A novel leg structure for multi-legged robots

Abstract

This invention discloses a novel leg structure for a multi-legged robot, comprising a lower leg assembly and a thigh assembly. The lower leg assembly includes a foot end, a foot end connector, first and second guide rail plates, first and second lower leg clamping plates, a slide rod, a spring, a stop block, and a fixing plate. The thigh assembly includes first and second thigh clamping plates, a transmission rod, a rotating rod, a servo motor, a servo motor frame, first and second couplings, first and third bearings, bearing seats, first and second bevel gears, and several fixing rods. This invention can adapt to complex terrains, offering significant advantages, such as hilly, mountainous, and forested areas. It provides excellent movement performance and high efficiency, giving the robot outstanding mobility.

Description

Technical Field

[0001] This invention relates to the field of robotics, and more particularly to a novel leg structure for multi-legged robots. Background Technology

[0002] Currently, most robots are driven by wheels or tracks. Wheeled and tracked drives are highly adaptable and have obvious advantages on ordinary roads and slightly complex terrains. However, when the terrain is more complex, such as hilly areas, mountains, and forests, wheeled and tracked drives have significant limitations.

[0003] Most legged robots currently have power sources at each joint of their legs, making the entire mechanism bulky, slow-moving, and difficult to walk on complex terrain.

[0004] Designing a robot that can adapt to complex terrain and move quickly to solve the problem of movement in such terrain environments has become an urgent problem to be solved. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to address the deficiencies mentioned in the background art by providing a novel leg structure for multi-legged robots that is well adapted to various complex terrains and enables the robot to have excellent carrying capacity.

[0006] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0007] A novel leg structure for a multi-legged robot, comprising a lower leg assembly and a thigh assembly;

[0008] The lower leg assembly includes a foot end, a foot end connector, first and second guide rail plates, first and second lower leg clamps, a slide rod, a spring, a stop block, and a fixing plate;

[0009] The first calf splint and the second calf splint are arranged in parallel.

[0010] The fixing plate and the stop block are both disposed between the first calf clamp and the second calf clamp, and both ends are perpendicularly fixed to the first calf clamp and the second calf clamp respectively; the stop block is disposed below the fixing plate and has a through hole in the vertical direction for the slide rod to pass through.

[0011] The first guide rail plate and the second guide rail plate are both vertically arranged. Their outer side walls are respectively fixedly connected to the inner side walls of the first and second calf clamps located under the stop block. The inner side walls are provided with sliding grooves in the vertical direction, and the sliding grooves are provided with sliders.

[0012] The foot connector includes a slide cylinder and a connecting plate; the slide cylinder is cylindrical, with one end perpendicularly fixed to the upper end face of the connecting part, and the slide cylinder has a through hole along its axis that mates with the slide rod;

[0013] The slide rod is vertically arranged, with its upper end fixedly connected to the fixed plate and its lower end passing through the through hole on the stop block and extending into the through hole on the slide cylinder; the outer wall of the slide cylinder is fixedly connected to the sliders on the first guide rail plate and the second guide rail plate respectively, so that the foot end connector can slide freely up and down along the slide rod;

[0014] The spring is sleeved on the outside of the slide rod, with one end abutting against the stop block and the other end abutting against the slide cylinder;

[0015] The thigh assembly includes first and second thigh clamps, a transmission rod, a rotating rod, a servo motor, a servo motor frame, first and second couplings, first and third bearings, bearing seats, first and second bevel gears, and several fixing rods;

[0016] The first thigh clamp and the second thigh clamp are arranged in parallel, and each has a mounting hole at its lower end.

[0017] The first bearing and the second bearing are respectively installed in the mounting holes at the lower ends of the first thigh clamp and the second thigh clamp, and the outer rings of the first bearing and the second bearing are respectively fixedly connected to the first thigh clamp and the second thigh clamp.

[0018] Both the first calf splint and the second calf splint have through holes at their upper ends for the rotating rod to pass through;

[0019] The first coupling is disposed on the inner side wall of the first calf clamp, and the through hole of the first coupling is coaxial with the through hole on the first calf clamp.

[0020] One end of the rotating rod is coaxially fixed to the inner ring of the first bearing, and the other end passes through the through holes of the first calf clamp, the coupling, and the second calf clamp in sequence and is coaxially fixed to the inner ring of the second bearing; and the transmission rod is fixed to the first coupling.

