CN119370222A - A robot leg transmission structure and robot - Google Patents
A robot leg transmission structure and robot Download PDFInfo
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- CN119370222A CN119370222A CN202411625199.7A CN202411625199A CN119370222A CN 119370222 A CN119370222 A CN 119370222A CN 202411625199 A CN202411625199 A CN 202411625199A CN 119370222 A CN119370222 A CN 119370222A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 104
- 210000000689 upper leg Anatomy 0.000 claims abstract description 123
- 210000002414 leg Anatomy 0.000 claims abstract description 63
- 244000309466 calf Species 0.000 claims abstract description 35
- 230000009471 action Effects 0.000 abstract description 7
- 210000001624 hip Anatomy 0.000 description 9
- 238000005452 bending Methods 0.000 description 8
- 230000033001 locomotion Effects 0.000 description 7
- 230000008878 coupling Effects 0.000 description 5
- 238000010168 coupling process Methods 0.000 description 5
- 238000005859 coupling reaction Methods 0.000 description 5
- 210000003127 knee Anatomy 0.000 description 5
- 210000000629 knee joint Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 210000004394 hip joint Anatomy 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000007423 decrease Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Combustion & Propulsion (AREA)
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Abstract
本申请实施例提供了一种机器人腿部传动结构及机器人，其中，机器人腿部传动结构包括大腿侧板、小腿组件和第一传动组件；所述小腿组件与所述大腿侧板转动连接；所述第一传动组件包括第一连杆以及具有第一伸缩杆的第一直线电机，所述第一连杆具有相对的第一端和第二端，所述第一端与所述小腿组件转动连接，所述第一伸缩杆沿伸缩方向的相对两端分别与所述大腿侧板以及所述第一连杆的所述第二端转动连接；所述第一连杆带动所述小腿组件相对所述大腿侧板朝与机器人前进方向相反的一侧转动，且所述第一伸缩杆产生的作用力的力臂逐渐增大。本申请实施例的机器人腿部传动结构能实现轻便高效行走。
The embodiment of the present application provides a robot leg transmission structure and a robot, wherein the robot leg transmission structure includes a thigh side plate, a calf assembly and a first transmission assembly; the calf assembly is rotatably connected to the thigh side plate; the first transmission assembly includes a first connecting rod and a first linear motor having a first telescopic rod, the first connecting rod has a first end and a second end opposite to each other, the first end is rotatably connected to the calf assembly, and the opposite ends of the first telescopic rod along the telescopic direction are rotatably connected to the thigh side plate and the second end of the first connecting rod respectively; the first connecting rod drives the calf assembly to rotate relative to the thigh side plate toward the side opposite to the robot's forward direction, and the force arm of the action force generated by the first telescopic rod gradually increases. The robot leg transmission structure of the embodiment of the present application can achieve light and efficient walking.
Description
Technical Field
The application relates to the technical field of robots, in particular to a leg transmission structure of a robot and the robot.
Background
In the field of robots, particularly in the gait walking aspect of humanoid biped robots, leg structures of the biped robots are driven to move by linear motors, so that knee joint movement of the biped robots is realized.
However, the larger the knee joint bending amplitude of the biped robot is, the larger the driving force demand on the linear motor is, however, the linear motor capable of providing larger driving force generally has larger volume and weight, so that the leg weight of the robot is generally larger, the walking process is slower, and the efficiency is low.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a robot leg transmission structure and a robot capable of achieving light and efficient walking.
To achieve the above object, an embodiment of the present application provides a leg transmission structure of a robot, including:
Thigh side plates;
The lower leg assembly is rotationally connected with the thigh side plate;
The first transmission assembly comprises a first connecting rod and a first linear motor with a first telescopic rod, the first connecting rod is provided with a first end and a second end which are opposite, the first end is rotationally connected with the lower leg assembly, the opposite ends of the first telescopic rod along the telescopic direction are rotationally connected with the thigh side plate and the second end of the first connecting rod respectively, the first connecting rod drives the lower leg assembly to rotate relative to the thigh side plate towards one side opposite to the advancing direction of the robot, and the force arm of acting force generated by the first telescopic rod is gradually increased.
In one embodiment, the second end of the first link and the first linear motor rotate about a first axis of rotation, and the calf assembly and the thigh side plate rotate about a second axis of rotation, the second axis of rotation being located on a front side of the first axis of rotation in the direction of travel of the robot.
