Robot dog leg structure based on joint module

Abstract

The invention discloses a robot dog leg structure based on a joint module. The robot dog leg structure comprises a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a shank structure and a transmission shaft. The knee joint module and the hip joint module are arranged on the frame side by side, the output end of the knee joint module and the input end of the hip joint module are matched to be located on the same side, and the hip joint module and the knee joint module are both gear motors, so that the gear motors replace an existing motor acceleration and deceleration machine direct connection driving mode; the overall structure is simpler and is more compact in cooperation with the side-by-side arrangement mode, meanwhile, the transverse distance between the knee joint module and the hip joint module is closer, the space compactness is guaranteed, and meanwhile the transmission process is more stable due to the fact that the load ends of the knee joint module and the hip joint module are arranged in a separated mode.

Description

Technical Field

[0001] The present invention relates to the field of robot dog technology, and in particular to a robot dog leg structure based on a joint module. Background Art

[0002] A quadruped robot is a type of robot. It is also called a robot dog because of its bionic pet dog appearance. Quadruped robots are becoming a hot area of ​​concern in various countries due to their more acceptable appearance and universal land mobility. Quadruped robots have been widely used in industries such as industry and rescue, helping various industries improve production efficiency and replace dangerous operations. In the field of science and technology, the various capabilities of quadruped robots have been developed.

[0003] When existing quadruped robots perform joint transmission, they use a direct connection between a motor and a reducer. This driving method that requires coordination is not only more complex in structure, but also occupies a larger space. It cannot meet the technical requirements of being compact and lightweight. At the same time, it makes the overall weight of the robot dog larger, which cannot meet the lightweight production requirements. Therefore, it is necessary to further improve the existing leg structure of the robot dog. Summary of the invention

[0004] In view of this, the present invention aims to address the deficiencies in the prior art, and its main purpose is to provide a robot dog leg structure based on a joint module, which can effectively solve the problems that the existing robot dog leg structure occupies a large space and cannot meet the technical requirements of being compact and lightweight as well as the production needs of lightweight.

[0005] To achieve the above purpose, the present invention adopts the following technical solutions:

[0006] A robot dog leg structure based on a joint module comprises a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a calf structure and a transmission shaft; the shoulder joint module is arranged on an external robot dog body; the frame is arranged at the output end of the shoulder joint module and is driven by the shoulder joint module to rotate back and forth; the knee joint module and the hip joint module are arranged side by side on the frame and rotate back and forth with the frame, and the output end of the knee joint module and the input end of the hip joint module are located on the same side, and the hip joint module and the knee joint module are both reduction motors; one end of the thigh structure is arranged beside the output end of the hip joint module and is driven by the hip joint module to rotate back and forth; one end of the calf structure is arranged at the other end of the thigh structure and is arranged to rotate back and forth around the other end of the thigh structure; one end of the transmission shaft is arranged beside the output end of the knee joint module and is driven by the knee joint module to rotate back and forth, and the other end of the transmission shaft extends out of the side of the hip joint module and drives the calf structure to rotate back and forth.

[0007] As a preferred solution, the frame includes a mounting plate, a support plate and a support rod; the mounting plate is arranged on the output end of the shoulder joint module and is driven by the shoulder joint module to rotate back and forth; the support plate is set in two, and the two support plates are set in parallel front and back on the mounting plate; the two ends of the knee joint module and the hip joint module are respectively set on the corresponding two support plates; the support rod is set in multiple, and the multiple support rods are set parallel to each other between the two support plates.

[0008] As a preferred solution, a through groove is formed in the hip joint module, the transmission shaft is arranged in the through groove, and both ends of the transmission shaft extend outward from the through groove respectively, the input end of the transmission shaft extends outward from the input end side of the hip joint module, and the output end of the transmission shaft extends outward from the output end side of the hip joint module.

[0009] As a preferred solution, a transmission member is provided at the output end of the knee joint module, and the transmission member is driven to rotate back and forth by the knee joint module. A follower is provided at the output end of the transmission shaft, and the follower is located outside the input end of the hip joint module and is driven to rotate back and forth by the transmission member.

[0010] As a preferred solution, the driven member and the transmission member are connected via a first transmission rod. The first transmission rods are two arranged vertically, and both ends of each first transmission rod are respectively hinged to the corresponding driven member and transmission member.

