CN112874652A - Variable-form leg structure and robot - Google Patents
Variable-form leg structure and robot Download PDFInfo
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- CN112874652A CN112874652A CN202110156209.7A CN202110156209A CN112874652A CN 112874652 A CN112874652 A CN 112874652A CN 202110156209 A CN202110156209 A CN 202110156209A CN 112874652 A CN112874652 A CN 112874652A
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 107
- 210000002414 leg Anatomy 0.000 claims abstract description 67
- 210000001699 lower leg Anatomy 0.000 claims description 73
- 230000036544 posture Effects 0.000 abstract description 16
- 244000309466 calf Species 0.000 description 8
- 230000005540 biological transmission Effects 0.000 description 5
- 238000003780 insertion Methods 0.000 description 5
- 230000037431 insertion Effects 0.000 description 5
- 230000001681 protective effect Effects 0.000 description 3
- 230000001360 synchronised effect Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002079 cooperative effect Effects 0.000 description 1
- 230000000875 corresponding effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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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
- B62D57/028—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 having wheels and mechanical legs
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- Combustion & Propulsion (AREA)
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Abstract
The invention discloses a variable-form leg structure and a robot, wherein the leg structure comprises a thigh part, a shank part and a walking part, a first driving assembly is used for driving the thigh body to rotate, a second driving assembly is arranged on the thigh body and is used for driving the shank body to rotate relative to the thigh body, a third driving assembly is used for driving the walking wheel to rotate, and the shank part also comprises an auxiliary wheel which can rotate along with the rotation of the walking wheel; the robot includes the leg structure described above. The leg structure can move forwards in a kneeling or creeping state by the aid of the rotation of the travelling wheels driven by the third driving assembly, and can move in different postures by changing the travelling postures, so that the overall height of the leg structure can be changed, the leg structure can move in a space with height limitation, and application scenes are wide.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a leg structure with a variable shape and a robot.
Background
Robots are capable of performing semi-automatic or fully autonomous movements in an intelligent manner, and have been widely used in medical, military, education, and daily lives of people. In the related technology, the robot has a single form, can only stand, walk and the like, can execute limited tasks, and cannot meet the task execution requirements of different scenes.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides the leg structure with the variable form, so that the robot can move in different forms, and the application scene is wider.
The invention also provides a robot with the leg structure.
A variable-configuration leg structure according to an embodiment of the first aspect of the invention includes:
the thigh part comprises a thigh body and a first driving assembly, and the first driving assembly is connected with the thigh body and is used for driving the thigh body to rotate;
the shank part comprises a shank body and a second driving assembly, the shank body is rotatably connected with the thigh body, and the second driving assembly is arranged on the thigh body and is used for driving the shank body to rotate relative to the thigh body;
the walking part is arranged at one end, far away from the thigh body, of the shank body and comprises a walking wheel and a third driving assembly, and the third driving assembly is used for driving the walking wheel to rotate;
the crus part further comprises an auxiliary wheel, the auxiliary wheel is connected to the crus body in a rotating mode, and the auxiliary wheel can rotate along with the rotation of the walking wheel.
The variable-form leg structure provided by the embodiment of the invention has at least the following beneficial effects:
according to the variable-form leg structure in the embodiment of the invention, the included angle between the thigh body and the shank body is adjusted through the second driving assembly, so that the leg structure presents different postures, the thigh can move under the driving of the first driving assembly, the leg structure can walk in a standing form, the walking wheels can rotate under the driving of the third driving assembly, the leg structure can move forwards in a kneeling posture or a creeping state, therefore, the leg structure can walk in different postures, the overall height of the leg structure can be changed through changing the walking postures, the leg structure can walk in a space with height limitation, and the application scene is wider.
According to some embodiments of the invention, the shank body has a support section that can be brought into abutment with a side of the thigh body and serves to support the thigh body.
