A linkage structure for a large-scale bionic quadruped walking device

Abstract

The utility model discloses a linkage structure for a bionic large-scale four-legged walking device, which relates to the technical field of four-legged bionic motion structure. In order to solve the problem that most of the existing four-legged walking devices are moved by a single fulcrum, resulting in no linkage effect, the utility model comprises a motor one and a motor three, one end of the motor one and the motor three are respectively and linkedly provided with a joint one and a joint five, both sides of the joint one are respectively and movably provided with a connecting rod one and a connecting rod two, and both sides of the joint five are respectively and movably provided with a connecting rod four and a connecting rod five; it also comprises: a joint two, which is movably arranged at the lower end position of the joint one through a coupling, and the lower end of the joint two is movably provided with a joint three through a coupling, and a slideway one is arranged below the joint three; a joint six, which is movably arranged at the lower end position of the joint five through a coupling, and the lower end of the joint six is ​​movably provided with a joint seven through a coupling, and a slideway two is arranged below the joint seven.

Description

Technical Field

[0001] The utility model relates to the technical field of quadruped bionic motion structures, in particular to a linkage structure for a bionic large-scale quadruped walking device. Background Art

[0002] The principle of bionic quadruped robot is to design and manufacture a robot with the ability to walk on four legs by simulating the movement mode and structural characteristics of biological quadrupeds. It applies knowledge and technology from multiple disciplines such as bionics, mechanical engineering, and control engineering.

[0003] Most of the existing quadruped walking devices move through a single fulcrum, without any linkage effect. Therefore, we provide a linkage structure for a bionic large-scale quadruped walking device. Utility Model Content

[0004] The utility model aims to provide a linkage structure for a large-scale bionic quadruped walking device, so as to solve the problem that most of the existing quadruped walking devices mentioned in the above background technology are moved by a single fulcrum, resulting in no linkage effect.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a linkage structure for a bionic large-scale quadruped walking device, comprising a motor 1 and a motor 3, one end of the motor 1 and the motor 3 are respectively linked with a joint 1 and a joint 5, both sides of the joint 1 are respectively movably provided with a connecting rod 1 and a connecting rod 2, and both sides of the joint 5 are respectively movably provided with a connecting rod 4 and a connecting rod 5;

[0006] Also includes:

[0007] Joint 2 is movably arranged at the lower end of the joint 1 through a coupling, and a joint 3 is movably arranged at the lower end of the joint 2 through a coupling, and a slideway 1 is arranged below the joint 3;

[0008] Joint 6 is movably arranged at the lower end of the joint 5 through a coupling, and a joint 7 is movably arranged at the lower end of the joint 6 through a coupling, and a slideway 2 is arranged below the joint 7;

[0009] Motor 2 is embedded in the joint 1 and is connected to the rotating shaft at one end of connecting rod 2 through a coupling;

[0010] The motor 4 is embedded in the joint 5 and is connected to the rotating shaft at one end of the connecting rod 5 through a coupling.

[0011] Preferably, a connecting rod three is provided on one side of the joint two, and the connecting rod three is movably connected to the connecting rod one through a coupling.

[0012] Preferably, a connecting rod six is ​​provided on one side of the joint six, and the connecting rod six is ​​movably connected to the connecting rod four through a coupling.

[0013] Preferably, one end of the joint three is provided with a joint four through a coupling, the other end of the joint four is provided with a sliding bearing one, and the joint four is slidably connected to the slideway one through the sliding bearing one.

[0014] Preferably, one end of the joint seven is provided with a joint eight through a coupling, the other end of the joint eight is provided with a sliding bearing two, and the joint eight is slidably connected to the slideway two through the sliding bearing two.

[0015] Preferably, the slideway 1 and the slideway 2 are located on the same horizontal line.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The utility model provides a large-scale bionic quadruped walking device, which realizes the linkage of various leg joints. The linkage structure is composed of multiple motors, connecting rods, linear bearings, slideways, etc., which are fully linked under the cooperation of the motors and the connecting rods, thus overcoming the problem that most of the existing quadruped walking devices use a single fulcrum to make them move, resulting in no linkage effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall structure of the linkage structure of the bionic large-scale quadruped walking device of the utility model;

[0019] Figure 2 It is the right view of the overall structure of the utility model;

[0020] Figure 3 It is a left view of the overall structure of the utility model;

[0021] In the figure: 1, motor one; 2, motor two; 3, connecting rod one; 4, connecting rod two; 5, joint one; 6, connecting rod three; 7, joint two; 8, joint three; 9, sliding bearing one; 10, joint four; 11, motor three; 12, motor four; 13, connecting rod four; 14, joint five; 15, connecting rod five; 16, connecting rod six; 17, joint six; 18, joint seven; 19, joint eight; 20, sliding bearing two; 21, slideway one; 22, slideway two. DETAILED DESCRIPTION

[0022] The technical solutions in the embodiments of the present invention will be described clearly and completely 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 of the embodiments.

[0023] See also Figure 1-3The utility model provides an embodiment: a linkage structure for a bionic large-scale quadruped walking device, comprising a motor 1 and a motor 3 11, one end of the motor 1 and the motor 3 11 are respectively linked with a joint 5 and a joint 5 14, both sides of the joint 5 are respectively movably provided with a connecting rod 1 3 and a connecting rod 2 4, and both sides of the joint 5 14 are respectively movably provided with a connecting rod 4 13 and a connecting rod 5 15;

[0024] Also includes:

[0025] Joint 2 7 is movably arranged at the lower end of joint 1 5 through a coupling, and joint 3 8 is movably arranged at the lower end of joint 2 7 through a coupling, and slide 1 21 is arranged below joint 3 8;

[0026] Joint 6 17 is movably arranged at the lower end of joint 5 14 through a coupling, and joint 7 18 is movably arranged at the lower end of joint 6 17 through a coupling, and slideway 22 is arranged below joint 7 18;

[0027] The second motor 2 is embedded in the first joint 5 and is connected to the rotating shaft at one end of the second connecting rod 4 through a coupling;

[0028] The motor 4 12 is embedded in the joint 5 14 and is connected to the rotating shaft at one end of the connecting rod 5 15 through a coupling.

