Single body joint movement mechanism of multi-legged bionic robot

Abstract

A single section movement mechanism of a multi-legged bionic robot is mainly composed of a shell assembly, a worm and gear transmission structure and leg connecting rod structures, the worm and gear transmission structure is located in the shell assembly, and the two sides of the shell assembly are connected with the leg connecting rod structures; the utility model has the beneficial effects that the rotation of the worm is controlled by the servo motor or the steering engine so as to drive the movement of the leg connecting rod structure, so that accurate control is carried out, and the rotation, lifting and other actions of the foot are realized; the number of joints is three, a worm and gear mechanism is applied to transmission, series connection is achieved through a universal coupling, longitudinal rotation motion of the robot is changed into rotation motion of transverse feet, each joint adopts an independent transmission structure and power output, and the error-tolerant rate of the robot is greatly improved.

Description

Technical Field

[0001] The utility model relates to a multi-legged bionic robot, in particular to a single-segment motion mechanism of the multi-legged bionic robot. Background Art

[0002] With the advancement of science and technology and the development of human society, the demand for robots that can work in special environments is growing. For example, in rescue operations after natural disasters such as earthquakes and landslides, or in exploration missions to planets such as Mars and the Moon, where humans cannot directly reach or where there are dangers, multi-legged bionic robots can play their unique role. Multi-legged bionic robots also have broad application potential in agriculture, industry, service industries and other fields, such as bionic robots for plant pollination and bionic robots for logistics handling.

[0003] Multi-legged bionic robots usually adopt a variety of gait patterns to walk, among which the triangular gait is a typical one. In the triangular gait, the robot's multiple legs are divided into several groups, and each group of legs is alternately lifted and lowered to form a stable triangular support structure, thereby maintaining balance and stability during walking. In order to meet the above control requirements, the design of the robot's feet is the key to bionics. The feet usually contain multiple degrees of freedom to simulate the complex movements of animal feet.

[0004] The traditional design of this type of robot uses fisheye bearings to connect the transmission rods on the body segments. The disadvantage of this design is that it is difficult to install and transmits the reaction force generated by the ground on the feet to the rotating disc and the transmission shaft, which generates axial force and uneven load on the transmission shaft and the rotating disc. And because the fisheye upper sleeve of the foot mechanism (which has the same function as the connecting rod in this design) is also installed on the fisheye bearing, most of the load on the foot is concentrated on the connection between the fisheye bearing and the frame, which generates a large stress concentration on the local frame, causing the connection to be easily damaged. Therefore, it is very necessary to design a robot single-segment motion mechanism that is easy to install, reduces local stress on the frame, and can extend the service life. Summary of the invention

[0005] In order to achieve the above-mentioned purpose, the utility model provides a single-segment motion mechanism of a multi-legged bionic robot to solve the problem that the existing multi-legged robots use fisheye bearing connection transmission method on the body segments, which causes large stress concentration in the frame, and the frame connection is easily damaged, thus affecting the service life of the robot.

[0006] The utility model is realized through the following technical solutions:

[0007] A single-segment motion mechanism of a multi-legged bionic robot is mainly composed of a housing assembly, a worm gear transmission structure, and a leg connecting rod structure. The worm gear transmission structure is located inside the housing assembly, and the leg connecting rod structure is connected on both sides of the housing assembly.

[0008] The housing assembly is composed of a housing, a hollow support shaft, a supporting rib plate, a support rod, a stopper, a worm bearing bracket, a worm gear bearing support, a worm gear bearing seat, and a leg support bearing seat.

[0009] The shell is a four-sided structure, and the hollow support shaft is connected to the top of the shell through a supporting rib plate and a support rod. A worm bearing bracket is symmetrically arranged at the front and rear ends of the inner top surface of the shell, and a worm bearing seat is arranged at the bottom end of the worm bearing bracket; a worm gear bearing support is symmetrically arranged on the inner bottom surface of the shell, and a worm gear bearing seat is arranged on the upper part of the worm gear bearing support, and a leg support bearing seat is arranged at the corresponding position of the outer side wall of the shell.