[0021] The first bevel gear is sleeved on the rotating rod between the first coupling and the second leg clamp, and is coaxially and fixedly connected to the rotating rod.

[0022] The plurality of fixing rods are all disposed between the first thigh clamp and the second thigh clamp, for fixing the first thigh clamp and the second thigh clamp;

[0023] The servo bracket is fixed to the upper end of the second thigh clamp, and is used to fix the servo between the first thigh clamp and the second thigh clamp;

[0024] The servo motor is fixed on the servo motor frame, and its output shaft is vertically downward and coaxially fixed to the upper end of the transmission rod through a second coupling;

[0025] The third bearing is disposed between the second coupling and the rotating rod, and its outer ring is fixedly connected to the bearing housing; the bearing housing is fixedly connected to the first thigh clamp and the second thigh clamp respectively.

[0026] The transmission rod passes through the third bearing and is fixedly connected to the inner ring of the third bearing, and the lower end of the transmission rod is coaxially fixedly connected to the second bevel gear;

[0027] The second bevel gear meshes with the first bevel gear, enabling the servo to drive the rotating rod to rotate via the transmission rod, thereby causing the lower leg assembly to rotate relative to the thigh assembly.

[0028] As a further optimization of the novel leg structure for a multi-legged robot according to the present invention, the outer wall of the foot end is provided with a rubber layer.

[0029] As a further optimization of the novel leg structure for multi-legged robots of the present invention, the first to second lower leg clamps, the first to second thigh clamps, the first to second guide rails, the stop blocks, and the fixing plates are all made of carbon fiber plates.

[0030] As a further optimization of the novel leg structure for a multi-legged robot according to the present invention, the fixing rod is made of a circular aluminum column.

[0031] Compared with the prior art, the present invention, employing the above technical solution, has the following technical effects:

[0032] This invention can adapt to complex terrains, with obvious advantages, such as hilly areas, mountains, and forests. It provides good movement effects and high efficiency, giving the robot excellent movement capabilities. Attached Figure Description

[0033] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0034] Figure 2 This is a schematic diagram of the lower leg assembly in this invention;

[0035] Figure 3 This is a schematic diagram of the thigh assembly in this invention;

[0036] Figure 4 This is a schematic diagram of the structure in motion of the present invention;

[0037] Figure 5 This is a schematic diagram of the overall structure of the quadruped robot applying the present invention.

[0038] In the diagram, 1-foot end, 2-foot end connector, 3-first guide rail plate, 4-second guide rail plate, 5-spring, 6-stop block, 7-slide rod, 8-fixed plate, 9-first calf clamp, 10-second calf clamp, 11-slider on the second guide rail plate, 12-first thigh clamp, 13-second thigh clamp, 14-first coupling, 15-first bevel gear, 16-second bevel gear, 17-rotating rod, 18-transmission rod, 19-third bearing, 20-bearing seat, 21-servo motor, 22-servo motor frame, 23-second coupling, 24-fixed rod. Detailed Implementation

[0039] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings:

[0040] This invention can be implemented in many different forms and should not be considered limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully express the scope of the invention to those skilled in the art. In the drawings, components are enlarged for clarity.

[0041] like Figure 1 As shown, the present invention discloses a novel leg structure for a multi-legged robot, comprising a lower leg assembly and a thigh assembly.

[0042] like Figure 2 As shown, the lower leg assembly includes a foot end, a foot end connector, first and second guide rail plates, first and second lower leg clamping plates, a slide rod, a spring, a stop block, and a fixing plate;

[0043] The first calf splint and the second calf splint are arranged in parallel.

[0044] The fixing plate and the stop block are both disposed between the first calf clamp and the second calf clamp, and both ends are perpendicularly fixed to the first calf clamp and the second calf clamp respectively; the stop block is disposed below the fixing plate and has a through hole in the vertical direction for the slide rod to pass through.

[0045] The first guide rail plate and the second guide rail plate are both vertically arranged. Their outer side walls are respectively fixedly connected to the inner side walls of the first and second calf clamps located under the stop block. The inner side walls are provided with sliding grooves in the vertical direction, and the sliding grooves are provided with sliders.

