Leg and foot structure of quadruped robot

Abstract

The invention discloses a leg and foot structure of a quadruped robot, and relates to the technical field of robots, the leg and foot structure comprises a leg orientation adjusting mechanism, the leg orientation adjusting mechanism comprises a support plate, two ends of the support plate are movably connected with two side plates respectively, and the two side plates are connected with the support plate through steering control assemblies; the leg-foot structure of the quadruped robot further comprises a leg mechanism, a leg driving mechanism and a foot mechanism, the leg mechanism comprises a thigh, the top of the side, away from the supporting plate, of each side plate is movably connected with the top end of the thigh through a leg shaft, and the bottom of each thigh is movably connected with one end of a first cooperation rod through a first movable shaft. The rotating power assembly can be prevented from being damaged due to large pressure when standing is stopped, the foot mechanism can move relative to the shank, the foot mechanism and the shank are connected through the ankle buffering mechanism so as to simulate the effect of the ankle of the human body, enough friction force exists between the foot mechanism and the ground in the advancing process, and meanwhile fluctuation and jolting caused by the foot mechanism in the advancing process are avoided.

Description

Technical Field

[0001] The invention relates to the technical field of robots, in particular to a leg and foot structure of a quadruped robot. Background Art

[0002] Legged robots are a popular type of intelligent robots. They can be used in a variety of application scenarios such as scientific research and education, entertainment and play, petrochemical industry, security inspection, exploration and rescue, etc. At present, quadruped robots are widely used due to their walking stability.

[0003] The leg structure of a legged robot is one of the important components of a legged robot. The leg structure of an existing legged robot generally includes a thigh assembly, a calf assembly and a transmission assembly for connecting the thigh assembly and the calf assembly. Although it solves the problem of steady and continuous movement of a quadruped robot, it still has the following defects: when the quadruped robot stops standing, the pressure on the power mechanism is large, which can easily cause damage to the power mechanism. Generally, the feet and calves of quadruped robots are fixedly connected, and the feet of quadruped robots all use a round end to contact the ground to reduce the contact area with the ground. However, this foot structure has poor anti-slip effect. If a foot structure with a large contact area with the ground is used to improve the anti-slip effect, the lower side of the foot will have different angles with the ground as the calf swings during the process of the foot contacting the ground, which will cause the robot to fluctuate when moving. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the existing defects and provide a leg and foot structure of a quadruped robot. When the robot stops standing, a standing locking mechanism is used to lock the power wheel to prevent the rotating power component from being damaged by a large pressure when the robot stops standing. The foot mechanism can move relative to the calf, and the foot mechanism and the calf are connected by an ankle buffer mechanism to simulate the function of the human ankle. When moving, the foot mechanism has sufficient friction with the ground to improve the anti-slip effect when moving. In the process of the foot mechanism contacting the ground, the lower side of the foot mechanism is always in full and stable contact with the ground. In the process of the foot contacting the ground, as the calf swings, the lower side of the foot is always parallel to the ground, avoiding the ups and downs of the foot when moving, and can effectively solve the problems in the background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a leg and foot structure of a quadruped robot, comprising a leg orientation adjustment mechanism, wherein the leg orientation adjustment mechanism comprises a support plate, a side plate and a steering control assembly, wherein two ends of the support plate are movably connected to two side plates, and both side plates are connected to the support plate through the steering control assembly, and further comprising:

[0006] The leg mechanism includes a thigh, the top of each side plate away from the support plate is movably connected to the top of the thigh through a leg shaft, the bottom of each thigh is movably connected to one end of a cooperation rod one through a movable shaft one, the other end of each cooperation rod one is movably connected to the top of the calf through a movable shaft two, the bottom end of each thigh is movably connected to one end of a cooperation rod two through a movable shaft three, the other end of each cooperation rod two is movably connected to the top of the calf through a movable shaft four, the bottom end of the calf is bent to the right, the movable shaft four is located below the movable shaft two, and the movable shaft three is located below the movable shaft one;

[0007] A leg driving mechanism is mounted on the side plate, and the leg driving mechanism is connected to the thigh;

[0008] The foot mechanism is installed at the bottom end of the calf, and the foot mechanism is connected to the calf through the ankle buffer mechanism.

[0009] The steering control assembly can drive the two side plates to move relative to the support plate, thereby changing the orientation of the leg mechanism, which is conducive to changing the direction of travel. The leg drive mechanism drives the thigh and calf to swing left and right, and also allows the calf to move up and down relative to the thigh. When the thigh swings to the left relative to the leg axis, the left ends of the cooperation rod one and the cooperation rod two move upward, and the calf moves upward relative to the thigh, allowing the foot mechanism to leave the ground. As the leg drive mechanism continues to work, when the thigh swings to the right relative to the leg axis, the left ends of the cooperation rod one and the cooperation rod two move downward, and the calf moves downward relative to the thigh, and the foot mechanism gradually contacts the ground, thereby realizing the movement of the quadruped robot. The ankle buffer mechanism is conducive to the lower side of the foot mechanism always being in stable and comprehensive contact with the ground during the process of the foot mechanism contacting the ground. During the process of the foot mechanism contacting the ground, as the calf swings, the lower side of the foot mechanism is always parallel to the ground, avoiding the ups and downs of the foot mechanism during movement.

[0010] Furthermore, the steering control assembly includes an adjustment synchronization rod and a steering electric telescopic rod, the two ends of the adjustment synchronization rod are movably connected to the two side plates respectively, the side of the adjustment synchronization rod is fixedly connected to one end of the protruding rod, the other end of the protruding rod is fixedly connected to an end seat, the end seat is movably connected to the rear end of the steering electric telescopic rod, the front end of the steering electric telescopic rod is movably connected to a cylinder seat, and the cylinder seat is fixed to the top of the support plate.

