Leg structure for robots and robots
By designing a multi-gear structure and limiting components, the problems of large size and high cost in the robot's leg structure were solved, achieving a compact structure and a large range of motion, while reducing motor power consumption.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- VITA POWER (BEIJING) TECHNOLOGY CO LTD
- Filing Date
- 2025-08-04
- Publication Date
- 2026-05-26
AI Technical Summary
In existing robot leg structures, the method of using the same motor with an external reducer has the problems of large size, high cost, and limited range of motion of the lower leg.
A multi-gear structure is adopted to replace the complex reducer. By setting the combination of the first gear, the second gear and the third gear, multi-stage reduction and torque increase are achieved. The distance between the rocker arm and the first gear is increased, the range of motion of the small leg rod is improved, and the rotation range of the third gear is limited by the limiting component.
This approach achieves a compact robot leg structure and reduced costs, while also increasing the range of motion of the lower leg rod relative to the upper leg rod, reducing motor power consumption, and minimizing motion interference.
Smart Images
Figure CN224277368U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of robotics technology, specifically to a leg structure for a robot and the robot itself. Background Technology
[0002] Currently, during robot movement, different joints require different torques, and the performance requirements of the motors at each position vary. However, using motors with different performance characteristics at each position results in higher production costs.
[0003] To reduce costs, related technologies use the same motor at different joints and external reducers to change the output of each motor so that the output of each motor meets the requirements of different joints.
[0004] However, existing speed reducers suffer from problems such as large size, high cost, and limited range of motion of the lower leg. Utility Model Content
[0005] To address the aforementioned issues, embodiments of this application provide a leg structure for a robot and a robot in general, which improves structural compactness, reduces structural volume, lowers costs, and also increases the range of motion of the lower leg rod.
[0006] To achieve the above objectives, in a first aspect, embodiments of this application provide a leg structure for a robot, comprising: a thigh rod, including a power unit, a first gear, a second gear, a third gear, and a rocker arm; the first gear is fixedly disposed at the output end of the power unit; the second gear meshes with the first gear, and the third gear meshes with the second gear; the rocker arm is relatively fixed to the third gear and rotates coaxially, and the pitch circle diameter of the third gear is larger than the pitch circle diameter of the first gear; a pull rod, including a first end and a second end, the first end of the pull rod being connected to the rocker arm; and a lower leg rod, including a first connecting portion and a second connecting portion, the lower leg rod being rotatably connected to the thigh rod through the first connecting portion, the second connecting portion being connected to the second end of the pull rod, and the first connecting portion and the second connecting portion being spaced apart.
[0007] The robot leg structure provided in this application can replace a complex reducer structure with a multi-gear structure, achieving multi-stage reduction of motor output and torque enhancement. This allows the lower leg to rotate relative to the upper leg according to the required output performance (such as the required torque and speed), facilitating robot walking. It also reduces the volume occupied by setting a reducer to change torque and speed, resulting in a low-cost and compact robot leg structure. Furthermore, the second gear positioned between the first and third gears increases the distance between them, thereby increasing the distance between the rocker arm, which rotates coaxially with the third gear, and the first gear, providing more space for the rocker arm's rotation. This allows for a larger rotation range of the lower leg relative to the upper leg, improving the lower leg's range of motion relative to the upper leg.
[0008] In one possible implementation, there are multiple second gears, which mesh sequentially; the multiple second gears are arranged along the extension direction of the thigh rod.
[0009] Based on this solution, the effect of reducing speed and increasing torque of the power unit output can be further improved by increasing the number of second gears. In addition, the distance between the first gear and the rocker arm can be increased to reduce the problem of collision between the rocker arm and the first gear.
[0010] In one possible implementation, the distance between the rocker arm's pivot and the first gear is greater than or equal to a preset distance; the preset distance is the sum of the rocker arm's maximum rotation radius and the avoidance distance.
[0011] Based on this solution, the problem of collision between the rocker arm and the first gear can be reduced.
[0012] In one possible implementation, the third gear includes: a body rotatably connected to the thigh rod; and a meshing part disposed on a portion of the side wall of the body, which meshes with the second gear.
[0013] Based on this solution, by constructing the third gear as an incomplete gear, the space required for the third gear can be reduced, thereby further improving the compactness of the internal structure of the thigh rod and reducing the volume of the thigh rod.
[0014] In one possible implementation, the rocker arm includes: a first fixed part, which is fixedly connected to a third gear; a second fixed part, which is fixedly connected to a first end of a pull rod; the distance between the rotation axis of the rocker arm and the second fixed part is a first distance, which is greater than the pitch circle radius of the third gear.
[0015] Based on this solution, the rocker arm can be fixed to the third gear via the first fixing part, enabling coaxial rotation of the rocker arm and the third gear to drive the pull rod. Furthermore, the second fixing part can be linked with the pull rod, so that when the rocker arm rotates, it pulls the pull rod, causing the pull rod to pull the lower leg rod to rotate relative to the upper leg rod around the second connecting part. Moreover, by limiting the distance between the rocker arm's rotation axis and the second fixing part to the pitch circle radius of the third gear, even though the second fixing part of the rocker arm protrudes from the third gear, meaning the second fixing part of the rocker arm has a large range of motion, the rocker arm can pull the pull rod with a greater range of motion, thus increasing the range of motion of the lower leg rod relative to the upper leg rod.
