Leg structure with bevel gear drive and leg-foot type robot

Abstract

The invention discloses a leg structure with bevel gear drive and a leg-foot type robot. The leg structure comprises a hip joint motor, a thigh joint motor and a shank joint motor. The hip joint motor is connected with a thigh joint motor, a thigh transmission shaft is installed on the thigh joint motor and meshed with a second thigh gear on the thigh rotating shaft through a first thigh gear, and a shank transmission shaft is installed on the shank joint motor and meshed with a second thigh gear on the thigh rotating shaft through a second thigh gear. The shank transmission shaft is meshed with a second shank gear on the shank rotating shaft through a first shank gear, and the first thigh gear, the second thigh gear, the first shank gear and the second shank gear are all bevel gears. The bevel gear transmission system adopted in the invention effectively amplifies the torque output of the motor, so that the robot can still maintain a stable gait when facing an abrupt slope or under the condition of large load, the motor load is effectively reduced, the service life of the motor is prolonged, and the energy consumption is reduced.

Description

Technical Field

[0001] The invention belongs to the field of robots and relates to a leg structure driven by bevel gears and a leg-foot type robot. Background Art

[0002] With the continuous development of robotics technology, robots have been widely used in industrial manufacturing, medical care, disaster relief and daily life. Especially in application scenarios in complex environments, legged robots have become a hot topic of research due to their excellent movement ability and adaptability. Compared with traditional wheeled and tracked robots, legged robots can walk on rugged terrain, such as mountains, deserts, ruins, etc., and have stronger environmental adaptability.

[0003] Legged robots are usually composed of multiple joints and connecting rods, which are driven by a complex transmission system to achieve gait movements similar to those of biological organisms. At present, the common legged robots on the market mostly use direct motor drive or hydraulic drive to control the movement of joints. Although these methods can achieve precise control and large output torque, there are still some limitations in practical applications.

[0004] Direct motor drive, that is, the motor is connected to the joint through a coupling or directly to drive the joint movement. This method has a simple structure, fast response speed, and high transmission efficiency. However, direct motor drive has limitations in applications that require large torque output. In order to obtain sufficient torque output, it is usually necessary to use a more powerful motor, which not only increases the overall weight of the robot, but also may lead to excessive energy consumption, thereby limiting the robot's endurance. In addition, the output speed of direct motor drive is relatively high, and an additional reduction device is required to reduce the speed of the joint, which will also increase the complexity and cost of the system.

[0005] Hydraulic drive is another widely used drive method for legged robots, especially in large load and high power application scenarios. The hydraulic drive system transmits power through hydraulic oil, can provide very high torque output, and has a high power density. However, the hydraulic system is usually complex in structure, including multiple components such as pumps, valves, and pipes, which not only increases the size and weight of the system, but also requires regular maintenance to ensure its normal operation. In addition, the efficiency of the hydraulic system is greatly affected by the leakage and temperature changes of the hydraulic oil, which may lead to a decrease in system performance under long-term operation or high temperature environment.

[0006] Most of the existing legged robots adopt an integrated design. This type of transmission system is not only complex in structure, but also difficult to assemble, resulting in complex component replacement, high manufacturing cost, and difficult maintenance. Due to the multi-stage transmission of the transmission system, energy is lost greatly during the transmission process, resulting in low overall drive efficiency, which affects the robot's endurance. In order to achieve complex joint movements, the large-scale drive devices and transmission systems used in the prior art often lead to a significant increase in the volume and weight of the leg structure, which is not conducive to the robot's flexible movement in complex terrain. In long-term use or in harsh environments, the existing transmission system is prone to wear, loosening and other problems, affecting the stability and reliability of the robot. Summary of the invention

[0007] The object of the present invention is to provide a leg structure and a leg-foot robot with bevel gear drive, so as to solve the problem of low driving efficiency of the existing driving mode.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions: A leg structure with bevel gear drive, comprising a hip joint motor, a thigh joint motor and a calf joint motor; The hip joint motor is connected to the thigh joint motor, a thigh transmission shaft is installed on the thigh joint motor, the thigh transmission shaft is meshed with the second thigh gear on the thigh rotating shaft through the first thigh gear, the calf joint motor is installed with a calf transmission shaft, the calf transmission shaft is meshed with the second calf gear on the calf rotating shaft through the first calf gear, and the first thigh gear, the second thigh gear, the first calf gear and the second calf gear are all bevel gears.