In one embodiment, the first transmission assembly further comprises a second connecting rod, one end of the second connecting rod is rotatably connected with the thigh side plate, and the other end of the second connecting rod, which is opposite to the first connecting rod, is coaxially rotatably connected with the first linear motor and the first connecting rod.
In one embodiment, the first linear motor includes a first body, the first telescopic rod extends and contracts relative to the first body, the first body is rotatably connected with the thigh side plate, and the first telescopic rod is rotatably connected with the second end of the first connecting rod.
In one embodiment, the robot leg transmission structure comprises a first connecting shaft connected with the thigh side plate, and the first main body is rotatably connected with the thigh side plate through the first connecting shaft.
In one embodiment, the first link has two first connecting portions arranged at intervals, the first transmission assembly further comprises a second connecting shaft, and a part of the first telescopic link extends into between the two first connecting portions and is rotationally connected with the two second connecting portions through the second connecting shaft.
In one embodiment, the first transmission assembly further comprises a second connecting rod, one end of the second connecting rod is rotationally connected with the thigh side plate, the other end of the second connecting rod, which is opposite to the second connecting rod, extends into the space between the two first connecting parts, and the second connecting shaft penetrates through the two first connecting parts, the second connecting rod and the first telescopic rod, so that the second connecting rod, the first linear motor and the first connecting rod are coaxially rotationally connected.
In one embodiment, the second connecting rod comprises a second connecting portion and two third connecting portions arranged at intervals, the second connecting portion is rotationally connected with the thigh side plate, part structures of the two third connecting portions extend into the space between the two first connecting portions, part structures of the first telescopic rod extend into the space between the two third connecting portions, and the second connecting shaft penetrates through the two first connecting portions, the two third connecting portions and the first telescopic rod.
In one embodiment, the leg transmission structure of the robot comprises a third connecting shaft connected with the thigh side plate, and the first connecting part is rotatably connected with the thigh side plate through the third connecting shaft.
In one embodiment, the number of thigh side plates is two, the two thigh side plates are arranged at intervals, and the first transmission assembly is arranged between the two thigh side plates.
In one embodiment, the leg transmission structure of the robot further comprises a hip waist connecting seat, and the thigh side plate is rotationally connected with the hip waist connecting seat.
In one embodiment, the leg transmission structure of the robot further comprises a second transmission assembly, the second transmission assembly comprises a third connecting rod and a second linear motor with a second telescopic rod, two opposite ends of the third connecting rod are respectively connected with the hip waist connecting seat and one end of the second telescopic rod along the telescopic direction in a rotating mode, and the other opposite end of the second telescopic rod along the telescopic direction is connected with the thigh side plate in a rotating mode.
In one embodiment, the second transmission assembly further comprises a fourth connecting rod, one end of the fourth connecting rod is rotatably connected with the thigh side plate, and the other end of the fourth connecting rod, which is opposite to the fourth connecting rod, is coaxially and rotatably connected with the second linear motor and the third connecting rod.
Another embodiment of the present application provides a robot, including the above-mentioned robot leg transmission structure.
The embodiment of the application provides a robot leg transmission structure and a robot. Taking the robot walking as an example, when the robot walks, the lower leg assembly rotates towards one side opposite to the advancing direction of the robot relative to the thigh side plate, and the larger the rotation degree of the lower leg assembly is, the larger the moment required by the lower leg assembly when rotating is, therefore, the first end of the first connecting rod is rotationally connected with the lower leg assembly, the second end of the first connecting rod is rotationally connected with the first linear motor, and the first telescopic rod retracts to enable the first connecting rod to drive the lower leg assembly to rotate relative to the thigh side plate, in the process, the moment arm of the acting force generated by the first telescopic rod is gradually increased, so that the driving force of the first linear motor is saved, and because the volume and the weight of the first linear motor are related to the driving force which can provide larger driving force, the volume and the weight of the first linear motor are larger, and therefore, the first linear motor with smaller volume and the weight can be selected by saving the driving force of the first linear motor, so that the weight of the leg transmission structure of the robot is reduced, and the robot is more portable and efficient to run.
Drawings
Fig. 1 is a schematic structural view of a leg transmission structure of a robot according to an embodiment of the present application, in which the robot is in an upright state;
FIG. 2 is a schematic view of the leg transmission structure of the robot shown in FIG. 1, wherein the robot is in a knee-bending state;
FIG. 3 is a schematic view of another robot leg drive configuration according to an embodiment of the present application;
FIG. 4 is a schematic view of another angle of the leg transmission structure of the robot of FIG. 2;
fig. 5 is an exploded view of the first transmission assembly of fig. 2.
