CN220701224U - Mechanical limb joint and robot - Google Patents

Abstract

The present disclosure relates to a mechanical limb and a robot. The mechanical limb section includes a first limb section, and the first limb section includes an inner shell, a middle shell and a decorative outer shell. The middle shell and the decorative outer shell are fixedly connected to the inner shell respectively. The middle shell is located in the decorative outer shell. and the inner shell; a rotating shaft, the rotating shaft passes through the inner shell and the middle shell; a second limb section, the second limb section is located below the first limb section, The second limb section includes an axis hole for the rotating shaft to pass through, and the second limb section is relatively rotatably connected to the first limb section through the rotating shaft.

Description

Mechanical limbs and robots

Technical field

The present disclosure relates to the field of terminal technology, and in particular to a mechanical limb and a robot.

Background technique

For footed robots, rotating shafts are usually required to realize rotational connection at two adjacent limbs to simulate human foot joints.

However, in the related art, the rotating shaft of the simulated foot joint usually passes through both sides of the thigh or upper arm of the limb, causing the end of the rotating shaft to be exposed on the appearance side of the limb, affecting the aesthetics of the limb.

Utility Model Content

The present disclosure provides a mechanical limb and a robot to solve the deficiencies in related technologies.

According to a first aspect of an embodiment of the present disclosure, a mechanical limb is provided, including:

The first limb section includes an inner shell, a middle shell and a decorative outer shell. The middle shell and the decorative outer shell are fixedly connected to the inner shell respectively. The middle shell is located between the decorative outer shell and the inner shell. within the space enclosed by the shell;

A rotating shaft, which passes through the inner shell and the middle shell;

A second limb section, the second limb section is located below the first limb section, the second limb section includes an axis hole for the rotating shaft to pass through, and the second limb section passes through The rotating shaft is relatively rotatably connected to the first limb section.

Optionally, the rotating shaft is fixedly connected to the middle shell and the inner shell respectively, and the second limb is rotationally connected to the part of the rotating shaft between the middle shell and the inner shell.

Optionally, the decorative outer shell is detachably connected to the inner shell.

Optionally, a first locking member is also included, and the first locking member locks the inner shell and the decorative outer shell.

Optionally, the inner shell includes a first threaded hole that passes through, the decorative outer shell includes a second threaded hole that is recessed inward from a side facing the inner shell, and the second threaded hole is a blind hole;

The first locking piece is locked in the first threaded hole and the second threaded hole.

Optionally, the decorative shell includes an exterior surface, the exterior surface is arranged away from the inner shell, and the exterior surface is a colored surface.

Optionally, the middle shell is fixedly connected to the inner shell.

Optionally, a rotating joint is further included, and the inner shell and the decorative outer shell are respectively fixedly connected to the rotating joint.

According to a second aspect of an embodiment of the present disclosure, a robot is provided, including a mechanical limb as described in any of the above embodiments.

Optionally, the robot includes a quadruped robot.

The technical solutions provided by the embodiments of the present disclosure may include the following beneficial effects:

It can be seen from the above embodiments that the rotating shaft in the present invention is respectively connected to the inner shell, the middle shell and the second limb, so the gravity of the second limb mainly acts on the inner shell and the middle shell, thereby avoiding the decorative outer shell as a load-bearing structure, thereby reducing the risk of deformation of the decorative outer shell due to the gravity of the second limb. At the same time, the rotating shaft is not visible on the appearance of the mechanical limb, which is beneficial to improving the aesthetics of the mechanical limb.

It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

Description of drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.

Figure 1 is a schematic structural diagram of a mechanical limb according to an exemplary embodiment.

Figure 2 is a schematic diagram of the mechanical limb segment in Figure 1 from another angle.

Figure 3 is an exploded schematic diagram of the mechanical limbs in Figure 1.

Figure 4 is a partial schematic diagram of the mechanical limb segment in Figure 1.

Detailed ways

Exemplary embodiments will be described in detail herein, examples of which are illustrated in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of the disclosure as detailed in the appended claims.

The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "the" and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It will also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in this disclosure to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from each other. For example, without departing from the scope of the present disclosure, the first information may also be called second information, and similarly, the second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "when" or "when" or "in response to determining."

Figure 1 is a schematic structural diagram of a mechanical limb section according to an exemplary embodiment. Figure 2 is a schematic diagram of the mechanical limb section in Figure 1 from another angle. Figure 3 is an exploded schematic view of the mechanical limb section in Figure 1. Figure 4 This is a partial schematic diagram of the mechanical limb segment in Figure 1. As shown in Figures 1 to 4, the mechanical limb section includes a first limb section 1, a second limb section 2 and a rotating shaft 3. The first limb section 1 includes an inner shell 11, a middle shell 12 and a decorative shell 13. The middle shell The shell 12 and the decorative shell 13 are connected to the inner shell 11 respectively. The middle shell 12 is located in the space surrounded by the decorative shell 13 and the inner shell 11. The rotating shaft 3 passes through the inner shell 11 and the middle shell 12. The second limb section 2 is located in the space surrounded by the inner shell 11 and the inner shell 11. Below one limb 1, the second limb 2 may include an axis hole. The rotating shaft 3 can also penetrate the shaft hole while passing through the inner shell 11 and the middle shell 12. The second limb 2 and the first limb are 1 can be relatively rotated through the rotating shaft 3 to achieve relative rotation between the first limb section 1 and the second limb section 2 .