[0009] Furthermore, the hip joint motor is connected to the thigh joint motor through a hip joint connector, and a first motor shaft fixing hole and a first motor housing fixing hole are provided on the hip joint connector. The first motor shaft fixing hole is fixed to the shaft of the hip joint motor by screws, and the first motor housing fixing hole is fixed to the thigh joint motor by screws.

[0010] Furthermore, a first bearing placement position is provided on one side of the hip joint connector, the first bearing placement position cooperates with the thigh rotation axis, one end of the thigh rotation axis is provided with a shoulder, and the other end of the thigh rotation axis cooperates with the boss on the thigh shell.

[0011] Furthermore, the calf joint motor is fixed in a thigh shell, a first rotation shaft fixing hole and a first thigh shell through hole are opened on one side of the thigh shell, the countersunk hole at one end of the thigh rotation shaft is fixed to the first rotation shaft fixing hole by a screw, one end of the thigh rotation shaft cooperates with the first thigh shell through hole, a second rotation shaft fixing hole and a second thigh shell through hole are opened on the other side of the thigh shell, the rotation shaft through hole at the other end of the thigh rotation shaft is fixed to the second rotation shaft fixing hole by a cotter pin, and the other end of the thigh rotation shaft cooperates with the second thigh shell through hole.

[0012] Furthermore, a second bearing placement position and a third bearing placement position are provided on the thigh shell, and the second bearing placement position and the third bearing placement position cooperate with the calf rotation axis. One end of the calf rotation axis is provided with a shoulder, and the other end of the calf rotation axis cooperates with the boss on the calf shell.

[0013] Furthermore, the calf rotation axis is fixed on the calf shell, and a third rotation axis fixing hole and a first calf shell through hole are opened on one side of the calf shell. The rotation axis through hole at one end of the calf rotation axis is fixed to the third rotation axis fixing hole by a cotter pin, and one end of the calf rotation axis cooperates with the first calf shell through hole, and a fourth rotation axis fixing hole and a second calf shell through hole are opened on the other side of the calf shell. The countersunk hole at the other end of the calf rotation axis is fixed to the fourth rotation axis fixing hole by a screw, and one end of the calf rotation axis cooperates with the second calf shell through hole.

[0014] Furthermore, a slide groove is opened on the other side of the calf shell, the calf transmission shaft passes through the slide groove, the calf shell is fixedly connected to the calf, the calf is fixedly connected to the foot end by adhesion, and the foot end is transitionally matched with the calf.

[0015] Furthermore, one end of the thigh transmission shaft and the calf transmission shaft are each provided with a second motor shaft fixing hole, the thigh transmission shaft is fixed to the shaft screw of the thigh joint motor through the second motor shaft fixing hole, and the calf transmission shaft is fixed to the shaft screw of the calf joint motor through the second motor shaft fixing hole.

[0016] Furthermore, the thigh transmission shaft and the first thigh gear, the thigh rotation shaft and the second thigh gear, the calf transmission shaft and the first calf gear, and the calf rotation shaft and the second calf gear are all fixed by top screws.

[0017] A leg-foot robot comprises the above-mentioned leg structure driven by bevel gears.

[0018] Compared with the prior art, the present invention has the following beneficial effects: The present invention provides a leg structure with bevel gear drive, which is connected to a hip joint motor and a thigh joint motor, a thigh transmission shaft is installed on the thigh joint motor, a calf transmission shaft is installed on the calf joint motor, and the thigh transmission shaft is meshed with the thigh rotating shaft and the calf transmission shaft is meshed with the calf rotating shaft through bevel gears. The power is transmitted by the meshing of the gear set, the power transmission path is optimized, and the high speed of the motor can be effectively converted into the output of low speed and high torque, which meets the requirements of the leg-foot robot joint for large torque and low speed. As a special form of gear transmission, the bevel gear has the characteristics of stable transmission and strong bearing capacity, and is particularly suitable for complex structures with limited space. By introducing the bevel gear transmission mechanism, the power transmission efficiency of the gear transmission system is optimized, the design of the leg transmission system is simplified, the volume and weight of the structure are reduced, and the robot can maintain higher motion stability and load capacity when facing complex terrain, thereby improving the overall motion performance and reliability of the robot. The bevel gear transmission system used in the present invention effectively amplifies the torque output of the motor, so that the robot can still maintain a stable gait when facing a steep slope or a heavy load. In addition, the joint structure and gear transmission provide higher motion accuracy and control flexibility, solving the problem of insufficient accuracy of traditional transmission methods, thereby improving the robot's execution capabilities in fine operations and complex tasks, and making the movement performance in complex terrain more superior. Through the precise meshing of the bevel gears and the optimized transmission ratio, the motor load can be effectively reduced, extending the motor's service life and reducing energy consumption.