[0011] The steering electric telescopic rod extends, and the steering electric telescopic rod pushes the adjustment synchronization rod to one side through the convex rod, and the adjustment synchronization rod pushes the two side plates to move synchronously to one side. The steering electric telescopic rod shortens, and the steering electric telescopic rod pulls the adjustment synchronization rod to the other side through the convex rod, and the adjustment synchronization rod pulls the two side plates to move synchronously to the other side, thereby changing the direction of the leg mechanism.

[0012] Furthermore, the leg driving mechanism includes a rotating power assembly, a power shaft, and a power wheel. Each side panel is rotatably connected to the middle part of the power wheel through the power shaft. The power shaft is located below the leg shaft. A slide groove is provided at a position of each thigh between the leg shaft and the movable shaft one. A side through groove connected to the slide groove is provided on the side of the thigh. The eccentric position of the side of the power wheel is fixedly connected to the movable shaft five, the movable shaft five is slidably connected to the slide groove, and the movable shaft five is rotatably connected to the position corresponding to the side through groove. The movable ring is fixedly connected to one end of the driving rod, the driving rod passes through the side through groove, and the other end of the driving rod is rotatably connected to the corresponding movable shaft two. The power wheel is connected to the rotating power assembly. The rotating power component is used to drive the power wheel to rotate, and the power wheel drives the movable shaft five to rotate. The movable shaft five is slidably connected to the slide groove to allow the thigh to swing left and right relative to the leg shaft. When the movable shaft five rotates, it will also pull the drive rod up and down through the movable ring. The drive rod can pull the calf to move up and down relative to the thigh. When the thigh swings to the left, the calf rises relative to the thigh, and the thigh and calf are lifted at the same time. When the thigh swings to the right, the calf drops relative to the thigh. When the thigh is stepped forward, the calf drives the foot mechanism to contact the ground.

[0013] Furthermore, the foot mechanism includes a hollow foot body, a foot cover plate and a protective pad. The bottom end of the calf is movably connected to the left end of the hollow foot body. The top of the hollow foot body is equipped with a foot cover plate, and the bottom of the hollow foot body is bonded with a protective pad. The hollow foot body contacts the ground through the protective pad. The hollow foot body is movably connected to the calf, so that the protective pad is fully in contact with the ground, the friction with the ground is increased, and the anti-slip effect is good. The protective pad adopts a rubber pad, which can reduce the vibration of the hollow foot body when it contacts the ground, and the protective pad can be replaced after being worn.

[0014] Furthermore, the foot mechanism also includes a toe and a convex pattern, the right end of the hollow foot body is integrally formed with the toe, and the right end of the toe is provided with a convex pattern. When the hollow foot body is lifted, the convex pattern on the toe contacts the ground, which can provide friction when the hollow foot body leaves the ground when the foot is lifted.

[0015] Furthermore, the ankle buffer mechanism includes a buffer support rod, a buffer frame, a buffer slide rod, a buffer spring, and a buffer force adjustment component. The middle part of the right side of the calf is movably connected to one end of the buffer support rod, and the other end of the buffer support rod is fixedly connected to the buffer frame. The foot cover plate is movably connected to one end of the buffer slide rod, and the square hole on the buffer frame is slidably connected to the buffer slide rod. One end of the buffer slide rod located in the buffer frame is fixedly connected to an inner plate, and two buffer springs are respectively connected to both sides of the inner plate, and two buffer force adjustment components are respectively installed at both ends of the buffer frame. When the hollow foot body contacts the ground through the protective pad, the hollow foot body begins to move relative to the calf, the angle between the upper side of the foot cover plate and the right side of the calf gradually becomes smaller, the buffer slide bar is retracted into the buffer frame under the pressure of the hollow foot body, and the inner plate moves to the left relative to the buffer frame. The buffer spring on the left side of the inner plate is gradually compressed, and the buffer spring on the right side of the inner plate maintains the position of the inner plate in the buffer frame to avoid the inner plate quickly colliding with the right side of the buffer frame when the buffer spring on the left side of the inner plate resets and extends, causing local vibration. When the hollow foot body gradually leaves the ground, the buffer spring on the left side of the inner plate gradually resets and extends, allowing the inner plate to return to its original position in the buffer frame.

[0016] Further, the buffer force adjustment assembly includes a telescopic rod, an end plate, and a buffer force adjustment bolt. Two telescopic rods are fixedly connected to the two sides of the inner plate, and the telescopic rods are parallel to the buffer slide rod. Two buffer springs are respectively sleeved on the outside of the two telescopic rods. The ends of the two telescopic rods away from the inner plate are respectively fixedly connected to the two end plates. The threaded holes at both ends of the buffer frame are respectively threadedly connected with two buffer force adjustment bolts, and one end of the buffer force adjustment bolt located in the buffer frame is pressed against the corresponding end plate. The buffer force adjustment bolt at the left end is twisted to allow the buffer force adjustment bolt at the left end to squeeze the end plate on the left side, shorten the telescopic rod on the left side of the inner plate, and compress the buffer spring on the left side of the inner plate. At this time, the pressure when the hollow foot body contacts the ground is large enough to continue to compress the buffer spring on the left side of the inner plate, so as to increase the buffer force received by the hollow foot body when it contacts the ground. Since the buffer spring on the left side of the inner plate is compressed, in order to maintain the position of the inner plate in the buffer frame, it is also necessary to twist the buffer force adjustment bolt at the right end to squeeze the end plate on the left side, and also compress the buffer spring on the right side of the inner plate.

[0017] Furthermore, it also includes a foot grip lifting mechanism, which includes an inner rod, a control electric telescopic rod, a lifting plate, a gripping vertical plate, and a vertical plate guide groove. The bottom of the hollow foot body is provided with a plurality of vertical plate guide grooves at equal distances in the horizontal direction. The top of the hollow foot body is fixedly connected with an inner rod, and the center of the bottom of the inner rod is fixedly connected to the upper side of the lifting plate through a vertical control electric telescopic rod. The lower side of the lifting plate is fixedly connected with a gripping vertical plate at a position corresponding to the vertical plate guide groove, and the gripping vertical plate is slidably connected to the corresponding vertical plate guide groove. If the ground is muddy, the protective pad at the bottom of the hollow foot body will slide against the ground. At this time, the control electric telescopic rod pushes the descending plate to descend in the hollow foot body, so that the bottom end of the gripping vertical plate extends out of the vertical plate guide groove, and the gripping vertical plate contacts the ground or even inserts into the muddy ground, thereby increasing the friction between the bottom of the hollow foot body and the ground.

