Driving leg structure of quadruped robot

Abstract

The invention discloses a quadruped robot driving leg structure which comprises a first driving unit, a hip joint assembly, a thigh assembly and a shank assembly, the hip joint assembly is transversely arranged on a driving output shaft of the first driving unit, and the hip joint assembly comprises a hip joint shell, a second driving unit and a second driving connecting plate; the second driving connecting plate is arranged on the outer wall of the hip joint shell, a driving output shaft of the first driving unit is connected to one side of the front face of the second driving connecting plate, the first driving unit is used for driving the second driving unit to rotate within a specified angle range, and the thigh assembly is downwards obliquely provided with the driving output shaft of the second driving unit. The lower end of the thigh assembly is movably connected with the upper end of the shank assembly, and the lower end of the shank assembly is provided with a foot end. Radial impact borne by the driving motor during operation can be reduced, the accuracy and reliability of leg movement can be effectively ensured, and the effective loading capacity of the robot is further improved.

Description

Technical Field

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

[0002] The field of quadruped robot technology is a rapidly developing emerging field. Its current state of technology is characterized by highly complex and precise mechanical structures, as well as the integrated application of multiple types of sensors, actuators, and control systems. The quadruped robot is driven by four driving legs, and uses a controller to control the movement of each part to complete complex movements such as moving, jumping, and avoiding obstacles. These technologies enable quadruped robots to walk and perform tasks stably in a variety of complex terrains, and have strong environmental adaptability. With the development of the robotics field, multi-degree-of-freedom robots have become the mainstream development trend in the robotics field at this stage, and the quadruped robot field plays a pivotal role in this trend. In many industries such as firefighting, disaster relief, environmental monitoring, and chemical industry, quadruped robots have shown great application potential and demand, bringing more efficient, safe, and intelligent solutions to these fields. However, the existing quadruped robots face technical problems such as insufficient payload capacity and high large-scale production costs. In addition, quadruped robots have poor stability, insufficient dynamic performance, poor adaptability in complex terrains, and high maintenance and replacement costs. Summary of the invention

[0003] The purpose of the present invention is to provide a driving leg structure of a quadruped robot, which can effectively ensure the accuracy and reliability of leg movement, and is conducive to changing the transmission direction of the driving leg structure and saving the transmission space of the leg. In order to achieve the above purpose, the present invention adopts the following technical effects to solve the technical problems existing in the above background technology.

[0004] According to one aspect of the present invention, a quadruped robot driving leg structure is provided, the driving leg structure comprising a first driving unit, a hip joint assembly, a thigh assembly and a calf assembly, the hip joint assembly being laterally arranged on a driving output shaft of the first driving unit, the hip joint assembly comprising a hip joint housing, a second driving unit and a second driving connecting plate, the second driving connecting plate being arranged on an outer wall of the hip joint housing, the driving output shaft of the first driving unit being connected to one side of the front side of the second driving connecting plate, the second driving unit being arranged in a vertical state with respect to the driving output shaft of the first driving unit in the hip joint housing, the first driving unit being used to drive the second driving unit to rotate within a specified angle range, the driving output shaft of the second driving unit being arranged downwardly tilted on the thigh assembly for driving the thigh assembly to swing around the output shaft of the second driving unit, the lower end of the thigh assembly being movably connected to the upper end of the calf assembly, and the lower end of the calf assembly being provided with a foot end.

[0005] The above scheme is further preferred, in that a hip joint cooling bracket for supporting and installing a hip joint cooling fan is provided on the top of the hip joint housing, a thigh fan bracket is provided on the outer side wall of the hip joint housing in the extension direction of the driving output shaft of the first driving unit, and a thigh cooling fan is provided on the thigh fan bracket.

[0006] The above scheme is further preferred, wherein the first drive unit includes a first drive motor, a first drive motor fixing plate, and a connecting shaft, a flange is fixedly arranged on an outer wall on one side of the front face of the second drive connecting plate, the connecting shaft is arranged at the center of the outer wall of the flange on the side of the front face away from the second drive connecting plate, the output shaft of the first drive motor vertically passes through the central axis hole of the first drive motor fixing plate and is connected with a coupling, the outer wall on one side of the output shaft of the first drive motor is fixed on the first drive motor fixing plate, and the output shaft of the first drive motor is vertically connected to the flange through the coupling and the connecting shaft; the second drive unit includes a second drive motor arranged transversely in the hip joint housing, a front outer ring connecting plate is arranged on the outside of the output shaft of the second drive motor vertically passes through the hip joint housing, the center of the front outer ring connecting plate is sleeved on the output shaft of the second drive motor, and the thigh component is arranged in the radial direction of the outer side wall of the front outer ring connecting plate.