According to some embodiments of the present invention, the first driving assembly includes a first driving member and a first rotating shaft, the first rotating shaft is connected to the thigh body, and the first driving member is configured to drive the first rotating shaft to rotate.
According to some embodiments of the present invention, the second driving assembly includes a second driving member and a second rotating shaft, the second rotating shaft is mounted at an end of the thigh body, and the second driving member is configured to drive the second rotating shaft to rotate, so that the shank body rotates along with the second rotating shaft.
According to some embodiments of the invention, the thigh portion comprises a first mounting seat, a part of the second driving assembly is accommodated in the first mounting seat, and the first mounting seat is connected with the first driving assembly.
According to some embodiments of the present invention, the hip further comprises a hip portion, the hip portion comprises a second mounting seat and a fourth driving assembly, the thigh portion is connected with the second mounting seat, and the fourth driving assembly is used for driving the second mounting seat to rotate.
According to some embodiments of the invention, a portion of the first drive assembly is disposed within the interior of the second mount.
According to some embodiments of the invention, the thigh section comprises a first stop assembly, part of the first stop assembly being mounted on and following the thigh body, the first stop assembly being adapted to detect and limit the angle of rotation of the thigh body relative to the hip.
According to some embodiments of the invention, the calf portion includes a second stop assembly, a portion of the second stop assembly being mounted on the calf body, the second stop assembly being configured to detect and limit the angle of rotation of the calf body relative to the thigh body.
A robot according to an embodiment of the second aspect of the present invention includes:
a body;
a plurality of the above-described variable leg structures are attached to the body.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The invention is further described with reference to the following figures and examples, in which:
FIG. 1 is a schematic view of a variable leg structure according to the present invention in a walking state;
FIG. 2 is an exploded view of the deformable leg structure of FIG. 1;
FIG. 3 is a schematic view of the leg structure of FIG. 1 in another walking state;
FIG. 4 is an exploded view of the thigh and lower leg of FIG. 1;
figure 5 is a schematic structural view of one embodiment of the hip of the present invention;
fig. 6 is a schematic structural diagram of one embodiment of the robot of the present invention.
Reference numerals: the thigh part 100, the thigh body 110, the first driving component 120, the first driving part 121, the first rotating shaft 122, the first boss 1221, the first mounting seat 123, the second boss 1231, the third boss 1232, the end cover 124, the protective cover 130, the first limiting component 140, the first limiting block 141 and the first sensing element 142; the calf part 200, the calf body 210, the support section 211, the mounting plate 212, the insertion groove 213, the second driving assembly 220, the second driving piece 221, the second rotating shaft 222, the adapter piece 223, the third rotating shaft 224, the synchronizing wheel 225, the tension wheel 226, the plug 227, the auxiliary wheel 230, the second limiting assembly 240, the second sensing element 241 and the second limiting block 242; a traveling part 300, a traveling wheel 310, a third driving assembly 320; the hip 400, the second mounting seat 410, the housing 411, the fourth driving member 420, the third limiting assembly 430, the third sensing element 431 and the third limiting block 432; a body 500 and a bracket 510.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality is one or more, the meaning of a plurality is two or more, and the above, below, exceeding, etc. are understood as excluding the present numbers, and the above, below, within, etc. are understood as including the present numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
In the description of the present invention, reference to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples," 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 present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to 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.
