Robotic stable joint structure

Abstract

The utility model relates to a kind of robot stable joint structure, belong to robot joint technical field, this one kind robot stable joint structure, including joint assembly, the joint assembly includes leg fixed plate, both sides of the leg fixed plate are rotationally installed with thigh connecting rod, the bottom of two the thigh connecting rod far side is rotationally installed with shank connecting rod, the top of the inboard of the shank connecting rod is fixedly installed with the stop component matched with thigh connecting rod, the utility model is structured by the structure design of stop component, so that thigh connecting rod drives limit pin to rotate to certain angle, can be limited by limit block, realize the support of robot's mechanical structure itself, it is beneficial to the limit work of robot posture adjustment, without being locked by motor, reduce motor loss, while cooperating spring, sliding slot and limit auxiliary block, secondary limit to limit pin can also be realized, guarantee the stability when posture self-locking in later period.

Description

Technical Field

[0001] This utility model belongs to the field of robot joint technology, specifically relating to a robot stable joint structure. Background Technology

[0002] With the rapid development of industrial automation, service robots and other fields, the requirements for robot motion performance are increasing. As the core component of robot motion, the stability, flexibility, durability and control precision of the joint directly determine the overall working efficiency and scope of application of the robot. Therefore, it is necessary to design a robot stable joint structure.

[0003] Most existing robot joints use a single-machine drive to control angles. This structure tends to increase motor wear and tear, affecting motor lifespan. Furthermore, when a motor malfunctions, it cannot effectively and stably adjust the angle at the robot joint, impacting the stability and flexibility of joint adjustment. Utility Model Content

[0004] The purpose of this invention is to provide a simple and reasonably designed robot stable joint structure to solve the above problems.

[0005] This utility model achieves the above objectives through the following technical solutions: A robot stabilizing joint structure includes a joint assembly. The joint assembly includes a leg fixing plate. Thigh links are rotatably mounted on both sides of the leg fixing plate. Lower leg links are rotatably mounted on the bottom of the two thigh links on opposite sides. A limiting component that cooperates with the thigh links is fixedly mounted on the top of the inner side of the lower leg links.

[0006] As a further optimization of this utility model, casters are rotatably installed on the bottom of the inner side of both lower leg connecting rods, and foot brackets are fixedly installed on both sides of the two casters, which are located inside the lower leg connecting rods and behind the casters.

[0007] As a further optimization of this utility model, auxiliary wheel brackets are rotatably mounted on the rear of both of the foot brackets, and auxiliary wheels are rotatably mounted on the rear inner side of both of the auxiliary wheel brackets.

[0008] As a further optimization of this utility model, a motor mounting position is provided on the side of the connection between the thigh link and the calf link and the side of the connection between the foot bracket and the auxiliary wheel bracket. A servo motor is fixedly installed on the inner thread of the motor mounting position, and the output end of the servo motor is fixedly connected to the thigh link and the auxiliary wheel bracket respectively.

[0009] As a further optimization of this utility model, the limiting component includes four limiting pins fixedly installed at both ends of the bottom of the two thigh connecting rods on the opposite side and located inside the lower leg connecting rod. The top of the inner side of each of the two lower leg connecting rods is fixedly installed with a limiting block that cooperates with the limiting pin.

[0010] As a further optimization of this utility model, the two lower leg connecting rods are provided with sliding grooves on both sides near the limiting block at the top. The two limiting pins on the same side are slidably connected with limiting auxiliary blocks that cooperate with the limiting block. The two sliding grooves on the same side are fixedly installed with springs that are fixedly connected to the limiting auxiliary blocks.