Reference numerals illustrate:
10. Thigh side plate, 20, calf component, 30, first transmission component, 30a, first rotation axis, 30b, second rotation axis, 31, first connecting rod, 311, first end, 312, second end, 313, first connecting part, 32, first linear motor, 321, first main body, 322, first telescopic rod, 33, second connecting rod, 331, second connecting part, 332, third connecting part, 34, second connecting shaft, 40, hip waist connecting seat, 50, second transmission component, 51, third connecting rod, 52, second linear motor, 521, second telescopic rod, 53, fourth connecting rod, 60, first connecting shaft, 61, shaft body, 62, shaft sleeve, 70, third connecting shaft, 80, supporting plate.
Detailed Description
In describing embodiments of the present application, it should be noted that the term "forward direction" is based on the azimuth or positional relationship shown in fig. 1. These directional terms are merely used to facilitate the description of embodiments of the application and to simplify the description and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operate in a particular orientation, and thus should not be construed as limiting embodiments of the application. Furthermore, the terms "first," "second," "third," "fourth," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The embodiment of the application provides a robot, which comprises a robot leg transmission structure.
Referring to fig. 1 to 5, a leg transmission structure of a robot according to an embodiment of the present application includes a thigh side plate 10, a shank assembly 20, and a first transmission assembly 30.
The calf assembly 20 is rotatably connected to the thigh side plate 10. The first transmission assembly 30 includes a first link 31 and a first linear motor 32 having a first telescopic link 322, the first link 31 having opposite first and second ends 311 and 312, the first end 311 being rotatably coupled to the lower leg assembly 20, and the first telescopic link 322 being rotatably coupled to the thigh side plate 10 and the second end 312 of the first link 31, respectively, at opposite ends in a telescopic direction. The first link 31 rotates the lower leg unit 20 with respect to the thigh side plate 10 toward the side opposite to the advancing direction of the robot.
The calf assembly 20 is rotatably connected to the thigh side plate 10, that is, the calf assembly 20 is connected to the thigh side plate 10 and the calf assembly 20 is rotatable relative to the thigh side plate 10.
The robot forward direction refers to a direction in which the robot moves forward as a whole, that is, a direction in which the robot walks forward.
Rotation of the calf assembly 20 relative to the thigh side plate 10 to the opposite side of the forward direction of the robot allows the robot to squat or advance.
To reduce the coefficient of friction between the calf assembly 20 and the thigh side plate 10, the calf assembly 20 and the thigh side plate 10 can be rotatably connected by bearings to make rotation of the calf assembly 20 more labor efficient.
The first transmission assembly 30 is used to drive rotation of the calf assembly 20 relative to the thigh side plate 10.
The first linear motor 32 is a linear motor, which is a transmission device that directly converts electric energy into linear motion mechanical energy, and is also called a linear motor, or a push rod motor.
The first linear motor 32 is used to provide driving force to the first transmission assembly 30. The robotic leg transmission structure effects rotation of the calf assembly 20 relative to the thigh side plate 10 by retraction or extension of the first telescoping rod 322.
It should be noted that, the opposite ends of the first telescopic link 322 in the telescopic direction are respectively rotatably connected to the thigh side plate 10 and the second end of the first link 31, which does not mean that the opposite ends of the first telescopic link 322 are directly connected to the thigh side plate 10 and the second end of the first link 31, but that the opposite ends of the first telescopic link 322 are relatively rotated with respect to the thigh side plate 10 and the second end of the first link 31.
For example, referring to fig. 1 to 5, the first linear motor 32 may include a first body 321 and a first telescopic rod 322 telescopic with respect to the first body 321, and the first telescopic rod 322 is retracted or extended by changing a length of the first telescopic rod 322 extending into the first body 321. That is, the first body 321 may control the telescopic length of the first telescopic link 322.
The leg transmission structure of the robot of the embodiment of the application is equivalent to a four-bar mechanism which is formed by taking the thigh side plate 10 as a frame, and the calf component 20, the first connecting rod 31, the first linear motor 32 and the thigh side plate 10. The four bar linkage is movable by the telescoping of the first telescoping rod 322, that is, the first linear motor 32 is not only a crank in the four bar linkage that can rotate relative to the thigh side plate 10, but also a set of "slider-rails" that provide the driving force for the four bar linkage by telescoping of the first telescoping rod 322.