[0011] As a preferred solution, a second transmission rod and a third transmission rod are provided on the calf structure, one end of the second transmission rod is connected to the output end of the transmission shaft and is driven to rotate back and forth by the transmission shaft, one end of the third transmission rod is hinged to the free end of the second transmission rod, and the other end of the third transmission rod is hinged to the calf structure.

[0012] As a preferred solution, a protective cover is provided on the outer side of the thigh structure, and the second transmission rod and the third transmission rod are both covered by the protective cover.

[0013] As a preferred solution, a detachable foot end structure is provided at one end of the calf structure away from the thigh structure.

[0014] As a preferred solution, the foot end structure is a rubber-coated wheel, a small wheel or an electrically driven roller foot end.

[0015] As a preferred solution, the shoulder joint module is a reduction motor.

[0016] Compared with the prior art, the present invention has obvious advantages and beneficial effects. Specifically, it can be seen from the above technical solution that:

[0017] The knee joint module and the hip joint module are arranged side by side on the frame and rotate back and forth with the frame, and the output end of the knee joint module and the input end of the hip joint module are located on the same side. Both the hip joint module and the knee joint module are reduction motors, so that the reduction motor replaces the existing motor reduction gear direct connection driving method, and the overall structure is simpler. The side-by-side arrangement makes the overall structure more compact. At the same time, since the output end diameter of the reduction motor is larger than the input end diameter, the output end of the knee joint module and the input end of the hip joint module are located on the same side, which can make the lateral distance between the knee joint module and the hip joint module closer, ensuring a compact sense of space. At the same time, the separate load ends of the knee joint module and the hip joint module can make the transmission process smoother.

[0018] In order to more clearly illustrate the structural features and effects of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a three-dimensional structural schematic diagram of a preferred embodiment of the present invention;

[0020] Figure 2 It is a three-dimensional structural schematic diagram of another angle of a preferred embodiment of the present invention;

[0021] Figure 3 It is a cross-sectional schematic diagram of a preferred embodiment of the present invention;

[0022] Figure 4 It is a partial assembly diagram of a preferred embodiment of the present invention.

[0023] Description of the accompanying drawings:

[0024] 10. Shoulder joint module 20. Frame

[0025] 21. Mounting plate 22. Support plate

[0026] 23. Support rod 30. Knee joint module

[0027] 31. Transmission parts 40. Hip joint module

[0028] 401, through slot 50, thigh structure

[0029] 51. Protective cover 60. Calf structure

[0030] 61. Second transmission rod 62. Third transmission rod

[0031] 63. Foot end structure 70. Transmission shaft

[0032] 71. Follower 72. First transmission rod. DETAILED DESCRIPTION

[0033] Please refer to Figures 1 to 4 As shown, it shows the specific structure of the preferred embodiment of the present invention, which includes a shoulder joint module 10, a frame 20, a knee joint module 30, a hip joint module 40, a thigh structure 50, a calf structure 60 and a transmission shaft 70.

[0034] The shoulder joint module 10 is arranged on the external robot dog body; in the present embodiment, the shoulder joint module 10 is a reduction motor.

[0035] The frame 20 is arranged at the output end of the shoulder joint module 10 and is driven by the shoulder joint module 10 to rotate back and forth; in this embodiment, the frame 20 includes a mounting plate 21, a support plate 22 and a support rod 23; the mounting plate 21 is arranged at the output end of the shoulder joint module 10 and is driven by the shoulder joint module 10 to rotate back and forth; the support plates 22 are arranged in two, and the two support plates 22 are arranged on the mounting plate 21 in parallel front and back; the support rod 23 is arranged in multiple, and the multiple support rods 23 are arranged in parallel between the two support plates 22. The support rod 23 is used to enhance the overall structural strength of the frame 20.

[0036] The knee joint module 30 and the hip joint module 40 are arranged side by side on the frame 20 and rotate back and forth with the frame 20, and the output end of the knee joint module 30 and the input end of the hip joint module 40 are located on the same side, and the hip joint module 30 and the knee joint module 40 are both reduction motors. Since the output end size of the reduction motor is larger than the size of the input end, the opposite arrangement structure of the output end of the knee joint module 30 and the hip joint module 40 can ensure that the spacing between the knee joint module 30 and the hip joint module 40 is smaller, ensuring the compactness of the space; at the same time, the opposite arrangement of the output end of the knee joint module 30 and the hip joint module 40 makes the loads of the two respectively located on different sides, and the transmission process will also be more stable. In the present embodiment, the two ends of the knee joint module 30 and the hip joint module 40 are respectively arranged on the corresponding two support plates 22. A through groove 401 is penetrated in the hip joint module 40. The output end of the knee joint module 30 is provided with a transmission member 31, and the transmission member 31 is driven by the knee joint module 30 to rotate back and forth.