[0016] In one possible implementation, the rocker arm and the third gear are separate components.
[0017] Based on this solution, the manufacturing difficulty of the rocker arm and the third gear can be reduced, and it is easy to replace the rocker arm or the third gear when it is damaged.
[0018] In one possible implementation, the rocker arm and the third gear are integrated.
[0019] Based on this solution, the complexity of assembly can be reduced, and the structure between the integrated rocker arm and the third gear is more stable, reducing the misalignment problem caused by the movement of the rocker arm relative to the third gear, thereby reducing the problem of inaccurate movement of the robot's leg structure.
[0020] In one possible implementation, the leg structure for the robot further includes a limiting member disposed on the thigh rod and located on one side of the third gear; wherein, when the third gear and the second gear are at a critical position of disconnection, the second gear abuts against the limiting member.
[0021] Based on this solution, the rotation range of the third gear can be limited, reducing the problem of the third gear disengaging from the second gear due to excessive rotation. Furthermore, the mechanical structure enables more accurate and reliable limiting.
[0022] In one possible implementation, the power unit includes: a drive motor mounted on the thigh bar; and a reducer mounted at the power output end of the drive motor.
[0023] Based on this solution, the size and weight of the speed reducer can be reduced, and the transmission efficiency can be improved.
[0024] In one possible implementation, the second connecting part is located at the end of the lower leg bar, and the first connecting part is located inside the lower leg bar; the second connecting part and the first connecting part are arranged sequentially along the extension direction of the lower leg bar.
[0025] Based on this solution, by using a second connecting part spaced apart from the first connecting part, when the rocker arm rotates and pulls the lever, the lever pulls the lower leg lever to rotate around the second connecting part relative to the upper leg lever. This achieves the movement of the lower leg lever relative to the upper leg lever.
[0026] Secondly, embodiments of this application provide a robot, characterized in that it includes: a torso; and a plurality of leg structures for the robot as provided in the first aspect above and any possible implementation thereof, wherein the plurality of leg structures for the robot are disposed on the torso.
[0027] The robot provided in this application embodiment can achieve rotation of the lower leg lever relative to the upper leg lever by adding a multi-gear structure to the power unit of the lower leg, thereby increasing the output torque of the lower leg lever and increasing the overall load of the robot while further reducing motor power consumption. Furthermore, it reduces the size required for a reducer, making the robot's internal structure more compact, lowering costs, and increasing the movement space of the lower leg lever relative to the upper leg lever. Attached Figure Description
[0028] To more clearly illustrate the technical solution of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0029] Figure 1 This is a schematic diagram of the leg structure for a robot provided in an embodiment of this application;
[0030] Figure 2 This is a schematic diagram of the structure of the robot's leg structure in the first position, as provided in the embodiments of this application;
[0031] Figure 3 This is a schematic diagram of the structure of the robot's leg structure in the second position, as provided in an embodiment of this application.
[0032] Figure 4 This is a schematic diagram showing one possible arrangement of the first gear, the second gear, and the third gear provided in an embodiment of this application;
[0033] Figure 5 This is a schematic diagram showing another arrangement of the first gear, second gear, and third gear provided in an embodiment of this application;
[0034] Figure 6 This is a simplified structural diagram of the first gear, second gear, third gear, and rocker arm provided in the embodiments of this application;
[0035] Figure 7 This is a schematic diagram of the structure of the third gear and rocker arm provided in the embodiments of this application;
[0036] Figure 8 This is a schematic diagram of the structure of the third gear, rocker arm, and limiting member provided in the embodiments of this application;
[0037] Figure 9 This is a schematic diagram of the robot provided in the embodiments of this application.
[0038] Figure label:
[0039] 1. Leg structure for robots;
[0040] 11. Thigh bar; 111. Power unit; 112. First gear; 113. Second gear; 114. Third gear; 114a. Main body; 114b. Meshing part; 115. Rocker arm; 115a. First fixing part; 115b. Second fixing part;
[0041] 12. Pull rod; 121. First end; 122. Second end;
[0042] 13. Lower leg bar; 131. First connecting part; 132. Second connecting part;
[0043] 14. Limiting components;
[0044] 2. Robot; 21. Torso; 211. Head assembly; 212. Main torso. Detailed Implementation
[0045] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the protection scope of this application.
[0046] In the following description, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.
[0047] Furthermore, in this application, directional terms such as "upper," "lower," "inner," and "outer" are defined relative to the indicated placement of the components in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the placement of the components in the accompanying drawings.
[0048] To facilitate understanding of the technical solution of this application, some concepts involved in this application will be explained below.
[0049] Robot dogs typically employ a quadrupedal bionic structure, with each leg containing 3-4 active joints to achieve flexible movement and dynamic balance. Examples include the hip, knee, and ankle joints.