Specifically, referring to fig. 1 and 2, the leg transmission structure of the robot in fig. 1 is in an upright state, and the leg transmission structure of the robot in fig. 2 is in a knee-bending state. When the leg transmission structure of the robot is switched from the upright state to the knee bending state, the first telescopic link 322 applies a pulling force to the first link 31 by retracting, so that the first link 31 applies a pulling force to the lower leg unit 20, the lower leg unit 20 rotates relative to the upper leg side plate 10 by the pulling force with the upper leg side plate 10 as a fulcrum, namely, the joint of the lower leg unit 20 and the upper leg side plate 10, namely, the knee joint of the robot, the lower leg unit 20 bends the knee joint by using the lever principle, and the lower leg unit 20 rotates relative to the upper leg side plate 10 towards the side opposite to the advancing direction of the robot (clockwise direction in fig. 1 and 2), so that the robot can realize a squatting or advancing action. When the leg transmission structure of the robot is switched from the knee bending state to the upright state, the first telescopic link 322 applies a pushing force to the first link 31 by extension, so that the first link 31 applies a pushing force to the lower leg unit 20, and the lower leg unit 20 rotates relative to the thigh side plate 10 by the pushing force with the thigh side plate 10 as a fulcrum, that is, the knee joint is restored, the lower leg unit 20 rotates relative to the thigh side plate 10 toward the same side as the advancing direction of the robot (counterclockwise direction in fig. 1 and 2), and the robot is bent from knee to upright. That is, the first telescopic link 322 drives the calf assembly 20 to rotate relative to the thigh side plate 10 through the first link 31, and the reciprocating telescopic motion of the first telescopic link 322 can be effectively converted into the rotary motion of the calf assembly 20.
It should be noted that, when the first telescopic link 322 applies a pulling force to the calf assembly 20 through the first link 31, so that the leg transmission structure of the robot has a tendency to switch from the upright state to the knee-bending state, the arm of the force applied to the calf assembly 20 by the first telescopic link 322 is the first force arm H1. When the leg transmission structure of the robot is switched from the upright state to the knee bending state, the force arm of the force applied by the first telescopic rod 322 to the calf assembly 20 is the second force arm H2, as can be seen from fig. 1 and 2, the second force arm H2 is larger than the first force arm H1, that is, the force arm of the force applied by the first telescopic rod 322 is gradually increased during the process of switching the leg transmission structure of the robot from the upright state to the knee bending state.
Taking the robot walking as an example, when the robot walks, the lower leg assembly 20 rotates towards the side opposite to the advancing direction of the robot relative to the thigh side plate 10, the greater the rotation degree of the lower leg assembly 20, the greater the moment required by the lower leg assembly 20 when rotating, therefore, the lower leg transmission structure of the robot implemented by the application can select the lower first linear motor 32 with smaller volume and weight by rotationally connecting the first end 311 of the first connecting rod 31 with the lower leg assembly 20 and rotationally connecting the second end 312 with the first linear motor 32 by retracting the first telescopic rod 322, and the lower arm of force generated by the first telescopic rod 322 is gradually increased relative to the thigh side plate 10 during the process, thus saving the driving force of the first linear motor 32, and because the volume and weight of the first linear motor 32 are related to the driving force which can be provided by the lower arm of force, the first linear motor 32 with larger volume and weight can be provided, thus, the lower volume and weight of the lower driving force of the first linear motor 32 can be selected, thus the lower weight of the lower leg transmission structure of the robot can be used, and the robot can operate more conveniently and efficiently.
In one embodiment, referring to fig. 1,2 and 5, the second end 312 of the first link 31 and the first linear motor 32 are rotatable about the first axis of rotation 30a and the calf assembly 20 and thigh side plate 10 are rotatable about the second axis of rotation 30 b. The second rotation axis 30b is located on the front side of the first rotation axis 30a in the robot advancing direction.
The first linear motor 32 is retracted to rotate the first link 31 to rotate the calf assembly 20 relative to the thigh side plate 10 in a direction toward the first axis of rotation 30 a.