[0019] Furthermore, the present invention adopts a modular design, independently processes the thigh, calf and hip joint structures, and uses standardized interfaces to connect each component. This design not only greatly reduces the complexity of assembly and maintenance, but also allows individual components to be quickly replaced when a failure occurs without disassembling the entire system, reducing maintenance difficulty and failure rate, and improving the durability of the robot in harsh environments.

[0020] Furthermore, the present invention ensures the stability of the bearing and the smooth operation of the transmission shaft by accurately setting the bearing placement position in the hip joint connector, the thigh housing and the calf housing, and designing a resistance structure at the shaft shoulder. Through a reasonable structural layout, not only the vibration and friction during the transmission process are reduced, but also the rigidity and durability of the overall system are improved. The precise matching of the bearings can effectively reduce wear and extend the service life of the equipment, while also improving the accuracy and stability under various motion states.

[0021] Furthermore, the present invention adopts a bilaterally symmetrical design, which not only simplifies the manufacturing process, but also effectively ensures the balance of the entire structure. During the movement process, the symmetrical design can make each joint bear force evenly, reduce unnecessary stress concentration, thereby reducing deformation and wear of the structure, and the compact structural layout reduces the overall size, making the robot more flexible in small or complex environments, further improving the diversity and adaptability of its application scenarios.

[0022] Furthermore, the calf joint motor is placed in the thigh shell, and the thigh shell has a hollow design to help the calf joint motor to dissipate heat better. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0024] Figure 1 It is an exploded view of the leg structure driven by bevel gears of the present invention.

[0025] Figure 2 This is a schematic diagram of the assembled leg structure with bevel gear drive of the present invention.

[0026] Figure 3 It is a schematic structural diagram of the left hip joint connector of the present invention.

[0027] Figure 4 It is a schematic diagram of the left thigh shell structure of the present invention.

[0028] Figure 5 It is a schematic diagram of the right thigh shell structure of the present invention.

[0029] Figure 6 It is a schematic diagram of the left calf shell structure of the present invention.

[0030] Figure 7 It is a schematic diagram of the structure of the right calf shell of the present invention.

[0031] Figure 8 It is a schematic diagram of the transmission shaft structure of the present invention.

[0032] Fig. 9 It is a schematic diagram of the rotating shaft structure of the present invention.

[0033] Fig.10 It is a schematic diagram of the foot end structure of the present invention.

[0034] Fig.11This is a schematic diagram of the overall structure of the leg-foot robot of the present invention.

[0035] Among them: 1-hip joint motor, 2-thigh joint motor, 3-calf joint motor, 4-first hip joint connector, 5-second hip joint connector, 6-left thigh shell, 7-right thigh shell, 8-left calf shell, 9-right calf shell, 10-foot end, 11-thigh transmission shaft, 12-thigh rotation shaft, 13-calf transmission shaft, 14-calf rotation shaft, 15-first thigh gear, 16-second thigh gear, 17-first calf gear, 18-second calf gear, 19-first bearing placement, 20-first motor shaft fixing hole, 21-first motor housing fixing hole, 22-first rotation shaft fixing hole , 23-first thigh shell through hole, 24-first thigh shell fixing hole, 25-second bearing placement position, 26-second rotating shaft fixing hole, 27-second thigh shell fixing hole, 28-third bearing placement position, 29-second motor housing fixing hole, 30-second thigh shell through hole, 31-first calf shell fixing hole, 32-first calf shell through hole, 33-third rotating shaft fixing hole, 34-fourth rotating shaft fixing hole, 35-second calf shell through hole, 36-second calf shell fixing hole, 37-second motor shaft fixing hole, 38-countersunk hole, 39-rotating shaft through hole, 40-third motor housing fixing hole. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0037] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. 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.