[0010] Furthermore, both ends of the worm shaft in the worm gear transmission structure are connected to the worm bearing seat at the bottom end of the worm bearing bracket in the housing through worm bearings, worm bearings are placed at both ends of the worm shaft of the worm wheel to fix them to the worm bearing support, and splines are provided at both ends of the worm shaft.

[0011] Furthermore, the leg connecting rod structure includes a leg, a limit rod, a connecting rod, a hollow shaft, a coupling, a connecting rod and a rotating disk.

[0012] A U-shaped groove is provided at the top end of the leg and the bottom end of the connecting rod, and a limit rod is connected to the end of the U-shaped groove through a rotating pair, the top end of the connecting rod is connected to a hollow shaft, and the hollow shaft is connected to the hollow support shaft by a plug-in connection method, the middle part of the leg is connected to a connecting piece and fixed by rivets, and the connecting rod is connected to the end of the connecting piece by a universal coupling, and the other end of the connecting rod is connected to a rotating disk with a profile hole at the center, the rotating disk is inserted into the leg support bearing seat, and is connected to the spline at the end of the worm shaft by a profile connection method, so that the worm gear drives the leg to walk to set the trajectory path.

[0013] Furthermore, a hollow support shaft bearing is installed between the hollow support shaft and the hollow shaft to increase the rotation flexibility of the hollow shaft.

[0014] Furthermore, the axes of the two worm gear bearing seats and the two leg support bearing seats are located on the same horizontal line.

[0015] Furthermore, the revolving pair is composed of a connecting shaft, a revolving pair bearing and a bearing spacer.

[0016] Furthermore, a stopper is inserted into the end of the hollow shaft, and the stopper is fixed to the hollow supporting shaft by rivets.

[0017] Furthermore, the support rods are symmetrically arranged with the supporting rib plate as the center line.

[0018] Furthermore, retaining rings are provided inside the worm bearing seat at the bottom end of the worm bearing bracket, the two worm wheel bearing seats, and the two leg support bearing seats. Beneficial Effects

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] 1. The utility model abandons the integrated structure of the traditional robot, and designs a multi-segmented robot body structure by imitating the original body pattern of arthropods. It adopts an uncertain number of segments and can add or delete segments according to different tasks to be accomplished.

[0021] 2. The number of sections of the utility model is based on three, and a worm gear mechanism is used for transmission, which is connected in series through a universal coupling as the power source of the entire robot. The longitudinal rotational motion of the robot is converted into the lateral rotational motion of the foot. The foot movement adopts a triangular gait, and the overall movement mode refers to the "snake-like robot". Each section adopts an independent transmission structure and power output, which greatly improves its fault tolerance.

[0022] 3. The utility model adopts modular design in each joint, and different leg parts can be replaced according to different task requirements to enhance adaptability, and it is easy to carry and transport.

[0023] 4. The utility model replaces the rotating disc, transmission rod, fisheye bearing and other structures of the traditional multi-legged robot with parts such as the leg support bearing seat. The leg support bearing seat will bear most of the load transmitted from the feet and only transmit the rotational load to the transmission shaft. It will not generate circumferential and axial loads on the transmission shaft, thus avoiding excessive load on the transmission shaft, which may cause damage and affect the service life.

[0024] 5. The utility model controls the rotation of the worm by a servo motor or a steering gear, thereby driving the movement of the leg connecting rod structure, and performs precise control to realize the rotation, lifting and other actions of the foot.

[0025] 6. The utility model has great application potential in the field of robotics due to its excellent terrain adaptability and high stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0027] Figure 2 It is a schematic diagram of the overall structure of the housing assembly of the utility model;

[0028] Figure 3 It is a schematic diagram of the overall structure of the utility model worm gear transmission mechanism;

[0029] Figure 4 It is a schematic diagram of the overall structure of the leg connecting rod structure of the utility model;

[0030] Figure 5 It is a top view of the utility model;

[0031] Figure 6 This is a schematic diagram of the structure of the rotating disk of the utility model;

[0032] Figure 7 This is a schematic diagram of the use state of the multi-segment of the utility model.

