Trigger assembly for robot legs

Abstract

The utility model relates to the technical field of robots, and provides a trigger assembly for robot legs, which comprises a thigh assembly, a shank assembly rotatably connected to the outer side of the thigh assembly, and a driving assembly mounted at one end, away from the shank assembly, of the thigh assembly and comprises a driving motor. The driving motor is installed at the end, away from the shank assembly, of the thigh assembly, the output end of the driving motor is fixedly connected with a rotating rod, and the bottom of the rotating rod is rotationally connected with a hinge rod; according to the trigger assembly for the robot leg, elastic potential energy is stored in the movement process of the robot leg through the elastic energy storage unit and is rapidly released through the trigger triggering mechanism when needed, and instantaneous strong power support is provided for a robot. According to the design, the explosive power of the robot is remarkably improved, the robot can easily cope with high-dynamic motion challenges such as jumping, climbing or rapid acceleration, and therefore the limitation of direct driving of a traditional motor in the aspect of explosive power is overcome.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, concretely is a kind of trigger assembly for robot leg. BACKGROUND

[0002] In the field of robot technology, especially in the design and application of wheel-legged robots and legged robots, the efficiency and flexibility of leg movement mechanism are one of the key factors determining the performance of robots. Traditional robot leg design relies on motor direct drive, although this driving mode performs well in precise control, but when realizing high dynamic motion, such as rapid jumping or crossing obstacles, obvious shortcomings are exposed.

[0003] Specifically, the leg structure of motor direct drive is often affected by the limitation of motor power output when a large amount of energy is needed to burst instantaneously to complete jumping or rapid acceleration, resulting in that the robot cannot achieve ideal motion effect. In addition, continuous high power output not only aggravates the burden of motor, but also significantly reduces the energy utilization efficiency of robot, limiting its endurance capability in complex environment.

[0004] Therefore, the skilled in the art proposes a trigger assembly for robot leg to solve the problems raised in the background art. SUMMARY

[0005] In order to solve the above technical problems, the utility model provides a trigger assembly for robot leg, which can release the stored force when jumping obstacles is needed by setting the trigger assembly.

[0006] A trigger assembly for robot leg, comprising a thigh assembly, a small leg assembly is rotatably connected to the outer side of the thigh assembly, a driving assembly is installed at one end of the thigh assembly away from the small leg assembly, the driving assembly comprises a driving motor, the driving motor is installed at one end of the thigh assembly away from the small leg assembly, a rotating rod is fixedly connected to the output end of the driving motor, a hinge rod is rotatably connected to the bottom of the rotating rod, one end of the hinge rod away from the rotating rod is rotatably connected with the small leg assembly, and a bottom roller is rotatably connected to the bottom of the small leg assembly.

[0007] A force storage assembly is arranged in the thigh assembly and on the top of the small leg assembly.

[0008] A trigger assembly is arranged on the bottom of the thigh assembly and on the top of the small leg assembly, the trigger assembly comprises a connecting shaft, the connecting shaft is rotatably connected to the inner side wall of the thigh assembly, a front end pusher is fixedly connected to the top of the connecting shaft, a clamping assembly is fixedly connected to the bottom end of the connecting shaft, a sliding roller is rotatably connected to the inner side of the clamping assembly, and a lower clamping piece is fixedly connected to the outer side wall of the small leg assembly.

[0009] Preferably, the lower clamping piece is connected with the clamping assembly, and the side of the lower clamping piece close to the clamping assembly is a slope, and the sliding roller is also connected with the slope outside the lower clamping piece, so as to clamp the clamping assembly and the lower clamping piece.

[0010] Preferably, the force storage assembly comprises a force storage belt, the force storage belt is installed on the top of the lower leg assembly, a connecting motor is also installed in the thigh assembly, the output end of the connecting motor is fixedly connected with a connecting screw rod, and the outermost side of the connecting screw rod is threadedly connected with a sliding block.

[0011] Preferably, the inner side wall of the thigh assembly is also provided with a connecting sliding rail, and the outer side of the connecting sliding rail is also slidably connected with the sliding block.

[0012] Preferably, the sliding block is movably connected with the front end pushing piece, and the sliding block pushes the front end pushing piece to rotate the clamping assembly around the connecting rotating shaft.

