and connected to the foot 41, and is used to drive the movement of the foot 41.

[0055] The hip unit 1 includes a hip body 11, a third power component 12 for driving the thigh unit 2 to swing, and a connecting seat 13. The first power component 22 and the third power component 12 are both connected to the connecting seat 13.

[0056] At least one of the first power component 22, the second power component 32 and the third power component 12 is a cornering drive component, and the cornering drive component includes a motor 01 and a cornering reducer 02.

[0057] In this utility model, it should first be noted that the first power component 22, the second power component 32, the third power component 12, and the foot drive component 42 can all be corner drive components. Alternatively, the first power component 22 and the second power component 32 can be corner drive components, while the third power component 12 and the foot drive component 42 can adopt other forms of power structures, which are not limited here. Next, regarding the setting of the motor 01 and the corner reducer 02, the motor 01 can be a servo motor. The setting of the motor 01 can follow the direction of the leg, either upward or downward. The thigh body 21 and the lower leg body 31 only need to reserve positions for installing the first power component 22 and the second power component 32. This design results in a compact leg structure and a reasonable layout. Specifically, the connecting seat 13 can be an L-shaped seat, with one side connected to the third power component 12 and the other side connected to the first power component 22.

[0058] It should be noted that the thigh body 21, the lower leg body 31, and the hip body 11 can all be combinations of mounting bases and covers, or they can be just mounting bases. If they are just mounting bases, then covers can be added to the outside of the thigh body 21, the lower leg body 31, and the hip body 11. In addition, the thigh body 21, the lower leg body 31, and the hip body 11 and the covers can be integrally set or separately set, depending on the actual situation. In this utility model, a thigh cover 23 can be set outside the thigh body 21, a lower leg cover 33 can be set outside the lower leg body 31, and a hip cover 14 can be set outside the hip body 11.

[0059] Preferred,

[0060] The first power component 22 and the second power component 32 are cornering drive components;

[0061] The motors of the first power unit 22 and the second power unit 32 are both arranged along the leg direction of the thigh body 21.

[0062] Preferred,

[0063] The angle reducer 02 includes a transmission assembly 021, a reduction assembly 022, and a connecting plate 023;

[0064] Motor 01 is connected to transmission assembly 021 and drives reduction assembly 022 through transmission assembly 021;

[0065] The reduction gear assembly 022 is connected to the connecting disk 023 and drives the connecting disk 023 to move. The straight line of the motor shaft of the motor 01 is perpendicular to the rotation center line of the connecting disk 023.

[0066] Since the straight line of the motor shaft of motor 01 is perpendicular to the rotation center line of connecting plate 023, the direction of power transmission changes and is converted by 90°, so that motor 01 can be better installed in the preset clearance position on thigh body 21 or calf body 31.

[0067] Preferred,

[0068] The first power component 22, the second power component 32, and the third power component 12 are all corner drive components;

[0069] The third power component 12 is installed on the hip body 11, and the connecting plate of the third power component 12 is connected to the connecting plate of the first power component 22 through the connecting seat 13.

[0070] The first power component 22 and the second power component 32 are respectively disposed at both ends of the thigh body 21;

[0071] The connecting plate of the second power component 32 is connected to the lower leg body 31.

[0072] Preferred,

[0073] The reduction gear assembly 023 is a cycloidal pinwheel;

[0074] The transmission assembly 022 consists of two bevel gears arranged at right angles, one of which is mounted on the motor shaft of the motor 01, and the other is mounted on the reduction assembly 023.

[0075] Preferred,

[0076] The thigh body 21 includes an upper thigh and a lower thigh, and the hip body 11, the upper thigh, the lower thigh, and the calf body 31 are connected in sequence.

[0077] Thigh unit 2 also includes a fourth power component mounted on the upper part of the thigh and connected to the lower part of the thigh, the fourth power component being used to drive the rotation of the lower part of the thigh;

[0078] The lower leg body 31 is mounted on the lower part of the thigh via the second power component 32.

