Robot leg structure and legged robot

Abstract

A robot leg structure and a legged robot. The robot leg structure comprises a thigh link, a shank link, and a shank power unit for driving the shank link to rotate relative to the thigh link. An accommodating cavity for fixing the shank power unit is provided in the thigh link, and the shank power unit is provided in the accommodating cavity. In the robot leg structure, the shank power unit for driving the shank link is placed in the thigh link. Compared with a conventional structure in which a shank power unit and a thigh power unit are arranged in parallel, the structure occupies a small space and is compact, so that the width of the body of the legged robot is reduced, thereby making the overall size of the legged robot more compact.

Description

A robot leg structure and a legged robot Technical Field

[0001] This utility model relates to the field of legged robot technology, and in particular to a robot leg structure and a legged robot. Background Technology

[0002] Currently, the thigh and lower leg power units of legged robots are usually integrated together. For example, Chinese Patent No. CN209921456U discloses a robot integrated joint unit and a legged robot using it, including a first motor and reducer assembly, a second motor assembly, a second reducer assembly, and a first output link; the first motor and reducer assembly has a first output link mounted on its output shaft end; the second motor assembly is mounted and fixed on the other side of the first motor and reducer assembly; the second reducer assembly is disposed inside the first output link; the output shaft of the second motor assembly passes through the first motor and reducer assembly and is fixedly connected to the input end of the second reducer assembly.

[0003] In the above technical solution, the first motor and reducer assembly, the second motor assembly, and the second reducer assembly are all arranged side by side, resulting in a large body width for the legged robot and an insufficiently compact structure.

[0004] The information disclosed in this background section is only for understanding the background of the present invention, and therefore may include information that does not constitute prior art.

[0005] Utility Model Content

[0006] To address the aforementioned problems or one of the aforementioned problems, the purpose of this utility model is to provide a robot leg structure and a footed robot, which places the lower leg power unit inside the thigh rod, occupying little space and having a compact structure.

[0007] To address the aforementioned problems or one of them, the second objective of this utility model is to provide a robot leg structure and a legged robot. The lower leg power unit, which drives the lower leg link, is placed within the receiving cavity of the upper leg link. Compared to the traditional structure that places the lower leg power unit and the upper leg power unit side-by-side, this structure effectively reduces the robot's body space requirements. In particular, the use of a bevel gear transmission structure ensures that the axis of the lower leg power unit is essentially aligned with the length direction of the upper leg link, resulting in a smaller diameter upper leg link and a narrower body width for the legged robot, thus making the overall size of the legged robot more compact.

[0008] To achieve one of the above objectives, the first technical solution of this utility model is as follows:

[0009] A robot leg structure includes a thigh member, a lower leg member, and a lower leg power unit for driving the lower leg member to rotate relative to the thigh member.

[0010] The thigh member has a cavity for fixing the lower leg power unit.

[0011] The lower leg power unit is located inside the receiving cavity.

[0012] Through continuous exploration and experimentation, this utility model places the lower leg power unit that drives the lower leg rod inside the receiving cavity of the upper leg rod. Compared with the traditional structure that stacks the lower leg power unit and the upper leg power unit side by side, this structure can effectively reduce the space occupied by the robot's body, making the width of the legged robot smaller, and thus making the overall size of the legged robot more compact.

[0013] As a preferred technical measure:

[0014] The output end of the calf power unit is equipped with a first bevel gear, and the thigh rod contains a second bevel gear that is adapted to drive the first bevel gear, forming a bevel gear transmission structure. By using the bevel gear transmission structure, the axis of the calf power unit is basically aligned with the length direction of the thigh rod, resulting in a smaller diameter of the thigh rod. At the same time, by changing the direction of motion transmission through the bevel gear transmission structure, the rotational speed is reduced and the torque is increased.

[0015] As a preferred technical measure:

[0016] A transmission rod is provided between the second bevel gear and the lower leg member. One end of the transmission rod is rotatably connected to the second bevel gear, and the other end is rotatably connected to the lower leg member. The second bevel gear pushes the lower leg member to swing around the thigh member through the transmission rod.

[0017] As a preferred technical measure:

[0018] The lower leg member has a curved, arc-shaped, square, or columnar structure, and is provided with a closed cavity;

[0019] Alternatively, the lower leg member may have an S-shaped structure, with a diameter smaller than that of the upper leg member.

