Leg structure of a quadruped robot

Abstract

The application 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, a leg mechanism, a leg driving mechanism and a foot mechanism.The leg orientation adjusting mechanism comprises a support plate, two ends of the support plate are movably connected with two side plates, the two side plates are connected with the support plate through steering control assemblies, the leg mechanism comprises a thigh, the top of each side plate away from the support plate is movably connected with the top of the thigh through a leg shaft, and the bottom of each thigh is movably connected with one end of a cooperation rod one through a movable shaft one.The leg and foot structure of the quadruped robot can avoid damage of the rotating power assembly caused by large pressure when the robot stops standing, the foot mechanism can move relative to the calf, the foot mechanism and the calf are connected through an ankle buffer mechanism, the function of the ankle of the human body is simulated, the foot mechanism has enough friction with the ground when the robot moves, and the robot can avoid rolling and bumping when moving.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, in particular to a leg-foot structure of a quadruped robot. BACKGROUND

[0002] The foot-type robot is a popular type of intelligent robot, which can be applied to scientific research and education, entertainment, petroleum and chemical industry, security inspection and exploration and rescue, etc. At present, the quadruped robot is widely used due to its stability in walking.

[0003] The leg structure of the foot-type robot is one of the important components of the foot-type robot. The existing leg structure of the foot-type robot generally comprises a thigh assembly, a shank assembly and a transmission assembly for transmission connection between the thigh assembly and the shank assembly. Although the existing leg structure of the foot-type robot solves the problem of stable and continuous forward movement of the quadruped robot, it still has the following defects: the pressure on the power mechanism is large when the quadruped robot stops standing, which can easily cause damage to the power mechanism; the foot of the general quadruped robot is fixedly connected with the shank, and the foot of the quadruped robot adopts a round end head to contact the ground, which reduces the contact area with the ground. However, the anti-skid effect of this foot structure is poor. If a foot structure with a large contact surface with the ground is used to improve the anti-skid effect, the lower side of the foot will have different angles with the ground during the process of contacting the ground with the swing of the shank, which can cause the quadruped robot to rise and fall during walking. SUMMARY

[0004] The technical problem to be solved by the present application is to overcome the existing defects and provide a leg-foot structure of a quadruped robot. The standing locking mechanism is used to lock the power disc when the quadruped robot stops standing, so as to avoid damage to the rotating power assembly due to large pressure when the quadruped robot stops standing. The foot mechanism can move relative to the shank, and the foot mechanism and the shank are connected through the ankle buffer mechanism to simulate the function of the human ankle. The foot mechanism has sufficient friction with the ground during walking, which improves the anti-skid effect during walking. The lower side of the foot mechanism is always in stable and full contact with the ground during the process of the foot mechanism contacting the ground with the swing of the shank, so that the lower side of the foot mechanism is always parallel to the ground during the process of the foot contacting the ground with the swing of the shank, which avoids the quadruped robot from rising and falling during walking. The problems in the background art can be effectively solved.

[0005] To achieve the above-mentioned purpose, the present application provides the following technical scheme: a leg-foot structure of a quadruped robot, comprising a leg orientation adjusting mechanism, the leg orientation adjusting mechanism comprising a support plate, a side plate and a steering control assembly, 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 the steering control assembly, further comprising:

[0006] The leg mechanism comprises thighs, each side plate is movably connected to the top end of the thigh through a leg shaft, the bottom end of each thigh is movably connected to one end of a cooperation rod I through a movable shaft I, the other end of each cooperation rod I is movably connected to the top end of a calf, the bottom end of each thigh is movably connected to one end of a cooperation rod II through a movable shaft III, the other end of each cooperation rod II is movably connected to the top end of a calf, and the bottom end of the calf is bent to the right, the movable shaft IV is below the movable shaft II, and the movable shaft III is below the movable shaft I.

[0007] The leg driving mechanism is installed on the side plate and connected to the thigh.

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

[0009] The turning control assembly can drive the two side plates to move relative to the support plate, so that the orientation of the leg mechanism is changed, thereby facilitating the change of the moving direction. The leg driving mechanism drives the thigh and the calf to swing left and right, and also drives the calf to move up and down relative to the thigh. When the thigh swings to the left relative to the leg shaft, the left end of the cooperation rod I and the cooperation rod II moves up, the calf moves up relative to the thigh, and the foot mechanism moves away from the ground. With the continuous work of the leg driving mechanism, when the thigh swings to the right relative to the leg shaft, the left end of the cooperation rod I and the cooperation rod II moves down, the calf moves down relative to the thigh, and the foot mechanism gradually contacts the ground, so as to realize the movement of the quadruped robot. The ankle buffer mechanism facilitates the stable and full contact of the lower side of the foot mechanism with the ground during the process that the foot mechanism contacts the ground. During the process that the foot mechanism contacts the ground, the lower side of the foot mechanism is always parallel to the ground with the swing of the calf, thereby avoiding the ups and downs of the quadruped robot during movement.