The second axis of rotation 30b is the pivot point for the lower leg assembly 20. The second rotation axis 30b is located at the front side of the first rotation axis 30a in the advancing direction of the robot, that is, the first link 31 is located at the rear side of the rotation fulcrum of the lower leg assembly 20 in the advancing direction of the robot, so that the first end 311 of the first link 31 applies a pulling force to the lower leg assembly 20 by the first linear motor 32, thereby rotating the lower leg assembly 20 toward the opposite side to the advancing direction of the robot with respect to the thigh side plate 10.
Referring to fig. 1 and 2, the first telescopic link 322 may gradually increase the distance between the first rotation axis 30a and the second rotation axis 30b by retracting.
Since the first linear motor 32 drives the calf assembly 20 to rotate relative to the thigh side plate 10 through the first link 31, when the first link 31 drives the calf assembly 20 to rotate relative to the thigh side plate 10 toward the rear side of the robot advancing direction, the distance between the first rotation axis 30a and the second rotation axis 30b is gradually increased, and then the moment arm of the tension force applied to the calf assembly 20 by the first linear motor 32 is increased, that is, the length of the perpendicular line drawn by the action line of the tension force outputted by the first linear motor 32 from the second rotation axis 30b (regarded as a point in the plane).
Taking the example of a robot squatting, the greater the degree of squatting, the greater the moment required when the calf assembly 20 rotates, and since the moment arm of the pulling force applied by the first linear motor 32 is gradually increased during squatting, the pulling force of the output of the first linear motor 32 can be relatively reduced under the condition of a certain moment, thereby saving the driving force of the first linear motor 32.
Correspondingly, when the robot squats down to stand up, the first telescopic rod 322 stretches to enable the first connecting rod 31 to drive the lower leg assembly 20 to rotate towards the same side as the advancing direction of the robot relative to the thigh side plate 10, and at the moment, the distance between the first rotating axis 30a and the second rotating axis 30b gradually decreases, that is, the arm of force of the pulling force applied by the first linear motor 32 to the lower leg assembly 20 decreases accordingly.
In an embodiment, referring to fig. 1,2, 4 and 5, the first transmission assembly 30 may further include a second link 33, one end of the second link 33 is rotatably connected to the thigh side plate 10, and the opposite end of the second link 33 is coaxially rotatably connected to the first linear motor 32 and the first link 31.
The second link 33 is used to impose constraints on the degrees of freedom of the first transmission assembly 30. From the previous analysis, it is known that the thigh side plate 10 is used as a frame, and the calf module 20, the first link 31, the first linear motor 32 and the thigh side plate 10 form a group of four-bar linkages, and a general four-bar linkage has 1 degree of freedom, but the first telescopic link 322 is telescopic, so that the four-bar linkage has 2 degrees of freedom. By providing the second link 33, one end of the second link 33 is rotatably connected with the thigh side plate 10, and the opposite end of the second link 33 is coaxially rotatably connected with the first linear motor 32 and the first link 31, so that the degree of freedom of the link mechanism becomes 1, and the movement states of other parts of the four-link mechanism can be determined only by the telescopic information of the first telescopic link 322, so that the leg transmission structure of the robot is easier to analyze and control.
The first linear motor 32 and the first link 31 at one end of the second link 33 are coaxially connected in a rotating manner, that is, the second link 33, the first linear motor 32 and the first link 31 can form a composite hinge. In another embodiment, one end of the second link 33 may be rotatably connected to only the first linear motor 32, or rotatably connected to only the first link 31, so long as the constraint on the degree of freedom of the first transmission assembly 30 is imposed.
In an embodiment, referring to fig. 1 to 5, for the first linear motor 32 having the first body 321 and the first telescopic link 322, the first body 321 may be rotatably connected to the thigh side plate 10, and the first telescopic link 322 is rotatably connected to the second end 312 of the first link 31.
The manner in which the first body 321 is rotatably connected to the thigh side plate 10 is not limited, and as an exemplary example, referring to fig. 3 to 5, the robot leg transmission structure may include a first connection shaft 60 connected to the thigh side plate 10, and the first body 321 is rotatably connected to the thigh side plate 10 through the first connection shaft 60.
That is, the first body 321 includes a shaft hole that mates with the first coupling shaft 60, and the shaft hole of the first body 321 is rotatably coupled to the thigh side plate 10 by being sleeved on the first coupling shaft 60.
The connection manner of the first connection shaft 60 and the thigh side plate 10 is not limited, and the first connection shaft 60 may be integrally formed with the thigh side plate 10 or may be detachably connected by a fastener.