[0038] It should be noted that similar reference numerals and letters denote similar items in the following drawings, and therefore, once an item is defined in one drawing, further definition and explanation thereof is not required in subsequent drawings.

[0039] In the description of the embodiments of the present invention, it should be noted that if the terms "upper", "lower", "horizontal", "inner", etc. indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed when in use, it is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0040] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", which does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0041] In the description of the embodiments of the present invention, it is also necessary to explain that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] The present invention is further described in detail below in conjunction with the accompanying drawings: See also Figure 1 and Figure 2 The present invention provides a leg structure with bevel gear drive, including a hip joint motor 1, a thigh joint motor 2, a calf joint motor 3, a first hip joint connector 4, a second hip joint connector 5, a left thigh housing 6, a right thigh housing 7, a left calf housing 8, a right calf housing 9, a foot end 10, a thigh transmission shaft 11, a thigh rotation shaft 12, a calf transmission shaft 13, a calf rotation shaft 14, a first thigh gear 15, a second thigh gear 16, a first calf gear 17, and a second calf gear 18. The hip joint motor 1 is connected to the thigh joint motor 2, and the thigh joint motor 2 is provided with a thigh transmission shaft 11, and the thigh transmission shaft 11 is meshed with the second thigh gear 16 on the thigh rotation shaft 12 through the first thigh gear 15, and the calf joint motor 3 is provided with a calf transmission shaft 13, and the calf transmission shaft 13 is meshed with the second calf gear 18 on the calf rotation shaft 14 through the first calf gear 17, and the first thigh gear 15, the second thigh gear 16, the first calf gear 17, and the second calf gear 18 are all bevel gears.

[0043] The hip joint motor 1 is connected to the thigh joint motor 2 via a hip joint connector, such as Figure 3 The first hip joint connector 4 is shown, and the first hip joint connector 4 and the second hip joint connector 5 are symmetrically arranged, and the thickness of the upper part is thicker than that of the lower part. The through hole opened on the first hip joint connector 4 is the first motor shaft fixing hole 20, and the hole position is fixed to the shaft hole position of the hip joint motor 1 by screws. The through hole opened in the lower part is the first motor housing fixing hole 21 on the first hip joint connector 4, and the hole position is fixed to the housing of the thigh joint motor 2 by screws. The first hip joint connector 4 is provided with a first bearing placement position 19, and the bearing of the thigh rotating shaft 12 is placed on the first bearing placement position 19, which cooperates with the thigh rotating shaft 12 to provide stable rotation support. The first bearing placement position 19 resists the outer ring of the bearing, and the left end of the thigh rotating shaft 12 is provided with a shoulder to resist the inner ring of the bearing. The bearing on the right side of the thigh rotating shaft 12 is resisted by the boss outside the right thigh housing 7. The inner ring of the bearing.

[0044] The calf joint motor 3 is fixed in the thigh housing, which includes a left thigh housing 6 and a right thigh housing 7. Both the left thigh housing 6 and the right thigh housing 7 are provided with a hollow structure to help the calf joint motor 3 to dissipate heat better. Figure 4 The left thigh housing 6 is shown, on which a first rotation axis fixing hole 22 and a first thigh housing through hole 23 are provided. The first rotation axis fixing hole 22 is fixed to the left end countersunk hole 38 of the thigh rotation axis 12 by screws. The first thigh housing through hole 23 is matched with the thigh rotation axis 12.

[0045] like Figure 5 The right thigh housing 7 is shown, and its overall structure is similar to that of the left thigh housing 6, and a second rotation axis fixing hole 26 and a second thigh housing through hole 30 are provided thereon, and the second rotation axis fixing hole 26 is fixed to the rotation axis through hole 39 of the thigh rotation axis 12 by a split pin. The second thigh housing through hole 30 is matched with the thigh rotation axis 12.

[0046] The calf joint motor 3 is placed in the thigh shell, and the left thigh shell fixing hole 24 opened on the left thigh shell 6 and the right thigh shell fixing hole 27 opened on the right thigh shell 7 are fixed by screws to wrap the calf joint motor 3 therein.