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

[0011] When the turning electric telescopic rod is extended, the turning electric telescopic rod pushes the adjustment synchronization rod to move to one side through the convex rod, the adjustment synchronization rod pushes the two side plates to move to one side synchronously, the turning electric telescopic rod is shortened, the turning electric telescopic rod pulls the adjustment synchronization rod to move to the other side through the convex rod, and the adjustment synchronization rod pulls the two side plates to move to the other side synchronously, so as to change the orientation of the leg mechanism.

[0012] Further, the leg driving mechanism comprises a rotating power assembly, a power shaft, and a power disc, the middle part of the power disc is rotatably connected to the power shaft on each side plate, the power shaft is located below the leg shaft, a sliding groove is formed on the position between the leg shaft and the movable shaft one of each thigh, a side through groove is formed on the side surface of the thigh and communicates with the sliding groove, the eccentric position of the side surface of the power disc is fixedly connected with a movable shaft five, the movable shaft five is slidably connected with the sliding groove, and the movable shaft five is rotatably connected with a movable ring at the position corresponding to the side through groove, one end of the movable ring is fixedly connected with a driving rod, the driving rod passes through the side through groove, and the other end of the driving rod is rotatably connected with the corresponding movable shaft two, and the power disc is connected with the rotating power assembly. The rotating power assembly is used for driving the power disc to rotate, the power disc drives the movable shaft five to rotate, the movable shaft five is slidably connected with the sliding groove to swing the thigh left and right relative to the leg shaft, and the movable shaft five rotates to pull the driving rod up and down through the movable ring, the driving rod can pull the calf up and down relative to the thigh, the calf is lifted up relative to the thigh when the thigh swings to the left, the thigh and the calf are lifted up at the same time, the calf is lowered relative to the thigh when the thigh swings to the right, and the calf drives the foot mechanism to contact the ground when the thigh steps forward.

[0013] Further, the foot mechanism comprises 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 provided with the foot cover plate, and the bottom of the hollow foot body is bonded with the protective pad. The hollow foot body contacts the ground through the protective pad, the hollow foot body is movably connected with the calf, the protective pad is in full contact with the ground, the friction with the ground is improved, the anti-skid effect is good, the protective pad is made of rubber pad, the vibration of the hollow foot body when contacting the ground can be reduced, and the protective pad can be replaced after being worn out.

[0014] Further, the foot mechanism further comprises a toe and a convex grain, the right end of the hollow foot body is integrally connected with the toe, and the right end of the toe is provided with the convex grain. When the hollow foot body is lifted up, the convex grain on the toe contacts the ground, and the friction when the hollow foot body is lifted off the ground can be provided.

[0015] Further, the ankle buffer mechanism comprises a buffer support, a buffer frame, a buffer slide rod, a buffer spring, and a buffer intensity adjusting assembly. The right middle part of the lower leg is movably connected with one end of the buffer support. The other end of the buffer support is fixedly connected with the buffer frame. The foot cover plate is movably connected with one end of the buffer slide rod. The square hole on the buffer frame is slidably connected with the buffer slide rod. One end of the buffer slide rod in the buffer frame is fixedly connected with an inner plate. Two buffer springs are respectively connected with the two sides of the inner plate. Two buffer intensity adjusting assemblies are respectively arranged at the two ends of the buffer frame. When the hollow foot body contacts the ground through the protective pad, the hollow foot body starts to move relative to the lower leg. The included angle between the upper side of the foot cover plate and the right side of the lower leg gradually decreases. The buffer slide rod is compressed into the buffer frame under the pressure of the hollow foot body. 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. The buffer spring on the right side of the inner plate plays a role in maintaining the position of the inner plate in the buffer frame, avoiding the inner plate from being quickly impacted by the right side of the buffer frame when the buffer spring on the left side of the inner plate is reset and elongated, causing local vibration. When the hollow foot body gradually leaves the ground, the buffer spring on the left side of the inner plate is gradually reset and elongated, so that the inner plate returns to the original position in the buffer frame.