[0007] The above scheme is further preferred, wherein the second drive unit also includes a rear outer ring connecting plate sleeved on the output shaft of the second drive motor, a support bearing and a second drive motor main body bracket for supporting and fixing the second drive connecting plate, wherein the support bearing is arranged on the output shaft of the second drive motor between the front outer ring connecting plate and the second drive motor main body bracket, and the inner ring of the support bearing is arranged on the output shaft of the second drive motor through the inner ring bracket; a front inner ring fixing plate and a rear inner ring fixing plate are respectively arranged on the front and rear sides of the support bearing, and the front outer ring connecting plate is arranged on the front side of the front inner ring fixing plate.

[0008] The above scheme is further preferred, in which a drive shaft fixing piece is provided on the front side close to the front outer ring connecting plate, and a D-shaped fixing hole is provided at the front end center of the drive shaft fixing piece, and the front and rear sides of the outer ring rotating body of the support bearing are respectively connected with the front outer ring connecting plate and the rear outer ring fixing plate by bolts in the axial direction; a radial sliding hole extending in the radial direction is provided at the center of the front outer ring connecting plate, and a radial sliding piece fixed to the output shaft of the second drive motor is provided in the radial sliding hole, and a gap is provided between the radial sliding piece and the inner wall of the radial sliding hole, and the drive shaft fixing piece is fixedly connected to the radial sliding piece by bolts in the axial direction; the front and rear sides of the inner ring of the support bearing are respectively fixed to the inner ring bracket by the front inner ring fixing plate and the rear inner ring fixing plate, so that the front inner ring fixing plate and the rear inner ring fixing plate at the front and rear sides of the inner ring of the support bearing are provided on the output shaft of the second drive motor through the inner ring bracket.

[0009] The above scheme is further preferred, that the thigh assembly includes a third drive motor, a thigh body mounting plate and a thigh body plate, the thigh body mounting plate is arranged on the front outer ring connecting plate in a downward tilt, the upper end of the thigh body mounting plate is connected to the outer side wall of the front outer ring connecting plate along the radial direction of the front outer ring connecting plate, the third drive motor is arranged on the outer side wall of the thigh body mounting plate, the fixed end of the third drive motor is fixed at a center position close to the front outer ring connecting plate through the thigh body mounting plate, the thigh body plate is arranged along the extension direction of the center line of the output shaft of the third drive motor and parallel to the thigh body mounting plate, wherein the upper end of the thigh body plate is transmission-connected to the output shaft of the third drive motor, and the lower end of the thigh body plate is movably connected to the upper end of the calf assembly.

[0010] The above scheme is further preferred that a gear pin is arranged between the lower end of the thigh main body mounting plate and the upper end close to the thigh main body plate, and the two ends of the gear pin are respectively arranged between the lower end of the thigh main body mounting plate and the upper end close to the thigh main body plate through fixed bearings, the output shaft of the third drive motor is connected to the driven gear of the gear pin through a driving gear, the upper end of the calf drive connecting rod is connected to the gear pin, and the lower end of the calf drive connecting rod is connected to the upper end of the calf assembly.

[0011] The above scheme is further preferred, in which a rocker arm is provided on the outer wall of the driven gear on one side of the thigh main body mounting plate and extends in a radial direction, and a fixed pin is provided on the rocker arm and extends horizontally toward one side of the thigh main body plate, and the end of the fixed pin is transmission-connected to the upper end of the calf assembly through a calf drive connecting rod.

[0012] The above scheme is further preferred that a left thigh shell and a right thigh shell are arranged on both sides of the thigh main body plate, and the upper end of the left thigh shell has a front outer ring protective tube that is bent and extends to the edge of the outer wall of the front outer ring connecting plate; the end of the front outer ring protective tube is fixed to the outer wall of the front outer ring connecting plate 211 by bolts, the lower end of the left thigh shell is fixed to the left side wall of the lower end of the thigh main body plate, the upper end of the right thigh shell is fixed to the outer wall close to the upper end of the thigh main body mounting plate, and the lower end of the right thigh shell is fixed to the right side wall of the lower end of the thigh main body plate.