Referring to fig. 1, in one embodiment of the present invention, a leg structure with a variable configuration is provided, including a thigh 100, a shank 200 and a walking part 300, wherein the thigh 100 includes a thigh body 110 and a first driving assembly 120, the first driving assembly 120 is connected to the thigh body 110, the first driving assembly 120 is used for driving the thigh body 110 to rotate, and when the thigh body 110 rotates, the thigh 100 is lifted and dropped; the lower leg portion 200 is rotatably connected with the thigh portion 100, the lower leg portion 200 can move along with the thigh portion 100, the lower leg portion 200 comprises a lower leg body 210 and a second driving assembly 220, the lower leg body 210 is rotatably connected with the thigh body 110, the second driving assembly 220 is mounted on the thigh body 110 and is used for driving the lower leg body 210 to rotate relative to the thigh body 110, so as to adjust the included angle between the thigh body 110 and the shank body 210, change the height of the whole leg structure, when the thigh body 110 and the shank body 210 are completely unfolded or unfolded to a certain angle, the leg structure is in a standing state (as shown in fig. 1), when the lower leg body 210 is folded to a certain angle relative to the upper leg body 110 or the two are completely attached, the leg structure is in a kneeling position or creeping state (as shown in fig. 3), therefore, the leg structure can present different postures by adjusting the angle between the thigh body 110 and the shank body 210. It should be noted that, when the leg structure walks in a standing posture, the first driving assembly 120 and the second driving assembly 220 simultaneously operate to drive the thigh body 110 and the shank body 210 to rotate, so that the leg structure moves forward, when the leg structure walks in a kneeling posture or a creeping state, an included angle between the thigh body 110 and the shank body 210 is small, the first driving assembly 120 needs to provide a large torque to the thigh body 110 to support the thigh body 110 to rotate, the walking energy consumption is high, and when the thigh body 110 rotates, the shank body 210 interferes with the ground, and cannot move forward; in view of the above situation, in this embodiment, the leg structure further includes a walking part 300, the walking part 300 is installed at one end of the lower leg body 210 far away from the thigh body 110, the walking part 300 includes a walking wheel 310 and a third driving assembly 320, the third driving assembly 320 is used for driving the walking wheel 310 to rotate, the lower leg 200 further includes an auxiliary wheel 230, the auxiliary wheel 230 is rotatably connected to the lower leg body 210, the walking wheel 310 drives the lower leg body 210 to move when rotating, the auxiliary wheel 230 supports the lower leg body 210 and rotates along with the rotation of the walking wheel 310, at this time, the walking wheel 310 provides power for the forward movement of the leg structure, so that the leg structure can walk in a kneeling posture or a crawling state.
Therefore, in the leg structure with a variable form in the embodiment of the present invention, the included angle between the thigh body 110 and the shank body 210 is adjusted by the second driving assembly 220, so that the leg structure presents different postures, the thigh 100 can move under the driving of the first driving assembly 120, so that the leg structure walks in a standing form, the walking wheels 310 can rotate under the driving of the third driving assembly 320, so that the leg structure can move forward in a kneeling posture or a crawling state, and therefore the leg structure can walk in different postures, the overall height of the leg structure can be changed by changing the walking posture, so that the leg structure can walk in a space with height limitation, and the application scenarios are wide.
The standing state means that the thigh body 110 is fully extended with respect to the shank body 210, but the two are not strictly parallel to each other; the kneeling position state refers to that the thigh body 110 is completely attached to the upper part of the shank body 210, the thigh body 110 and the shank body 210 can not rotate, and the rotation of the walking wheels 310 drives the whole leg structure to move forward; the creeping state means that the thigh body 110 and the shank body 210 are folded into a certain included angle, the rotation of the thigh body 110 is interfered by the ground, the auxiliary wheel 230 is required to support, and the thigh body 110 can still rotate at a small angle, so that the leg structure moves forward in the creeping state.
Referring to fig. 1 and 3, the lower leg body 210 has a supporting section 211, the supporting section 211 is located in the middle of the lower leg body 210, the upper surface of the supporting section 211 is convex, the lower surface of the supporting section 211 is concave, the upper surface of the supporting section 211 can be attached to the lower side of the thigh body 110 to support the thigh body 110, and the lower surface of the supporting section 211 can avoid the interference between the lower leg body 210 and the ground, so that the lower leg body 210 moves forward under the support of the auxiliary wheel 230 and the walking wheel 310. By arranging the supporting section 211, the thigh body 110 can be attached above the shank body 210 at a certain inclination angle and supported by the shank body 210, thereby avoiding interference between other parts in the leg structure and the ground. To reduce the vibration of the leg structure during kneeling walking and reduce the collision between the thigh body 110 and the shank body 210, a cushion pad may be provided on the upper surface of the support section 211.