[0018] Furthermore, it also includes a standing locking mechanism, which includes a circular groove, a friction pattern, a rectangular through groove, a push-pull control component, and a locking tooth block. A circular groove is provided on the side of the power wheel close to the side plate, and a friction pattern is arranged in the circular groove. A rectangular through groove is provided at the position of the side plate corresponding to the circular groove. A push-pull control component is installed on the side of the side plate close to the support plate, and a locking tooth block is installed on the push-pull control component. The locking tooth block is arranged corresponding to the rectangular through groove. When the robot is standing, due to its own weight, the rotating power component in the leg driving mechanism will be subjected to greater pressure and easily damaged. At this time, the push-pull control component pushes the locking tooth block into the circular groove, and the locking tooth block is in friction contact with the friction pattern. At this time, the power wheel is no longer easy to rotate, which can reduce the pressure on the rotating power component. When it is necessary to walk, the push-pull control component pulls the locking tooth block out of the circular groove, and the power wheel can rotate freely again.

[0019] Furthermore, it also includes a pitch slope adaptation mechanism, which includes a stand, a body mounting plate and a pitch control assembly, wherein the left side of the body mounting plate is fixedly connected to the stand, the bottom of the stand is movably connected to the left side of the support plate, and the right side of the body mounting plate is connected to the right side of the support plate through the pitch control assembly. The body mounting plate is connected to the body of the quadruped robot by bolts, and when the robot encounters a slope, the pitch control assembly can drive the support plate to move relative to the body mounting plate, change the angle between the support plate and the body mounting plate, and allow the leg mechanism to better contact the ground when the leg driving mechanism drives the leg mechanism to move.

[0020] Compared with the prior art, the beneficial effects of the leg and foot structure of the quadruped robot are:

[0021] 1. The steering control component can drive the two side plates to move relative to the support plate, thereby changing the orientation of the leg mechanism, which is conducive to changing the direction of travel. The leg drive mechanism drives the thigh and calf to swing left and right, and also allows the calf to move up and down relative to the thigh. When the thigh swings to the left relative to the leg axis, the left ends of the cooperation rod one and the cooperation rod two move upward, and the calf moves upward relative to the thigh, allowing the foot mechanism to leave the ground. As the leg drive mechanism continues to work, when the thigh swings to the right relative to the leg axis, the left ends of the cooperation rod one and the cooperation rod two move downward, and the calf moves downward relative to the thigh, and the foot mechanism gradually contacts the ground, thereby realizing the movement of the quadruped robot.

[0022] 2. Due to its heavy weight, the rotating power assembly in the leg drive mechanism will be subjected to greater pressure and easily damaged. At this time, the push-pull control assembly pushes the locking tooth block into the circular groove, and the locking tooth block is in friction contact with the friction pattern. At this time, the power wheel is no longer easy to rotate, which can reduce the pressure on the rotating power assembly. When you need to walk, the push-pull control assembly pulls the locking tooth block out of the circular groove, and the power wheel can rotate freely again.

[0023] 3. The foot mechanism can move relative to the calf, and the foot mechanism and the calf are connected through the ankle buffer mechanism to simulate the function of the human ankle. When moving, the foot mechanism has sufficient friction with the ground to improve the anti-slip effect during moving. In the process of the foot mechanism contacting the ground, the lower side of the foot mechanism is always in full and stable contact with the ground. In the process of the foot contacting the ground, as the calf swings, the lower side of the foot is always parallel to the ground, avoiding the ups and downs caused by the foot when moving. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 Schematic diagram of the leg and foot structure of the quadruped robot of the present invention;

[0025] Figure 2 The leg and foot structure of the quadruped robot of the present invention Figure 1 A partial enlarged schematic diagram in the middle;

[0026] Figure 3 A partial schematic diagram of the leg and foot structure of the quadruped robot of the present invention Figure 1 ;

[0027] Figure 4 The leg and foot structure of the quadruped robot of the present invention Figure 3 A partial enlarged schematic diagram of point B in the middle;

[0028] Figure 5 A partial schematic diagram of the leg and foot structure of the quadruped robot of the present invention Figure 2 ;

[0029] Figure 6 The leg and foot structure of the quadruped robot of the present invention Figure 5A partial enlarged schematic diagram of point C in the middle;

[0030] Figure 7 The leg and foot structure of the quadruped robot of the present invention Figure 5 Schematic diagram of the rear side;

[0031] Figure 8 The leg and foot structure of the quadruped robot of the present invention Figure 7 The local enlarged schematic diagram of point D in the middle;

[0032] Fig. 9 It is a side view of a power wheel in the leg and foot structure of the quadruped robot of the present invention;

[0033] Fig.10 It is a schematic diagram of the foot mechanism and the foot gripping force improving mechanism in the leg and foot structure of the quadruped robot of the present invention;

[0034] Fig.11 The leg and foot structure of the quadruped robot of the present invention Fig.10 Bottom schematic diagram of ;

