A linearly driven knee and ankle robot

Abstract

The utility model discloses a kind of knee joint and ankle joint robot of linear drive, belong to the technical field of robot, including thigh component, lower leg component and foot component, thigh component, lower leg component and foot component are sequentially hinged to be connected, hinged and set on thigh component knee joint linear drive device and knee joint three connecting rods, the end of knee joint linear drive device away from thigh component is hinged with knee joint three connecting rods, hinged and set on lower leg component knee joint two connecting rods, the end of knee joint two connecting rods away from lower leg component is hinged with knee joint three connecting rods.The utility model can realize linear drive type joint, to improve joint movement efficiency, response speed is fast, driving force is big, movement is accurate, can preferably satisfy robot under various scenes High load and frequent movement and accurate control, because its simple structure, greatly improve the heat dissipation, reduce failure rate, provide a new driving mode for the development of robot.

Description

Technical Field

[0001] This utility model relates to the technical field of robots, and in particular to a linearly driven knee and ankle joint robot. Background Technology

[0002] With the development of artificial intelligence technology, intelligent robots are being applied more and more widely in people's production and daily lives. Among them, legged robots are a popular type of intelligent robot, applicable to various scenarios such as scientific research and education, entertainment, petrochemicals, security inspection, and exploration and rescue. The knee and ankle joints of legged robots are important driving structural components.

[0003] Regarding the aforementioned technologies, the applicant has found that existing robots typically use motors and joint modules to directly drive joint rotation, which often requires a large torque to achieve this. Most existing technologies use high-power motors and reducers to increase torque. Due to frequent starts and stops and their compact structure, heat dissipation problems are often prominent, resulting in poor performance during actual operation, especially during long-term operation, leading to frequent malfunctions. Therefore, it is urgent to solve the above problems. Utility Model Content

[0004] This invention addresses the shortcomings of existing technologies by providing a linearly driven knee and ankle joint robot. This robot achieves linearly driven joints, thereby improving joint movement efficiency, providing fast response speed, large driving force, and precise movement. It can better meet the high load, frequent movement, and precise control requirements of robots in various scenarios, greatly expanding the robot's application scenarios. Due to its simple structure, it significantly improves heat dissipation and reduces the failure rate, providing a new driving mode for robot development.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0006] A linearly driven knee and ankle joint robot includes a thigh component, a lower leg component, and a foot component, which are sequentially hinged together. The thigh component is hinged with a knee joint linear drive device and a knee joint three-link, with the end of the knee joint linear drive device away from the thigh component hinged to the knee joint three-link. The lower leg component is hinged with a knee joint two-link, with the end of the knee joint two-link away from the lower leg component hinged to the knee joint three-link.

[0007] Furthermore, the lower leg component is hinged with an ankle joint linear drive device, and the end of the ankle joint linear drive device away from the lower leg component is hinged to the foot component.

[0008] Furthermore, an ankle joint cross shaft is provided between the foot component and the lower leg component, and the foot component and the lower leg component are connected by the ankle joint cross shaft.

[0009] Furthermore, the knee joint linear drive device includes a knee joint drive motor, a knee joint drive screw, and a knee joint moving nut. The knee joint drive motor is connected to the knee joint drive screw, and the knee joint drive screw is placed inside the knee joint moving nut and threadedly connected to the knee joint moving nut.

[0010] Furthermore, the ankle joint linear drive device includes an ankle joint drive motor, an ankle joint drive screw, and an ankle joint motion nut. The ankle joint drive motor is connected to the ankle joint drive screw, and the ankle joint drive screw is placed inside the ankle joint motion nut and threadedly connected to the ankle joint motion nut.

[0011] Furthermore, the knee joint linear drive device includes a knee joint drive motor and a knee joint ball screw.

[0012] Furthermore, the ankle joint linear drive device includes an ankle joint drive motor and an ankle joint ball screw.

[0013] In summary, compared with the prior art, the beneficial effects of the above technical solution are:

[0014] 1. This application can realize a linear drive joint, thereby improving joint motion efficiency, fast response speed, large driving force, and precise motion. It can better meet the high load and frequent movement and precise control of robots in various scenarios, greatly expanding the application scenarios of robots. Due to its simple structure, it greatly improves heat dissipation and reduces the failure rate, providing a new driving mode for the development of robots.

[0015] 2. This application can flexibly realize joint movement according to the robot's layout, with large driving force and load, high-frequency back-and-forth precise control, fast response speed, and can better achieve the purpose of driving the robot's joints, thereby completing various complex actions. Due to its open structure, it has good heat dissipation and can adapt to long-term work.

[0016] 3. This application is applicable to the development of humanoid robots, and can effectively drive joints to achieve complex robot movements;

[0017] 4. The structure of this application is simple and effective, and it can drive the joint in a linear motion, which can reduce the driving load and has a fast response speed; the knee joint is flexible and can achieve precise control; the structure is open, has good heat dissipation, and can adapt to long-term exercise. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 of the present utility model;

[0019] Figure 2 This is an exploded view of the components in Embodiment 1 of this utility model;

[0020] Figure 3 This is a cross-sectional schematic diagram of Embodiment 1 of the present utility model;

[0021] Figure 4 This is a schematic diagram of knee joint movement in Embodiment 1 of this utility model;

[0022] Figure 5 This is a schematic diagram of ankle joint movement in Embodiment 1 of this utility model.