[0029] See also Figure 1 A connecting rod three 6 is arranged on one side of the joint two 7, and the connecting rod three 6 is movably connected with the connecting rod one 3 through a coupling. The connecting rod three 6 arranged on one side of the joint two 7 plays a role of transmission connection with the connecting rod one 3.

[0030] See also Figure 1 A connecting rod 6 16 is provided on one side of the joint 6 17 , and the connecting rod 6 16 is movably connected to the connecting rod 4 13 through a coupling. The connecting rod 6 16 provided on one side of the joint 6 17 plays a role of transmission connection with the connecting rod 4 13 .

[0031] See also Figure 1 One end of joint three 8 is provided with joint four 10 through a coupling, and the other end of joint four 10 is provided with a sliding bearing 9. Joint four 10 is slidingly connected with slideway 21 through sliding bearing 9. Joint four 10, which is movably provided at one end of joint three 8 through a coupling, plays the role of movably connecting sliding bearing 19 and joint three 8.

[0032] See also Figure 1One end of joint seven 18 is provided with joint eight 19 through a coupling, and the other end of joint eight 19 is provided with sliding bearing two 20. Joint eight 19 is slidingly connected with slideway two 22 through sliding bearing two 20. Joint eight 19, which is movably provided at one end of joint seven 18 through a coupling, plays the role of movably connecting sliding bearing two 20 and joint seven 18.

[0033] See also Figure 1 , slideway 1 21 and slideway 2 22 are located on the same horizontal line.

[0034] Working principle: The linkage structure is composed of multiple motors, connecting rods, linear bearings, slideways, etc. When motor 1 receives a signal, it drives joint 15 to rotate. The rotation of joint 15 changes the stroke of connecting rod 13 and drives connecting rod 36. Motor 22 receives a signal and drives connecting rod 24 to move. Connecting rod 24 drives joint 27 to rotate. With the cooperation of joint 27 and connecting rod 36, joint 38 changes its angle. Joint 38 drives joint 410 to move. Sliding bearing 19 slides horizontally on slideway 121. With the cooperation of motor and connecting rod, motor 31 is fully linked. 1 receives a signal, drives joint five 14 to rotate, the rotation of joint five 14 changes the stroke of connecting rod four 13 to drive connecting rod six 16, motor four 12 receives a signal, drives connecting rod five 15 to move, connecting rod five 15 drives joint six 17 to rotate, joint seven 18 changes the angle under the cooperation of joint six 17 and connecting rod six 16, joint seven 18 drives joint eight 19 to move, sliding bearing two 20 slides horizontally on slideway two 22, and is completely linked under the cooperation of the motor and the connecting rod, completing the use of the linkage structure of the bionic large-scale four-legged walking device.

[0035] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A linkage structure for a bionic large-scale quadruped walking device, comprising a motor 1 (1) and a motor 3 (11), wherein one end of the motor 1 (1) and the motor 3 (11) are respectively and linkedly provided with a joint 1 (5) and a joint 5 (14), and both sides of the joint 1 (5) are respectively and movably provided with a connecting rod 1 (3) and a connecting rod 2 (4), and both sides of the joint 5 (14) are respectively and movably provided with a connecting rod 4 (13) and a connecting rod 5 (15); Features: Also includes: Joint 2 (7) is movably arranged at the lower end of joint 1 (5) through a coupling, and joint 3 (8) is movably arranged at the lower end of joint 2 (7) through a coupling, and slideway 1 (21) is arranged below joint 3 (8); Joint six (17) is movably arranged at the lower end of the joint five (14) through a coupling, and the lower end of the joint six (17) is movably arranged with joint seven (18) through a coupling, and a slideway two (22) is arranged below the joint seven (18); Motor 2 (2) is embedded in the joint 1 (5), and is connected to the rotating shaft at one end of connecting rod 2 (4) through a coupling; The motor four (12) is embedded in the joint five (14), and is connected to the rotating shaft at one end of the connecting rod five (15) through a coupling.

2. The linkage structure for a bionic large-scale quadruped walking device according to claim 1, characterized in that: A connecting rod 3 (6) is arranged on one side of the joint 2 (7), and the connecting rod 3 (6) is movably connected to the connecting rod 1 (3) via a coupling shaft.

3. The linkage structure for a bionic large-scale quadruped walking device according to claim 1, characterized in that: A connecting rod six (16) is arranged on one side of the joint six (17), and the connecting rod six (16) is movably connected to the connecting rod four (13) through a coupling shaft.

4. The linkage structure for a bionic large-scale quadruped walking device according to claim 1, characterized in that: One end of the joint three (8) is provided with a joint four (10) through a coupling, and the other end of the joint four (10) is provided with a sliding bearing one (9). The joint four (10) is slidably connected with the slideway one (21) through the sliding bearing one (9).

5. The linkage structure for a bionic large-scale quadruped walking device according to claim 1, characterized in that: One end of the joint seven (18) is provided with a joint eight (19) through a coupling, and the other end of the joint eight (19) is provided with a sliding bearing two (20). The joint eight (19) is slidably connected with the slideway two (22) through the sliding bearing two (20).

6. The linkage structure for a bionic large-scale quadruped walking device according to claim 1, characterized in that: The slideway 1 (21) and the slideway 2 (22) are located on the same horizontal line.

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