[0013] Compared with the prior art, the utility model has the advantages of the following:

[0014] 1、The trigger assembly for the robot leg of the utility model stores elastic potential energy in the movement process of the robot leg through the elastic energy storage unit, and releases rapidly through the trigger trigger mechanism when needed, so as to provide instantaneous strong power support for the robot. This design significantly improves the explosive power of the robot, so that it can easily cope with high dynamic motion challenges such as jumping, climbing or rapid acceleration, thereby overcoming the limitations of traditional motor direct drive in explosive power.

[0015] 2、Through the synergistic effect of the trigger assembly and the motor drive, the robot of the utility model can obtain more stable and efficient power output during movement. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is a three-dimensional structure schematic view of the utility model;

[0017] Figure 2 It is a three-dimensional structure schematic view of the utility model Figure 1 It is a structure schematic view of the force storage assembly in the utility model;

[0018] Figure 3 It is a structure schematic view of the trigger assembly in the utility model Figure 1 It is a structure schematic view of the trigger assembly in the utility model

[0019] In the diagram: 1. Thigh assembly; 2. Lower leg assembly; 3. Drive motor; 31. Rotating rod; 32. Hinge rod; 4. Bottom roller; 5. Power storage belt; 51. Connecting motor; 52. Connecting screw; 53. Sliding block; 54. Connecting slide rail; 6. Connecting shaft; 61. Front pusher; 62. Engaging assembly; 63. Sliding roller; 64. Lower locking component. Detailed Implementation

[0020] The embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of this utility model.

[0021] As attached Figure 1 To be continued Figure 3 As shown:

[0022] Example 1: According to Figures 1-3 As shown, this utility model provides a trigger assembly for a robot leg, including a thigh assembly 1, a lower leg assembly 2 rotatably connected to the outer side of the thigh assembly 1, a drive assembly mounted on the end of the thigh assembly 1 away from the lower leg assembly 2, the drive assembly including a drive motor 3, the drive motor 3 mounted on the end of the thigh assembly 1 away from the lower leg assembly 2, a rotating rod 31 fixedly connected to the output end of the drive motor 3, a hinge rod 32 rotatably connected to the bottom of the rotating rod 31, the end of the hinge rod 32 away from the rotating rod 31 rotatably connected to the lower leg assembly 2, and a bottom roller 4 rotatably connected to the bottom of the lower leg assembly 2;

[0023] A power storage component is disposed inside the thigh component 1 and on top of the lower leg component 2;

[0024] The trigger assembly is arranged at the bottom of the thigh assembly 1 and the top of the calf assembly 2, the trigger assembly comprises a connecting rotating shaft 6 which is rotationally connected to the inner side wall of the thigh assembly 1, the top of the connecting rotating shaft 6 is fixedly connected with a front end pushing piece 61, the bottom end of the connecting rotating shaft 6 is fixedly connected with a clamping assembly 62, the inner side of the clamping assembly 62 is rotationally connected with a sliding roller 63, the outer side wall of the calf assembly 2 is fixedly connected with a lower clamping piece 64, the lower clamping piece 64 is clamped and connected with the clamping assembly 62, the side of the lower clamping piece 64 close to the clamping assembly 62 is a slope, the sliding roller 63 is also slidingly connected to the slope on the outer side of the lower clamping piece 64, and the clamping assembly 62 and the lower clamping piece 64 are clamped, the force storage assembly comprises a force storage belt 5, the force storage belt 5 is installed at the top of the calf assembly 2, a connecting motor 51 is also installed in the thigh assembly 1, the output end of the connecting motor 51 is fixedly connected with a connecting screw rod 52, the outermost side of the connecting screw rod 52 is threadedly connected with a sliding block 53, the inner side wall of the thigh assembly 1 is also provided with a connecting sliding rail 54, the outer side of the connecting sliding rail 54 is also slidingly connected with the sliding block 53, the sliding block 53 and the front end pushing piece 61 are movably connected together, and the sliding block 53 pushes the front end pushing piece 61 so that the clamping assembly 62 rotates around the connecting rotating shaft 6 as the axis.

[0025] The trigger assembly of the robot leg of the utility model stores elastic potential energy in the process of robot leg movement through the elastic energy storage unit, and releases rapidly through the trigger mechanism when needed, providing instantaneous powerful power support for the robot. This design significantly improves the explosive power of the robot, enabling it to easily cope with high dynamic motion challenges such as jumping, climbing or rapid acceleration.