[0016] Further, the buffer intensity adjusting assembly comprises an extension rod, an end plate, and a buffer intensity adjusting bolt. Two extension rods are respectively fixedly connected with the two sides of the inner plate. The extension rods are parallel to the buffer slide rod. Two buffer springs are respectively sleeved on the outer sides of the two extension rods. Two end plates are respectively fixedly connected with the ends of the two extension rods away from the inner plate. Two buffer intensity adjusting bolts are respectively threadedly connected in the threaded holes at the two ends of the buffer frame. One end of the buffer intensity adjusting bolt in the buffer frame abuts against the corresponding end plate. The left end buffer intensity adjusting bolt is twisted to extrude the left end plate, so that the extension rod on the left side of the inner plate is shortened, and the buffer spring on the left side of the inner plate is compressed. At this time, the pressure of the hollow foot body when contacting the ground is large enough to continue to compress the buffer spring on the left side of the inner plate, so that the buffer intensity of the hollow foot body when contacting the ground can be improved. Since the buffer spring on the left side of the inner plate is compressed, the right end buffer intensity adjusting bolt also needs to be twisted to extrude the left end plate, so that the buffer spring on the right side of the inner plate is compressed.

[0017] Further, it further includes a foot grip enhancement mechanism, which comprises an inner rod, a control electric telescopic rod, a lifting plate, a grip vertical plate, and a vertical plate guide slot. A plurality of vertical plate guide slots are horizontally and equidistantly arranged on the bottom of the hollow foot body. The inner rod is fixedly connected to the top of the hollow foot body. The bottom center 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 to the grip vertical plate at a position corresponding to the vertical plate guide slot. The grip vertical plate is slidingly connected to the corresponding vertical plate guide slot. If the ground is muddy, the protective pad at the bottom of the hollow foot body will slide on the ground. At this time, the control electric telescopic rod pushes the lifting plate to descend in the hollow foot body, so that the bottom end of the grip vertical plate extends out of the vertical plate guide slot. The grip vertical plate contacts or even penetrates into the muddy ground, thereby increasing the friction between the bottom of the hollow foot body and the ground.

[0018] Further, it further includes a standing locking mechanism, which comprises a circular groove, a friction pattern, a rectangular through slot, a push-pull control assembly, and a locking tooth block. The circular groove is arranged on one side of the power wheel disc close to the side plate. The friction pattern is arranged in the circular groove. The rectangular through slot is arranged on the side plate at a position corresponding to the circular groove. The push-pull control assembly is mounted on one side of the side plate close to the support plate. The locking tooth block is mounted on the push-pull control assembly. The locking tooth block is arranged corresponding to the rectangular through slot. When the robot stands at different positions, the rotating power assembly in the leg driving mechanism will be subjected to a large pressure due to the heavy weight of the robot, which is easy to damage. At this time, the push-pull control assembly pushes the locking tooth block to extend into the circular groove, and the locking tooth block is in frictional contact with the friction pattern. At this time, the power wheel disc is not easy to rotate, and the pressure on the rotating power assembly can be reduced. When it is necessary to move, the push-pull control assembly pulls the locking tooth block away from the circular groove, and the power wheel disc can rotate freely again.

[0019] Further, it further includes a pitch slope adaptation mechanism, which comprises a stand, a body mounting plate, and a pitch control assembly. 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. 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 through bolts. 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 included angle between the support plate and the body mounting plate, and enable the foot mechanism to better contact the ground when the leg driving mechanism drives the leg mechanism to move.

[0020] Compared with the prior art, the leg-foot structure of the quadruped robot has the following beneficial effects:

[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 collaboration rod one and the collaboration 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 collaboration rod one and the collaboration 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 rubs against 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 it is necessary 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, thereby simulating the function of the human ankle. When walking, the foot mechanism has sufficient friction with the ground to improve the anti-slip effect during walking. In addition, the lower side of the foot mechanism is always in stable and full contact with the ground during the process of contacting the ground. When the foot contacts the ground, as the calf swings, the lower side of the foot is always parallel to the ground, avoiding ups and downs during walking. 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 5Partial enlarged view at C;

[0030] Figure 7 Structure of leg and foot of quadruped robot Figure 5 of the present application;

[0031] Figure 8 Structure of leg and foot of quadruped robot Figure 7 of the present application;