[0037] One end of the thigh structure 50 is arranged beside the output end of the hip joint module 40 and is driven to rotate back and forth by the hip joint module 40. In this embodiment, a protective cover 51 is arranged on the outer side of the thigh structure 50.

[0038] One end of the calf structure 60 is arranged at the other end of the thigh structure 50 and is arranged to rotate back and forth around the other end of the thigh structure 50. In this embodiment, a second transmission rod 61 and a third transmission rod 62 are arranged on the calf structure 60. The second transmission rod 61 and the third transmission rod 62 are both covered by a protective cover 51, and the protective cover 51 protects the second transmission rod 61 and the third transmission rod 62 from being damaged by external forces. A detachable foot end structure 63 is arranged at one end of the calf structure 60 away from the thigh structure 50, so that different foot ends can be selected for different usage scenarios; the foot end structure 63 is a rubber-coated wheel, a small wheel or an electrically driven roller-type foot end. Similarly, it can also be other foot end structures that meet the conditions, without limitation.

[0039] One end of the transmission shaft 70 is arranged on the side of the output end of the knee joint module 30 and driven by the knee joint module 30 to rotate back and forth, and the other end of the transmission shaft 70 extends out of the side of the hip joint module 40 and drives the shank structure 60 to rotate back and forth. During transmission, the thigh structure 50 is driven to rotate by the hip joint module 40, and the shank structure 60 is driven to rotate around the free end of the thigh structure 50 through the cooperation of the knee joint module 30 and the transmission shaft 70. In the present embodiment, the transmission shaft 70 is arranged in the through groove 401, and the two ends of the transmission shaft 70 extend outwards from the through groove 401 respectively, the input end of the transmission shaft 70 extends outwards from the side of the input end of the hip joint module 40, and the output end of the transmission shaft 70 extends outwards from the side of the output end of the hip joint module 40. The hollow hip joint module 40 enables the transmission shaft 70 to be hidden inside the hip joint module 40, avoiding the transmission shaft 70 from taking up extra space, and further ensuring the compactness of the space.

[0040] A follower 71 is provided at the output end of the transmission shaft 70, and the follower 71 is located outside the input end of the hip joint module 40 and is driven to rotate back and forth by the transmission member 31; the follower 71 and the transmission member 31 are connected via a first transmission rod 72, and through the setting of the first transmission rod 72, the follower 71 is driven to rotate back and forth by the transmission member 31; there are two first transmission rods 72 arranged up and down, and both ends of each first transmission rod 72 are respectively hinged to the corresponding follower 71 and the transmission member 31, and the two first transmission rods 72 arranged up and down can ensure the stability and reliability of the transmission process between the transmission member 31 and the follower 71.

[0041] One end of the second transmission rod 61 is connected to the output end of the transmission shaft 70 and is driven by the transmission shaft 70 to rotate back and forth. One end of the third transmission rod 62 is hinged to the free end of the second transmission rod 61, and the other end of the third transmission rod 62 is hinged to the calf structure 60, so that through the cooperation between the second transmission rod 61 and the third transmission rod 62, the transmission shaft 70 drives the calf structure 60 to rotate around the thigh structure 50.

[0042] The working principle of this embodiment is described in detail as follows:

[0043] When working, the whole structure is first installed on the external robot dog, and the input ends of the shoulder joint module 10, the knee joint module 30 and the hip joint module 40 are connected to the robot dog respectively; when the movement is carried out, the shoulder joint module 10 can drive the whole frame 20 to rotate at a certain angle, thereby driving the knee joint module 30, the hip joint module 40, the thigh structure 50, the shank structure 60 and the transmission shaft 70 to rotate; at the same time, when the thigh structure 50 moves, the hip joint module 40 drives the thigh structure to rotate directly, and when the shank structure 60 moves, the knee joint module 31 first drives the transmission member 31 to rotate, and through the cooperation of the first transmission rod 72, drives the driven member 71 to rotate, thereby driving the transmission shaft 70 to rotate. Then, the second transmission rod 61 is driven to rotate through the output end of the transmission shaft 70, and the shank structure 60 is driven to rotate around the free end of the thigh structure 50 through the cooperation of the second transmission rod 61 and the third transmission rod 62, and the entire robot dog is driven to move at the same time in cooperation with the setting of the foot end structure 63.

