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US 11,447,196 B2Granted
Robotic leg and robot having the same
AssigneeUbtech Robotics Corp Ltd
InventorsYoupeng Li, Youjun Xiong, Hongyu Ding, Meichun Liu, Jianxin Pang
Life of this patent
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Abstract
A robotic leg assembly includes a main body having a first end and an opposite second end, a first servo arranged at the first end of the main body, a second servo connected to the main body and comprising an output shaft, a servo holder arranged at the second end of the main body, a third servo received in the servo holder, and a linkage bar mechanism. Each of a first initial angle of the first rotary member and a second initial angle of the second rotary member is in a predetermined range.
Claims17
A robotic leg assembly comprising:
- a main body having a first end and an opposite second end;
- a first servo arranged at the first end of the main body;
- a second servo connected to the main body and comprising an output shaft;
- a servo holder arranged at the second end of the main body:
- a third servo received in the servo holder;
- and
- a linkage bar mechanism comprising:
- a first rotary member fixed to the output shaft of the second servo;
- a second rotary member rotatably connected to the main body and opposing the first rotary member, the servo holder being fixed to the second rotary member;
- a first linkage bar having two opposite ends that are respectively rotatably connected to the first rotary member and the second rotary member;
- and
- a second linkage bar opposing the first linkage bar and having two opposite ends that are respectively rotatably connected to the first rotary member and the second rotary member;
- wherein the first rotary member, the second rotary member, the first linkage bar and the second linkage bar corporately constitute a four-bar linkage mechanism, each of a first initial angle of the first rotary member and a second initial angle of the second rotary member is in a predetermined range, the first initial angle is formed between an imaginary plane, which passes through an axis of rotation of the first rotary member and an axis of rotation about which one of the first linkage bar and the second linkage bar rotates with respect to the first rotary member, and a first horizontal plane passing through the axis of rotation of the first rotary member, and the second initial angle is formed between an imaginary plane, which passes through an axis of rotation of the second rotary member and an axis of rotation about which one of the first linkage bar and the second linkage bar rotates with respect to the second rotary member, and a second horizontal plane passing through the axis of rotation of the second rotary member, the first initial angle and the second initial angle are both measured when the robotic leg assembly is in an upright orientation;
- wherein the linkage bar mechanism further comprises:
- a plurality of axles, each of which rotatably passes through the first rotary member or the second rotary member and comprises a linkage connection portion;
- a plurality of sleeves respectively rotatably arranged around the linkage connection portions of the axles, each of the plurality of sleeves being fixedly embedded in the first linkage bar or the second linkage bar;
- wherein each of the axles comprises a first step surface around the linkage connection portion thereof, lower ends of the sleeves respectively abut against the step surfaces of the axles, the first step surfaces are higher than top surfaces of the first linkage bar and the second linkage bar.
14 more elements
A robot comprising:
- a leg assembly comprising:
- a main body having a first end and an opposite second end;
- a first servo arranged at the first end of the main body;
- a second servo connected to the main body and comprising an output shaft;
- a servo holder arranged at the second end of the main body;
- a third servo received in the servo holder;
- and
- a linkage bar mechanism comprising:
- a first rotary member fixed to the output shaft of the second servo;
- a second rotary member rotatably connected to the main body and opposing the first rotary member, the servo holder being fixed to the second rotary member;
- a first linkage bar having two opposite ends that are respectively rotatably connected to the first rotary member and the second rotary member;
- and
- a second linkage bar opposing the first linkage bar and having two opposite ends that are respectively rotatably connected to the first rotary member and the second rotary member;
- wherein the first rotary member, the second rotary member, the first linkage bar and the second linkage bar corporately constitute a four-bar linkage mechanism;
- a plurality of axles, each of which rotatably passes through the first rotary member or the second rotary member and comprises a linkage connection portion;
- a plurality of sleeves respectively rotatably arranged around the linkage connection portions of the axles, each of the plurality of sleeves being fixedly embedded in the first linkage bar or the second linkage bar;
- wherein each of the axles comprises a first step surface around the linkage connection portion thereof, lower ends of the sleeves respectively abut against the step surfaces of the axles, the first step surfaces are higher than top surfaces of the first linkage bar and the second linkage bar.
14 more elements
Dependencies are inferred from the claim text.