[0032] Figure 9 Structure of leg and foot of quadruped robot of the present application;

[0033] Figure 10 Structure of leg and foot of quadruped robot of the present application;

[0034] Figure 11 Structure of leg and foot of quadruped robot Figure 10 of the present application;

[0035] In the figure: 1 leg direction adjusting mechanism, 11 support plate, 12 turning shaft, 13 turning support, 14 side plate, 15 adjusting support, 16 adjusting shaft, 17 adjusting synchronous rod, 18 convex rod, 19 cylinder seat, 110 turning electric telescopic rod, 111 end seat, 2 leg mechanism, 21 leg shaft, 22 thigh, 23 movable shaft one, 24 cooperation rod one, 25 movable shaft two, 26 shank, 27 movable shaft three, 28 cooperation rod two, 29 movable shaft four, 3 leg driving mechanism, 31 driving motor, 32 driving gear, 33 driven gear, 34 power shaft, 35 power wheel, 36 movable shaft five, 37 sliding groove, 38 side through groove, 39 movable ring, 310 driving rod, 4 foot mechanism, 41 ankle convex block, 42 movable shaft six, 43 ankle seat, 44 hollow foot body, 45 foot cover plate, 46 cover plate screw, 47 toe, 48 convex grain, 49 protective pad, 5 ankle buffer mechanism, 51 arc plate, 52 movable seat one, 53 movable shaft seven, 54 movable seat two, 55 buffer support rod, 56 movable shaft eight, 57 buffer frame, 58 buffer sliding rod, 59 inner plate, 510 telescopic rod, 511 buffer spring, 512 end plate, 513 buffer force adjusting bolt, 6 foot ground grip force improving mechanism, 61 vertical groove, 62 inner rod, 63 control electric telescopic rod, 64 lifting plate, 65 sliding block, 66 ground grip vertical plate, 67 vertical plate guide groove, 7 standing locking mechanism, 71 circular ring groove, 72 friction grain, 73 rectangular through groove, 74 locking frame, 75 dismounting bolt, 76 limiting plate, 77 guide rod, 78 locking tooth block, 79 locking electric telescopic rod, 8 pitch inclination adapting mechanism, 81 movable seat three, 82 pitch shaft one, 83 stand, 84 machine body mounting plate, 85 movable seat four, 86 lead screw nut, 87 pitch shaft two, 88 lead screw, 89 pitch control motor. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts are within the scope of protection of the present invention.

[0037] For example 1, please refer to 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 including a support plate 11, a side plate 14 and a steering control assembly, 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 assembly;

[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 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 protruding 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 protruding rod 18, and the other end of the protruding 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. The two side panels 14 are fixedly connected to two adjustment supports 15 on the side 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 panel 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 protruding 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 protruding 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] Further comprising leg mechanism 2, leg driving mechanism 3 and foot mechanism 4;

[0043] The leg mechanism 2 comprises leg shaft 21, thigh 22, movable shaft one 23, cooperation rod one 24, movable shaft two 25, shank 26, movable shaft three 27, cooperation rod two 28, movable shaft four 29, the top of each side plate 14 away from the side of the support plate 11 is movably connected with the top end of the thigh 22 through the leg shaft 21, the bottom of each thigh 22 is movably connected with one end of the cooperation rod one 24 through the movable shaft one 23, the other end of each cooperation rod one 24 is movably connected with the top end of the shank 26 through the movable shaft two 25, the bottom of each thigh 22 is movably connected with one end of the cooperation rod two 28 through the movable shaft three 27, the other end of each cooperation rod two 28 is movably connected with the top of the shank 26 through the movable shaft four 29, the bottom of the shank 26 is bent to the right, the movable shaft four 29 is below the movable shaft two 25, and the movable shaft three 27 is below the movable shaft one 23;

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

[0045] The leg driving mechanism 3 comprises a rotating power assembly, a power shaft 34, a power disc 35, a movable shaft five 36, a sliding groove 37, a side through groove 38, a movable ring 39, and a driving rod 310, the middle part of the power disc 35 is rotatably connected with the power shaft 34 on each side plate 14, the power shaft 34 is below the leg shaft 21, the sliding groove 37 is arranged at the position between the leg shaft 21 and the movable shaft one 23 of each thigh 22, the side surface of the thigh 22 is provided with the side through groove 38 in communication with the sliding groove 37, the eccentric position of the side surface of the power disc 35 is fixedly connected with the movable shaft five 36, the movable shaft five 36 is slidably connected with the sliding groove 37, the position corresponding to the side through groove 38 of the movable shaft five 36 is rotatably connected with the movable ring 39, one end of the movable ring 39 is fixedly connected with the driving rod 310, the driving rod 310 penetrates through the side through groove 38, the other end of the driving rod 310 is rotatably connected with the corresponding movable shaft two 25, and the power disc 35 is connected with the rotating power assembly.