[0020] Preferably, the lower leg member has an approximately S-shaped structure, which can effectively buffer the impact and enhance the visual appeal.

[0021] As a preferred technical measure:

[0022] The lower leg power unit is a rotary motor or a drive motor equipped with a reducer.

[0023] As a preferred technical measure:

[0024] The thigh member is an arc-shaped, square, or columnar structure, and it has a closed receiving cavity or mounting groove.

[0025] Preferably, the thigh member has an arc-shaped structure, which can effectively reduce stress concentration and enhance visual appeal.

[0026] As a preferred technical measure:

[0027] The upper end of the thigh rod is provided with a receiving part for connecting the rotating shaft of the thigh power unit and a circuit board and / or cable for controlling the lower leg power unit.

[0028] As a preferred technical measure:

[0029] The receiving part has a centrally located connecting hole for the shaft of the thigh power unit to pass through, and several assembly holes are formed around the connecting hole.

[0030] As a preferred technical measure:

[0031] The thigh power unit is a rotary motor or a drive motor equipped with a reducer. It is mounted on the outer side of the thigh rod or the lower end of the body and works with the calf power unit to form a split-type series drive mechanism.

[0032] This split-type serial drive mechanism can further reduce the space occupied by the robot's body, making the legged robot's body more compact.

[0033] To achieve one of the above objectives, the second technical solution of this utility model is as follows:

[0034] A legged robot, comprising the aforementioned robot leg structure.

[0035] The legged robot can be a quadrupedal robot, a bipedal robot, or a humanoid robot.

[0036] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0037] The present invention provides a robot leg structure in which the lower leg power unit that drives the lower leg rod is placed in the receiving cavity of the upper leg rod. Compared with the traditional structure that stacks the lower leg power unit and the upper leg power unit side by side, this structure can effectively reduce the space occupied by the robot body, reduce the body width of the legged robot, and thus make the overall size of the legged robot more compact.

[0038] Furthermore, this invention uses a bevel gear transmission structure to keep the axis of the lower leg power unit basically consistent with the length direction of the thigh link, resulting in a smaller diameter of the thigh link and further reducing the width of the legged robot.

[0039] The present invention provides a legged robot in which the lower leg power unit that drives the lower leg rod is placed inside the upper leg rod. Compared with the traditional structure that arranges the lower leg power unit and the upper leg power unit side by side, this structure occupies less space, reduces the width of the legged robot body, and makes the overall size of the legged robot more compact.

[0040] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. Attached Figure Description

[0041] Figure 1 is an overall schematic diagram of the robot leg structure of this utility model;

[0042] Figure 2 is a schematic diagram of one extreme position of the robot leg structure of this utility model.

[0043] In the diagram: 1. Thigh rod; 2. Lower leg rod; 3. Lower leg power unit; 4. First bevel gear; 5. Second bevel gear; 6. Transmission rod; 7. Circuit board; 8. Receiving part; 81. Connecting hole; 82. Assembly hole. Embodiments of the present invention

[0044] The present invention will be further described below with reference to the accompanying drawings and specific embodiments. It should be noted that, without conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0045] It should be noted that when two elements are "fixedly connected" or "rotatably connected," the two elements can be directly connected or there may be an intermediate element. Conversely, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "on," "below," and similar expressions used in this document are for illustrative purposes only.

[0046] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of the invention.

[0047] As shown in Figures 1 and 2, the first specific embodiment of the robot leg structure of this utility model is as follows:

[0048] A robot leg structure includes a thigh rod 1, a lower leg rod 2, and a lower leg power unit 3 for driving the lower leg rod 2 to rotate relative to the thigh rod 1. The thigh rod 1 has a cavity for fixing the lower leg power unit 3, and the lower leg power unit 3 is disposed in the cavity.

[0049] A second specific embodiment of the robot leg structure of this utility model:

[0050] A robot leg structure includes a thigh rod 1, a lower leg rod 2, and a lower leg power unit 3 that drives the lower leg rod 2 to rotate relative to the thigh rod 1. The thigh rod 1 has a cavity for fixing the lower leg power unit 3, and the lower leg power unit 3 is disposed in the cavity.

[0051] The output end of the lower leg power unit 3 is provided with a first bevel gear 4, and the thigh rod 1 is provided with a second bevel gear 5 that is adapted to drive the first bevel gear 4. By changing the direction of motion transmission through the bevel gear transmission structure, the rotational speed is reduced and the torque is increased.