[0013] The above scheme is further preferred, that the calf assembly includes a calf main body plate, a calf transmission shaft and a shoulder support shaft, the upper end of the calf main body plate is transmission-connected to the lower end of the calf drive connecting rod through a horizontally arranged calf transmission shaft, and the upper end of the calf main body plate is rotationally connected to the lower end of the thigh main body plate through a horizontally arranged shoulder support shaft near the upper end of the calf main body plate.

[0014] The present invention adopts the above technical solution and has the following significant effects: (1) The present application transmits the driving force of the motor to the leg joints, ensuring the accuracy and reliability of the leg movement and further improving the robot's payload capacity. Two bevel gears are installed on the driving leg structure with an installation angle of 90 degrees, which converts the horizontal rotation into vertical rotation, and changes the traditional screw drive into a gear drive. The bevel gear drive combined with a parallel hinge structure is used to change the transmission direction, that is, the shaft drive form is changed to a disc motor drive, which is further beneficial to changing the transmission direction and saving the transmission space of the leg.

[0015] (2) The driving leg structure of the present application is controlled by three driving motors. Compared with the existing quadruped robot with disc motors, the leg space of the quadruped robot of the present application is smaller and the motor weight is lighter, which is conducive to reducing the weight of the whole machine and making the quadruped robot more maneuverable. BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 It is a schematic diagram of the overall structure of a driving leg structure of a quadruped robot of the present invention; Figure 2 It is a schematic diagram of the exploded structure of a driving leg structure of a quadruped robot of the present invention; Figure 3 is a schematic structural diagram of a second driving unit of the present invention; Figure 4 is a schematic cross-sectional structural diagram of a second driving unit of the present invention; In the drawings, a first drive unit 1, a hip joint component 2, a thigh component 3, a calf component 4, a foot end 5, a hip joint housing 20, a hip joint cooling fan 20a, a second drive unit 21, a second drive connecting plate 22, a hip joint cooling bracket 23, a thigh fan bracket 24, and a thigh cooling fan 25; a first drive motor 100, a first drive motor fixing plate 101, a connecting shaft 102, a flange 103, and a coupling 104; The second drive motor 210, the front outer ring connecting plate 211, the radial sliding hole 211a, the rear outer ring connecting plate 212, the second drive motor main body bracket 213, the support bearing 214, the outer ring rotating body 214b, the front inner ring fixing plate 215, the rear inner ring fixing plate 216, the drive shaft fixing member 217, the D-shaped fixing hole 217a, and the radial sliding member 218; The third drive motor 300, the driving gear 300a, the thigh main body mounting plate 301, the third drive motor seat 301a, the fixed bearing 304, the thigh main body plate 302, the gear pin 303, the calf drive connecting rod 305, the rocker arm 306, the fixed pin 307, the left thigh shell 300b, the right thigh shell 300c, the front outer ring protective tube 300d, the calf main body plate 400, the calf transmission shaft 401, the shoulder support shaft 402, the left calf shell 403, and the right calf shell 404. DETAILED DESCRIPTION

[0016] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described below with reference to the accompanying drawings and preferred embodiments. However, it should be noted that many details described in the specification are only for the purpose of enabling the reader to have a thorough understanding of one or more aspects of the present invention, and these aspects of the present invention can be implemented even without these specific details.