[0046] The rotating power assembly comprises a driving motor 31, a driving gear 32 and a driven gear 33, the outer side of the power disc 35 is fixedly installed with the driven gear 33, the driving motor 31 is installed on the side plate 14, the output shaft of the driving motor 31 is fixedly connected with the driving gear 32, the driving gear 32 is meshingly connected with the driven gear 33, the driving motor 31 works to drive the power disc 35 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, the power wheel 35 drives the movable shaft five 36 to rotate, the movable shaft five 36 is in sliding connection with the sliding groove 37 to make the thigh 22 swing left and right relative to the leg shaft 21, when the movable shaft five 36 rotates, the movable ring 39 is pulled to drive the driving rod 310 to move up and down, the driving 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 descends relative to the thigh 22, and when the thigh 22 steps 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 connects the calf 26 through the ankle buffer mechanism 5.

[0049] The foot mechanism 4 comprises 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 provided with the foot cover plate 45 through the cover plate screw 46, and the bottom of the hollow foot body 44 is bonded with the protective pad 49.

[0050] The foot mechanism 4 further comprises an ankle protrusion 41, a movable shaft six 42 and an ankle seat 43, the bottom end of the calf 26 is fixedly connected with the ankle protrusion 41, the left end of the hollow foot body 44 is fixedly connected with the ankle seat 43, and the ankle seat 43 is movably connected with the ankle protrusion 41 through the movable shaft six 42, so that the calf 26 is movably connected with the hollow foot body 44 through the ankle protrusion 41, the movable shaft six 42 and the ankle seat 43.

[0051] The hollow foot body 44 contacts the ground through the protective pad 49, the hollow foot body 44 is movably connected with the calf 26, so that the protective pad 49 fully contacts the ground, the friction with the ground is improved, the anti-skid effect is good, the protective pad 49 is made of rubber pad, the vibration of the hollow foot body 44 when contacting the ground is reduced, and the protective pad 49 can be replaced after being worn out.

[0052] The foot mechanism 4 further comprises a toe 47 and a convex grain 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 the convex grain 48. When the hollow foot body 44 is lifted, the convex grain 48 on the toe 47 contacts the ground, and the friction when the hollow foot body 44 is lifted and separated from the ground can be provided.

[0053] The ankle buffering mechanism 5 comprises a buffering strut 55, a buffering frame 57, a buffering slide rod 58, an inner plate 59, buffering springs 511, and buffering strength adjustment assemblies. The right middle part of the lower leg 26 is movably connected to one end of the buffering strut 55. The other end of the buffering strut 55 is fixedly connected to the buffering frame 57. The foot cover plate 45 is movably connected to one end of the buffering slide rod 58. The square hole on the buffering frame 57 is slidably connected to the buffering slide rod 58. One end of the buffering slide rod 58 located in the buffering frame 57 is fixedly connected to the inner plate 59. The inner plate 59 is connected to two buffering springs 511 on both sides, respectively. The buffering frame 57 is provided with two buffering strength adjustment assemblies at both ends, respectively.

[0054] The buffering strut 55 and the buffering slide rod 58 are located on the same straight line.

[0055] The ankle buffering mechanism 5 further comprises a circular arc plate 51, a movable seat one 52, a movable shaft seven 53, a movable seat two 54, and a movable shaft eight 56. The top center of the foot cover plate 45 is fixedly connected to the circular arc plate 51. One end of the buffering slide rod 58 close to the foot cover plate 45 is fixedly connected to the movable seat one 52. The movable seat one 52 is movably connected to the circular arc plate 51 through the movable shaft seven 53. The right middle part of the lower leg 26 is fixedly connected to the movable seat two 54. One end of the buffering strut 55 close to the lower leg 26 is movably connected to the movable seat two 54 through the movable shaft eight 56.