[0079] It should be noted that the inclusion of the fourth power component 03 increases the range of motion of the thigh unit 2, thereby increasing the flexibility of the robot's leg structure. In other words, in this invention, the thigh unit 2 can be configured in two ways: one is that the upper thigh 04 and lower thigh 05 are an integral structure, excluding the fourth power component 03; the other is that the upper thigh 04 and lower thigh 05 are separate structures, including the fourth power component 03. The appropriate configuration can be chosen based on actual needs.

[0080] Preferred,

[0081] The hip unit 1 also includes a fifth power component, which is used to drive the movement of the component connected to the upper part of the hip body 11.

[0082] Preferred,

[0083] The fifth power component is installed in the middle of the hip body 11, and there are mounting positions on both sides that are angled downwards and used to install the third power component 12.

[0084] It should be noted that the fifth power component 06 connects the robot's leg structure and the robot's upper body, enabling control of the robot's upper body, such as the movement of the waist. In certain states, such as when the robot is in mid-air or falling, it can also control the overall rotation of the robot's leg structure, which is not limited here.

[0085] Preferred,

[0086] The foot 41 is mounted on one end of the lower leg body 31 via a cross shaft;

[0087] The foot drive component 42 includes a sixth power component 421, a first link 422, a seventh power component 423, and a second link 424. The sixth power component 421 is connected to the first link 422 via a first eccentric wheel 425 and is used to drive the first link 422. The seventh power component 423 is connected to the second link 424 via a second eccentric wheel 426 and is used to drive the first link 422.

[0088] The first link 422 and the second link 424 are rotatably connected to the foot 41.

[0089] When the position of the foot 41 needs to be adjusted, the sixth power assembly 421 and the seventh power assembly 423 are activated, and through the first eccentric wheel 425 and the second eccentric wheel 42, they drive the first connecting rod 422 and the second connecting rod 424 respectively, thereby driving the multi-angle adjustment of the foot 41. It should be noted that a connecting rod mounting seat can be provided on the foot 41, and the first connecting rod 422 and the second connecting rod 424 are respectively mounted in two mounting positions on the connecting rod mounting seat.

[0090] Preferred,

[0091] The sixth power assembly 421 and the seventh power assembly 423 are cornering drive components.

[0092] This utility model discloses a robot leg structure for use in a robot, comprising: a hip unit, a thigh unit, a lower leg unit, and a foot unit connected in sequence; the thigh unit includes a thigh body and a first power component, wherein the first power component is used to drive the rotation of the thigh body, and the thigh body is mounted on the hip unit via the first power component; the lower leg unit includes a lower leg body and a second power component, wherein the second power component is used to drive the rotation of the lower leg body, and the lower leg body is mounted on the thigh unit via the second power component; the foot unit includes a foot and a foot driving component, wherein the foot driving component is mounted on the lower leg unit and connected to the foot, and is used to drive the movement of the foot; the hip unit 1 includes a hip body 11, a third power component 12 for driving the swing of the thigh unit 2, and a connecting seat 13, wherein both the first power component 22 and the third power component 12 are connected to the connecting seat 13; at least one of the first power component, the second power component, and the third power component is a cornering drive component, wherein the cornering drive component includes a motor and a cornering reducer. By using a corner drive component consisting of a motor and a corner reducer as the driving power for the robot's leg structure, the robot leg structure of this utility model has the advantages of lower cost and more reasonable layout, which allows the motor arrangement to match the direction of the leg and solves the defects of the existing technology.