[0011] The beneficial effects of this utility model are as follows: This utility model, through the structural design of the limiting component, allows the limiting pin to be limited by the limiting block when the thigh link drives it to rotate to a certain angle, thus supporting the robot's own mechanical structure. This facilitates the limiting work of robot posture adjustment, eliminating the need for self-locking via the motor and reducing motor losses. In addition, in conjunction with the spring, slide, and limiting auxiliary block, a secondary limiting of the limiting pin can be achieved, ensuring stability during subsequent posture self-locking and preventing shaking during posture locking. Attached Figure Description

[0012] Figure 1 This is a front and side view of the overall structure of this utility model; Figure 2 This is a front and side exploded view of the three-dimensional structure of the thigh connecting rod of this utility model; Figure 3 This is a rear-view and side-view exploded view of the three-dimensional structure of the thigh connecting rod of this utility model; Figure 4 This is a rear side view of the three-dimensional structure of the lower leg connecting rod of this utility model; Figure 5 This is a utility model Figure 2 Enlarged view of point A in the middle; Figure 6 This is a utility model Figure 3 Enlarged view at point B in the middle; Figure 7 This is a utility model Figure 4 Enlarged view of point C.

[0013] In the diagram: 1. Joint assembly; 100. Leg fixation plate; 101. Thigh link; 102. Lower leg link; 103. Auxiliary wheel; 104. Auxiliary wheel bracket; 105. Caster; 106. Motor mounting position; 2. Limiting assembly; 200. Limiting block; 201. Limiting auxiliary block; 202. Spring; 203. Slide groove; 204. Limiting pin. Detailed Implementation

[0014] The present application will now be described in further detail with reference to the accompanying drawings. It should be noted that the following specific embodiments are only used to further illustrate the present application and should not be construed as limiting the scope of protection of the present application. Those skilled in the art can make some non-essential improvements and adjustments to the present application based on the above application content.

[0015] Example 1: As Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, a robot stable joint structure includes the construction of a joint component 1. The core load-bearing component of the joint component 1 is a leg fixing plate 100. The leg fixing plate 100 is made of high-strength alloy material, which can provide a stable support foundation. On the left and right sides of the leg fixing plate 100, a thigh link 101 is rotatably mounted through precision bearings. The connection parts between the bearings and the leg fixing plate 100 and the thigh link 101 are polished to reduce frictional resistance during rotation, ensuring that the thigh link 101 can rotate flexibly around the leg fixing plate 100 to realize the lifting and lowering actions of the robot's legs.

[0016] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, at the bottom of the two thigh links 101 on the side furthest from each other, a lower leg link 102 is also rotatably mounted via a bearing. The length of the lower leg link 102 is designed according to the overall height of the robot. Its rotatable connection with the thigh link 101 can further expand the range of motion of the robot's legs. To prevent the lower leg link 102 and the thigh link 101 from over-rotating during rotation, a limiting component 2 that cooperates with the thigh link 101 is fixedly installed on the top of the inner side of the lower leg link 102. Through the constraint of the limiting component 2, the joint rotation angle is ensured to be within a safe range. In addition, the limiting component 2 can also be used to easily lock the robot's posture during rotation adjustment without the need for self-locking by the motor.

[0017] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, to enable the robot's mobility, casters 105 are rotatably mounted on the bottom inner side of the two lower leg links 102 via pivots. The casters 105 are made of wear-resistant rubber with anti-slip textures on the surface, which can enhance the robot's grip on different surfaces. At the same time, on both sides of the two casters 105, foot brackets are fixedly mounted inside the lower leg links 102 and behind the casters 105. The foot brackets are metal frame structures, with one end rotatably connected to the bottom inner side of the lower leg links 102 and the other end extending behind the casters 105 to provide support for the subsequent installation of auxiliary wheel components.

[0018] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, an auxiliary wheel bracket 104 is rotatably mounted behind the two legs via a pin. The auxiliary wheel bracket 104 can rotate freely around the legs. An auxiliary wheel 103 is rotatably mounted on its inner rear side via a bearing. The auxiliary wheel 103 has the same specifications as the caster 105 and together they constitute the robot's walking system. The auxiliary wheel 103 can effectively distribute the robot's weight and reduce the stress on the caster 105. At the same time, it can improve the overall stability when the robot turns or moves on uneven ground and prevent the robot from tipping over.