[0056] When the hollow foot body 44 contacts the ground through the protective pad 49, the hollow foot body 44 starts to move relative to the lower leg 26. The included angle between the upper side of the foot cover plate 45 and the right side of the lower leg 26 gradually decreases. The buffering slide rod 58 is compressed into the buffering frame 57 under the pressure of the hollow foot body 44. The inner plate 59 moves to the left relative to the buffering frame 57. The buffering spring 511 on the left side of the inner plate 59 is gradually compressed. The buffering 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 buffering frame 57, avoiding the inner plate 59 from being quickly impacted to the right side in the buffering frame 57 when the buffering spring 511 on the left side of the inner plate 59 resets and elongates, causing local vibration. When the hollow foot body 44 gradually leaves the ground, the buffering spring 511 on the left side of the inner plate 59 gradually resets and elongates, allowing the inner plate 59 to return to its original position in the buffering frame 57.

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

[0058] The buffer strength adjusting bolt 513 and the telescopic rod 510 are located on the same straight line.

[0059] Twist the left end buffer strength adjusting bolt 513, so that the left end buffer strength adjusting bolt 513 extrudes the left end plate 512, so that the left telescopic rod 510 of the inner plate 59 is shortened, and the left buffer spring 511 of the inner plate 59 is compressed. At this time, the pressure of the hollow foot body 44 in contact with the ground is large enough to continue to compress the left buffer spring 511 of the inner plate 59, so that the buffer strength of the hollow foot body 44 in contact with the ground can be improved. Since the left buffer spring 511 of the inner plate 59 is compressed, in order to maintain the position of the inner plate 59 in the buffer frame 57, the right end buffer strength adjusting bolt 513 also needs to be twisted to extrude the left end plate 512, so that the right buffer spring 511 of the inner plate 59 is also compressed.

[0060] In use, the steering control assembly can drive the two side plates 14 to move relative to the support plate 11, so as to change the orientation of the leg mechanism 2, thereby facilitating the change of the direction of movement. The leg driving mechanism 3 drives the thigh 22 and the lower leg 26 to swing left and right, and also drives the lower leg 26 to move up and down relative to the thigh 22. When the thigh 22 swings left relative to the leg shaft 21, the left end of the cooperation rod one 24 and the cooperation rod two 28 moves up, the lower leg 26 moves up relative to the thigh 22, and the foot mechanism 4 moves away from the ground. With the continuous work of the leg driving mechanism 3, when the thigh 22 swings right relative to the leg shaft 21, the left end of the cooperation rod one 24 and the cooperation rod two 28 moves down, the lower leg 26 moves down 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 facilitates the lower side of the foot mechanism 4 to be in stable and full contact with the ground during the process of the foot mechanism 4 contacting the ground. During the process of the foot mechanism 4 contacting the ground, the lower side of the foot mechanism 4 is always parallel to the ground with the swinging of the lower leg 26, thereby avoiding the self-heaving and bumping during movement.

[0061] Embodiment two, please refer to Figures 1 to 11 The technical scheme provided by the embodiment is a leg-foot structure of a quadruped robot. The structure of the embodiment is substantially the same as that of embodiment one, and the difference lies in that:

[0062] Also includes the foot grip enhancement mechanism 6, the foot grip enhancement mechanism 6 contains the inner rod 62, the control electric telescopic rod 63, the lifting plate 64, the grip vertical plate 66, the vertical plate guide groove 67, the hollow foot body 44 bottom transverse equidistantly opens multiple vertical plate guide grooves 67, the specific quantity of vertical plate guide grooves 67 can adopt five, the inner rod screw is fixedly connected with the inner rod 62 in the top of hollow foot body 44, the bottom center of inner rod 62 is fixedly connected with the upper side of lifting plate 64 through the vertical control electric telescopic rod 63, the lower side of lifting plate 64 is fixedly connected with the grip vertical plate 66 corresponding to the position of vertical plate guide groove 67, and the grip vertical plate 66 is slidably connected with the corresponding vertical plate guide groove 67.

[0063] The foot grip enhancement mechanism 6 also contains vertical grooves 61 and sliding blocks 65, two vertical grooves 61 are respectively formed in the left and right sides of the hollow foot body 44, and 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 with the two vertical grooves 61. The vertical grooves 61 and the sliding blocks 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 will slide on the ground. At this time, the control electric telescopic rod 63 pushes the lifting plate 64 to descend in the hollow foot body 44, so that the bottom end of the grip vertical plate 66 extends out of the vertical plate guide groove 67. The grip vertical plate 66 contacts or even penetrates into the muddy ground, increasing the friction between the bottom of the hollow foot body 44 and the ground.