[0017] Combination Figure 1 , Figure 2As shown, according to a quadruped robot driving leg structure provided by the present invention, the driving leg structure includes a first driving unit 1, a hip joint component 2, a thigh component 3 and a calf component 4, the hip joint component 3 is horizontally arranged on the driving output shaft of the first driving unit 1, the hip joint component 2 includes a hip joint housing 20, a second driving unit 21 and a second driving connecting plate 22, the second driving connecting plate 22 is arranged on the outer wall of the hip joint housing 20, the driving output shaft of the first driving unit 1 is connected to one side of the front of the second driving connecting plate 22, the second driving unit 21 is arranged in the hip joint housing 20 in a vertical state with the driving output shaft of the first driving unit 1, the first driving unit 1 is used to drive the second driving unit 21 to rotate within a specified angle range, the driving output shaft of the second driving unit 21 is arranged on the thigh component 3 downwardly tilted, and is used to drive the thigh component 3 to swing around the output shaft of the second driving unit 21, the lower end of the thigh component 3 is movably connected to the upper end of the calf component 4, and the lower end of the calf component 4 is provided with a foot end 5. In the present invention, a hip joint cooling bracket 23 for supporting and installing a hip joint cooling fan 20a is arranged on the top of the hip joint housing 20, a thigh fan bracket 24 is arranged on the outer side wall of the hip joint housing 20 in the extending direction of the driving output shaft of the first driving unit 1, and a thigh cooling fan 25 is arranged on the thigh fan bracket 24; the first driving unit 1 includes a first driving motor 100, a first driving motor fixing plate 101, and a connecting shaft 102, a flange 103 is fixedly arranged on the outer wall on one side of the front face of the second driving connecting plate 22, and the connecting shaft 102 is arranged at the center of the outer wall of the flange 103 on the side away from the front face of the second driving connecting plate 22, and the output shaft of the first driving motor 100 vertically passes through the first driving motor 100. The central axis hole of the first drive motor fixing plate 101 is connected with a coupling 104, the outer wall on one side of the output shaft of the first drive motor 100 is fixed on the first drive motor fixing plate 101, and the output shaft of the first drive motor 100 is vertically connected to the flange 103 through the coupling 104 and the connecting shaft 102; the second drive unit 21 includes a second drive motor 210 arranged transversely in the hip joint housing 20, and the output shaft of the second drive motor 210 vertically passes through the hip joint housing 20 and is provided with a front outer ring connecting plate 211 on the outside, the front outer ring connecting plate 211 is centrally sleeved on the output shaft of the second drive motor 210, and the thigh component 3 is arranged in the radial direction of the outer side wall of the front outer ring connecting plate 211.The second driving connecting plate 22 is fixed on the driving end of the first driving unit 1 to support and fix the second driving motor 210 to drive the hip joint component 2 to swing in the left and right directions. The second driving motor 210 drives the thigh component 3 and the calf component 4 to move forward or backward. When the second driving motor 210 is running, the hip joint cooling fan 20a and the thigh cooling fan 25 are used to discharge the high-temperature air generated inside the hip joint housing 20 to dissipate heat when the temperature of the second driving motor 210 is high, thereby maintaining the stable operation of the second driving motor 210.

[0018] In the present invention, as the best embodiment of the present invention, Figure 1 , Figure 2 , Figure 3 and Figure 4The second drive unit 21 also includes a rear outer ring connecting plate 212 sleeved on the output shaft of the second drive motor 210, a support bearing 214 and a second drive motor main body bracket 213 for supporting and fixing the second drive connecting plate 22. The support bearing 214 is arranged on the output shaft of the second drive motor 210 between the front outer ring connecting plate 211 and the second drive motor main body bracket 213. The inner ring of the support bearing 214 is arranged on the output shaft of the second drive motor 210 through the inner ring bracket 214a; the front inner ring fixing plate 215 and the rear inner ring fixing plate 216 are respectively arranged on the front and rear sides of the support bearing 214, and the front outer ring connecting plate 211 is arranged on the front side of the front inner ring fixing plate 215, which is close to the front outer ring connecting plate A drive shaft fixing part 217 is provided on the front side of 211, and a D-shaped fixing hole 217a is provided at the front end center of the drive shaft fixing part 217. In the present invention, the front and rear sides of the outer ring rotating body 214b of the support bearing 214 are respectively connected to the front outer ring connecting plate 211 and the rear outer ring fixing plate 212 by bolts in the axial direction; a radial sliding hole 211a extending in the radial direction is provided at the center of the front outer ring connecting plate 211, and a radial sliding part 218 fixed to the output shaft of the second drive motor 210 is provided in the radial sliding hole 211a, and a gap is provided between the radial sliding part 218 and the inner wall of the radial sliding hole 211a, and the drive shaft fixing part 217 is fixedly connected to the radial sliding part 218 by bolts in the axial direction. The front and rear sides of the inner ring of the support bearing 214 are fixed to the inner ring bracket 214a by the front inner ring fixing plate 215 and the rear inner ring fixing plate 216 respectively, so that the front inner ring fixing plate 215 and the rear inner ring fixing plate 216 on the front and rear sides of the inner ring of the support bearing 214 are arranged on the output shaft of the second drive motor 210 through the inner ring bracket 214a; the second drive motor assembly structure, the inner ring of the bearing is installed with the inner ring bracket, the whole part is fixed to the outer ring rotating body 214b of the bearing by the front inner ring fixing plate and the rear inner ring fixing plate, and synchronous rotation is achieved when the bearing rotates. A mounting hole for connecting to the second drive motor main body bracket 213 is provided on the side wall of the front inner ring fixing plate 215. The front inner ring fixing plate 215 and the output shaft of the second drive motor 210 are fixed to the rear inner ring fixing plate 216. The three form a whole. When the second drive motor 210 is turned on, the inner ring of the support bearing 214 also rotates. When the motor is stationary, the outer ring of the support bearing 214 will rotate due to inertia, thereby changing the shaft drive form to a disc motor drive, making it more cost-effective and reducing the loss of the motor shaft due to impact; the outer ring body of the support bearing 21, the front outer ring connecting plate 211, and the rear inner ring fixing plate 216 are connected through the fixing hole.The drive shaft fixing member 217 is fixed to the radial sliding member 218 by bolts. The screw holes around the drive shaft fixing member 217 are connected to the front outer ring connecting plate 211. The front end of the drive shaft fixing member 217 is fixed to the output shaft of the second drive motor 210 through the D-shaped fixing hole 217a. When the output shaft of the second drive motor 210 rotates, the drive shaft fixing member 217 fixed above the output shaft of the second drive motor 210 and other parts connected to the drive shaft fixing member 217 rotate at the same time, and the radial sliding member 218 The side parts are in contact with the two sides of the radial sliding hole 211a of the front outer ring connecting plate 211, and the two sides of the radial sliding member 218 are in contact with the inner wall of the radial sliding hole 211a. When the radial sliding member 218 rotates with the output shaft of the second drive motor 210, the radial sliding member 218 is in contact with the inner wall of the radial sliding hole 211a of the front outer ring connecting plate 211, driving the front outer ring connecting plate 211 to rotate together, thereby reducing the radial impact it receives. When the front outer ring connecting plate 211 rotates, it drives the thigh component 3 to swing up and down.