[0035] In the figure: 1 leg direction adjustment mechanism, 11 support plate, 12 steering shaft, 13 steering support, 14 side plate, 15 adjustment support, 16 adjustment shaft, 17 adjustment synchronization rod, 18 convex rod, 19 cylinder seat, 110 steering electric telescopic rod, 111 end seat, 2 leg mechanism, 21 leg shaft, 22 thigh, 23 movable shaft 1, 24 cooperation rod 1, 25 movable shaft 2, 26 calf, 27 movable shaft 3, 28 cooperation rod 2, 29 movable shaft IV, 3 leg drive mechanism, 31 drive motor, 32 driving gear, 33 driven gear, 34 power shaft, 35 power wheel, 36 movable shaft V, 37 slide groove, 38 side through groove, 39 movable ring, 310 drive rod, 4 foot mechanism, 41 ankle bump, 42 movable shaft VI, 43 ankle seat, 44 hollow foot body, 45 foot cover, 46 cover screw, 47 toe, 48 convex pattern, 49 pad, 5 ankle buffer mechanism, 5 1 arc plate, 52 movable seat 1, 53 movable shaft 7, 54 movable seat 2, 55 buffer support rod, 56 movable shaft 8, 57 buffer frame, 58 buffer slide rod, 59 inner plate, 510 telescopic rod, 511 buffer spring, 512 end plate, 513 buffer force adjustment bolt, 6 foot grip lifting mechanism, 61 vertical slot, 62 inner rod, 63 control electric telescopic rod, 64 lifting plate, 65 sliding block, 66 grip vertical plate, 67 vertical plate Guide groove, 7 standing locking mechanism, 71 circular groove, 72 friction pattern, 73 rectangular through groove, 74 locking frame, 75 disassembly bolt, 76 limit plate, 77 guide rod, 78 locking gear block, 79 locking electric telescopic rod, 8 pitch slope adaptation mechanism, 81 movable seat three, 82 pitch axis one, 83 stand, 84 body mounting plate, 85 movable seat four, 86 screw nut, 87 pitch axis two, 88 screw, 89 pitch control motor. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] For example, see Figures 1 to 11 , this embodiment provides a technical solution: a leg and foot structure of a quadruped robot, including a leg orientation adjustment mechanism 1, the leg orientation adjustment mechanism 1 includes a support plate 11, a side plate 14 and a steering control component, the two ends of the support plate 11 are movably connected to two side plates 14, and the two side plates 14 are connected to the support plate 11 through the steering control component;

[0038] The leg orientation adjustment mechanism 1 also includes a steering shaft 12 and a steering support 13. The two side panels 14 are fixedly connected to two steering supports 13 on the sides close to each other. The two steering supports 13 are movably connected to the two ends of the support plate 11 through the two steering shafts 12. The steering shaft 12 and the steering support 13 are used to realize the movable connection between the side panel 14 and the support plate 11.

[0039] The steering control assembly includes an adjustment synchronization rod 17, a convex rod 18, a cylinder seat 19, a steering electric telescopic rod 110, and an end seat 111. The two ends of the adjustment synchronization rod 17 are movably connected to the two side plates 14 respectively, the side of the adjustment synchronization rod 17 is fixedly connected to one end of the convex rod 18, and the other end of the convex rod 18 is fixedly connected to the end seat 111. The end seat 111 is movably connected to the rear end of the steering electric telescopic rod 110 through a connecting shaft 1, and the front end of the steering electric telescopic rod 110 is movably connected to the cylinder seat 19 through a movable shaft 2, and the cylinder seat 19 is fixed to the top of the support plate 11.

[0040] The steering control assembly also includes an adjustment support 15 and an adjustment shaft 16. Two adjustment supports 15 are fixedly connected to the sides of the two side plates 14 that are close to each other. The two adjustment supports 15 are movably connected to the two ends of the adjustment synchronization rod 17 through two adjustment shafts 16. The adjustment support 15 and the adjustment shaft 16 are used to realize the movable connection between the adjustment synchronization rod 17 and the side plate 14.

[0041] The steering electric telescopic rod 110 is extended, and the steering electric telescopic rod 110 pushes the adjustment synchronization rod 17 to one side through the convex rod 18, and the adjustment synchronization rod 17 pushes the two side plates 14 to move synchronously to one side. The steering electric telescopic rod 110 is shortened, and the steering electric telescopic rod 110 pulls the adjustment synchronization rod 17 to the other side through the convex rod 18, and the adjustment synchronization rod 17 pulls the two side plates 14 to move synchronously to the other side, thereby changing the direction of the leg mechanism 2.

[0042] It also includes a leg mechanism 2, a leg driving mechanism 3 and a foot mechanism 4;

[0043] The leg mechanism 2 includes a leg shaft 21, a thigh 22, an active shaft 1 23, a cooperation rod 1 24, an active shaft 25, a calf 26, an active shaft 3 27, a cooperation rod 2 28, and an active shaft 4 29. The top of each side plate 14 away from the support plate 11 is movably connected to the top of the thigh 22 through the leg shaft 21, the bottom of each thigh 22 is movably connected to one end of the cooperation rod 1 24 through the active shaft 1 23, the other end of each cooperation rod 1 24 is movably connected to the top of the calf 26 through the active shaft 25, the bottom end of each thigh 22 is movably connected to one end of the cooperation rod 2 28 through the active shaft 3 27, the other end of each cooperation rod 2 28 is movably connected to the top of the calf 26 through the active shaft 4 29, and the bottom end of the calf 26 is bent to the right, the active shaft 4 29 is located below the active shaft 2 25, and the active shaft 3 27 is located below the active shaft 1 23;

[0044] The leg driving mechanism 3 is mounted on the side plate 14, and the leg driving mechanism 3 is connected to the thigh 22;

[0045] The leg driving mechanism 3 includes a rotating power component, a power shaft 34, a power wheel 35, a movable shaft five 36, a slide groove 37, a side through groove 38, a movable ring 39, and a driving rod 310. The middle part of each side plate 14 is rotatably connected to the power wheel 35 through the power shaft 34. The power shaft 34 is located below the leg shaft 21. A slide groove 37 is provided at a position of each thigh 22 between the leg shaft 21 and the movable shaft one 23. A side through groove 38 connected to the slide groove 37 is provided on the side of the thigh 22. The movable shaft five 36 is fixedly connected to the eccentric position of the side of the power wheel 35. The movable shaft five 36 is slidably connected to the slide groove 37, and the movable shaft five 36 is rotatably connected to the movable ring 39 at the position corresponding to the side through groove 38. The movable ring 39 is fixedly connected to one end of the driving rod 310. The driving rod 310 passes through the side through groove 38, and the other end of the driving rod 310 is rotatably connected to the corresponding movable shaft two 25. The power wheel 35 is connected to the rotating power component.