[0050] During the robot dog's movement, each joint needs to output different torques according to different movement states, which requires the motors at each position to have different performance characteristics. For example, the hip joint needs to provide a large continuous torque to support the body weight, the knee joint needs to respond quickly and control precisely when walking, while the ankle joint needs to cope with impact loads and provide propulsion. To meet the performance requirements of each joint, different specifications of motors need to be specially matched to each joint, but this will complicate the bill of materials, increase the difficulty of supply chain management, and significantly increase production costs.
[0051] To reduce manufacturing costs, related technologies use the same type of motor at each joint and adjust the output characteristics using an external reducer to meet the torque and speed requirements of different joints. However, the large size of the reducer affects the compactness of the robot dog's leg structure, increasing its overall size. Furthermore, the high cost of the reducer contributes to the high production cost of the robot dog. Additionally, the mechanical structure of the reducer may cause the joint rotation center to shift, resulting in motion interference at extreme positions, thus affecting the range of motion of the robot dog's legs.
[0052] To address the aforementioned issues, embodiments of this application provide a leg structure for a robot and a robot in general, which can reduce costs, improve structural compactness, and increase the range of motion of the leg structure.
[0053] Figure 1 This is a schematic diagram of the leg structure for a robot provided in an embodiment of this application.
[0054] In some embodiments, combined with Figure 1 As shown, a leg structure 1 for a robot is provided, including: a thigh rod 11, a pull rod 12, and a lower leg rod 13.
[0055] The lever 11 includes a power unit 111, a first gear 112, a second gear 113, a third gear 114, and a rocker arm 115. The first gear 112 is fixedly mounted at the output end of the power unit 111. The second gear 113 meshes with the first gear 112, and the third gear 114 meshes with the second gear 113. The rocker arm 115 is relatively fixed to the third gear 114 and rotates coaxially. The pitch circle diameter of the third gear 114 is larger than that of the first gear 112.
[0056] The pull rod 12 includes a first end 121 and a second end 122. The first end 121 of the pull rod 12 is connected to the rocker arm 115. The first end 121 of the pull rod 12 is hinged to the rocker arm 115, and the second end 122 of the pull rod 12 is hinged to the lower leg rod 13.
[0057] The lower leg bar 13 includes a first connecting part 131 and a second connecting part 132. The lower leg bar 13 and the upper leg bar 11 are rotatably connected through the first connecting part 131. The second connecting part 132 is connected to the second end 122 of the pull rod 12. The first connecting part 131 and the second connecting part 132 are spaced apart.
[0058] Using the leg structure 1 for a robot provided in this application embodiment, the first gear 112 can be driven to rotate by the power unit 111, the first gear 112 can be driven to rotate by the second gear 113, the second gear 113 can be driven to rotate by the third gear 114, the third gear 114 can drive the rocker arm 115 to rotate, and the rocker arm 115 can drive the pull rod 12 to move so as to drive the lower leg rod 13 to rotate relative to the first connecting part 131.
[0059] In this way, by setting a multi-gear structure instead of a complex reducer structure, multi-stage reduction of motor output and torque enhancement are achieved, so as to drive the lower leg 13 to rotate relative to the upper leg 11 according to the required output performance (such as the required torque and speed) of the lower leg 13, so as to drive the robot 2 to walk. It also reduces the volume occupation caused by setting a reducer to change torque and speed. The leg structure 1 used in the robot is low in cost and compact in structure.
[0060] Furthermore, by using a second gear 113 positioned between the first gear 112 and the third gear 114, the distance between the first gear 112 and the third gear 114 can be increased, thereby increasing the distance between the rocker arm 115, which rotates coaxially with the third gear 114, and the first gear 112, thus providing more space for the rotation of the rocker arm 115. This allows the lower leg rod 13 driven by the rocker arm 115 to have a larger range of rotation relative to the upper leg rod 11, improving the range of motion of the lower leg rod 13 relative to the upper leg rod 11.
[0061] Specifically, by setting up a multi-gear transmission structure with a first gear 112, a second gear 113, and a third gear 114, and by limiting the pitch circle diameter of the three gears to be greater than that of the first gear 112, a speed reduction and torque increase effect can be achieved through the diameter difference between the large and small gears. According to the gear transmission principle, when the pitch circle diameter of the third gear 114 (large gear) is greater than that of the first gear 112 (small gear), the system will generate a reduction ratio, thereby converting the high-speed, low-torque output of the power unit 111 into a low-speed, high-torque output.
[0062] Figure 2This is a schematic diagram of the robot's leg structure in the first position, as provided in an embodiment of this application. Figure 3 This is a schematic diagram of the structure of the robot's leg structure in the second position, as provided in the embodiments of this application.
[0063] In one implementation, the leg structure 1 for a robot provided in this application embodiment has a first position and a second position. (Combined with...) Figure 2 As shown, the first position is when the lower leg rod 13 is retracted to its limit relative to the upper leg rod 11 (i.e., the leg structure 1 for the robot is tightened). Combined with... Figure 3 As shown, the second position is when the lower leg rod 13 is extended to its limit relative to the upper leg rod 11 (i.e., the extension of the leg structure 1 for the robot).