[0046] The foot connector includes a slide cylinder and a connecting plate; the slide cylinder is cylindrical, with one end perpendicularly fixed to the upper end face of the connecting part, and the slide cylinder has a through hole along its axis that mates with the slide rod;

[0047] The slide rod is vertically arranged, with its upper end fixedly connected to the fixed plate and its lower end passing through the through hole on the stop block and extending into the through hole on the slide cylinder; the outer wall of the slide cylinder is fixedly connected to the sliders on the first guide rail plate and the second guide rail plate respectively, so that the foot end connector can slide freely up and down along the slide rod;

[0048] The spring is sleeved on the outside of the slide rod, with one end abutting against the stop block and the other end abutting against the slide cylinder.

[0049] like Figure 3 As shown, the thigh assembly includes first and second thigh clamps, a transmission rod, a rotating rod, a servo motor, a servo motor frame, first and second couplings, first and third bearings, bearing seats, first and second bevel gears, and several fixing rods;

[0050] The first thigh clamp and the second thigh clamp are arranged in parallel, and each has a mounting hole at its lower end.

[0051] The first bearing and the second bearing are respectively installed in the mounting holes at the lower ends of the first thigh clamp and the second thigh clamp, and the outer rings of the first bearing and the second bearing are respectively fixedly connected to the first thigh clamp and the second thigh clamp.

[0052] Both the first calf splint and the second calf splint have through holes at their upper ends for the rotating rod to pass through;

[0053] The first coupling is disposed on the inner side wall of the first calf clamp, and the through hole of the first coupling is coaxial with the through hole on the first calf clamp.

[0054] One end of the rotating rod is coaxially fixed to the inner ring of the first bearing, and the other end passes through the through holes of the first calf clamp, the coupling, and the second calf clamp in sequence and is coaxially fixed to the inner ring of the second bearing; and the transmission rod is fixed to the first coupling.

[0055] The first bevel gear is sleeved on the rotating rod between the first coupling and the second leg clamp, and is coaxially and fixedly connected to the rotating rod.

[0056] The plurality of fixing rods are all disposed between the first thigh clamp and the second thigh clamp, for fixing the first thigh clamp and the second thigh clamp;

[0057] The servo bracket is fixed to the upper end of the second thigh clamp, and is used to fix the servo between the first thigh clamp and the second thigh clamp;

[0058] The servo motor is fixed on the servo motor frame, and its output shaft is vertically downward and coaxially fixed to the upper end of the transmission rod through a second coupling;

[0059] The third bearing is disposed between the second coupling and the rotating rod, and its outer ring is fixedly connected to the bearing housing; the bearing housing is fixedly connected to the first thigh clamp and the second thigh clamp respectively.

[0060] The transmission rod passes through the third bearing and is fixedly connected to the inner ring of the third bearing, and the lower end of the transmission rod is coaxially fixedly connected to the second bevel gear;

[0061] The second bevel gear meshes with the first bevel gear, allowing the servo to drive the rotating rod to rotate via the transmission rod, thereby causing the lower leg assembly to rotate relative to the thigh assembly. Figure 4 As shown.

[0062] The third bearing is used to share the load on the drive shaft and prevent slippage between the first and second bevel gears due to excessive deflection.

[0063] The outer wall of the foot is provided with a rubber layer; the sliding rod, sliding sleeve, and spring itself form a shock absorption mechanism. The rubber layer at the foot can further reduce shock. The structure is simple, easy to assemble, and detachable. The requirements for the fit between the spring and the sliding rod are not high. While meeting the function, it also reduces cost and weight.

[0064] The first and second calf splints, the first and second thigh splints, the first and second guide rails, the stops, and the fixing plates are all preferably made of carbon fiber plates, which are lightweight, have high rigidity, and improve the accuracy of foot movement.

[0065] The fixing rod is preferably made of round aluminum column, which is sturdy and lightweight.

[0066] The servo motor has a built-in PID controller and a spring effect. By utilizing this inherent property of the servo motor, along with the shock absorption mechanism at the foot, it has a good cushioning effect when moving, greatly improving its ability to overcome rough terrain.

[0067] Figure 5 This is a schematic diagram of the overall structure of the quadruped robot using the present invention, which shows that the present invention is very convenient and simple to use.