Referring to fig. 2, the first driving assembly 120 includes a first driving member 121 and a first rotating shaft 122, the first rotating shaft 122 is connected to the thigh body 110, and the first driving member 121 is used for driving the first rotating shaft 122 to rotate, so that the thigh body 110 rotates synchronously with the first rotating shaft 122, and the thigh 100 is lifted and dropped. The first driving member 121 may be an electric motor, a motor, or the like, and the first driving member 121 is directly connected to the first rotating shaft 122, or is connected to the first rotating shaft 122 through a bearing, a coupling, or the like.
The second driving assembly 220 includes a second driving member 221 and a second rotating shaft 222, the second rotating shaft 222 is mounted at an end of the thigh body 110, the second rotating shaft 222 is connected to the second driving member 221 and is driven by the second driving member 221 to rotate, and the second driving member 221 can be a motor or a motor.
In order to avoid the second driving assembly 220 being mounted on the outer portion of the lower leg portion 200, increasing the volume of the leg portion 100 structure or interfering with other structures, in one embodiment of the present invention, the first driving assembly 120 and the second driving assembly 220 are integrated with each other, so that the connection between the first driving assembly 120 and the second driving assembly 220 is more compact. Specifically, the first driving assembly 120 further includes a first mounting seat 123, one side of the first rotating shaft 122 is connected to the first driving member 121, the other side of the first rotating shaft 122 forms a first boss 1221, the first boss 1221 is hollow, one side of the first mounting seat 123 close to the first rotating shaft 122 is provided with a second boss 1231, the second boss 1231 is hollow, the first boss 1221 and the second boss 1231 can be fastened to each other, a mounting space is formed between the first boss 1221 and the second boss 1231, and the mounting space is used for accommodating the second driving member 221, so that the second driving member 221 is integrated into the first driving assembly 120; the first mounting seat 123 has a third boss 1232 on a side away from the first rotating shaft 122, the first driving assembly 120 further includes an end cap 124, the end cap 124 is sleeved outside the third boss 1232, the end cap 124 and the third boss 1232 are provided with mounting holes corresponding in position, and the mounting holes can be fixedly connected by inserting threaded fasteners into the mounting holes; the thigh body 110 is connected with an end cover 124, the end cover 124 is connected with the first rotating shaft 122 through a first mounting seat 123 and rotates along with the rotation of the first rotating shaft 122, and then the thigh body 110 is driven to rotate; the first mounting seat 123 is hollow for the second shaft 222 to pass through, so that the second shaft 222 enters the first mounting seat 123 and is connected to the second driving member 221, thereby integrating the second driving member 221 and the second shaft 222 into the first driving assembly 120.
In addition, the second driving assembly 220 further includes an adaptor 223, the adaptor 223 can be fixedly mounted on the first mounting base 123, a bearing can be disposed inside the adaptor 223, and the second rotating shaft 222 is disposed in the bearing in a penetrating manner; the adaptor 223 is disposed to facilitate mounting a bearing, so that the second shaft 222 is driven by the second driving member 221 to rotate relative to the first mounting base 123, and movement interference between the first driving assembly 120 and the second driving assembly 220 is avoided. The thigh portion 100 is further provided with a protective cover 130, and the protective cover 130 covers the outer portion of the end cover 124, so as to protect the first mounting seat 123, the end cover 124 and the second driving assembly 220.