[0047] The third motor housing fixing hole 40 opened on the left thigh housing 6 is fixed to the housing hole of the calf joint motor 3, and the second motor housing fixing hole 29 opened on the right thigh housing 7 is fixed to the housing hole of the calf joint motor 3. The left thigh housing 6 is provided with a second bearing placement position 25 for placing the bearing, which cooperates with the calf rotation shaft 14, and the second bearing placement position 25 abuts against the outer ring of the bearing. The outer surface of the left calf housing 8 is provided with a boss to abut the inner ring of the bearing. The right thigh housing 7 is provided with a third bearing placement position 28 for placing the bearing, which cooperates with the calf rotation shaft 14, and the third bearing placement position 28 abuts against the outer ring of the bearing. The left end of the rotation shaft is provided with a shaft shoulder to abut the inner ring of the bearing.

[0048] The calf shell includes a left calf shell 8 and a right calf shell 9. The left calf shell 8 is provided with a first calf shell fixing hole 31, and the right calf shell 9 is provided with a second calf shell fixing hole 36. The first calf shell fixing hole 31 and the second calf shell fixing hole 36 are fixed by screws. Figure 6 Shown is the left calf shell 8, which is provided with a first calf shell through hole 32 and a third rotation axis fixing hole 33. The first calf shell through hole 32 cooperates with the calf rotation axis 14, and the third rotation axis fixing hole 33 is fixed to the rotation axis through hole 39 of the calf rotation axis 14 by a cotter pin.

[0049] like Figure 7 The right calf housing 9 is shown. A slide slot is provided on the right calf housing 9, and the calf transmission shaft 13 passes through the slide slot. The right calf housing 9 is fixedly connected to the calf, and the calf is made of an I-beam to ensure strength. A fourth rotation axis fixing hole 34 and a second calf housing through hole 35 are provided on the right calf housing 9. The fourth rotation axis fixing hole 34 is fixed to the countersunk hole 38 of the calf rotation shaft 14, and the second calf housing through hole 35 cooperates with the calf rotation shaft 14.

[0050] like Figure 8 The figure shows the transmission shaft, wherein the thigh transmission shaft 11 and the calf transmission shaft 13 have the same structure and size. The thigh transmission shaft 11 and the calf transmission shaft 13 are respectively fixed to the rotation shaft holes of the thigh joint motor 2 and the calf joint motor 3 through the second motor rotation shaft fixing hole 37 by screws. Fig. 9 The illustrated diagram shows rotation axes, wherein the thigh rotation axis 12 and the shank rotation axis 14 have the same structure but slightly different length dimensions.

[0051] like Fig.10 Shown is the foot end 10, which is fixedly connected to the calf by adhesion, and the foot end 10 and the calf are transitionally matched.

[0052] The present invention also provides a leg-foot robot, such as Fig.11As shown, the leg structure with bevel gear drive mentioned above has a compact structure and a large range of leg movement. When the legs are retracted, the calves are parallel to the thighs and the fuselage, which is more conducive to storage. For the power supply that occupies a large space, it is placed under the fuselage to increase the center of gravity of the robot and make the robot walk stably. The main control board, power board, and distribution board are placed in the fuselage, which makes the wiring compact and the overall size of the robot small, improves the flexibility and adaptability of the robot in a small space, and enables the robot to achieve a larger motion output with less energy consumption during movement. Camera radars and the like can be placed above the robot shell, which can observe and detect the terrain in real time, so that the robot can adapt to various complex terrains and environmental conditions more flexibly, is more stable during movement, and is not prone to tipping or damage, which improves the robot's passability and motion efficiency, reduces the performance degradation caused by joint wear or mechanical failure, and enhances the durability of the system. Therefore, it can be applied to more fields and scenarios, such as rescue, exploration, patrol, etc.

[0053] The bevel gear of the leg-foot robot of the present invention can be made of high-strength alloy steel, the thigh shell can be made of carbon fiber composite material, the bearing can be made of ceramic material, the calf shell can be made of aluminum alloy, and the transmission shaft and the rotating shaft can be made of titanium alloy. This can effectively reduce the overall weight of the leg-foot robot, improve its movement flexibility in a narrow space, and maintain the long-term stable operation of the leg-foot robot.

