High-load long-endurance self-adaptive quadruped robot leg joint structure

Abstract

The high-load long-endurance self-adaptive quadruped robot leg joint structure comprises a thigh, a shank, a connecting seat assembly and a transmission assembly, the shank is arranged on one side of the thigh, one end of the shank is hinged to the interior of the thigh, the connecting seat assembly is arranged on the side, away from the shank, of the thigh, and the transmission assembly is arranged in the thigh. The invention belongs to the technical field of robots, and particularly provides an optimized gear transmission structure, which adopts a fixed motor module structure and a driven gear mechanism, uses gear transmission, improves control precision, adopts a crank connecting rod design, conforms to a parallelogram control method of a quadruped robot, improves control accuracy and control allowance, and improves control reliability. According to the leg joint structure of the high-load long-endurance self-adaptive quadruped robot, the control included angle range of the thigh and the shank is enlarged, the design and planning of various gaits are met, the driving capacity generated by a driving motor is fully utilized, all structures are tightly matched, and the transmission efficiency of a driving module is improved.

Description

Technical Field

[0001] The present invention belongs to the field of robotics technology, and specifically relates to a high-load, long-endurance, adaptive quadruped robot leg joint structure. Background Art

[0002] Quadruped robots are a form of biomimetic automation. Carefully designed, they can replicate the walking patterns of animals and navigate complex environments with ease. With their unique point-to-point contact with the ground and excellent adaptability to complex terrain, quadruped robots have become a focal point in the fields of automation and robotics. Therefore, leg design is crucial for quadruped robots to function effectively.

[0003] The patent with publication number CN221091031U discloses a leg structure for a quadruped robot. By setting up a drive mechanism to control the swing of the thigh and calf, the angle between the calf and thigh is reduced when the robot foot lands, and the drive device can absorb energy and buffer, thereby improving the dynamic performance of the quadruped robot.

[0004] However, there are the following disadvantages in actual use: (1) Poor leg control accuracy: The existing transmission structure cannot meet the requirements of precise algorithm control, and the angle of control of the thigh and calf rotation cannot meet the actual needs, resulting in poor gait and steady-state performance in complex terrain. (2) Poor leg control margin: The existing transmission structure is simple and has a small range of rotation. During the walking process of the quadruped robot, the gait planning process is small and the walking is slow. (3) Poor leg kinetic energy utilization efficiency: The conversion efficiency of the existing invention to drive energy conversion is too low, and the coordination of various structures is poor. The energy utilization efficiency for various gaits of the quadruped robot is not high. Therefore, there is an urgent need for a new type of high-load, long-endurance adaptive quadruped robot leg joint structure to solve the above problems. Summary of the Invention

[0005] In order to solve the above-mentioned existing problems, the present invention provides an optimized gear transmission structure, which adopts a fixed motor module structure and a driven gear mechanism, uses gear transmission, improves control accuracy, adopts a crank-connecting rod design, complies with the parallelogram control method of the quadruped robot, improves control accuracy and control margin, increases the angle range of thigh and calf control, meets the design and planning of various gaits, and makes full use of the driving capacity generated by the drive motor. The various structures are closely coordinated to improve the transmission efficiency of the drive module, which is a high-load, long-endurance adaptive quadruped robot leg joint structure.

[0006] The technical solution adopted by the present invention is as follows: The leg joint structure of the high-load and long-endurance adaptive quadruped robot of the present invention includes a thigh, a calf, a connecting seat assembly and a transmission assembly. The calf is arranged on one side of the thigh, one end of the calf is hingedly arranged inside the thigh, the connecting seat assembly is arranged on the side of the thigh away from the calf, and the transmission assembly is arranged inside the thigh.

[0007] Furthermore, a knee joint bearing is provided in one end of the thigh away from the connecting seat assembly, and the knee joint bearing is connected to the calf.

[0008] Furthermore, the transmission assembly includes a driving gear, a driven gear and a crank connecting rod. The driving gear is rotatably arranged in one end of the thigh close to the connecting seat assembly, the driven gear is rotatably arranged on one side of the driving gear, the driven gear is engaged with the driving gear, and the crank connecting rod is arranged on the side of the driven gear away from the driving gear. The two ends of the crank connecting rod are respectively connected to the driven gear and the calf.

[0009] Furthermore, the two ends of the crank connecting rod are respectively provided with a crank connector 1 and a crank connector 2, the crank connector 1 is eccentrically hinged to the driven gear, and the crank connector 2 is hinged to one end of the calf located inside the thigh.

[0010] Furthermore, the connecting seat assembly includes a thigh mounting seat, a fixed connecting seat and a crotch connecting seat, the thigh mounting seat is arranged on one side of the thigh, the fixed connecting seat is connected to the thigh mounting seat, and the crotch connecting seat is arranged in one end of the fixed connecting seat away from the thigh mounting seat.

[0011] The beneficial effects achieved by the present invention using the above-mentioned structure are as follows: The high-load, long-endurance adaptive quadruped robot leg joint structure proposed in this scheme adopts a fixed motor module structure and a driven gear mechanism, uses gear transmission, and improves control precision. It adopts a crank-connecting rod design to improve control accuracy and control margin, and increases the angle range of thigh and calf control to meet the design and planning of various gaits, and fully utilizes the driving capacity generated by the drive motor. The various structures cooperate closely, greatly improving the drive module. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is the main view of the leg joint structure of the high-load and long-endurance adaptive quadruped robot proposed in this scheme;

[0013] Figure 2 Exploded diagram of the leg joint structure of the high-load, long-endurance adaptive quadruped robot proposed in this scheme;

[0014] Figure 3 Schematic diagram of the leg joint structure of the high-load and long-endurance adaptive quadruped robot proposed in this scheme;

[0015] Figure 4Schematic diagram of the usage state structure of the high-load and long-endurance adaptive quadruped robot leg joint structure proposed in this scheme.