[0019] In the present invention, Figure 1 and Figure 2As shown, the thigh assembly 3 includes a third drive motor 300, a thigh main body mounting plate 301 and a thigh main body plate 302. The thigh main body mounting plate 301 is arranged on the front outer ring connecting plate 211 at an angle downward. The upper end of the thigh main body mounting plate 301 is connected to the outer side wall of the front outer ring connecting plate 211 along the radial direction of the front outer ring connecting plate 211. The third drive motor 300 is arranged on the outer side wall of the thigh main body mounting plate 301. The fixed end of the third drive motor 300 is connected to the outer side wall of the thigh main body mounting plate 301 through the thigh main body mounting plate 302. The thigh body plate 302 is fixed at the center position near the front outer ring connecting plate 211, and is arranged along the extension direction of the output shaft center line of the third driving motor 300 and parallel to the thigh body mounting plate 301, wherein the upper end of the thigh body plate 302 is drivingly connected to the output shaft of the third driving motor 300, and the lower end of the thigh body plate 302 is movably connected to the upper end of the calf component 4; a gear pin shaft 303 is arranged between the lower end of the thigh body mounting plate 301 and the upper end of the thigh body plate 302, and the gear pin shaft 303 is arranged between the lower end of the thigh body mounting plate 301 and the upper end of the thigh body plate 302. The two ends of 03 are respectively arranged between the lower end of the thigh main body mounting plate 301 and the upper end close to the thigh main body plate 302 through fixed bearings 304, the output shaft of the third drive motor 300 is connected to the driven gear 303a of the gear pin 303 through the driving gear 300a, the upper end of the calf driving connecting rod 305 is connected to the gear pin 303, and the lower end of the calf driving connecting rod 305 is connected to the upper end of the calf assembly 4; the driven gear 303a located on one side of the thigh main body mounting plate 301 is connected to the driven gear 303a of the gear pin 303 through the driving gear 300a. A rocker arm 306 is provided on the outer wall and extends in the radial direction. A fixed pin shaft 307 is provided on the rocker arm 306 and extends horizontally toward one side of the thigh main body plate 302. The end of the fixed pin shaft 307 is transmission-connected with the upper end of the calf assembly 4 through the calf driving connecting rod 305. A left thigh shell 300b and a right thigh shell 300c are provided on both sides of the thigh main body plate 302. The upper end of the left thigh shell 300b has a front outer ring protective tube 300d bent and extending toward the outer side wall edge of the front outer ring connecting plate 211.The end of the front outer ring protective tube 300d is fixed to the outer side wall of the front outer ring connecting plate 211 by bolts, the lower end of the left thigh shell 300b is fixed to the left side wall of the lower end of the thigh main body plate 302, the upper end of the right thigh shell 300c is fixed to the outer wall close to the upper end of the thigh main body mounting plate 301, and the lower end of the right thigh shell 300c is fixed to the right side wall of the lower end of the thigh main body plate 302. The left thigh shell 300b and the right thigh shell 300c connect the third drive motor 300 and the thigh main body 302. The components such as the body mounting plate 301, the thigh main body plate 302 and the calf driving connecting rod 305 are wrapped together to form a thigh as a whole. When the output shaft of the third driving motor 300 rotates, the driven gear 303a of the gear pin 303 is driven to reciprocate at a certain angle through the driving gear 300a, so that the rocker arm 306 of the driven gear 303a drives the calf driving connecting rod 305 to swing back and forth through the fixed pin 307, and the calf driving connecting rod 305 pulls the calf component 4 to swing, so that the robot walks. ;