[0054] The installation method of the leg structure with bevel gear drive of the present invention: The installation method of the present invention adopts symmetrical installation to ensure that the robot is evenly stressed during movement, and improves the balance and trajectory accuracy of the movement. It includes: fixing the hip joint motor 1 and the thigh joint motor 2 to the first hip joint connector 4, and fixing the thigh transmission shaft 11 to the thigh joint motor 2. Since the shaft is a smooth shaft, the gear and the shaft are fixed with a top screw to ensure that the gear can stably transmit power. The second thigh gear 16 on the thigh rotating shaft 12 is meshed with the first thigh gear 15 on the thigh transmission shaft 11. The precise meshing of the gear set is the key to power transmission. The thigh rotating shaft 12 is fixed to the left thigh housing 6, and the thigh rotating shaft 12 is matched with the bearing of the first hip joint connector 4. The calf joint motor 3 is fixed to the left thigh housing 6, and the calf transmission shaft 13 is fixed to the calf joint motor 3. It should be noted that the slide groove of the right calf housing 9 should be passed through the calf transmission shaft 13 first, and the calf rotating shaft 14 is fixed to the right calf housing 9. The first calf gear 17 on the calf transmission shaft 13 is meshed with the second calf gear 18 on the calf rotating shaft 14, similar to the thigh shaft. After the left calf housing 8 and the right calf housing 9 are fixed, the calf rotating shaft 14 is matched with the bearings on the left and right thigh housings, and then the left thigh housing 6 and the right thigh housing 7 are fixed, and the calf joint motor 3 is wrapped. One end of the thigh rotating shaft 12 and the calf rotating shaft 14 is fixed with the thigh housing and the calf housing by a cotter pin. Then the second hip joint connector 5 is fixed with the first hip joint connector 4, and the fixation of the hip joint motor 1 and the thigh joint motor 2 is completed. Finally, the foot end 10 is adhered to the calf. During the whole installation process, it is necessary to ensure that each hole position is aligned, the transmission shaft is fixed with each motor shaft, and the rotating shaft is fixed with the housing of the thigh and the calf.

[0055] After the single leg is installed, the motor is powered on to rotate and drive the transmission shaft, and the transmission shaft drives the rotating shaft to rotate through the gear, and the rotating shaft is fixed to the shell, driving the thigh and calf to complete the leg movement.

[0056] The present invention uses a leg-foot robot leg structure driven by a bevel gear, and adopts three independently driven joint motors to control the movement of the hip joint, thigh and calf respectively. Each leg can flexibly adjust its angle and position to cross complex obstacles. The drive of each joint is completed by a bevel gear system. The precise meshing of the bevel gear system ensures the efficient transmission of power and the synchronous movement of each joint, so that each leg can move in the most optimized path, reducing the time of posture adjustment and improving the overall movement efficiency. The use of bevel gears not only simplifies the structural design, but also realizes a large-angle, low-backlash transmission effect through the meshing characteristics of its bevel gears, thereby reducing energy loss and improving power transmission efficiency. In addition, the joints of the hip joint, thigh and calf are equipped with high-precision bearings, which can provide sufficient support and smooth rotation, so that the joints have low friction and low wear characteristics during work. The leg-foot structure designed in this way can maintain a stable gait in a complex environment, can easily cope with various obstacles, including uneven ground, narrow passages or vertical walls, and realize efficient, stable and flexible motion control. The combination of multi-motor drive, bevel gear transmission and precision bearing support not only improves the accuracy and load-bearing capacity of the movement, but also optimizes the robot's motion trajectory and power transmission efficiency.

[0057] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A leg structure with bevel gear drive, characterized in that: It includes a hip joint motor (1), a thigh joint motor (2) and a calf joint motor (3); The hip joint motor (1) is connected to the thigh joint motor (2); a thigh transmission shaft (11) is mounted on the thigh joint motor (2); the thigh transmission shaft (11) meshes with a second thigh gear (16) on the thigh rotation shaft (12) via a first thigh gear (15); a calf transmission shaft (13) is mounted on the calf joint motor (3); the calf transmission shaft (13) meshes with a second calf gear (18) on the calf rotation shaft (14) via a first calf gear (17); the first thigh gear (15), the second thigh gear (16), the first calf gear (17) and the second calf gear (18) are all bevel gears.