[0016] The accompanying drawings are provided to provide a further understanding of the present invention and constitute a part of the specification. Together with the embodiments of the present invention, they are used to explain the present invention and do not constitute a limitation of the present invention. In the drawings: 1. Thigh, 2. Calf, 3. Connector assembly, 4. Transmission assembly, 5. Knee joint bearing, 6. Driving gear, 7. Driven gear, 8. Crank connecting rod, 9. Crank connector 1, 10. Crank connector 2, 11. Thigh mounting seat, 12. Fixed connector, 13. Crotch connector. DETAILED DESCRIPTION

[0017] 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 only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] like Figures 1 to 4 As shown, the high-load and long-endurance adaptive quadruped robot leg joint structure proposed in this scheme includes a thigh 1, a calf 2, a connecting seat assembly 3 and a transmission assembly 4. The calf 2 is arranged on one side of the thigh 1, and one end of the calf 2 is hingedly arranged in the thigh 1. The connecting seat assembly 3 is arranged on the side of the thigh 1 away from the calf 2, and the transmission assembly 4 is arranged in the thigh 1. A knee joint bearing 5 is provided in the end of the thigh 1 away from the connecting seat assembly 3, and the knee joint bearing 5 is connected to the calf 2.

[0019] like Figure 2 and Figure 4 As shown, the transmission assembly 4 includes a driving gear 6, a driven gear 7 and a crank connecting rod 8. The driving gear 6 is rotatably arranged in one end of the thigh 1 close to the connecting seat assembly 3, and the driven gear 7 is rotatably arranged on one side of the driving gear 6. The driven gear 7 is engaged with the driving gear 6, and the crank connecting rod 8 is arranged on the side of the driven gear 7 away from the driving gear 6. The two ends of the crank connecting rod 8 are respectively connected to the driven gear 7 and the calf 2. The two ends of the crank connecting rod 8 are respectively provided with a crank connector 1 9 and a crank connector 2 10. The crank connector 1 9 is eccentrically hinged to the driven gear 7, and the crank connector 2 10 is hinged to one end of the calf 2 located in the thigh 1.

[0020] like Figure 2As shown, the connecting seat assembly 3 includes a thigh mounting seat 11, a fixed connecting seat 12 and a crotch connecting seat 13. The thigh mounting seat 11 is arranged on one side of the thigh 1, the fixed connecting seat 12 is connected to the thigh mounting seat 11, and the crotch connecting seat 13 is arranged in the end of the fixed connecting seat 12 away from the thigh mounting seat 11.

[0021] During specific use, when the motor drives the driving gear 6 to rotate clockwise, the driven gear 7 meshing with the driving gear 6 rotates counterclockwise, and the crank connector 1 9 fixed on the outer ring of the driven gear 7 rotates, and the crank connector 1 9 drives the crank connecting rod 8 to be driven from bottom to top, and the crank connecting rod 8 drives the crank connector 2 10 to move upward, and the calf 2 fixed to the crank connector 2 10 moves downward with the knee joint bearing 5 as the fulcrum, and the calf 2 curls up, thereby adjusting the leg state, optimizing the leg transmission structure of the quadruped robot, increasing the robot's gait dynamic performance, and improving the transmission efficiency.

[0022] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0023] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A high-load, long-endurance, adaptive quadruped robot leg joint structure, characterized by: It includes a thigh, a calf, a connecting seat assembly and a transmission assembly. The calf is arranged on one side of the thigh, one end of the calf is hinged and arranged inside the thigh, the connecting seat assembly is arranged on the side of the thigh away from the calf, and the transmission assembly is arranged inside the thigh.

2. The high-load, long-endurance, adaptive quadruped robot leg joint structure according to claim 1, characterized in that: A knee joint bearing is provided in one end of the thigh away from the connecting seat assembly, and the knee joint bearing is connected to the calf.

3. The high-load, long-endurance, adaptive quadruped robot leg joint structure according to claim 2, characterized in that: The transmission assembly includes a driving gear, a driven gear and a crank connecting rod. The driving gear is rotatably arranged in one end of the thigh close to the connecting seat assembly, and the driven gear is rotatably arranged on one side of the driving gear. The driven gear is engaged with the driving gear. The crank connecting rod is arranged on the side of the driven gear away from the driving gear. The two ends of the crank connecting rod are respectively connected to the driven gear and the calf.

4. The high-load, long-endurance, adaptive quadruped robot leg joint structure according to claim 3, characterized in that: The two ends of the crank connecting rod are respectively provided with a crank connector 1 and a crank connector 2. The crank connector 1 is eccentrically hinged to the driven gear, and the crank connector 2 is hinged to one end of the calf located inside the thigh.

5. The high-load, long-endurance, adaptive quadruped robot leg joint structure according to claim 4, characterized in that: The connecting seat assembly includes a thigh mounting seat, a fixed connecting seat and a crotch connecting seat. The thigh mounting seat is arranged on one side of the thigh, the fixed connecting seat is connected to the thigh mounting seat, and the crotch connecting seat is arranged in one end of the fixed connecting seat away from the thigh mounting seat.

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