[0065] Example three, please refer to Figures 1 to 11 The present embodiment provides a technical solution: a leg structure of a quadruped robot. The present embodiment is substantially the same as the structure of example two, and the difference lies in that:

[0066] Also includes the standing locking mechanism 7, the standing locking mechanism 7 contains the circular groove 71, the friction pattern 72, the rectangular through groove 73, the push-pull control assembly, the locking tooth block 78, the power wheel disc 35 is close to the side of the side plate 14 and is provided with a circular groove 71, the circular groove 71 is provided with a friction pattern 72, the side plate 14 is provided with a rectangular through groove 73 corresponding to the position of the circular groove 71, the side plate 14 is provided with a push-pull control assembly close to the side of the support plate 11, the push-pull control assembly is provided with a locking tooth block 78, and the locking tooth block 78 is provided corresponding to the rectangular through groove 73.

[0067] The push-pull control assembly comprises a locking frame 74, a dismounting bolt 75, a limiting plate 76, a guide rod 77 and a locking electric telescopic rod 79. The locking frame 74 is mounted on one side of the side plate 14 close to the support plate 11 through the dismounting bolt 75. The inner side of the locking frame 74 is fixedly connected with the limiting plate 76. The guide rod 77 is slidably connected with the guide hole in the middle of the limiting plate 76. The end of the guide rod 77 away from the side plate 14 is fixedly connected with the telescopic end of the locking electric telescopic rod 79. The fixed end of the locking electric telescopic rod 79 is fixedly connected with the locking frame 74. The end of the guide rod 77 close to the side plate 14 is fixedly connected with the locking tooth block 78. The locking electric telescopic rod 79 can be extended to push the guide rod 77 close to the side plate 14. The guide rod 77 pushes the locking tooth block 78 to pass through the rectangular through slot 73 and extend into the circular annular groove 71. The locking electric telescopic rod 79 can be shortened to pull the locking tooth block 78 away from the circular annular groove 71.

[0068] When the robot stands at different times, the rotating power assembly in the leg driving mechanism 3 will be subjected to greater pressure due to its own weight, which is easy to damage. At this time, the push-pull control assembly pushes the locking tooth block 78 to extend into the circular annular groove 71, and the locking tooth block 78 is in frictional contact with the friction pattern 72. At this time, the power wheel disc 35 is no longer easy to rotate, which can reduce the pressure on the rotating power assembly. When walking is needed, the push-pull control assembly pulls the locking tooth block 78 away from the circular annular groove 71, and the power wheel disc 35 can be freely rotated again.

[0069] Embodiment four, please refer to Figures 1 to 11 The embodiment provides a technical scheme: a leg structure of a four-legged robot. The embodiment is substantially the same as the structure of embodiment three, and the difference lies in that:

[0070] The pitch slope adaptation mechanism 8 further comprises a stand 83, a body mounting plate 84 and a pitch control assembly. The left side of the body mounting plate 84 is fixedly connected with the stand 83. The bottom of the stand 83 is movably connected with the left side of the support plate 11. The right side of the body mounting plate 84 is connected with the right side of the support plate 11 through the pitch control assembly.

[0071] The pitch slope adaptation mechanism 8 further comprises a movable seat three 81 and a pitch shaft one 82. The left side of the support plate 11 is fixedly connected with two movable seat threes 81. The two movable seat threes 81 are movably connected with the bottom ends of the two stands 83 through the pitch shaft one 82. The movable seat three 81 and the pitch shaft one 82 are used to movably connect the stand 83 with the support plate 11.

[0072] The pitch control assembly comprises a movable seat four 85, a screw nut 86, a pitch shaft two 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 four 85. The movable seat four 85 is movably connected with the screw nut 86 through the pitch shaft two 87. The screw nut 86 is internally and cooperatively connected with the lead screw 88. The top end 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 robot mounting plate 84. The pitch control motor 89 drives the lead screw 88 to rotate clockwise. The threaded action between the lead screw 88 and the screw nut 86 causes the 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 robot mounting plate 84, which can drive the leg mechanism 2 to descend relative to the robot mounting plate 84, adapting to the downhill situation. The pitch control motor 89 drives the lead screw 88 to rotate counterclockwise. The threaded action between the lead screw 88 and the screw nut 86 causes the screw nut 86 to ascend along the lead screw 88. At this time, the right side of the support plate 11 rises relative to the robot mounting plate 84, which can drive the leg mechanism 2 to rise relative to the robot mounting plate 84, adapting to the uphill situation.