[0064] Specifically, combined Figure 2 and Figure 3 As shown, during the movement of the leg structure 1 used for the robot, the power unit 111 drives the first gear 112, the first gear 112 drives the second gear 113, and the second gear 113 drives the third gear 114 to rotate, so that the third gear 114 rotates to pull the lever 12 to move, thereby causing the lever 12 to pull the lower leg lever 13 to rotate relative to the first connecting part 131.
[0065] For example, when driving the extension of the leg structure 1 for the robot, the third gear 114 rotates clockwise to drive the rocker arm 115 to rotate clockwise, thereby driving the pull rod 12 to move clockwise and lift the second end 122 of the pull rod 12. In this way, the pull rod 12 pulls the lower leg rod 13 to rotate clockwise about the first connecting part 131, thereby extending the lower leg rod 13 relative to the thigh rod 11, that is, realizing the extension of the leg structure 1 for the robot.
[0066] For example, when the leg structure 1 for the robot is retracted, the third gear 114 rotates clockwise and counterclockwise to drive the rocker arm 115 to rotate counterclockwise, which in turn drives the pull rod 12 to move counterclockwise and causes the second end 122 of the pull rod 12 to fall. In this way, the pull rod 12 pushes the lower leg rod 13 to rotate counterclockwise around the first connecting part 131, thereby tightening the lower leg rod 13 relative to the upper leg rod 11, thus realizing the retraction of the leg structure 1 for the robot.
[0067] In one implementation, combining Figures 1 to 3 As shown, the second connecting part 132 is located at the end of the lower leg bar 13, and the first connecting part 131 is located inside the lower leg bar 13. The second connecting part 132 and the first connecting part 131 are arranged sequentially along the extending direction of the lower leg bar 13.
[0068] In this embodiment, the second connecting part 132 and the first connecting part 131 are spaced apart, so that when the rocker arm 115 rotates to pull the pull rod 12, the pull rod 12 pulls the lower leg rod 13 to rotate relative to the thigh rod 11 around the first connecting part 131. In this way, the movement of the lower leg rod 13 relative to the thigh rod 11 is realized.
[0069] For example, the distance between the first connecting part 131 and the second connecting part 132 can be designed according to the required rotational precision of the lower leg rod 13 relative to the upper leg rod 11. Specifically, the greater the distance between the first connecting part 131 and the second connecting part 132, the greater the angle at which the pull rod 12 pulls the lower leg rod 13 to rotate for the same target distance. The smaller the distance between the first connecting part 131 and the second connecting part 132, the smaller the angle at which the pull rod 12 pulls the lower leg rod 13 to rotate for the same target distance.
[0070] Figure 4 This is a schematic diagram illustrating one possible arrangement of the first gear, second gear, and third gear according to an embodiment of this application. Figure 4 Figure (a) shows a schematic diagram in which the first gear 112, the second gear 113, and the third gear 114 are arranged in a straight line along the extension direction of the thigh rod 11. Figure 4 Figure (b) shows a schematic diagram of the first gear 112, the second gear 113 and the third gear 114 being staggered along the extension direction of the thigh rod 11.
[0071] Understandably, the positions of the first gear 112, the second gear 113, and the third gear 114 can be arranged sequentially in a straight line along the extension direction of the thigh rod 11 (e.g., Figure 4 As shown in (a), it can also be offset along the extension direction of the thigh bar 11 (as shown in (a)). Figure 4 As shown in (b), the positions of the first gear 112, the second gear 113 and the third gear 114 can also be set according to other requirements, and this application does not limit this.
[0072] The following combination Figure 4 The specific configuration of the first gear 112, the second gear 113, and the third gear 114 is explained.
[0073] In one implementation, combining Figure 4 As shown in (a), the first gear 112, the second gear 113, and the third gear 114 are arranged along the extending direction of the thigh rod 11, that is, the axis a1 of the first gear 112, the axis a2 of the second gear 113, and the axis a3 of the third gear 114 are on the same straight line (e.g., ...). Figure 4(Extending direction of the thigh rod shown). In this way, the distance between the first gear 112 and the third gear 114 can be further increased, thereby increasing the distance between the rocker arm 115, which rotates coaxially with the third gear 114, and the first gear 112, so as to improve the range of motion of the lower leg rod 13 relative to the thigh rod 11.
[0074] In one implementation, combining Figure 4 As shown in (b), the first gear 112 and the third gear 114 are arranged along the extending direction of the thigh rod 11, and the second gear 113 is arranged on one side of the first gear 112 and the third gear 114. The first gear 112, the second gear 113 and the third gear 114 are staggered, that is, the axis a1 of the first gear 112 and the axis a3 of the third gear 114 are on the same straight line (e.g., Figure 4 (As shown in the extension direction of the thigh rod), the axis a2 of the second gear 113 is not on this straight line. This shortens the length of the thigh rod 11 required to install the second gear 113 and also improves the compactness of the internal structure of the thigh rod 11. Furthermore, by offsetting the third gear 114 and the second gear 113, more rotational space (i.e., the area between the third gear 114 and the second gear 113) can be provided for the rocker arm 115, which rotates coaxially with the third gear 114, so that the rocker arm 115 has a larger range of rotation and the range of motion of the lower leg rod 13 relative to the thigh rod 11 is increased.