[0019] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, to drive the rotation of the joint assembly 1 and the auxiliary wheel assembly, motor mounting positions 106 are pre-set on the side near the connection between the thigh link 101 and the lower leg link 102, and on the side near the connection between the foot bracket and the auxiliary wheel bracket 104. The motor mounting position 106 is a groove structure with internal threads, and its size matches the mounting base of the servo motor. The servo motor is placed inside the motor mounting position 106, and the servo motor is threadedly fixed and installed by bolts engaging with the internal threads of the motor mounting position 106.

[0020] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, the servo motor installed in the motor mounting position 106 at the connection between the thigh link 101 and the lower leg link 102 has its output end fixedly connected to the thigh link 101. The rotation of the servo motor can drive the thigh link 101 to rotate around the lower leg link 102. The servo motor installed in the motor mounting position 106 at the connection between the foot bracket and the auxiliary wheel bracket 104 has its output end fixedly connected to the auxiliary wheel bracket 104. When the servo motor is working, it can drive the auxiliary wheel bracket 104 and the auxiliary wheel 103 to rotate, thereby adjusting the angle of the auxiliary wheel 103.

[0021] like Figure 5 , Figure 6 , Figure 7As shown, the limiting component 2 includes four limiting pins 204. The four limiting pins 204 are respectively fixedly installed at both ends of the bottom of the two thigh connecting rods 101 on the side furthest from each other, and are all located inside the lower leg connecting rods 102. The limiting pins 204 and the thigh connecting rods 101 are fixedly fixed by threads to ensure connection strength. In the grooves opened at the top of the inner side of the two lower leg connecting rods 102, limiting blocks 200 that cooperate with the limiting pins 204 are fixedly installed. The limiting blocks 200 are rectangular metal blocks. When the thigh connecting rods 101 rotate around the lower leg connecting rods 102 to a certain angle, the limiting pins 204 will contact the limiting blocks 200, thereby limiting the further rotation of the lower leg connecting rods 102. At this time, the motor can stop rotating. Through the limiting of the limiting blocks 200 and the limiting pins 204, the robot is supported by a self-locking mechanical structure, which facilitates the limitation of the robot's posture.

[0022] like Figure 5 , Figure 6 , Figure 7 As shown, to enhance the limiting effect, grooves 203 are provided on both sides of the top of the two lower leg connecting rods 102 near the limiting block 200. The grooves 203 are rectangular grooves, and their length direction is consistent with the length direction of the lower leg connecting rod 102. Inside the two limiting pins 204 on the same side, limiting auxiliary blocks 201 that cooperate with the limiting block 200 are slidably connected. The limiting auxiliary blocks 201 can slide along the grooves 203 inside the limiting pins 204. Guide slopes are provided on the lower sides of the limiting auxiliary blocks 201, and the guide slopes cooperate with the limiting pins 204. At the same time, springs 202 are fixedly installed inside the two grooves 203 on the same side. One end of the spring 202 is fixedly connected to the inner wall of the groove 203, and the other end is fixed to the limiting pin 200. The auxiliary block 201 is fixedly connected. When the limiting pin 204 is about to contact the limiting block 200, the limiting auxiliary block 201 will contact the limiting block 200 first. At this time, the spring 202 is compressed, and the limiting auxiliary block 201 moves inside the slide groove 203, releasing the obstruction to the limiting pin 204. Then the limiting pin 204 can move closer to the limiting block 200. The limiting block 200 provides limiting support for the robot's posture. When the limiting pin 204 releases its resistance to the limiting auxiliary block 201, the spring 202 drives the limiting auxiliary block 201 to reset, so that the limiting auxiliary block 201 can be used to limit the other side of the limiting pin 204, achieving secondary limiting of the limiting pin 204 and improving the stability of the subsequent posture locking.