[0046] The rotating power assembly includes a driving motor 31, a driving gear 32, and a driven gear 33. The driven gear 33 is fixedly installed on the outer side of the power wheel 35. The driving motor 31 is installed on the side plate 14. The output shaft of the driving motor 31 is fixedly connected to the driving gear 32. The driving gear 32 is meshed with the driven gear 33. When the driving motor 31 works, the power wheel 35 is driven to rotate through the transmission of the driving gear 32 and the driven gear 33.

[0047] The rotating power assembly is used to drive the power wheel 35 to rotate, and the power wheel 35 drives the movable shaft 5 36 to rotate. The movable shaft 5 36 is slidably connected with the slide groove 37 to allow the thigh 22 to swing left and right relative to the leg shaft 21. When the movable shaft 5 36 rotates, it will also pull the drive rod 310 up and down through the movable ring 39. The drive rod 310 can pull the calf 26 to move up and down relative to the thigh 22. When the thigh 22 swings to the left, the calf 26 rises relative to the thigh 22, and the thigh 22 and the calf 26 are lifted at the same time. When the thigh 22 swings to the right, the calf 26 drops relative to the thigh 22. When the thigh 22 is stepped forward, the calf 26 drives the foot mechanism 4 to contact the ground.

[0048] The foot mechanism 4 is installed at the bottom end of the calf 26 , and the foot mechanism 4 is connected to the calf 26 through the ankle buffer mechanism 5 .

[0049] The foot mechanism 4 includes a hollow foot body 44, a foot cover plate 45, a cover plate screw 46 and a protective pad 49. The bottom end of the calf 26 is movably connected to the left end of the hollow foot body 44, the top of the hollow foot body 44 is installed with the foot cover plate 45 through the cover plate screw 46, and the bottom of the hollow foot body 44 is bonded with a protective pad 49.

[0050] The foot mechanism 4 also includes an ankle protrusion 41, a movable shaft six 42, and an ankle seat 43. The bottom end of the calf 26 is fixedly connected to the ankle protrusion 41, and the left end of the hollow foot body 44 is fixedly connected to the ankle seat 43. The ankle seat 43 is movably connected to the ankle protrusion 41 through the movable shaft six 42. With the help of the ankle protrusion 41, the movable shaft six 42, and the ankle seat 43, the calf 26 and the hollow foot body 44 are movably connected.

[0051] The hollow foot body 44 contacts the ground through the protective pad 49, and the hollow foot body 44 is movably connected to the calf 26, so that the protective pad 49 is in full contact with the ground, thereby increasing the friction with the ground and having a good anti-slip effect. The protective pad 49 is made of a rubber pad, which can reduce the vibration of the hollow foot body 44 when it contacts the ground, and the protective pad 49 can be replaced after being worn.

[0052] The foot mechanism 4 further includes a toe 47 and a convex pattern 48. The right end of the hollow foot body 44 is integrally connected with the toe 47, and the right end of the toe 47 is provided with a convex pattern 48. When the hollow foot body 44 is lifted, the convex pattern 48 on the toe 47 contacts the ground, which can provide friction when the hollow foot body 44 leaves the ground when the foot is lifted.

[0053] The ankle buffer mechanism 5 includes a buffer support rod 55, a buffer frame 57, a buffer slide rod 58, an inner plate 59, a buffer spring 511, and a buffer force adjustment component. The middle part of the right side of the calf 26 is movably connected to one end of the buffer support rod 55, and the other end of the buffer support rod 55 is fixedly connected to the buffer frame 57. The foot cover plate 45 is movably connected to one end of the buffer slide rod 58. The square hole on the buffer frame 57 is slidably connected to the buffer slide rod 58. One end of the buffer slide rod 58 located in the buffer frame 57 is fixedly connected to the inner plate 59. Two buffer springs 511 are respectively connected to both sides of the inner plate 59, and two buffer force adjustment components are respectively installed at both ends of the buffer frame 57.

[0054] The buffer support rod 55 and the buffer slide rod 58 are located in the same straight line.

[0055] The ankle buffer mechanism 5 also includes an arc plate 51, a movable seat 1 52, a movable shaft 7 53, a movable seat 2 54, and a movable shaft 8 56. The arc plate 51 is fixedly connected to the top center of the foot cover plate 45, and the end of the buffer slide 58 close to the foot cover plate 45 is fixedly connected to the movable seat 1 52. The movable seat 1 52 is movably connected to the arc plate 51 through the movable shaft 7 53. The middle right side of the calf 26 is fixedly connected to the movable seat 2 54, and the end of the buffer support rod 55 close to the calf 26 is movably connected to the movable seat 2 54 through the movable shaft 8 56.

[0056] When the hollow foot body 44 contacts the ground through the protective pad 49, the hollow foot body 44 begins to move relative to the calf 26, and the angle between the upper side of the foot cover plate 45 and the right side of the calf 26 gradually decreases. The buffer slide bar 58 is retracted into the buffer frame 57 under the pressure of the hollow foot body 44, and the inner plate 59 moves to the left relative to the buffer frame 57. The buffer spring 511 on the left side of the inner plate 59 is gradually compressed. The buffer spring 511 on the right side of the inner plate 59 plays a role in maintaining the position of the inner plate 59 in the buffer frame 57 to avoid the inner plate 59 from quickly colliding with the right side of the buffer frame 57 when the buffer spring 511 on the left side of the inner plate 59 is reset and extended, causing local vibration. When the hollow foot body 44 gradually leaves the ground, the buffer spring 511 on the left side of the inner plate 59 gradually resets and extends, allowing the inner plate 59 to return to its original position in the buffer frame 57.