[0075] Understandable, continue to refer to Figures 1 to 3 As shown, when the rocker arm 115 rotates to its limit position in a clockwise direction, the rocker arm 115 may collide with the first gear 112. To avoid the rocker arm 115 colliding with the first gear 112, the distance between the rocker arm 115 and the first gear 112 can be increased.
[0076] In one implementation, the distance between the rocker arm 115 and the first gear 112 can be increased by increasing the diameter of the second gear 113.
[0077] In one implementation, the distance between the rocker arm 115 and the first gear 112 can be increased by increasing the number of second gears 113.
[0078] For example, there are multiple second gears 113, which mesh sequentially. The multiple second gears 113 are arranged along the extension direction of the thigh rod 11.
[0079] Figure 5 This is a schematic diagram showing another arrangement of the first gear, second gear, and third gear provided in the embodiments of this application.
[0080] in, Figure 5 There are multiple second gears 113. Figure 5 Image (a) shows a schematic diagram of one possible arrangement of the first gear 112, a plurality of second gears 113, and a third gear 114. Figure 5 Figure (b) shows a schematic diagram of another arrangement of the first gear 112, a plurality of second gears 113, and a third gear 114. Figure 5 (c) shows another schematic diagram of the arrangement of the first gear 112, multiple second gears 113, and third gear 114. Figure 5 (d) shows another possible arrangement of the first gear 112, multiple second gears 113, and third gear 114. Figure 5 (e) shows another schematic diagram of the arrangement of the first gear 112, the plurality of second gears 113 and the third gear 114.
[0081] It is worth noting that, Figure 5 Taking three second gears 113 as an example, this application explains the number of multiple second gears 113. The number of second gears 113 can also be two, four, five or more, and this application does not limit this.
[0082] It is understandable that the first gear 112, multiple second gears 113, and third gear 114 can be arranged sequentially along the extension direction of the thigh bar 11 (e.g., Figure 5 As shown in (a), the first gear 112, multiple second gears 113, and third gear 114 can also be staggered along the extension direction of the thigh rod 11 (e.g., Figure 5 As shown in (b), the first gear 112 and the third gear 114 can also be arranged sequentially along the extension direction of the thigh rod 11, and multiple second gears 113 can be arranged on one side of the first gear 112 and the third gear 114 and staggered along the extension direction of the thigh rod 11 (e.g. Figure 5 As shown in (c), the first gear 112 and the third gear 114 can also be arranged sequentially along the extension direction of the thigh rod 11, and multiple second gears 113 can be arranged sequentially along the extension direction of the thigh rod 11 (e.g., Figure 5 As shown in (d), the first gear 112, part of the second gear 113, and the third gear 114 can also be arranged sequentially along the extension direction of the thigh rod 11, and the remaining part of the second gear 113 can be staggered along the extension direction of the thigh rod 11 (e.g., Figure 5 As shown in (e), the positions of the first gear 112, multiple second gears 113 and third gear 114 can also be set according to other requirements, and this application does not limit this.
[0083] The following combination Figure 5 The specific configuration of the first gear 112, the multiple second gears 113, and the third gear 114 is explained.
[0084] In one implementation, combining Figure 5 As shown in (a), the first gear 112, the plurality of second gears 113, and the third gear 114 are arranged along the extending direction of the thigh rod 11, that is, the axis a1 of the first gear 112, the axis a2 of the plurality of second gears 113, and the axis a3 of the third gear 114 are on the same straight line (e.g., Figure 5 (Extension direction of the thigh bar shown in (a)).
[0085] This allows for a further increase in the distance between the first gear 112 and the third gear 114, thereby increasing the distance between the rocker arm 115, which rotates coaxially with the third gear 114, and the first gear 112, thus improving the range of motion of the lower leg rod 13 relative to the upper leg rod 11.
[0086] In one implementation, combining Figure 5 As shown in (b), the first gear 112, multiple second gears 113, and the third gear 114 are staggered along the extension direction of the thigh rod 11, that is, the axis a1 of the first gear 112, the axis a2 of some of the second gears 113, and the axis a3 of the third gear 114 are on the same straight line (e.g., ...). Figure 5 (as shown in (b)) the extension direction of the thigh rod), the axis a2 of the remaining part of the second gear 113 is not on this straight line.
[0087] This shortens the length of the thigh rod 11 required for the second gear 113 and also improves the compactness of the internal structure of the thigh rod 11. Furthermore, by offsetting the third gear 114 and the second gear 113 meshing with the third gear 114, more rotational space (i.e., the area between the third gear 114 and the second gear 113) can be provided for the rocker arm 115, which rotates coaxially with the third gear 114, so that the rocker arm 115 has a larger range of rotation and the range of motion of the lower leg rod 13 relative to the thigh rod 11 is increased.