Further, referring to fig. 5, the first connecting shaft 60 may include a shaft body 61 having a shaft shoulder and a shaft sleeve 62 penetrating the shaft body 61, when the shaft hole of the first body 321 is sleeved on the shaft body 61, two sides of the first body 321 along the extending direction of the first connecting shaft 60 may respectively abut against the shaft shoulder and the shaft sleeve 62 to limit the axial displacement of the first body 321, so that the operation of the leg transmission structure of the robot is more reliable and controllable.
Referring to fig. 5, for example, the first link 31 has two first connecting portions 313 disposed at intervals, the first transmission assembly 30 further includes a second connecting shaft 34, and a portion of the first telescopic link 322 extends between the two first connecting portions 313 and is rotatably connected to the two second connecting portions 331 through the second connecting shaft 34. That is, two first connection portions 313 are located at the second ends 312 of the first links 31.
By making part of the first telescopic rod 322 extend into between the two first connecting portions 313 and rotationally connect with the two first connecting portions 313, the stress of the second connecting shaft 34 can be balanced, so that the transmission of the first transmission assembly 30 is smoother.
With continued reference to fig. 5, the first transmission assembly 30 may further include a second connecting rod 33, one end of the second connecting rod 33 is rotatably connected to the thigh side plate 10, the opposite end of the second connecting rod 33 extends between the two first connecting portions 313, and the second connecting shaft 34 is disposed through the two first connecting portions 313, the second connecting rod 33 and the first telescopic rod 322, so that the second connecting rod 33, the first linear motor 32 and the first connecting rod 31 are coaxially rotatably connected.
That is, one end of the second link 33 is also rotatably connected to the two first connecting portions 313 by extending between the two first connecting portions 313 to balance the stress of the second connecting shaft 34, so that the transmission of the first transmission assembly 30 is smoother.
Referring to fig. 5, for example, the second link 33 may include a second connecting portion 331 and two third connecting portions 332 disposed at intervals, the second connecting portion 331 is rotatably connected with the thigh side plate 10, a part of the two third connecting portions 332 extends between the two first connecting portions 313, a part of the first telescopic link 322 extends between the two third connecting portions 332, and the second connecting shaft 34 is disposed in the two first connecting portions 313, the two third connecting portions 332, and the first telescopic link 322.
That is, the two third connecting portions 332 are respectively located at two sides of the first telescopic rod 322 along the axial direction, and the two first connecting portions 313 are respectively located at two sides of the two third connecting portions 332 along the axial direction, so as to further balance the stress of the second connecting shaft 34, thereby making the transmission of the first transmission assembly 30 smoother.
Referring to fig. 4 and 5, the robot leg driving structure may include a third coupling shaft 70 coupled with the thigh side plate 10, and the second coupling part 331 is rotatably coupled with the thigh side plate 10 through the third coupling shaft 70. That is, the second connecting portion 331 includes a shaft hole that mates with the third connecting shaft 70, and the second link 33 is rotatably connected to the thigh side plate 10 by fitting the shaft hole of the second connecting portion 331 around the third connecting shaft 70.
In one embodiment, referring to fig. 3, the number of thigh side plates 10 may be two, and the two thigh side plates 10 are spaced apart, and the first transmission assembly 30 is disposed between the two thigh side plates 10.
The two thigh side panels 10 can protect the first transmission assembly 30.
For embodiments in which the robot leg transmission structure includes a first connecting shaft 60 connected to the thigh side plates 10, opposite ends of the second connecting shaft 34 may be simultaneously connected to two thigh side plates 10 to make the robot leg transmission structure more stable.
With continued reference to fig. 3, a support plate 80 may be further disposed between the two thigh side plates 10, and the two thigh side plates 10 are connected by the support plate 80, so as to further enhance the stability of the leg transmission structure of the robot.
In an embodiment, referring to fig. 1 to 4, the leg transmission structure of the robot may further include a hip-waist connecting seat 40, and the thigh side plate 10 is rotatably connected with the hip-waist connecting seat 40.
The hip waist connector 40 is used to connect the thigh side panels 10. Because the lower leg assembly 20 and the first linear motor 32 are rotatably connected with the thigh side plate 10, when the thigh side plate 10 rotates relative to the hip-waist connecting seat 40, the lower leg assembly 20 and the first transmission assembly 30 also rotate relative to the hip-waist connecting seat 40 along with the thigh side plate 10, and the robot can perform leg lifting action.