Referring to fig. 2 and 4, the second driving assembly 220 further includes a third rotating shaft 224 and two synchronizing wheels 225, the thigh body 110 and the lower leg body 210 are rotatably connected to the third rotating shaft 224, the two synchronizing wheels 225 are respectively sleeved on the second rotating shaft 222 and the third rotating shaft 224, a synchronizing belt (not shown) is sleeved on the two synchronizing wheels 225, and the third rotating shaft 224 rotates synchronously with the second rotating shaft 222 through transmission of the synchronizing belt, so as to realize the relative rotation of the thigh body 110 and the lower leg body 210. By adopting the transmission structure of the synchronous wheel and the synchronous belt, the synchronous belt can be accommodated in the thigh body 110, the external space of the leg structure is not occupied, and the whole leg structure is simpler. In addition, a tension pulley 226 is further installed in the upper leg body 110, and the tension pulley 226 is used for tensioning the timing belt, thereby improving the power transmission efficiency and transmission accuracy from the second rotating shaft 222 to the third rotating shaft 224.
The end of the lower leg body 210 is provided with two opposite mounting plates 212, the synchronizing wheel 225 is embedded between the two mounting plates 212, mounting holes are formed in the synchronizing wheel 225 and the mounting plates 212, and the synchronizing wheel 225 and the lower leg body 210 can be locked by inserting threaded fasteners into the mounting holes, so that the lower leg body 210 can rotate synchronously with the synchronizing wheel 225. The thigh body 110 is hollow, the synchronizing wheel 225 and the shank body 210 can be inserted into the thigh body 110 together, and the third rotating shaft 224 passes through the synchronizing wheel 225 and the shank body 210 and then is connected with the thigh body 110; the second driving assembly 220 further includes a plug 227, two ends of the third rotating shaft 224 are fixedly connected to the plug 227, a counter bore for installing the plug 227 is disposed on the thigh body 110, and the plug 227 can be fixedly connected to the thigh body 110 by a threaded fastener.
The end of the lower leg body 210 is further provided with an insertion groove 213, the third rotating shaft 224 is located in the insertion groove 213, one end of the insertion groove 213 is provided with an opening, and after the locking of the synchronizing wheel 225 and the lower leg body 210 by the threads is released, the synchronizing wheel 225 and the third rotating shaft 224 can exit the insertion groove 213 through the opening, so that the lower leg body 210 and the thigh body 110 can be separated, and the detachment is convenient.
The walking part 300 is detachably mounted at the end part of the lower leg body 210, the walking part 300 can be detachably connected with the lower leg body 210 through threaded connection, when the leg structure does not need the walking part 300 to be driven, the walking part 300 can be detached and replaced by a conventional foot structure, and the use is flexible.
The third driving assembly 320 can be directly connected to the traveling wheel 310 by using a motor, a motor and other driving components to rotate the traveling wheel 310, or the third driving assembly 320 includes a gear for power transmission, such as a bevel gear capable of adjusting the rotation direction, or a braking element for braking the traveling wheel 310 is further included in the third driving assembly 320, so that the traveling wheel 310 is prevented from rotating at an excessively large angle, or when the leg structure walks in a standing posture, the rotation of the traveling wheel 310 is stopped, and the walking wheel moves forward by the cooperation of the thigh 100 and the shank 200.
Referring to fig. 5, the leg structure further includes a hip 400, the hip 400 is connected to the thigh 100, the hip 400 includes a second mounting seat 410 and a fourth driving member 420, the fourth driving member 420 can be selected from a motor, and the like, the fourth driving member 420 is connected to the second mounting seat 410 and is used for driving the second mounting seat 410 to rotate, the thigh 100 is connected to the second mounting seat 410, and the thigh 100 can rotate synchronously with the second mounting seat 410. Through setting up hip 400, can make big leg 100 open to certain angle to suitably reduce the height of shank structure when shank structure stands to walk, the shank structure of being convenient for adapts to the not walking scene of co-altitude in the walking process, and the flexibility ratio is higher.