[0026] Working principle: when the device needs to be used, first drive the driving motor 3, let the driving motor 3 work with the rotating rod 31, make the rotating rod 31 move with the hinged rod 32, adjust the angle between the thigh assembly 1 and the calf assembly 2, then the connecting motor 51 drives the connecting screw rod 52 to work, the connecting screw rod 52 drives the sliding block 53 to move forward along the connecting sliding rail 54, then the sliding block 53 pushes the front end pushing piece 61, the front end pushing piece 61 rotates with the clamping assembly 62 around the connecting rotating shaft 6 as the axis, then the clamping assembly 62 is separated from the position of the lower clamping piece 64, at this time, the force storage belt 5 releases the stored force, and cooperates with the hinged rod 32 to make the device jump farther.

[0027] The standard parts used in the utility model can be purchased from the market, the special-shaped parts can be ordered according to the description and the drawings, the specific connection mode of each part adopts the conventional means such as bolt, rivet and welding in the prior art, the mechanical, part and equipment adopt the conventional type in the prior art, and the circuit connection adopts the conventional connection mode in the prior art, and the details are not described herein. The contents not described in detail in the description all belong to the prior art known by the person skilled in the art.

[0028] In the description of the utility model, the terms "first" and "second" are only used for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more of the features. The meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0029] In the utility model, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication or interaction relationship between two elements. For the person skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0030] In the utility model, unless otherwise specifically defined and limited, the first feature "on" or "under" the second feature can be direct contact between the first and second features, or indirect contact between the first and second features through intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0031] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" and the like means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. Furthermore, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples, without contradiction

[0032] The present application discloses the embodiments in the drawings, only relate to the structure involved in the embodiments of the present application, other structures can refer to the usual design, in the case of no conflict, the same embodiment and different embodiments of the present application can be combined with each other.

[0033] Although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features, and any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A trigger assembly for a robotic leg, characterized by: The utility model provides a kind of artificial leg, including thigh component (1), the outside of the thigh component (1) is rotatably connected with shank component (2), the end of the thigh component (1) away from shank component (2) is equipped with driving assembly, the driving assembly includes driving motor (3), the driving motor (3) is installed at the end of the thigh component (1) away from shank component (2), the output of the driving motor (3) is fixedly connected with rotating rod (31), the bottom of the rotating rod (31) is rotatably connected with articulated rod (32), the end of the articulated rod (32) away from rotating rod (31) is rotatably connected with shank component (2) together, the bottom of the shank component (2) is rotatably connected with bottom roller (4); Force storage assembly, the force storage assembly is arranged in thigh component (1) and the top of shank component (2); Trigger assembly, the trigger assembly is arranged at the bottom of thigh component (1) and the top of shank component (2), the trigger assembly includes connecting shaft (6), the connecting shaft (6) is rotatably connected in the inner side wall of thigh component (1), the top of the connecting shaft (6) is fixedly connected with front end pusher (61), the bottom of the connecting shaft (6) is fixedly connected with clamping assembly (62), the inner side of the clamping assembly (62) is rotatably connected with sliding roller (63), the outer side wall of the shank component (2) is fixedly connected with lower clamping piece (64).

2. The trigger assembly for a robotic leg of claim 1, wherein: The lower clamping piece (64) is clamped together with the clamping assembly (62), the side close to the clamping assembly (62) of the lower clamping piece (64) is inclined, the sliding roller (63) is also slidably connected on the inclined surface outside the lower clamping piece (64), for the clamping between the clamping assembly (62) and the lower clamping piece (64).

3. The trigger assembly for a robotic leg of claim 2, wherein: The force storage assembly includes force storage belt (5), the force storage belt (5) is installed at the top of shank component (2), the inner side wall of the thigh component (1) is also provided with connecting motor (51), the output of the connecting motor (51) is fixedly connected with connecting screw rod (52), the outermost side of the connecting screw rod (52) is threadedly connected with sliding block (53).

4. The trigger assembly for a robotic leg of claim 3, wherein: The inner side wall of the thigh component (1) is also provided with connecting slide rail (54), the outer side of the connecting slide rail (54) is also slidably connected with sliding block (53).

5. The trigger assembly for a robotic leg of claim 4, wherein: The sliding block (53) is movably connected with the front end pusher (61), and the sliding block (53) pushes the front end pusher (61) to allow the clamping assembly (62) to rotate around the connecting shaft (6).

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