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

[0074] After adding the pitch slope adaptation mechanism 8, the robot mounting plate 84 is installed at one end of the body of the quadruped robot through bolts, and the other end of the body of the quadruped robot is also installed with a leg foot structure, 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 adopts the method commonly used in the prior art. Among them, the driving motor 31 and the pitch control motor 89 are both servo motors.

[0076] It should be noted that in this document, relational terms such as first and second and the like can only be used to distinguish one entity or action from another entity or action, without necessarily requiring or implying that there is any such actual relationship or order between these entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof are intended to cover non-exclusive inclusions, so that a process, method, article, or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or inherent to such a process, method, article, or apparatus.

[0077] While embodiments of the present application have been shown and described, it is to be understood that the embodiments described are merely divergences of the principles and spirit of the present application and that numerous modifications, changes, substitutions, and alterations can be made thereto without departing from the spirit and scope of the present application as 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 both ends of the support plate (11) are movably connected to two side plates (14), and both side plates (14) are connected to the support plate (11) via the steering control assembly, characterized in that: Also includes: The leg mechanism (2) includes 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 the leg shaft (21), the bottom of each thigh (22) is movably connected to one end of the cooperation rod (24) through the movable shaft (23), the other end of each cooperation rod (24) is movably connected to the top of the calf (26) through the movable shaft (25), the bottom end of each thigh (22) is movably connected to one end of the cooperation rod (28) through the movable shaft (3) (27), the other end of each cooperation rod (28) is movably connected to the top of the calf (26) through the 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); A foot mechanism (4) is mounted on the bottom end of the calf (26), and the foot mechanism (4) is connected to the calf (26) via an ankle buffer mechanism (5); The leg driving mechanism (3) includes a rotating power assembly, a power shaft (34), and a power wheel (35). Each side plate (14) is rotatably connected to the middle of the power wheel (35) through the power shaft (34). The power shaft (34) is located below the leg shaft (21). Each thigh (22) is provided with a chute (37) at a position between the leg shaft (21) and the movable shaft (23). A side through groove (38) communicating with the chute (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 to the slide groove (37), and the movable shaft five (36) is rotatably connected to the position of the corresponding side through groove (38) with a movable ring (39), 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), and the power wheel (35) is connected to the rotating power assembly; The invention also includes a standing locking mechanism (7), wherein 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). The power wheel (35) is provided with a circular groove (71) on a side close to the side plate (14), and a friction pattern (72) is provided in the circular groove (71). The side plate (14) is provided with a rectangular through groove (73) at a position corresponding to the circular groove (71). The side plate (14) is provided with a push-pull control component on a side close to the support plate (11), and a locking tooth block (78) is provided on the push-pull control component. The locking tooth block (78) is provided corresponding to the rectangular through groove (73).

2. The leg and foot structure of the quadruped robot according to claim 1, characterized in that: The steering control assembly includes an adjustment synchronization rod (17) and a steering electric telescopic rod (110), wherein the two ends of the adjustment synchronization rod (17) are movably connected to the two side plates (14), the side of the adjustment synchronization rod (17) is fixedly connected to one end of the protruding rod (18), and the other end of the protruding rod (18) is fixedly connected to an end seat (111), and the end seat (111) is movably connected to the rear end of the steering electric telescopic rod (110), and 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 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 foot cover plate (45) is installed on the top of the hollow foot body (44); and the protective pad (49) is bonded to the bottom of the hollow foot body (44).

4. The leg and foot structure of the quadruped robot according to claim 3, 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 to the toe (47); and the right end of the toe (47) is provided with a convex pattern (48).

5. The leg and foot structure of the quadruped robot according to claim 3, characterized in that: The ankle buffer mechanism (5) includes 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 portion 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 both sides of the inner plate (59). Two buffer force adjustment components are respectively installed at both ends of the buffer frame (57).

6. The leg and foot structure of the quadruped robot according to claim 5, characterized in that: 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 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).

7. The leg and foot structure of the quadruped robot according to claim 3, characterized in that: The invention also includes a foot grip lifting mechanism (6), wherein 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 on 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 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).

8. The leg and foot structure of the quadruped robot according to claim 1, characterized in that: The invention also includes a pitch slope adaptation mechanism (8), wherein the pitch slope adaptation mechanism (8) includes a stand (83), a body mounting plate (84) and a pitch control assembly, wherein 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) via the pitch control assembly.

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