The second mounting seat 410 is hollow, the first driving member 121 can be accommodated in the second mounting seat 410, so that the connection between the first driving assembly 120 and the hip 400 is more compact, the second mounting seat 410 is driven by the fourth driving member 420 to synchronously drive the first driving member 121 to rotate, the first rotating shaft 122 is connected with the first driving member 121, and the first rotating shaft 122 is compatible with the rotation along the rotation direction of the second mounting seat 410 and the rotation along the rotation direction of the first driving member 121, so that the thigh 100 can move while being opened outwards along with the second mounting seat 410. The second mounting seat 410 can be assembled by two housings 411, and the second mounting seat 410 in an assembled form is provided, which is beneficial to assembling and disassembling the first driving member 121 and the second mounting seat 410.
In order to avoid that the rotation angles of the thigh part 100, the lower leg part 200 and the hip 400 are too large to influence the normal walking of the leg structure, the thigh part 100, the lower leg part 200 and the hip 400 are all provided with limiting assemblies. Specifically, referring to fig. 1, the thigh part 100 includes a first limiting assembly 140, the first limiting assembly 140 includes a first limiting block 141 and a first sensing element 142, the first sensing element 142 is mounted on the second mounting base 410, the first limiting block 141 is mounted on the first rotating shaft 122 and rotates along with the first rotating shaft 122, the first sensing element 142 can sense the first limiting block 141 passing through the first sensing element and send an instruction to the first driving part 121 through the control system, and the first driving part 121 stops driving the first rotating shaft 122. Referring to fig. 3, the calf part 200 includes a second limiting assembly 240, the second limiting assembly 240 includes a second sensing element 241 and a second limiting block 242, the second sensing element 241 is installed at the lower side of the thigh body 110, the second limiting block 242 is installed at the upper side of the calf body 210, the second sensing element 241 can sense the second limiting block 242 passing through the second sensing element and send an instruction to the second driving element 221 through the control system, the second driving element 221 stops driving the second rotating shaft 222, and the thigh body 110 and the calf body 210 are prevented from being folded excessively. Referring to fig. 5, the hip 400 includes a third limiting assembly 430, the third limiting assembly 430 includes a third sensing element 431 and a third limiting block 432, the third sensing element 431 is mounted on the bracket 510, the third limiting block 432 is connected with the second mounting base 410, the third sensing element 431 can sense the third limiting block 432 passing through the third sensing element and send a command to the fourth driving member through the control system, and the fourth driving member stops driving the second mounting base 410 to prevent the thigh portion 100 from being opened by an excessively large angle. The first sensing element 142, the second sensing element 241 and the third sensing element 431 can be a photo sensor, a position sensor, etc.
The invention also provides a robot, which comprises a plurality of leg structures with variable forms and a robot body 500, wherein the leg structures are arranged on the robot body 500, the robot body 500 comprises a support 510 and a power supply, a control module and the like which are arranged in the support 510, and the support 510 provides an installation foundation for the leg structures. The cooperative action of the leg structures can enable the robot to walk in different forms, the walking postures of the robot are diversified, the requirements of different walking scenes on the height of the robot can be met, and the application range of the robot is widened.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Furthermore, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
Claims (10)
1. A deformable leg structure, comprising:
the thigh part comprises a thigh body and a first driving assembly, and the first driving assembly is connected with the thigh body and is used for driving the thigh body to rotate;
the shank part comprises a shank body and a second driving assembly, the shank body is rotatably connected with the thigh body, and the second driving assembly is arranged on the thigh body and is used for driving the shank body to rotate relative to the thigh body;
the walking part is arranged at one end, far away from the thigh body, of the shank body and comprises a walking wheel and a third driving assembly, and the third driving assembly is used for driving the walking wheel to rotate;
the crus part further comprises an auxiliary wheel, the auxiliary wheel is connected to the crus body in a rotating mode, and the auxiliary wheel can rotate along with the rotation of the walking wheel.