[0020] In the present invention, Figure 1 , Figure 2As shown, the calf assembly 4 includes a calf main plate 400, a calf transmission shaft 401 and a shoulder support shaft 402. The upper end of the calf main plate 400 is transmission-connected to the lower end of the calf drive connecting rod 305 through the horizontally arranged calf transmission shaft 401, and is rotationally connected to the lower end of the thigh main plate 302 through the horizontally arranged shoulder support shaft 402 near the upper end of the calf main plate 400; a left calf shell 403 and a right calf shell 404 for covering the outside of the calf main plate 400 are arranged on both sides of the outside of the calf main plate 400 below the calf transmission shaft 401, and a foot end 5 is movably arranged at the lower end of the calf main plate 400; the foot end 5 is installed at the end of the calf main plate 400, and the foot end 5 is a silicone foot end, which plays an overall shock-absorbing role during walking. The first drive motor 100 is fixedly mounted on the first drive motor fixing plate 101, and the coupling 104 is mounted on the output shaft of the first drive motor 100. The coupling 104 and the connecting shaft 102 are installed in front of the first drive motor 100, one end of the connecting shaft 102 is mounted on the coupling 104, and the other end of the connecting shaft 102 is mounted on the flange 103, and the flange 103 is mounted on the second drive connecting plate 22 of the hip joint housing 20, and the hip joint assembly 2 is horizontally mounted on the second drive connecting plate 22. When the first drive motor 100 rotates, it can drive the second drive motor 210 to rotate at a specified angle. The hip joint housing 20 of the hip joint assembly 2 is provided with a joint heat dissipation bracket 23 and a thigh fan bracket 24, so as to dissipate heat when the temperature of the second drive motor 210 is high, thereby maintaining the stable operation of the second drive motor 210.The thigh main body mounting plate 301 is connected to the front outer ring connecting plate 211 of the thigh component 2. When the second drive motor 210 drives the front outer ring connecting plate 211 to rotate, the thigh main body plate 302 and the calf main body plate 400 can be driven to rotate through the second drive motor 210 to drive the robot forward or backward. The third drive motor 300 is installed on the thigh main body mounting plate 301 through the third drive motor seat 301a. The third drive motor seat 301a is in the shape of a cylindrical shell. The third drive motor installation 301a is covered by the first The outer wall of the third driving motor 300 is fixedly mounted on the thigh body mounting plate 301, the driving gear 300a is mounted on the rotating shaft of the third driving motor 300, the gear pin 303 is horizontally mounted in front of the rotating shaft of the third driving motor 300, the gear pin 303 is mounted on the driven bevel gear, the driving gear 300a and the driven gear 303a are mounted at an angle of 90 degrees, the horizontal rotation is converted into vertical rotation, which is conducive to changing the direction of transmission and saving space, the driven gear 303a is mounted with a rocker arm 306, the rocker arm A fixed pin 307 is installed on 306, and the upper end of the calf driving connecting rod 30 is inserted into the end of the fixed pin 307 to form a movable hinge. A first hinge hole and a second hinge hole of different heights are respectively arranged from the top of the calf main body plate 400 to the bottom. The calf transmission shaft 401 on the circular hole at the lower end (end) of the calf driving connecting rod 30 is connected to the first hinge hole at the top of the calf main body plate 400. A shoulder support shaft 402 is arranged on the hinge hole at the end (lower end) of the thigh main body plate 302. The second hinge hole of the calf main body plate 400 is connected to the first hinge hole at the top of the calf main body plate 400. The shoulder support shaft 402 is connected to the end of the thigh main body plate 302 through transmission, and the second hinge hole of the calf main body plate 400 is installed on the shoulder support shaft 402. The second hinge hole of the calf main body plate 400 is connected to the thigh main body plate 302 through the shoulder support shaft 402, and the calf main body plate 400 forms a parallelogram hinge mechanism through the calf transmission shaft 401, the calf driving connecting rod 305, and the rocker arm 306, so that the rotation angle of the driven bevel gear is equal to the external angle formed by the extension line of the calf main body mounting plate and the thigh main body mounting plate. The driving leg structure of the invention adopts lightweight and high-strength materials such as carbon fiber or aluminum alloy to manufacture the leg and trunk structure of the quadruped robot, which can effectively improve the robot's carrying capacity and movement efficiency, thereby enhancing the structural strength and stability of the quadruped robot. Its structure can improve the adaptability in complex terrain, provide higher performance, quality and cost control advantages for the quadruped robot, and promote its wide application and promotion.