[0057] The buffer force adjustment assembly includes a telescopic rod 510, an end plate 512, and a buffer force adjustment bolt 513. Two telescopic rods 510 are fixedly connected to both sides of the inner plate 59, and the telescopic rods 510 are parallel to the buffer slide rod 58. Two buffer springs 511 are respectively sleeved on the outside of the two telescopic rods 510. One end of the two telescopic rods 510 away from the inner plate 59 is fixedly connected to the two end plates 512. Two buffer force adjustment bolts 513 are threadedly connected in the threaded holes at both ends of the buffer frame 57. One end of the buffer force adjustment bolt 513 located in the buffer frame 57 is pressed against the corresponding end plate 512.

[0058] The buffer force adjustment bolt 513 and the telescopic rod 510 are located in the same straight line.

[0059] Twist the buffer force adjustment bolt 513 at the left end to allow the buffer force adjustment bolt 513 at the left end to squeeze the end plate 512 on the left side, shorten the telescopic rod 510 on the left side of the inner plate 59, and compress the buffer spring 511 on the left side of the inner plate 59. At this time, the pressure when the hollow foot body 44 contacts the ground is large enough to continue to compress the buffer spring 511 on the left side of the inner plate 59, thereby increasing the buffer force received by the hollow foot body 44 when it contacts the ground. Since the buffer spring 511 on the left side of the inner plate 59 is compressed, in order to maintain the position of the inner plate 59 in the buffer frame 57, it is also necessary to twist the buffer force adjustment bolt 513 at the right end to squeeze the end plate 512 on the left side, thereby compressing the buffer spring 511 on the right side of the inner plate 59.

[0060] When in use, the steering control assembly can drive the two side plates 14 to move relative to the support plate 11, thereby changing the orientation of the leg mechanism 2, which is conducive to changing the direction of travel. The leg driving mechanism 3 drives the thigh 22 and the calf 26 to swing left and right, and also allows the calf 26 to move up and down relative to the thigh 22. When the thigh 22 swings to the left relative to the leg shaft 21, the left ends of the cooperation rod 1 24 and the cooperation rod 2 28 move upward, and the calf 26 moves upward relative to the thigh 22, allowing the foot mechanism 4 to leave the ground. As the leg driving mechanism 3 continues When the thigh 22 swings to the right relative to the leg axis 21, the left ends of the cooperation rod 1 24 and the cooperation rod 2 28 move downward, the calf 26 moves downward relative to the thigh 22, and the foot mechanism 4 gradually contacts the ground, thereby realizing the movement of the quadruped robot. The ankle buffer mechanism 5 is conducive to the lower side of the foot mechanism 4 always being in full and stable contact with the ground during the contact of the foot mechanism 4 with the ground. When the foot mechanism 4 contacts the ground, as the calf 26 swings, the lower side of the foot mechanism 4 is always parallel to the ground, avoiding the ups and downs caused by the movement.

[0061] For example 2, please refer to Figures 1 to 11 This embodiment provides a technical solution: a leg and foot structure of a quadruped robot. The structure of this embodiment is roughly the same as that of the first embodiment, except that:

[0062] The foot grip lifting mechanism 6 is also included. The foot grip lifting mechanism 6 includes an inner rod 62, a control electric telescopic rod 63, a lifting plate 64, a grip vertical plate 66, and a vertical plate guide groove 67. A plurality of vertical plate guide grooves 67 are provided at equal intervals laterally at the bottom of the hollow foot body 44. The specific number of the vertical plate guide grooves 67 can be five. The inner rod 62 is fixedly connected to the top of the hollow foot body 44 by an inner rod screw. The bottom center of the inner rod 62 is fixedly connected to the upper side of the lifting plate 64 by a vertical control electric telescopic rod 63. The lower side of the lifting plate 64 is fixedly connected to the grip vertical plate 66 at the position corresponding to the vertical plate guide groove 67. The grip vertical plate 66 is slidably connected to the corresponding vertical plate guide groove 67.

[0063] The foot grip enhancement mechanism 6 also includes a vertical groove 61 and a sliding block 65. Two vertical grooves 61 are respectively provided on the left and right sides of the hollow foot body 44. Two sliding blocks 65 are respectively fixedly connected to the left and right ends of the lifting plate 64. The two sliding blocks 65 are respectively slidably connected to the two vertical grooves 61. The vertical groove 61 and the sliding block 65 cooperate to limit the lifting plate 64 so that the lifting plate 64 can only move up and down.

[0064] If the ground is muddy, the protective pad 49 at the bottom of the hollow foot body 44 may slip against the ground. At this time, the electric telescopic rod 63 is controlled to push the descending plate 64 down in the hollow foot body 44, so that the bottom end of the gripping vertical plate 66 extends from the vertical plate guide groove 67. The gripping vertical plate 66 contacts the ground or even inserts into the muddy ground, thereby increasing the friction between the bottom of the hollow foot body 44 and the ground.

[0065] For example 3, please refer to Figures 1 to 11 This embodiment provides a technical solution: a leg and foot structure of a quadruped robot. The structure of this embodiment is roughly the same as that of the second embodiment, except that:

[0066] The standing locking mechanism 7 is also included. The standing locking mechanism 7 includes a circular groove 71, a friction pattern 72, a rectangular through groove 73, a push-pull control component, and a locking tooth block 78. A circular groove 71 is provided on the side of the power wheel 35 close to the side plate 14, and a friction pattern 72 is provided in the circular groove 71. A rectangular through groove 73 is provided at a position of the side plate 14 corresponding to the circular groove 71. A push-pull control component is installed on the side of the side plate 14 close to the support plate 11, and a locking tooth block 78 is installed on the push-pull control component. The locking tooth block 78 is arranged corresponding to the rectangular through groove 73.