[0093] The robot 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 and application scope based on the ideas 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 robot leg structure for use in a robot, characterized by, The application relates to a robot leg, which comprises a crotch unit (1), a thigh unit (2), a lower leg unit (3) and a foot sole unit (4) connected in sequence. The thigh unit (2) comprises a thigh main body (21) and a first power component (22), wherein the first power component (22) is used for driving the swing of the thigh main body (21), and the thigh main body (21) is installed on the crotch unit (1) through the first power component (22). The lower leg unit (3) comprises a lower leg main body (31) and a second power component (32), wherein the second power component (32) is used for driving the swing of the lower leg main body (31), and the lower leg main body (31) is installed on the thigh unit (2) through the second power component (32). The foot sole unit (4) comprises a foot sole (41) and a foot sole driving component (42), wherein the foot sole driving component (42) is installed on the lower leg unit (3) and connected with the foot sole (41), and is used for driving the movement of the foot sole (41). The crotch unit (1) comprises a crotch main body (11), a third power component (12) used for driving the swing of the thigh unit (2) and a connecting seat (13), and the first power component (22) and the third power component (12) are connected with the connecting seat (13). At least one of the first power component (22), the second power component (32) and the third power component (12) is a rotation angle driving component, and the rotation angle driving component comprises a motor (01) and a rotation angle reducer (02). The first power component (22) and the second power component (32) are rotation angle driving components.

2. The robotic leg structure of claim 1, wherein, The motors of the first power component (22) and the second power component (32) are arranged along the leg direction of the thigh main body (21). The rotation angle reducer (02) comprises a transmission assembly (021), a speed reduction assembly (022) and a connecting disc (023).

3. The robotic leg structure of claim 1, wherein, The motor (01) is connected with the transmission assembly (021), and drives the speed reduction assembly (022) through the transmission assembly (021). The speed reduction assembly (022) is connected with the connecting disc (023) and drives the movement of the connecting disc (023), and the straight line where the motor shaft of the motor (01) is located is perpendicular to the rotation center line of the connecting disc (023). The first power component (22), the second power component (32) and the third power component (12) are all rotation angle driving components.

4. The robotic leg structure of claim 3, wherein, The connecting disc of the third power component (12) is connected with the connecting disc of the first power component (22) through the connecting seat (13). The first power component (22) and the second power component (32) are arranged at two ends of the thigh main body (21) respectively. The connecting disc of the second power component (32) is connected with the lower leg main body (31). The speed reduction assembly (022) is a cycloidal pin wheel.

5. The robotic leg structure of claim 3, wherein, The transmission assembly (021) is two conical gears arranged at right angles, one of which is installed on the motor shaft of the motor (01), and the other of which is installed on the speed reduction assembly (022). The thigh main body (21) comprises a thigh upper part and a thigh lower part, the crotch main body (11), the thigh upper part, the thigh lower part and the lower leg main body (31) are connected in sequence.

6. The robotic leg structure of claim 1, wherein, ​ The thigh unit (2) further comprises a fourth power component installed on the upper part of the thigh and connected with the lower part of the thigh, and the fourth power component is used to drive the rotation of the lower part of the thigh. The lower leg body (31) is installed on the lower part of the thigh through a second power component (32).

7. The robotic leg structure of claim 1, wherein, The crotch unit (1) further comprises a fifth power component, and the fifth power component is used to drive the movement of the component connected with the upper part of the crotch body (11).

8. The robotic leg structure of claim 7, wherein, The fifth power component is installed in the middle of the crotch body (11), and the two sides are provided with installation positions which are inclined downward and used to install the third power component (12).

9. The robotic leg structure of claim 1, wherein, The foot sole (41) is installed at one end of the lower leg body (31) through a cross shaft. The foot sole driving component (42) comprises a sixth power assembly (421), a first connecting rod (422), a seventh power assembly (423) and a second connecting rod (424), wherein the sixth power assembly (421) is connected with the first connecting rod (422) through a first eccentric wheel (425) and is used to drive the first connecting rod (422), the seventh power assembly (423) is connected with the second connecting rod (424) through a second eccentric wheel (426) and is used to drive the first connecting rod (422). The first connecting rod (422) and the second connecting rod (424) are rotationally connected with the foot sole (41).

10. The robotic leg structure of claim 9, wherein, The sixth power assembly (421) and the seventh power assembly (423) are rotation angle driving components.

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