[0068] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless defined as herein.

[0069] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A novel leg structure for a multi-legged robot, characterized in that, Includes calf and thigh components; The lower leg assembly includes a foot end, a foot end connector, first and second guide rail plates, first and second lower leg clamps, a slide rod, a spring, a stop block, and a fixing plate; The first calf splint and the second calf splint are arranged in parallel. The fixing plate and the stop block are both disposed between the first calf clamp and the second calf clamp, and both ends are perpendicularly fixed to the first calf clamp and the second calf clamp respectively; the stop block is disposed below the fixing plate and has a through hole in the vertical direction for the slide rod to pass through. The first guide rail plate and the second guide rail plate are both vertically arranged. Their outer side walls are respectively fixedly connected to the inner side walls of the first and second calf clamps located under the stop block. The inner side walls are provided with sliding grooves in the vertical direction, and the sliding grooves are provided with sliders. The foot connector includes a slide cylinder and a connecting plate; the slide cylinder is cylindrical, with one end fixedly connected perpendicularly to the upper end face of the connecting plate, and the slide cylinder has a through hole along its axis that mates with the slide rod; The slide rod is vertically arranged, with its upper end fixedly connected to the fixed plate and its lower end passing through the through hole on the stop block and extending into the through hole on the slide cylinder; the outer wall of the slide cylinder is fixedly connected to the sliders on the first guide rail plate and the second guide rail plate respectively, so that the foot end connector can slide freely up and down along the slide rod; The spring is sleeved on the outside of the slide rod, with one end abutting against the stop block and the other end abutting against the slide cylinder; The thigh assembly includes first and second thigh clamps, a transmission rod, a rotating rod, a servo motor, a servo motor frame, first and second couplings, first and third bearings, bearing seats, first and second bevel gears, and several fixing rods; The first thigh clamp and the second thigh clamp are arranged in parallel, and each has a mounting hole at its lower end. The first bearing and the second bearing are respectively installed in the mounting holes at the lower ends of the first thigh clamp and the second thigh clamp, and the outer rings of the first bearing and the second bearing are respectively fixedly connected to the first thigh clamp and the second thigh clamp. Both the first calf splint and the second calf splint have through holes at their upper ends for the rotating rod to pass through; The first coupling is disposed on the inner side wall of the first calf clamp, and the through hole of the first coupling is coaxial with the through hole on the first calf clamp. One end of the rotating rod is coaxially fixed to the inner ring of the first bearing, and the other end passes through the through holes of the first calf clamp, the coupling, and the second calf clamp in sequence and is coaxially fixed to the inner ring of the second bearing; and the transmission rod is fixed to the first coupling. The first bevel gear is sleeved on the rotating rod between the first coupling and the second leg clamp, and is coaxially and fixedly connected to the rotating rod. The plurality of fixing rods are all disposed between the first thigh clamp and the second thigh clamp, for fixing the first thigh clamp and the second thigh clamp; The servo bracket is fixed to the upper end of the second thigh clamp, and is used to fix the servo between the first thigh clamp and the second thigh clamp; The servo motor is fixed on the servo motor frame, and its output shaft is vertically downward and coaxially fixed to the upper end of the transmission rod through a second coupling; The third bearing is disposed between the second coupling and the second bevel gear, and its outer ring is fixedly connected to the bearing housing; the bearing housing is fixedly connected to the first thigh clamp and the second thigh clamp respectively. The transmission rod passes through the third bearing and is fixedly connected to the inner ring of the third bearing, and the lower end of the transmission rod is coaxially fixedly connected to the second bevel gear; The second bevel gear meshes with the first bevel gear, enabling the servo to drive the rotating rod to rotate via the transmission rod, thereby causing the lower leg assembly to rotate relative to the thigh assembly.

2. The novel leg structure for a multi-legged robot according to claim 1, characterized in that, The outer wall of the foot is provided with a rubber layer.

3. The novel leg structure for a multi-legged robot according to claim 1, characterized in that, The first and second calf splints, the first and second thigh splints, the first and second guide rails, the stop blocks, and the fixing plates are all made of carbon fiber plates.

4. The novel leg structure for a multi-legged robot according to claim 1, characterized in that, The fixing rod is made of round aluminum column.

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