[0067] The push-pull control assembly includes a locking frame 74, a disassembly bolt 75, a limit plate 76, a guide rod 77, and a locking electric telescopic rod 79. The locking frame 74 is installed on the side of the side plate 14 close to the support plate 11 by disassembling the bolt 75. The inner side of the locking frame 74 is fixedly connected to the limit plate 76. A guide rod 77 is slidably connected in a guide hole in the middle of the limit plate 76. The end of the guide rod 77 away from the side plate 14 is fixedly connected to the telescopic end of the locking electric telescopic rod 79. The fixed end of the locking electric telescopic rod 79 is fixedly connected to the locking frame 74. The end of the guide rod 77 close to the side plate 14 is fixedly connected to a locking tooth block 78. The extension of the locking electric telescopic rod 79 can push the guide rod 77 close to the side plate 14. The guide rod 77 pushes the locking tooth block 78 through the rectangular through groove 73 and extends into the annular groove 71. The shortening of the locking electric telescopic rod 79 can pull the locking tooth block 78 out of the annular groove 71.

[0068] When the robot is standing, due to its own weight, the rotating power component in the leg driving mechanism 3 will be subjected to greater pressure and easily damaged. At this time, the push-pull control component pushes the locking tooth block 78 into the annular groove 71, and the locking tooth block 78 is in friction contact with the friction pattern 72. At this time, the power wheel 35 is no longer easy to rotate, which can reduce the pressure on the rotating power component. When it needs to move, the push-pull control component pulls the locking tooth block 78 out of the annular groove 71, and the power wheel 35 can rotate freely again.

[0069] Example 4, please refer to Figures 1 to 11 This embodiment provides a technical solution: a leg and foot structure of a quadruped robot. The structure of this embodiment is roughly the same as that of the third embodiment, except that:

[0070] It also includes a pitch slope adaptation mechanism 8, which includes a stand 83, a body mounting plate 84 and a pitch control component. The left side of the body mounting plate 84 is fixedly connected to the stand 83, the bottom of the stand 83 is movably connected to the left side of the support plate 11, and the right side of the body mounting plate 84 is connected to the right side of the support plate 11 through the pitch control component.

[0071] The pitch slope adaptation mechanism 8 also includes a movable seat three 81 and a pitch axis one 82. Two movable seats three 81 are fixedly connected to the left side of the support plate 11. The two movable seats three 81 are respectively movably connected to the bottom ends of two vertical frames 83 through the pitch axis one 82. The movable seat three 81 and the pitch axis one 82 are used to realize the movable connection between the vertical frames 83 and the support plate 11.

[0072] The pitch control assembly includes a movable seat 4 85, a lead screw nut 86, a pitch axis 2 87, a lead screw 88, and a pitch control motor 89. The right side of the support plate 11 is fixedly connected with the movable seat 4 85. The movable seat 4 85 is movably connected to the lead screw nut 86 through the pitch axis 2 87. The lead screw 88 is matched and connected in the lead screw nut 86. The top of the lead screw 88 is fixedly connected with the pitch control motor 89. The pitch control motor 89 is installed at the right bottom of the body mounting plate 84. The pitch control motor 89 drives the lead screw 88 to rotate clockwise when it works. The lead screw 88 and the lead screw nut 88 rotate clockwise. 6 causes the lead screw nut 86 to descend along the lead screw 88. At this time, the right side of the support plate 11 descends relative to the body mounting plate 84, which can drive the leg mechanism 2 to descend relative to the body mounting plate 84, adapting to the downhill situation. The pitch control motor 89 works to drive the lead screw 88 to rotate counterclockwise, and the threaded action of the lead screw 88 and the lead screw nut 86 causes the lead screw nut 86 to rise along the lead screw 88. At this time, the right side of the support plate 11 rises relative to the body mounting plate 84, which can drive the leg mechanism 2 to rise relative to the body mounting plate 84, adapting to the uphill situation.

[0073] The body mounting plate 84 is connected to the body of the quadruped robot by bolts. When the robot encounters a slope, the pitch control assembly can drive the support plate 11 to move relative to the body mounting plate 84, thereby changing the angle between the support plate 11 and the body mounting plate 84, and allowing the leg drive mechanism 3 to drive the leg mechanism 2 to move so that the foot mechanism 4 can have better contact with the ground.

[0074] After adding the pitch slope adaptation mechanism 8, the body mounting plate 84 is mounted on one end of the body of the quadruped robot with the help of bolts, and a leg and foot structure is also installed on the other end of the body of the quadruped robot, so as to form a complete quadruped robot.

[0075] It is worth noting that the steering electric telescopic rod 110, the driving motor 31, the control electric telescopic rod 63, the locking electric telescopic rod 79, and the pitch control motor 89 disclosed in the above embodiments are all controlled by the robot controller, and the control method thereof adopts the method commonly used in the prior art, wherein the driving motor 31 and the pitch control motor 89 both adopt servo motors.

[0076] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0077] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A leg and foot structure of a quadruped robot, comprising a leg orientation adjustment mechanism (1), wherein the leg orientation adjustment mechanism (1) comprises a support plate (11), a side plate (14) and a steering control assembly, wherein two ends of the support plate (11) are movably connected to two side plates (14), and the two side plates (14) are connected to the support plate (11) via the steering control assembly, characterized in that: Also includes: The leg mechanism (2) comprises a thigh (22), the top of each side plate (14) away from the support plate (11) is movably connected to the top of the thigh (22) through a leg shaft (21), the bottom of each thigh (22) is movably connected to one end of a cooperation rod (24) through a movable shaft (23), the other end of each cooperation rod (24) is movably connected to the top of a calf (26) through a movable shaft (25), the bottom end of each thigh (22) is movably connected to one end of a cooperation rod (28) through a movable shaft (3) (27), the other end of each cooperation rod (28) is movably connected to the top of a calf (26) through a movable shaft (4) (29), the bottom end of the calf (26) is bent to the right, the movable shaft (4) (29) is located below the movable shaft (25), and the movable shaft (3) (27) is located below the movable shaft (23); A leg driving mechanism (3) is mounted on the side plate (14), and the leg driving mechanism (3) is connected to the thigh (22); The foot mechanism (4) is installed at the bottom end of the calf (26), and the foot mechanism (4) is connected to the calf (26) via the ankle buffer mechanism (5).