2. The configuration-modifiable leg structure according to claim 1, wherein said shank body has a support section adapted to be fitted to a side portion of said thigh body and adapted to support said thigh body.
3. The configuration-changeable leg structure according to claim 1, wherein the first driving assembly comprises a first driving member and a first rotating shaft, the first rotating shaft is connected to the thigh body, and the first driving member is configured to drive the first rotating shaft to rotate.
4. The transformable leg structure of claim 1, wherein the second driving assembly comprises a second driving member and a second rotating shaft, the second rotating shaft is mounted at the end of the thigh body, and the second driving member is used for driving the second rotating shaft to rotate, so that the shank body rotates along with the second rotating shaft.
5. The configuration-modifiable leg structure according to claim 1, wherein said thigh portion comprises a first mounting seat, a portion of said second driving assembly being housed inside said first mounting seat, said first mounting seat being connected to said first driving assembly.
6. The configuration-modifiable leg structure according to any of claims 1 to 5, further comprising a hip portion including a second mounting base and a fourth driving assembly, wherein said thigh portion is connected to said second mounting base, and wherein said fourth driving assembly is adapted to drive said second mounting base to rotate.
7. The configuration-changing leg structure according to claim 6, wherein a portion of the first drive assembly is disposed inside the second mount.
8. The configuration-changeable leg structure according to claim 6, wherein the thigh portion comprises a first limiting assembly, part of which is mounted on and follows the thigh body, the first limiting assembly being configured to detect and limit the angle of rotation of the thigh body relative to the hip.
9. The configuration-modifiable leg structure according to claim 1, wherein said shank portion comprises a second limit assembly, a portion of said second limit assembly being mounted on said shank body, said second limit assembly being adapted to detect and limit the rotation angle of said shank body with respect to said thigh body.
10. A robot, characterized by comprising:
a body;
a plurality of the morphable leg structures of any one of claims 1 to 9 mounted on the fuselage.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310365587.5A CN116395054A (en) | 2021-02-04 | 2021-02-04 | Leg structure with changeable shape and robot |
| CN202110156209.7A CN112874652A (en) | 2021-02-04 | 2021-02-04 | Variable-form leg structure and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110156209.7A CN112874652A (en) | 2021-02-04 | 2021-02-04 | Variable-form leg structure and robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310365587.5A Division CN116395054A (en) | 2021-02-04 | 2021-02-04 | Leg structure with changeable shape and robot |
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| CN112874652A true CN112874652A (en) | 2021-06-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110156209.7A Pending CN112874652A (en) | 2021-02-04 | 2021-02-04 | Variable-form leg structure and robot |
| CN202310365587.5A Pending CN116395054A (en) | 2021-02-04 | 2021-02-04 | Leg structure with changeable shape and robot |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310365587.5A Pending CN116395054A (en) | 2021-02-04 | 2021-02-04 | Leg structure with changeable shape and robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114044064A (en) * | 2021-11-25 | 2022-02-15 | 北京中海兴达建设有限公司 | Industrial robot for carrying in building construction |
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
| CN114954725A (en) * | 2022-06-08 | 2022-08-30 | 北京哈崎机器人科技有限公司 | Robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116985933B (en) * | 2023-09-27 | 2024-01-12 | 深圳市其域创新科技有限公司 | Robot |
| CN117444934B (en) * | 2023-12-25 | 2024-03-26 | 国仪大为(北京)智能科技有限公司 | Rehabilitation accompanying deformation robot |
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| CN114044064A (en) * | 2021-11-25 | 2022-02-15 | 北京中海兴达建设有限公司 | Industrial robot for carrying in building construction |
| CN114771687A (en) * | 2022-05-07 | 2022-07-22 | Oppo广东移动通信有限公司 | Robot |
| CN114954725A (en) * | 2022-06-08 | 2022-08-30 | 北京哈崎机器人科技有限公司 | Robot |
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| CN116395054A (en) | 2023-07-07 |
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