[0088] In one implementation, combining Figure 5 As shown in (c), the first gear 112 and the third gear 114 are arranged sequentially along the extension direction of the thigh rod 11, and a plurality of second gears 113 are arranged on one side of the first gear 112 and the third gear 114 and are staggered along the extension direction of the thigh rod 11, that is, the axis a1 of the first gear 112 and the axis a3 of the third gear 114 are on the same straight line (e.g., Figure 5 (as shown in (c)) the extension direction of the thigh rod), the axis a2 of the second gear 113 is not on this straight line.
[0089] In this way, by staggering the multiple second gears 113, the required length of the thigh rod 11 caused by the second gears 113 can be reduced, and the compactness of the internal structure of the thigh rod 11 can be improved. Furthermore, by staggering the third gear 114 and the second gears 113 meshing with the third gear 114, more rotation space (i.e., the area between the third gear 114 and the second gears 113) can be provided for the rocker arm 115, which rotates coaxially with the third gear 114, so that the rocker arm 115 has a larger range of rotation and the range of motion of the lower leg rod 13 relative to the thigh rod 11 can be improved.
[0090] In one implementation, combining Figure 5 As shown in (d), the first gear 112 and the third gear 114 are arranged sequentially along the extension direction of the thigh rod 11, and multiple second gears 113 are arranged sequentially along the extension direction of the thigh rod 11, that is, the axis a1 of the first gear 112 and the axis a3 of the third gear 114 are on the same straight line (e.g., Figure 5 (as shown in (d) the extension direction of the thigh rod), the axis a2 of the second gear 113 is on other straight lines.
[0091] This allows for a further increase in the distance between the first gear 112 and the third gear 114, thereby increasing the distance between the rocker arm 115, which rotates coaxially with the third gear 114, and the first gear 112, thus improving the range of motion of the lower leg rod 13 relative to the upper leg rod 11.
[0092] In one implementation, combining Figure 5 As shown in (e), the first gear 112, part of the second gear 113, and the third gear 114 are arranged sequentially along the extension direction of the thigh rod 11, and the remaining part of the second gear 113 is staggered along the extension direction of the thigh rod 11, that is, the axis a1 of the first gear 112, the axis a2 of part of the second gear 113, and the axis a3 of the third gear 114 are on the same straight line (e.g., Figure 5 (as shown in (e)) the extension direction of the thigh rod 11, the axis a2 of the remaining second gear 113 is not on this straight line.
[0093] Figure 6 This is a simplified structural diagram of the first gear, second gear, third gear, and rocker arm provided in the embodiments of this application.
[0094] In one implementation, combining Figure 6 As shown, the distance between the pivot of the rocker arm 115 and the first gear 112 is greater than or equal to a preset distance. The preset distance is the sum of the maximum rotation radius R1 of the rocker arm 115 and the avoidance distance L1. This reduces the problem of collision between the rocker arm 115 and the first gear 112.
[0095] For example, the maximum rotation range of the rocker arm 115 is as follows: Figure 6As shown in the middle circle M, the pivot of the rocker arm 115 is M1, the maximum rotation radius R1 is the maximum distance between the edge point of the rocker arm 115 and the pivot M1, and the avoidance distance L1 is the distance set to prevent the rocker arm 115 from colliding with the first gear 112.
[0096] For example, the avoidance distance L1 can range from 0.1mm to 5mm. The specific value of the avoidance distance L1 can be 0.1mm, 0.25mm or 0.5mm.
[0097] Figure 7 This is a schematic diagram of the structure of the third gear and rocker arm provided in the embodiments of this application.
[0098] In one implementation, combining Figure 7 As shown, the third gear 114 includes a main body 114a and a meshing part 114b.
[0099] The main body 114a is rotatably connected to the thigh rod 11. The meshing part 114b is provided on part of the side wall of the main body 114a, and the meshing part 114b meshes with the second gear 113.
[0100] In this way, by constructing the third gear 114 as an incomplete gear, the space required for the third gear 114 can be reduced, further improving the compactness of the internal structure of the thigh rod 11 and reducing the volume of the thigh rod 11.
[0101] For example, the number of teeth in the meshing part 114b is matched with the rotation angle of the lower leg bar 13 relative to the thigh bar, so as to omit unnecessary tooth structures and further save space occupied in the thigh bar 11.
[0102] In one implementation, continue to refer to Figure 7 As shown, the rocker arm 115 includes: a first fixing part 115a and a second fixing part 115b.
[0103] The first fixing part 115a is fixedly connected to the third gear 114. The second fixing part 115b is fixedly connected to the first end 121 of the pull rod 12. The distance between the rotation axis of the rocker arm 115 and the second fixing part 115b is a first distance, which is greater than the pitch circle radius of the third gear 114.