[0023] Explanation of reference numerals in the attached figures:

[0024] 1. Thigh component; 2. Knee joint drive pin; 3. Three-bar linkage pin; 4. Knee joint drive motor; 5. Knee joint drive screw; 6. Knee joint motion nut; 7. Knee joint three-bar linkage; 8. Two-bar linkage pin one; 9. Knee joint two-bar linkage; 10. Knee joint pin; 11. Two-bar linkage pin two; 12. Lower leg component; 13. Ankle joint motion nut; 14. Ankle joint drive screw; 15. Ankle joint drive motor; 16. Ankle joint cross shaft; 17. Foot component. Detailed Implementation

[0025] The principles and features of this utility model are described below with reference to all the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0026] This utility model discloses a linearly driven knee and ankle joint robot.

[0027] Example 1

[0028] Reference Figures 1 to 5 As shown, a linearly driven knee and ankle joint robot includes a thigh component 1, a lower leg component 12, and a foot component 17. The thigh component 1, lower leg component 12, and foot component 17 are sequentially hinged together. The thigh component 1 and the lower leg component 12 are hinged together by means of a pin connection. A knee joint pin 10 is added between the thigh component 1 and the lower leg component 12 to realize the hinge connection between the thigh component 1 and the lower leg component 12.

[0029] The thigh component 1 is hinged to a knee joint linear drive device and a knee joint three-link 7. A knee joint drive pin 2 is added between the thigh component 1 and the knee joint linear drive device to achieve the hinge connection between the thigh component 1 and the knee joint linear drive device. A three-link pin 3 is added between the thigh component 1 and the knee joint three-link 7 to achieve the hinge connection between the thigh component 1 and the knee joint three-link 7. The end of the knee joint linear drive device away from the thigh component 1 is hinged to the knee joint three-link 7.

[0030] The lower leg component 12 is hinged with a knee joint two-link 9, and the end of the knee joint two-link 9 away from the lower leg component 12 is hinged to a knee joint three-link 7. The hinge between the knee joint two-link 9 and the knee joint three-link 7 is achieved by adding a two-link pin 8 between the knee joint two-link 9 and the knee joint three-link 7, and the hinge between the knee joint two-link 9 and the lower leg component 12 is achieved by adding a two-link pin 11 between the knee joint two-link 9 and the lower leg component 12.

[0031] In this embodiment, the knee joint linear drive device includes a knee joint drive motor 4, a knee joint drive screw 5, and a knee joint motion nut 6. The knee joint drive motor 4 is connected to the knee joint drive screw 5, and the knee joint drive screw 5 is placed inside the knee joint motion nut 6 and threadedly connected to the knee joint motion nut 6.

[0032] The knee joint linear drive device moves, and through the linear extension and retraction of the knee joint linear drive device, in conjunction with the knee joint three-link 7 and knee joint two-link 9, and the hinge of the thigh component 1 and the lower leg component 12, the knee joint movement between the thigh component 1 and the lower leg component 12 is realized.

[0033] Similarly, this application may also use different hinge point positions, or different hinge points combined with different connecting mechanisms, as long as they can achieve left-right swinging, forward-backward swinging, or rotational movements at the knee joint.

[0034] An ankle joint linear drive device is hinged to the lower leg component 12, and the end of the ankle joint linear drive device away from the lower leg component 12 is hinged to the foot component 17. An ankle joint cross shaft 16 is hinged between the foot component 17 and the lower leg component 12, and the foot component 17 and the lower leg component 12 are connected by the ankle joint cross shaft 16.

[0035] In this embodiment, the ankle joint linear drive device includes an ankle joint drive motor 15, an ankle joint drive screw 14, and an ankle joint motion nut 13. The ankle joint drive motor 15 is connected to the ankle joint drive screw 14, and the ankle joint drive screw 14 is placed inside the ankle joint motion nut 13 and is threadedly connected to the ankle joint motion nut 13.

[0036] The ankle joint linear drive device moves, and through the linear extension and retraction of the ankle joint linear drive device, in conjunction with the hinge between the lower leg component 12 and the foot component 17, the ankle joint movement between the lower leg component 12 and the foot component 17 is realized.

[0037] This application enables linearly driven joints, thereby improving joint motion efficiency, providing fast response speed, high driving force, and precise motion. It effectively meets the high load, frequent movement, and precise control requirements of robots in various scenarios, significantly expanding the robot's application scenarios. Due to its simple structure, it greatly improves heat dissipation and reduces the failure rate, providing a new driving mode for robot development. It can flexibly implement joint movements according to the robot's layout, providing high driving force and load capacity, enabling high-frequency, precise back-and-forth control, and fast response speed. It effectively achieves the purpose of driving the robot's joints, thus completing various complex actions. Due to its open structure, it has good heat dissipation and can withstand long-term operation.