[0023] It should be noted that in this robot stabilizing joint structure, when the external motor drives the thigh link 101 and the limiting pin 204 to rotate inside the lower leg link 102, the limiting pin 204 can rotate inside the lower leg link 102 and then push the limiting auxiliary block 201 to move inside the slide groove 203. At this time, the spring 202 is compressed, releasing the obstruction to the limiting pin 204. Then, the limiting pin 204 can approach the limiting block 200, and the limiting block 200 provides limiting support for the robot's posture. When the limiting pin 204 releases its resistance to the limiting auxiliary block 201, the spring 202 drives the limiting auxiliary block 201 to reset, so that the limiting auxiliary block 201 can limit the other side of the limiting pin 204. The system achieves secondary limiting of the limiting pin 204, improving the stability of the subsequent posture locking. Later, when the thigh link 101 rotates in the opposite direction around the lower leg link 102 via the reverse rotation of the external servo motor, the thigh link 101 drives the limiting pin 204 to rotate in the opposite direction. Then, it pushes the guide slope on the other side of the limiting auxiliary block 201 to move inside the slide groove 203, thereby compressing the spring 202 and releasing the obstruction of the limiting pin 204. Then, the limiting pin 204 can rotate clockwise or counterclockwise inside the lower leg link 102, thus supporting and limiting the robot's forward or backward posture without the need for motor locking. When the limiting block 200 blocks and limits the limiting pin 204, the motor is in the off state.

[0024] By assembling the above components, the stable joint structure of the robot in this solution can be completed. Through the synergistic effect of the components, this structure enables the robot to move flexibly and stably, meeting the robot's usage needs in different working scenarios.

[0025] The embodiments described above are merely examples of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of this utility model patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these modifications and improvements all fall within the protection scope of this utility model.

Claims

1. A robot stabilizing joint structure, comprising a joint assembly (1), characterized in that, The joint assembly (1) includes a leg fixing plate (100), on both sides of the leg fixing plate (100) are rotatably mounted thigh links (101), and on the bottom of the two thigh links (101) on the side away from each other are rotatably mounted calf links (102), and on the top of the inner side of the calf link (102) are fixedly mounted a limiting component (2) that cooperates with the thigh link (101).

2. The robot stabilizing joint structure according to claim 1, characterized in that: Both lower leg connecting rods (102) are rotatably mounted with casters (105) on the bottom of their inner sides. Both sides of the two casters (105) are fixedly mounted with foot brackets placed inside the lower leg connecting rods (102) and located behind the casters (105).

3. The robot stabilizing joint structure according to claim 2, characterized in that: Auxiliary wheel brackets (104) are rotatably mounted on the rear of both of the foot brackets, and auxiliary wheels (103) are rotatably mounted on the rear of the inner side of both of the auxiliary wheel brackets (104).

4. The robot stabilizing joint structure according to claim 3, characterized in that: Motor mounting positions (106) are provided on the side of the connection between the thigh link (101) and the lower leg link (102) and the side of the connection between the foot bracket and the auxiliary wheel bracket (104). A servo motor is fixedly installed on the inner thread of the motor mounting position (106), and the output end of the servo motor is fixedly connected to the thigh link (101) and the auxiliary wheel bracket (104) respectively.

5. A robot stabilizing joint structure according to claim 4, characterized in that: The limiting component (2) includes four limiting pins (204) fixedly installed at the bottom ends of the two thigh connecting rods (101) on the opposite side and located inside the lower leg connecting rod (102). The top of the inner side of the two lower leg connecting rods (102) is fixedly installed with limiting blocks (200) that cooperate with the limiting pins (204).

6. A robot stabilizing joint structure according to claim 5, characterized in that: The two lower leg connecting rods (102) have sliding grooves (203) on both sides near the limiting block (200) at the top. The two limiting pins (204) on the same side are slidably connected to the limiting auxiliary block (201) that cooperates with the limiting block (200). The two sliding grooves (203) on the same side are fixedly installed with springs (202) that are fixedly connected to the limiting auxiliary block (201).

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