2. The leg and foot structure of the quadruped robot according to claim 1, characterized in that: The steering control assembly comprises an adjustment synchronization rod (17) and a steering electric telescopic rod (110), the two ends of the adjustment synchronization rod (17) are movably connected to the two side plates (14) respectively, the side of the adjustment synchronization rod (17) is fixedly connected to one end of a protruding rod (18), the other end of the protruding rod (18) is fixedly connected to an end seat (111), the end seat (111) is movably connected to the rear end of the steering electric telescopic rod (110), the front end of the steering electric telescopic rod (110) is movably connected to a cylinder seat (19), and the cylinder seat (19) is fixed to the top of the support plate (11).

3. The leg and foot structure of the quadruped robot according to claim 1, characterized in that: The leg driving mechanism (3) comprises a rotating power assembly, a power shaft (34), and a power wheel (35). Each side plate (14) is rotatably connected to the middle part of the power wheel (35) through the power shaft (34). The power shaft (34) is located below the leg shaft (21). A slide groove (37) is provided at a position between the leg shaft (21) and the movable shaft (23) of each thigh (22). A side through groove (38) connected to the slide groove (37) is provided on the side of the thigh (22). The power wheel The eccentric position of the side (35) is fixedly connected with a movable shaft five (36), the movable shaft five (36) is slidably connected with the slide groove (37), and the movable shaft five (36) is rotatably connected with a movable ring (39) at a position corresponding to the side through groove (38), the movable ring (39) is fixedly connected with one end of a driving rod (310), the driving rod (310) passes through the side through groove (38), and the other end of the driving rod (310) is rotatably connected with the corresponding movable shaft two (25), and the power wheel (35) is connected to the rotating power component.

4. The leg and foot structure of the quadruped robot according to claim 1, characterized in that: The foot mechanism (4) comprises a hollow foot body (44), a foot cover plate (45) and a protective pad (49); the bottom end of the calf (26) is movably connected to the left end of the hollow foot body (44); the top of the hollow foot body (44) is provided with a foot cover plate (45); and the bottom of the hollow foot body (44) is bonded with a protective pad (49).

5. The leg and foot structure of the quadruped robot according to claim 4, characterized in that: The foot mechanism (4) further comprises a toe (47) and a convex pattern (48); the right end of the hollow foot body (44) is integrally formed and connected with the toe (47); and the right end of the toe (47) is provided with a convex pattern (48).

6. The leg and foot structure of the quadruped robot according to claim 4, characterized in that: The ankle buffer mechanism (5) comprises a buffer support rod (55), a buffer frame (57), a buffer slide rod (58), a buffer spring (511), and a buffer force adjustment component. The middle part of the right side of the calf (26) is movably connected to one end of the buffer support rod (55), and the other end of the buffer support rod (55) is fixedly connected to the buffer frame (57). The foot cover plate (45) is movably connected to one end of the buffer slide rod (58). The square hole on the buffer frame (57) is slidably connected to the buffer slide rod (58). One end of the buffer slide rod (58) located in the buffer frame (57) is fixedly connected to an inner plate (59). Two buffer springs (511) are respectively connected to the two sides of the inner plate (59). Two buffer force adjustment components are respectively installed at both ends of the buffer frame (57).

7. The leg and foot structure of a quadruped robot according to claim 6, characterized in that: The buffer force adjustment component comprises a telescopic rod (510), an end plate (512), and a buffer force adjustment bolt (513); two telescopic rods (510) are fixedly connected to the two sides of the inner plate (59); the telescopic rods (510) are parallel to the buffer slide rod (58); two buffer springs (511) are respectively sleeved on the outer sides of the two telescopic rods (510); one end of the two telescopic rods (510) away from the inner plate (59) is fixedly connected to the two end plates (512); two buffer force adjustment bolts (513) are respectively threadedly connected in the threaded holes at both ends of the buffer frame (57); one end of the buffer force adjustment bolt (513) located in the buffer frame (57) is pressed against the corresponding end plate (512).

8. The leg and foot structure of a quadruped robot according to claim 4, characterized in that: The invention also comprises a foot grip lifting mechanism (6), wherein the foot grip lifting mechanism (6) comprises an inner rod (62), a control electric telescopic rod (63), a lifting plate (64), a gripping vertical plate (66), and a vertical plate guide groove (67). A plurality of vertical plate guide grooves (67) are provided at equal intervals in the horizontal direction at the bottom of the hollow foot body (44). The inner rod (62) is fixedly connected to the top of the hollow foot body (44). The center of the bottom of the inner rod (62) is fixedly connected to the upper side of the lifting plate (64) through the vertical control electric telescopic rod (63). The lower side of the lifting plate (64) is fixedly connected to the gripping vertical plate (66) at the position corresponding to the vertical plate guide groove (67). The gripping vertical plate (66) is slidably connected to the corresponding vertical plate guide groove (67).

9. The leg and foot structure of a quadruped robot according to claim 3, characterized in that: The invention also comprises a standing locking mechanism (7), wherein the standing locking mechanism (7) comprises a circular groove (71), a friction pattern (72), a rectangular through groove (73), a push-pull control assembly, and a locking tooth block (78); a circular groove (71) is provided on a side of the power wheel (35) close to the side plate (14); a friction pattern (72) is arranged in the circular groove (71); a rectangular through groove (73) is provided on the side plate (14) at a position corresponding to the circular groove (71); a push-pull control assembly is installed on a side of the side plate (14) close to the support plate (11); a locking tooth block (78) is installed on the push-pull control assembly; and the locking tooth block (78) is arranged corresponding to the rectangular through groove (73).

10. The leg and foot structure of a quadruped robot according to claim 1, characterized in that: The invention also comprises a pitch slope adaptation mechanism (8), wherein the pitch slope adaptation mechanism (8) comprises a stand (83), a machine body mounting plate (84) and a pitch control assembly, wherein the left side of the machine body mounting plate (84) is fixedly connected to the stand (83), the bottom of the stand (83) is movably connected to the left side of the support plate (11), and the right side of the machine body mounting plate (84) is connected to the right side of the support plate (11) via the pitch control assembly.

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