[0104] In this way, the rocker arm 115 can be fixedly mounted on the third gear 114 by the first fixing part 115a, so that the rocker arm 115 and the third gear 114 can rotate coaxially to drive the pull rod 12 to move. Furthermore, the second fixing part 115b can be linked with the pull rod 12, so that when the rocker arm 115 rotates, it pulls the pull rod 12 to move, thereby causing the pull rod 12 to pull the lower leg rod 13 to rotate relative to the upper leg rod 11 around the first connecting part 131.
[0105] Furthermore, by limiting the distance between the rotation axis of the rocker arm 115 and the second fixed part 115b and the pitch circle radius of the third gear 114, even if the second fixed part 115b of the rocker arm 115 protrudes from the third gear 114, that is, the second fixed part 115b of the rocker arm 115 has a large range of motion, thereby enabling the rocker arm 115 to pull the lever 12 with a larger range of motion, and improving the range of motion of the lower leg lever relative to the upper leg lever.
[0106] In one example, the rocker arm 115 and the third gear 114 are separate components. That is, the rocker arm 115 and the third gear 114 are fixed together through subsequent installation so that the rotation of the third gear 114 can drive the rocker arm 115 to rotate.
[0107] For example, the rocker arm 115 and the third gear 114 are fixed by welding.
[0108] For example, both the first fixing part 115a and the third gear 114 include multiple corresponding mounting through holes. The walls of the mounting through holes are threaded, and bolts pass through the through holes and are screwed into the threads.
[0109] For example, the first fixing part 115a and the third gear 114 are engaged by a snap-fit.
[0110] In another example, the rocker arm 115 and the third gear 114 are integrally formed. That is, the rocker arm 115 and the third gear 114 are directly integrally formed, which reduces the complexity of assembly, and the structure between the integrally formed rocker arm 115 and the third gear 114 is more stable, reducing the misalignment problem caused by the movement of the rocker arm 115 relative to the third gear 114, thereby reducing the problem of inaccurate movement of the leg structure 1 used for the robot.
[0111] For example, the first fixing part 115a is a fan-shaped area. In this way, the assembly space between the rocker arm 115 and the third gear 114 can be increased, making the connection between the rocker arm 115 and the third gear 114 more secure and reliable.
[0112] For example, the second fixing part 115b has a sheet-like structure. This reduces the space occupied by the rocker arm 115 and also reduces the manufacturing cost of the rocker arm 115.
[0113] For example, the first end 121 of the pull rod 12 is hinged to the second fixing part 115b of the rocker arm 115.
[0114] Figure 8 This is a schematic diagram of the structure of the third gear, rocker arm, and limiting member provided in the embodiments of this application.
[0115] In one implementation, the leg structure 1 for the robot further includes a limiting member 14. The limiting member 14 is disposed on the thigh rod 11 and located on one side of the third gear 114.
[0116] When the third gear 114 and the second gear 113 are at the critical position of disconnection, the second gear 113 abuts against the limiting member 14.
[0117] In this embodiment, the rotation range of the third gear 114 can be limited by setting a limiting member 14, reducing the problem of the third gear 114 disengaging from the second gear 113 due to excessive rotation. Furthermore, the limiting is achieved through a mechanical structure, making the limiting more accurate and reliable.
[0118] For example, the limiting member 14 includes a limiting body and a baffle. The limiting body is fixedly disposed on the thigh rod 11, and the baffle is disposed on the limiting body along the extending direction of the thigh rod 11 and protrudes from the limiting body.
[0119] Thus, after the third gear 114 rotates clockwise to its limit position, it abuts against the first surface of the baffle. After the third gear 114 rotates counterclockwise to its limit position, it abuts against the second surface of the baffle. The first and second surfaces are opposite surfaces of the baffle.
[0120] In one example, the baffle can be a rigid baffle. This provides a more accurate limit for the third gear 114, improving the accuracy of the limit on the rotation of the third gear 114.
[0121] For example, the limiting member 14 also includes a flexible member. The flexible member is disposed on the first and second surfaces of the baffle and can provide cushioning for the third gear 114, reducing the vibration of the internal structure.
[0122] For example, flexible components include, but are not limited to, rubber flexible components, which have good cushioning effect and low manufacturing cost.
[0123] In another example, the baffle can be a flexible baffle. This provides cushioning for the third gear 114, reducing vibrations in the internal structure.
[0124] In one implementation, the power unit 111 includes a drive motor and a reducer. The drive motor is mounted on the thigh rod 11, and the reducer is located at the power output end of the drive motor. This integrated design of the drive motor and reducer reduces the size and weight of the reducer, thereby improving transmission efficiency.
[0125] Specifically, the drive motor and reducer can be integrated through a shared housing structure and axial stacking layout. The motor rotor directly drives the wave generator of the harmonic reducer, eliminating the need for couplings and external mounting flanges, while a built-in high-precision encoder enables closed-loop control.
[0126] Meanwhile, external rotor motors or disc motors are used to increase torque density, and heat dissipation channels and lubrication schemes are optimized to ensure reliable operation of the drive motor in a compact size.
[0127] Figure 9 This is a schematic diagram of the robot provided in the embodiments of this application.