[0038] This application is applicable to the development of humanoid robots, capable of effectively driving joints to achieve complex robot movements. Due to its simple and effective structure, it can drive joints in linear motion, reducing the driving load and providing a fast response speed. The knee joint offers flexible movement and precise control. Its open structure provides good heat dissipation and allows it to withstand prolonged activity.

[0039] This application innovatively adopts a screw and nut threaded connection to convert the force of motor rotation into the force of linear motion. This structure is stable and reliable in operation, can achieve precise control, can drive large loads, has a simple structure, facilitates heat dissipation, and can achieve long-term high-load operation.

[0040] This application innovatively adopts a linear drive mode, realizing the swinging of the knee joint through the articulated combination of the knee joint three-link 7 and the knee joint two-link 9. This structure requires less force, reduces the motion load, can greatly reduce the size of the actuator, reduce the power demand of the actuator, and can achieve optimal torque design through optimization of the hinge point position.

[0041] The patented structure is ingeniously designed, which improves joint movement efficiency, provides fast response speed, large driving force, and precise movement. It can better meet the needs of robots in various scenarios for high load and frequent movement, as well as precise control to achieve lifting functions. It is easy to manufacture, low in cost, convenient and flexible. At the same time, it can be extended to different joint drives of the robot, making it highly adaptable.

[0042] Although this application has a simple structure, is easy to manufacture, has low cost, and is easy to maintain, it can also extend the movement of other joints of the robot and optimize other moving joints of the robot body through the same linear drive principle.

[0043] Example 2

[0044] The difference between Example 2 and Example 1 lies in the different structures of the knee joint linear drive device and the ankle joint linear drive device.

[0045] In this embodiment, the knee joint linear drive device includes a knee joint drive motor 4 and a knee joint ball screw.

[0046] In this embodiment, the ankle joint linear drive device includes an ankle joint drive motor 15 and an ankle joint ball screw.

[0047] The lead screw and nut used for linear drive can be replaced with a ball screw, or other linear drive structural combinations, as long as linear drive can be achieved, the purpose of this application can also be achieved.

[0048] The implementation principle of the linearly driven knee and ankle joint robot of this utility model is as follows:

[0049] Knee joint movement: The knee joint linear drive device moves, and through the linear extension and retraction of the knee joint linear drive device, in conjunction with the knee joint three-link 7 and knee joint two-link 9, and the hinge of the thigh component 1 and the lower leg component 12, the knee joint movement between the thigh component 1 and the lower leg component 12 is realized.

[0050] Ankle joint movement: The ankle joint linear drive device moves, and the ankle joint movement between the lower leg component 12 and the foot component 17 is realized through the linear extension and retraction movement of the ankle joint linear drive device, in conjunction with the hinge between the lower leg component 12 and the foot component 17.

[0051] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A linearly driven knee and ankle joint robot, characterized in that: It includes a thigh component (1), a lower leg component (12) and a foot component (17), which are connected in sequence by hinges. The thigh component (1) is hinged with a knee joint linear drive device and a knee joint three-link (7) component. The end of the knee joint linear drive device away from the thigh component (1) is hinged to the knee joint three-link (7) component. The lower leg component (12) is hinged with a knee joint two-link (9) component. The end of the knee joint two-link (9) component away from the lower leg component (12) is hinged to the knee joint three-link (7) component.

2. The linearly driven knee and ankle joint robot according to claim 1, characterized in that: An ankle joint linear drive device is hinged to the lower leg component (12), and the end of the ankle joint linear drive device away from the lower leg component (12) is hinged to the foot component (17).

3. The linearly driven knee and ankle joint robot according to claim 1, characterized in that: An ankle joint cross shaft (16) is hinged between the foot component (17) and the lower leg component (12), and the foot component (17) and the lower leg component (12) are connected by the ankle joint cross shaft (16).

4. The linearly driven knee and ankle joint robot according to claim 1, characterized in that: The knee joint linear drive device includes a knee joint drive motor (4), a knee joint drive screw (5), and a knee joint motion nut (6). The knee joint drive motor (4) is connected to the knee joint drive screw (5), and the knee joint drive screw (5) is placed inside the knee joint motion nut (6) and threadedly connected to the knee joint motion nut (6).

5. A linearly driven knee and ankle joint robot according to claim 2, characterized in that: The ankle joint linear drive device includes an ankle joint drive motor (15), an ankle joint drive screw (14), and an ankle joint motion nut (13). The ankle joint drive motor (15) is connected to the ankle joint drive screw (14), and the ankle joint drive screw (14) is placed inside the ankle joint motion nut (13) and threadedly connected to the ankle joint motion nut (13).

6. A linearly driven knee and ankle joint robot according to claim 1, characterized in that: The knee joint linear drive device includes a knee joint drive motor (4) and a knee joint ball screw.

7. A linearly driven knee and ankle joint robot according to claim 2, characterized in that: The ankle joint linear drive device includes an ankle joint drive motor (15) and an ankle joint ball screw.

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