[0021] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A quadruped robot driving leg structure, characterized in that: The driving leg structure comprises a first driving unit (1), a hip joint component (2), a thigh component (3) and a calf component (4); the hip joint component (3) is transversely arranged on a driving output shaft of the first driving unit (1); the hip joint component (2) comprises a hip joint housing (20), a second driving unit (21) and a second driving connecting plate (22); the second driving connecting plate (22) is arranged on an outer wall of the hip joint housing (20); the driving output shaft of the first driving unit (1) is connected to one side of the front face of the second driving connecting plate (22); The drive unit (21) and the drive output shaft of the first drive unit (1) are arranged in a vertical state in the hip joint housing (20); the first drive unit (1) is used to drive the second drive unit (21) to rotate within a specified angle range; the drive output shaft of the second drive unit (21) is arranged on the thigh component (3) to tilt downward, and is used to drive the thigh component (3) to swing around the output shaft of the second drive unit (21); the lower end of the thigh component (3) is movably connected to the upper end of the calf component (4); and the lower end of the calf component (4) is provided with a foot end (5).

2. A quadruped robot driving leg structure according to claim 1, characterized in that: A hip joint cooling bracket (23) for supporting and installing a hip joint cooling fan (20a) is arranged on the top of the hip joint housing (20), a thigh fan bracket (24) is arranged on the outer side wall of the hip joint housing (20) in the extension direction of the drive output shaft of the first drive unit (1), and a thigh cooling fan (25) is arranged on the thigh fan bracket (24).

3. A quadruped robot driving leg structure according to claim 1 or 2, characterized in that: The first drive unit (1) comprises a first drive motor (100), a first drive motor fixing plate (101), and a connecting shaft (102); a flange (103) is fixedly arranged on an outer wall on one side of the front face of the second drive connecting plate (22); the connecting shaft (102) is arranged at the center of the outer wall of the flange (103) on the side of the front face away from the second drive connecting plate (22); the output shaft of the first drive motor (100) vertically passes through the central axis hole of the first drive motor fixing plate (101) and is connected to a coupling (104); the outer wall on one side of the output shaft of the first drive motor (100) is fixed to the first drive motor fixing plate (101); 101), the output shaft of the first drive motor (100) is vertically connected to the flange (103) through a coupling (104) and a connecting shaft (102); the second drive unit (21) includes a second drive motor (210) arranged in a transverse manner in a hip joint housing (20), the output shaft of the second drive motor (210) vertically passes through the hip joint housing (20), and a front outer ring connecting plate (211) is arranged outside, the center of the front outer ring connecting plate (211) is sleeved on the output shaft of the second drive motor (210), and the thigh component (3) is arranged in the radial direction of the outer side wall of the front outer ring connecting plate (211).

4. A quadruped robot driving leg structure according to claim 3, characterized in that: The second drive unit (21) further comprises a rear outer ring connecting plate (212) sleeved on the output shaft of the second drive motor (210), a support bearing (214) and a second drive motor main body bracket (213) for supporting and fixing the second drive connecting plate (22); the support bearing (214) is arranged on the output shaft of the second drive motor (210) between the front outer ring connecting plate (211) and the second drive motor main body bracket (213); the inner ring of the support bearing (214) is arranged on the output shaft of the second drive motor (210) through an inner ring bracket (214a); a front inner ring fixing plate (215) and a rear inner ring fixing plate (216) are respectively arranged on the front and rear sides of the support bearing (214); and the front outer ring connecting plate (211) is arranged on the front side of the front inner ring fixing plate (215).