The connection mode of the thigh side plate 10 and the hip waist connecting seat 40 is not limited, and the thigh side plate 10 and the hip waist connecting seat 40 can be connected through bearings for reducing the friction coefficient when the thigh side plate 10 and the hip waist connecting seat 40 relatively rotate and guaranteeing the rotation precision.
As an example, referring to fig. 1, 2 and 4, the leg transmission structure of the robot may further include a second transmission assembly 50, where the second transmission assembly 50 includes a third link 51 and a second linear motor 52 having a second telescopic rod 521, and opposite ends of the third link 51 are rotatably connected to the hip-waist connecting seat 40 and one end of the second telescopic rod 521 in the telescopic direction, respectively, and opposite ends of the second telescopic rod 521 in the telescopic direction are rotatably connected to the thigh side plate 10, and the second telescopic rod 521 is extended to rotate the thigh side plate 10 relative to the hip-waist connecting seat 40 by the third link 51.
The second transmission assembly 50 is used for rotating the thigh side plate 10 relative to the hip waist connecting seat 40, so that the robot can perform leg lifting action.
The second linear motor 52 is also a linear motor, and the second linear motor 52 is used to provide a driving force for the rotation of the thigh side plate 10.
Specifically, the hip-waist connecting seat 40 may be used as a frame, and the thigh side plate 10, the third link 51, the second linear motor 52, and the hip-waist connecting seat 40 form a set of four-bar linkages. The four bar linkage is movable by telescoping of the second linear motor 52, that is, the second linear motor 52 acts as a set of "slider rails" by telescoping to provide the driving force for the four bar linkage.
Illustratively, when the second telescopic rod 521 is extended, the second telescopic rod 521 applies a pulling force to the thigh side plate 10 through the third link 51, the thigh side plate 10 rotates relative to the hip-waist connecting seat 40 under the action of the pulling force with the hip-waist connecting seat 40 as a fulcrum, that is, the joint between the thigh side plate 10 and the hip-waist connecting seat 40, that is, the hip joint of the robot, and the thigh side plate 10 bends the hip joint by using the lever principle, thereby causing the robot to lift the leg. When the second telescopic rod 521 is retracted, the second telescopic rod 521 provides thrust to the calf assembly 20 through the third link 51, the thigh side plate 10 rotates relative to the hip-waist connecting seat 40 with the hip-waist connecting seat 40 as a fulcrum under the action of the thrust, that is, the hip joint is retracted, and the robot is lifted from the leg to the upright position.
Referring to fig. 1, 2 and 4, the second transmission assembly 50 may further include a fourth link 53, one end of the fourth link 53 is rotatably connected to the thigh side plate 10, and the other end opposite to the fourth link 53 is coaxially rotatably connected to the second linear motor 52 and the third link 51.
The fourth link 53 is used to impose a constraint on the degree of freedom of the second transmission assembly 50 so that the four-bar linkage consisting of the thigh side plate 10, the second linear motor 52, the third link 51 and the hip-waist connecting seat 40 has a condition of determining movement, that is, the movement state of other parts of the four-bar linkage can be determined only by the telescopic information of the second telescopic rod 521, making the analysis and control of the robot leg transmission structure easier.
In the description of the present application, reference to the term "one embodiment," "in some embodiments," "in other embodiments," "in yet other embodiments," or "exemplary" etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In the present application, the schematic representations of the above terms are not necessarily for the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the various embodiments or examples described in the present application and the features of the various embodiments or examples may be combined by those skilled in the art without contradiction.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application are included in the protection scope of the present application.
Claims (14)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202411625199.7A CN119370222A (en) | 2024-11-13 | 2024-11-13 | A robot leg transmission structure and robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202411625199.7A CN119370222A (en) | 2024-11-13 | 2024-11-13 | A robot leg transmission structure and robot |
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| CN119370222A true CN119370222A (en) | 2025-01-28 |
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| CN202411625199.7A Pending CN119370222A (en) | 2024-11-13 | 2024-11-13 | A robot leg transmission structure and robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120270369A (en) * | 2025-06-06 | 2025-07-08 | 山东大学 | Bionic humanoid robot knee joint mechanism, robot and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN120270369A (en) * | 2025-06-06 | 2025-07-08 | 山东大学 | Bionic humanoid robot knee joint mechanism, robot and method |
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