[0044] The design focus of the present invention is that the knee joint module and the hip joint module are arranged side by side on the frame and rotate back and forth with the frame, and the output end of the knee joint module and the input end of the hip joint module are located on the same side. The hip joint module and the knee joint module are both reduction motors, so that the reduction motor replaces the existing motor reduction gear direct connection driving method, and the overall structure is simpler. With the side-by-side arrangement, the overall structure is more compact. At the same time, since the output end diameter of the reduction motor is larger than the input end diameter, the output end of the knee joint module and the input end of the hip joint module are located on the same side, which can make the lateral distance between the knee joint module and the hip joint module closer, ensuring a compact sense of space. At the same time, the separate load end arrangement of the knee joint module and the hip joint module can make the transmission process smoother.

[0045] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A robot dog leg structure based on a joint module, characterized in that: The robot dog comprises a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a calf structure and a transmission shaft; the shoulder joint module is arranged on the external robot dog body; the frame is arranged on the output end of the shoulder joint module and is driven by the shoulder joint module to rotate back and forth; the knee joint module and the hip joint module are arranged side by side on the frame and rotate back and forth with the frame, and the output end of the knee joint module and the input end of the hip joint module are located on the same side, the hip joint module and the knee joint module are both reduction motors, and a through groove runs through the hip joint module; one end of the thigh structure is arranged beside the output end of the hip joint module and is driven by the hip joint module to rotate back and forth; one end of the calf structure is arranged on the other end of the thigh structure and can rotate around the other end of the thigh structure The calf structure is arranged to rotate back and forth, and a second transmission rod and a third transmission rod are arranged on the calf structure; one end of the transmission shaft is arranged on the side of the output end of the knee joint module and is driven to rotate back and forth by the knee joint module, and the other end of the transmission shaft extends out of the side of the hip joint module and drives the calf structure to rotate back and forth; the transmission shaft is arranged in a through groove, and the two ends of the transmission shaft extend outwards from the through groove respectively, the input end of the transmission shaft extends outwards from the side of the input end of the hip joint module, and the output end of the transmission shaft extends outwards from the side of the output end of the hip joint module; one end of the second transmission rod is connected to the output end of the transmission shaft and is driven to rotate back and forth by the transmission shaft, one end of the third transmission rod is hinged to the free end of the second transmission rod, and the other end of the third transmission rod is hinged to the calf structure.

2. The leg structure of the robot dog based on the joint module according to claim 1, characterized in that: The frame includes a mounting plate, a support plate and a support rod; the mounting plate is arranged on the output end of the shoulder joint module and is driven by the shoulder joint module to rotate back and forth; the support plate is arranged in two, and the two support plates are arranged in parallel front and back on the mounting plate; the two ends of the knee joint module and the hip joint module are respectively arranged on the corresponding two support plates; the support rod is arranged in multiple, and the multiple support rods are arranged parallel to each other between the two support plates.

3. The robot dog leg structure based on the joint module according to claim 1, characterized in that: The output end of the knee joint module is provided with a transmission member, which is driven by the knee joint module to rotate back and forth. The output end of the transmission shaft is provided with a follower, which is located outside the input end of the hip joint module and is driven by the transmission member to rotate back and forth.

4. The leg structure of the robot dog based on the joint module according to claim 3 is characterized in that: The driven member and the transmission member are connected via a first transmission rod. There are two first transmission rods arranged up and down, and two ends of each first transmission rod are respectively hinged to the corresponding driven member and transmission member.

5. The robot dog leg structure based on the joint module according to claim 1, characterized in that: A protective cover is arranged on the outer side of the thigh structure, and the second transmission rod and the third transmission rod are both covered by the protective cover.

6. The robot dog leg structure based on the joint module according to claim 1, characterized in that: A detachable foot end structure is arranged at one end of the calf structure away from the thigh structure.

7. The robot dog leg structure based on the joint module according to claim 6, characterized in that: The foot end structure is a rubber-covered wheel, a small wheel or an electrically driven roller-type foot end.

8. The robot dog leg structure based on the joint module according to claim 1, characterized in that: The shoulder joint module is a reduction motor.

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