[0052] A transmission rod 6 is provided between the second bevel gear 5 and the lower leg rod 2. One end of the transmission rod 6 is rotatably connected to the second bevel gear 5, and the other end is rotatably connected to the lower leg rod 2. The second bevel gear 5 pushes the lower leg rod 2 to swing around the thigh rod 1 through the transmission rod 6.

[0053] The third specific embodiment of the robot leg structure of this utility model:

[0054] A robot leg structure includes a thigh rod 1, a lower leg rod 2, and a lower leg power unit 3 for driving the lower leg rod 2 to rotate relative to the thigh rod 1. The thigh rod 1 has a cavity for fixing the lower leg power unit 3, and the lower leg power unit 3 is disposed in the cavity.

[0055] The lower leg member 2 has a curved structure, and its diameter is smaller than that of the thigh member 1.

[0056] The lower leg power unit 3 is a drive motor equipped with a reducer.

[0057] The thigh member 1 has an arc-shaped structure and a closed receiving cavity.

[0058] The upper end of the thigh member 1 is provided with a receiving part 8 for connecting the rotating shaft of the thigh power unit and a circuit board 7 for controlling the power unit. The receiving part 8 has a connecting hole 81 in the center for the rotating shaft of the thigh power unit to pass through, and a number of mounting holes 82 are formed around the connecting hole 81. The thigh power unit is a drive motor with a reducer, which is mounted on the outer side of the thigh member 1.

[0059] A specific embodiment of the legged robot of this utility model:

[0060] A legged robot, comprising the aforementioned robot leg structure.

[0061] In this application, the fixed connection method can be screwing, welding, riveting, plugging, or connection through a third component. Those skilled in the art can choose according to the actual situation.

[0062] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of this utility model and not to limit it. Although the utility model has been described in detail with reference to the above embodiments, those skilled in the art can still modify or make equivalent substitutions to the specific implementation of this utility model. Any modifications or equivalent substitutions that do not depart from the spirit and scope of this utility model should be covered within the protection scope of the claims of this utility model.

Claims

1. A robot leg structure, characterized in that, It includes a thigh rod (1), a calf rod (2), and a calf power unit (3) for driving the calf rod (2) to rotate relative to the thigh rod (1). The thigh rod (1) has a cavity for fixing the lower leg power unit (3). The lower leg power unit (3) is located inside the receiving cavity.

2. The robot leg structure as described in claim 1, characterized in that, The output end of the lower leg power unit (3) is provided with a first bevel gear (4), and the thigh rod (1) is provided with a second bevel gear (5) that is adapted to drive the first bevel gear (4).

3. The robot leg structure as described in claim 2, characterized in that, A transmission rod (6) is provided between the second bevel gear (5) and the lower leg rod (2). One end of the transmission rod (6) is rotatably connected to the second bevel gear (5), and the other end is rotatably connected to the lower leg rod (2). The second bevel gear (5) pushes the lower leg rod (2) to swing around the thigh rod (1) through the transmission rod (6).

4. The robot leg structure as described in claim 3, characterized in that, The lower leg member (2) has a curved structure, an arc structure, a square structure, or a columnar structure, and has a closed cavity; Alternatively, the lower leg member (2) may be an S-shaped structure with a diameter smaller than that of the thigh member (1).

5. A robot leg structure as described in claim 3, characterized in that, The lower leg power unit (3) is a rotary motor or a drive motor equipped with a reducer.

6. The robot leg structure as described in claim 1, characterized in that, The thigh member (1) is an arc-shaped structure, a square structure, or a columnar structure, and it is provided with a closed receiving cavity or mounting groove.

7. The robot leg structure as described in claim 1, characterized in that, The upper end of the thigh rod (1) is provided with a receiving part (8) for connecting the shaft of the thigh power unit and a circuit board (7) and / or cable for controlling the lower leg power unit (3).

8. A robot leg structure as described in claim 7, characterized in that, The receiving part (8) has a centrally located connecting hole (81) for connecting the thigh power unit shaft, and several assembly holes (82) are provided around the connecting hole (81).

9. A robot leg structure as described in claim 7, characterized in that, The thigh power unit is a rotary motor or a drive motor equipped with a reducer. It is mounted on the outer side of the thigh rod (1) or the lower end of the body, and cooperates with the calf power unit (3) to form a split series drive mechanism.

10. A legged robot, characterized in that, Including a robot leg structure as described in any one of claims 1-9.

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