2. A leg structure with bevel gear drive according to claim 1, characterized in that: The hip joint motor (1) is connected to the thigh joint motor (2) via a hip joint connector; a first motor shaft fixing hole (20) and a first motor housing fixing hole (21) are provided on the hip joint connector; the first motor shaft fixing hole (20) and the shaft of the hip joint motor (1) are fixed via screws; and the first motor housing fixing hole (21) and the thigh joint motor (2) are fixed via screws.

3. A leg structure with bevel gear drive according to claim 2, characterized in that: A first bearing placement position (19) is provided on one side of the hip joint connector, the first bearing placement position (19) cooperates with the thigh rotation shaft (12), one end of the thigh rotation shaft (12) is provided with a shaft shoulder, and the other end of the thigh rotation shaft (12) cooperates with a boss on the thigh shell.

4. A leg structure with bevel gear drive according to claim 1, characterized in that: The calf joint motor (3) is fixed in a thigh shell; a first rotation shaft fixing hole (22) and a first thigh shell through hole (23) are provided on one side of the thigh shell; a countersunk hole (38) at one end of the thigh rotation shaft (12) is fixed to the first rotation shaft fixing hole (22) by means of a screw; one end of the thigh rotation shaft (12) is matched with the first thigh shell through hole (23); a second rotation shaft fixing hole (26) and a second thigh shell through hole (30) are provided on the other side of the thigh shell; a rotation shaft through hole (39) at the other end of the thigh rotation shaft (12) is fixed to the second rotation shaft fixing hole (26) by means of a cotter pin; and the other end of the thigh rotation shaft (12) is matched with the second thigh shell through hole (30).

5. A leg structure with bevel gear drive according to claim 4, characterized in that: The thigh shell is provided with a second bearing placement position (25) and a third bearing placement position (28), the second bearing placement position (25) and the third bearing placement position (28) cooperate with the calf rotation axis (14), one end of the calf rotation axis (14) is provided with a shaft shoulder, and the other end of the calf rotation axis (14) cooperates with a boss on the calf shell.

6. A leg structure with bevel gear drive according to claim 1, characterized in that: The calf rotation shaft (14) is fixed on the calf shell, and a third rotation shaft fixing hole (33) and a first calf shell through hole (32) are provided on one side of the calf shell. The rotation shaft through hole (39) at one end of the calf rotation shaft (14) is fixed to the third rotation shaft fixing hole (33) by means of a split pin. One end of the calf rotation shaft (14) cooperates with the first calf shell through hole (32). A fourth rotation shaft fixing hole (34) and a second calf shell through hole (35) are provided on the other side of the calf shell. The countersunk hole (38) at the other end of the calf rotation shaft (14) is fixed to the fourth rotation shaft fixing hole (34) by means of a screw, and one end of the calf rotation shaft (14) cooperates with the second calf shell through hole (35).

7. A leg structure with bevel gear drive according to claim 6, characterized in that: A slide groove is provided on the other side of the calf shell, the calf transmission shaft (13) passes through the slide groove, the calf shell is fixedly connected to the calf, the calf is fixedly connected to the foot end (10) by adhesion, and the foot end (10) is transitionally matched with the calf.

8. The leg structure with bevel gear drive according to claim 1, characterized in that: One end of each of the thigh transmission shaft (11) and the calf transmission shaft (13) is provided with a second motor shaft fixing hole (37); the thigh transmission shaft (11) is fixed to the shaft screw of the thigh joint motor (2) via the second motor shaft fixing hole (37); and the calf transmission shaft (13) is fixed to the shaft screw of the calf joint motor (3) via the second motor shaft fixing hole (37).

9. The leg structure with bevel gear drive according to claim 1, characterized in that: The thigh transmission shaft (11) and the first thigh gear (15), the thigh rotation shaft (12) and the second thigh gear (16), the calf transmission shaft (13) and the first calf gear (17), and the calf rotation shaft (14) and the second calf gear (18) are all fixed by means of top screws.

10. A leg-foot robot, characterized in that: A leg structure with bevel gear drive comprising any one of claims 1 to 9.

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