5. The quadruped robot driving leg structure according to claim 3, characterized in that: A drive shaft fixing member (217) is provided on the front side closely attached to the front outer ring connecting plate (211), and a D-shaped fixing hole (217a) is provided at the front end center of the drive shaft fixing member (217). The front and rear sides of the outer ring rotating body (214b) of the support bearing (214) are respectively connected to the front outer ring connecting plate (211) and the rear outer ring fixing plate (212) by bolts in the axial direction; a radial sliding hole (211a) extending in the radial direction is provided at the center of the front outer ring connecting plate (211), and a radial sliding member (211a) fixed to the output shaft of the second drive motor (210) is provided in the radial sliding hole (211a). 218), a gap is provided between the radial sliding member (218) and the inner wall of the radial sliding hole (211a), and the drive shaft fixing member (217) is fixedly connected to the radial sliding member (218) by bolts in the axial direction; the front and rear sides of the inner ring of the support bearing (214) are respectively fixed to the inner ring bracket (214a) through a front inner ring fixing plate (215) and a rear inner ring fixing plate (216), so that the front inner ring fixing plate (215) and the rear inner ring fixing plate (216) on the front and rear sides of the inner ring of the support bearing (214) are arranged on the output shaft of the second drive motor (210) through the inner ring bracket (214a).

6. The quadruped robot driving leg structure according to claim 3, characterized in that: The thigh assembly (3) comprises a third drive motor (300), a thigh main body mounting plate (301) and a thigh main body plate (302), wherein the thigh main body mounting plate (301) is arranged on the front outer ring connecting plate (211) in a downwardly inclined manner, and the upper end of the thigh main body mounting plate (301) is connected to the outer side wall of the front outer ring connecting plate (211) along the radial direction of the front outer ring connecting plate (211), and the third drive motor (300) is arranged on the outer side wall of the thigh main body mounting plate (301). The fixed end of the driving motor (300) is fixed at a central position close to the front outer ring connecting plate (211) through a thigh main body mounting plate (301), and the thigh main body plate (302) is arranged along the extension direction of the center line of the output shaft of the third driving motor (300) and parallel to the thigh main body mounting plate (301), wherein the upper end of the thigh main body plate (302) is drivingly connected to the output shaft of the third driving motor (300), and the lower end of the thigh main body plate (302) is movably connected to the upper end of the calf component (4).

7. A quadruped robot driving leg structure according to claim 6, characterized in that: A gear pin (303) is arranged between the lower end of the thigh main body mounting plate (301) and the upper end of the thigh main body plate (302), and the two ends of the gear pin (303) are arranged between the lower end of the thigh main body mounting plate (301) and the upper end of the thigh main body plate (302) through fixed bearings (304), respectively. The output shaft of the third driving motor (300) is connected to the driven gear (303a) of the gear pin (303) through a driving gear (300a), the upper end of the calf driving connecting rod (305) is connected to the gear pin (303), and the lower end of the calf driving connecting rod (305) is connected to the upper end of the calf assembly (4).

8. The driving leg structure of a quadruped robot according to claim 7, characterized in that: A rocker arm (306) is provided on the outer wall of the driven gear (303a) on one side of the thigh main body mounting plate (301) and extends in a radial direction. A fixed pin shaft (307) is provided on the rocker arm (306) and extends horizontally toward one side of the thigh main body plate (302). The end of the fixed pin shaft (307) is transmission-connected to the upper end of the calf assembly (4) via a calf driving connecting rod (305).

9. A quadruped robot driving leg structure according to any one of claims 4 to 6, characterized in that: A left thigh shell (300b) and a right thigh shell (300c) are arranged on both sides of the thigh main body plate (302); the upper end of the left thigh shell (300b) has a front outer ring protective tube (300d) bent and extending toward the edge of the outer wall of the front outer ring connecting plate (211); the end of the front outer ring protective tube 300d is fixed to the outer wall of the front outer ring connecting plate 211 by bolts, the lower end of the left thigh shell (300b) is fixed to the left side wall of the lower end of the thigh main body plate (302), the upper end of the right thigh shell (300c) is fixed to the outer wall close to the upper end of the thigh main body mounting plate (301), and the lower end of the right thigh shell (300c) is fixed to the right side wall of the lower end of the thigh main body plate (302).

10. The quadruped robot driving leg structure according to claim 6, characterized in that: The calf assembly (4) comprises a calf main body plate (400), a calf transmission shaft (401) and a shoulder support shaft (402); the upper end of the calf main body plate (400) is transmission-connected to the lower end of the calf drive connecting rod (305) via a horizontally arranged calf transmission shaft (401); and the position near the upper end of the calf main body plate (400) is rotationally connected to the lower end of the thigh main body plate (302) via a horizontally arranged shoulder support shaft (402).

Images