[0128] In some embodiments, combined with Figure 9 As shown, this application provides a robot 2, including a torso 21 and a plurality of leg structures 1 for the robot as provided in any of the above embodiments. The plurality of leg structures 1 for the robot are disposed on the torso 21.
[0129] The robot 2 provided in this application embodiment can achieve rotation of the lower leg rod 13 relative to the upper leg rod 11 by adding a multi-gear structure to the power unit 111 of the lower leg, thereby increasing the output torque of the lower leg rod 13 and increasing the overall load of the robot 2, while further reducing motor power consumption. Furthermore, it reduces the size of the reducer, making the internal structure of the robot 2 more compact, lowering costs, and increasing the movement space of the lower leg rod 13 relative to the upper leg rod 11.
[0130] Understandable. Figure 9 The example given is only schematic, showing a robot 2 with four leg structures 1 for the robot. In practice, the number of leg structures 1 for the robot can be more or less, and this application does not limit this.
[0131] For example, continue to refer to Figure 9 As shown, the torso 21 includes a head assembly 211 and a torso body 212. The head assembly 211 is movably disposed on the torso body 212, and a plurality of leg structures 1 for the robot are movably disposed on the torso body 212.
[0132] It is worth noting that in the embodiments of this application, the fixed connection method can be screwing, welding, riveting, plugging, or connection through a third component. The choice can be made according to the actual situation, and this application does not impose any restrictions on it.
[0133] It should be noted that those skilled in the art, upon considering the specification and practicing the application disclosed herein, will readily conceive of other embodiments of this application. This application is intended to cover any variations, uses, or adaptations of this application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only, and the true scope of this application is indicated by the claims.
[0134] It should be understood that this application is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of this application is limited only by the appended claims.
Claims
1. A leg structure for a robot characterized by comprising: include: The thigh lever (11) includes a power unit (111), a first gear (112), a second gear (113), a third gear (114), and a rocker arm (115); the first gear (112) is fixedly disposed at the output end of the power unit (111); the second gear (113) meshes with the first gear (112), and the third gear (114) meshes with the second gear (113); the rocker arm (115) is relatively fixed to the third gear (114) and rotates coaxially, and the pitch circle diameter of the third gear (114) is larger than the pitch circle diameter of the first gear (112); A pull rod (12) includes a first end (121) and a second end (122), wherein the first end (121) of the pull rod (12) is connected to the rocker arm (115); The lower leg bar (13) includes a first connecting part (131) and a second connecting part (132). The lower leg bar (13) and the upper leg bar (11) are rotatably connected through the first connecting part (131). The second connecting part (132) is connected to the second end (122) of the pull rod (12). The first connecting part (131) and the second connecting part (132) are spaced apart.
2. The leg structure for a robot according to claim 1, characterized in that, There are multiple second gears (113), and the multiple second gears (113) mesh sequentially; Multiple second gears (113) are arranged along the extension direction of the thigh rod (11).
3. The leg structure for a robot according to claim 1, characterized in that, The distance between the pivot of the rocker arm (115) and the first gear (112) is greater than or equal to a preset distance; The preset distance is the sum of the maximum rotation radius of the rocker arm (115) and the avoidance distance.
4. The leg structure for a robot according to Claim 1, wherein The third gear (114) includes: The main body (114a) is rotatably connected to the thigh rod (11); A meshing part (114b) is disposed on a portion of the side wall of the main body (114a), and the meshing part (114b) meshes with the second gear (113).
5. The leg structure for a robot according to Claim 1, wherein The rocker arm (115) includes: The first fixing part (115a) is fixedly connected to the third gear (114); The second fixing part (115b) is fixedly connected to the first end (121) of the pull rod (12); The distance between the rotation axis of the rocker arm (115) and the second fixed part (115b) is a first distance, which is greater than the pitch circle radius of the third gear (114).
6. The leg structure for a robot according to claim 1, characterized in that, The rocker arm (115) and the third gear (114) are separately configured; Alternatively, the rocker arm (115) and the third gear (114) may be integrally formed.
7. The leg structure for a robot according to any one of claims 1 to 6, characterized in that, Also includes: A limiting member (14) is provided on the thigh bar (11) and located on one side of the third gear (114); When the third gear (114) and the second gear (113) are at the critical position of being disconnected, the second gear (113) abuts against the limiting member (14).
8. The leg structure for a robot according to any one of claims 1 to 6, characterized in that, The power unit (111) includes: A drive motor is mounted on the thigh rod (11); A speed reducer is disposed at the power output end of the drive motor.
9. The leg structure for a robot according to any one of claims 1 to 6, characterized in that, The second connecting part (132) is located at the end of the lower leg rod (13), and the first connecting part (131) is located inside the lower leg rod (13); The second connecting part (132) and the first connecting part (131) are arranged sequentially along the extension direction of the lower leg rod (13).
10. A robot, characterized in that, include: Trunk (21); Multiple leg structures (1) for a robot as described in any one of claims 1 to 9, wherein the multiple leg structures (1) for a robot are disposed on the torso (21).