Among them, since the rotating shaft 3 is connected to the inner shell 11, the middle shell 12 and the second limb section 2 respectively, the gravity of the second limb section 2 mainly acts on the inner shell 11 and the middle shell 12, so the decorative shell 13 can be avoided as a bearing. This force structure can reduce the risk of deformation of the decorative shell 13 due to the gravity of the second limb section 2, which is beneficial to maintaining the aesthetics of the mechanical limb section. The inner shell 11 can be understood as a shell with the mechanical limbs facing the inside of the body of the robot to which it belongs, and the decorative outer shell 13 can be understood as a shell with the mechanical limbs facing to the outside of the body of the robot to which it belongs.

The decorative shell 13 and the inner shell 11 can be detachably connected, and the decorative shell 13 can be replaced after it is scratched or damaged. Optionally, the decorative outer shell 13 and the inner shell 11 can be detachably connected by snapping; alternatively, the decorative outer shell 13 and the inner shell 11 can be connected through the first locking member 4 The connection is detachable. Of course, it should be noted that in some cases, when the inner shell 11 and the decorative outer shell 13 are locked by the first locking part 4, the first locking part 4 may also be a non-detachable structure. This disclosure There are no restrictions on this.

Still taking the example of locking the decorative outer shell 13 and the inner shell 11 through the first locking piece 4, the inner shell 11 may include a first threaded hole that penetrates therethrough, and the decorative outer shell 13 includes a second threaded hole that is recessed inward from the side facing the inner shell 11. The first locking piece 4 can be locked to the first threaded hole and the second threaded hole, and the second threaded hole is a blind hole, thereby avoiding the first locking piece 4 from being exposed on one side of the decorative outer shell 13, and further improving the aesthetics of the mechanical limb.

Optionally, in order to improve the aesthetics of the mechanical limb, the decorative shell 13 may include an exterior surface 131 , the exterior surface 131 is arranged away from the inner shell 11 , and the exterior surface 131 is a colored surface. Alternatively, a logo or other icons can be set on the appearance surface 131 to enhance the interest of the mechanical limbs.

Regarding the scheme of realizing relative rotation connection between the first limb section 1 and the second limb section 2 through the rotating shaft 3 . Optionally, the rotating shaft 3 can be fixedly connected to the middle shell 12 and the inner shell 11 respectively, and the second limb section 2 can be rotationally connected to the part of the rotating shaft 3 located between the middle shell 12 and the inner shell 11 . Alternatively, the rotating shaft 3 can also be fixedly connected to the second limb section 2, and the rotating shaft 3 is also rotationally connected to the inner shell 11 and the middle shell 12, so that the first limb section 1 and the second limb section 2 can be realized relative rotation settings.

Optionally, the inner shell 11 and the middle shell 12 can be fixedly connected. For example, in some embodiments, the inner shell 11 and the middle shell 12 can be relatively fixed through fasteners such as screws or bolts; in other embodiments, the inner shell 11 and the middle shell 12 can be relatively fixed. In the embodiment, welding may also be performed after the inner shell 11 and the middle shell 12 are relatively limited and fixed, thereby achieving a fixed connection between the inner shell 11 and the middle shell 12 .

Alternatively, the mechanical limb section can also include a rotating joint 5, which is fixedly connected to the inner shell 11 and the decorative shell 13 respectively, so that through the action of the rotating joint 5, the first limb section 1 and The second limb segment 2 rotates relative to the body of the robot to which it belongs.

Based on the technical solution of the present disclosure, a robot is also provided. The robot may include the mechanical limb segment described in any of the above embodiments. The first limb segment of the mechanical limb segment may be the thigh limb segment of the robot, and the second limb segment may be the thigh segment of the robot. The limb segments may be the lower leg segments of the robot; or the first limb segment may be the upper arm segment of the robot, and the second limb segment may be the lower arm segment of the robot. The robot may include a quadruped robot.

Other embodiments of the disclosure will be readily apparent to those skilled in the art from consideration of the specification and practice of the disclosure herein. The present disclosure is intended to cover any variations, uses, or adaptations of the disclosure that follow the general principles of the disclosure and include common common sense or customary technical means in the technical field that are not disclosed in the disclosure. . It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.

It is to be understood that the present disclosure is not limited to the precise structures described above and illustrated in the accompanying drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the disclosure is limited only by the appended claims.

Claims (9)

1. A mechanical limb, characterized in that it comprises: The first limb section includes an inner shell, a middle shell and a decorative outer shell. The middle shell and the decorative outer shell are fixedly connected to the inner shell respectively. The middle shell is located between the decorative outer shell and the inner shell. within the space enclosed by the shell; A rotating shaft, which passes through the inner shell and the middle shell; A second limb section, the second limb section is located below the first limb section, the second limb section includes an axis hole for the rotating shaft to pass through, and the second limb section passes through The rotating shaft is relatively rotatably connected to the first limb section. 2. The mechanical limb according to claim 1, wherein the rotating shaft is fixedly connected to the middle shell and the inner shell respectively, and the second limb is rotatably connected to the rotating shaft and is located in the middle. The part between the shell and the inner shell. 3. The mechanical limb joint according to claim 1, characterized in that the decorative outer shell and the inner shell are detachably connected. 4. The mechanical limb joint according to claim 1, further comprising a first locking member, the first locking member locks the inner shell and the decorative outer shell. 5. The mechanical limb according to claim 4, wherein the inner shell includes a first threaded hole passing through it, and the decorative outer shell includes a second thread recessed inwardly from a side facing the inner shell. hole, the second threaded hole is a blind hole; The first locking piece is locked to the first threaded hole and the second threaded hole. 6. The mechanical limb according to claim 1, characterized in that the middle shell is fixedly connected to the inner shell. 7. The mechanical limb joint according to claim 1, further comprising a rotating joint, and the inner shell and the decorative outer shell are respectively fixedly connected to the rotating joint. 8. A robot, characterized by comprising a mechanical limb according to any one of claims 1-7. 9. The robot according to claim 8, characterized in that the robot comprises a quadruped robot.