[0033] Figure 8 This is a schematic diagram of the connection between the hollow support shaft, the hollow shaft and the stopper of the utility model.

[0034] Description of reference numerals:

[0035] 1. Shell assembly,

[0036] 11. housing, 12. hollow support shaft, 121. hollow support shaft bearing, 13. supporting rib plate, 14. support rod, 15. stopper, 16. worm bearing bracket, 161. worm bearing seat, 17. worm gear bearing support, 18. worm gear bearing seat, 19. leg bearing seat, 191. rotating disk support bearing;

[0037] 2. Worm gear transmission structure,

[0038] 21. worm shaft, 22. worm bearing, 23. worm wheel, 24. worm wheel shaft, 241. spline, 25. worm wheel bearing;

[0039] 3. Leg connecting rod structure,

[0040] 31. Leg, 32. Limit rod, 33. Connecting rod, 34. Hollow shaft, 35. Universal coupling, 36. Connecting rod, 37. Rotating plate, 371. Profile hole, 38. Rotating pair, 381. Connecting shaft, 382. Rotating pair bearing, 383. Bearing spacer, 39. Connecting piece DETAILED DESCRIPTION

[0041] The control method of the present invention is automatic control through a controller. The control circuit of the controller can be implemented by programming by technicians in this field. The provision of power is also common knowledge in this field. The present invention is mainly used to protect mechanical devices, so the present invention will no longer explain the control method and circuit connection in detail.

[0042] The utility model is further described below in conjunction with the accompanying drawings.

[0043] See also Figure 1 , Figure 5As shown, the utility model is a single-segment motion mechanism of a multi-legged bionic robot, which is mainly composed of a housing assembly 1, a worm gear transmission structure 2, and a leg connecting rod structure 3. The worm gear transmission structure is located inside the housing assembly 1, and the leg connecting rod structure 3 is connected on both sides of the housing assembly 1;

[0044] See also Figure 1 , Figure 2 The housing assembly 1 is composed of a housing 11, a hollow support shaft 12, a supporting rib 13, a support rod 14, a stopper 15, a worm bearing bracket 16, a worm gear bearing support 17, a worm gear bearing seat 18, and a leg support bearing seat 19.

[0045] The shell 11 is a surrounding structure, and the hollow support shaft 12 is connected to the top of the shell 11 through a supporting rib plate 13 and a support rod 14. A worm bearing bracket 16 is symmetrically provided at the front and rear ends of the inner top surface of the shell 11, and a worm bearing seat 161 is provided at the bottom end of the worm bearing bracket; a worm gear bearing support 17 is symmetrically provided on the inner bottom surface of the shell 11, and a worm gear bearing seat 18 is provided on the upper part of the worm gear bearing support 17, and a leg support bearing seat 19 is provided at the corresponding position of the outer side wall of the shell 11.

[0046] As a preferred option, please refer to Figure 1-3 The two ends of the worm shaft 21 in the worm gear transmission structure 2 are connected to the worm bearing seat 161 at the bottom end of the worm bearing bracket 16 in the housing 11 through the worm bearing 22, and worm bearings 25 are placed at both ends of the worm shaft 24 of the worm wheel 23 to fix it to the worm bearing support 17, and splines are provided at both ends of the worm shaft 24.

[0047] As a preferred option, please refer to Figure 1 , Figure 4 , Figure 6 The leg connecting rod structure 3 includes a leg 31, a limit rod 32, a connecting rod 33, a hollow shaft 34, a coupling 35, a connecting rod 36 and a rotating disk 37.

[0048] A U-shaped groove is provided at the top end of the leg 31 and the bottom end of the connecting rod 33, and the limit rod 32 is connected to the end of the U-shaped groove through a rotating pair 38, the top end of the connecting rod 33 is connected to the hollow shaft 34, and the hollow shaft 34 is connected to the hollow support shaft 12 by a plug-in connection method, the middle part of the leg 31 is connected to the connecting piece 39 and fixed by a rivet, and the connecting rod 36 is connected to the end of the connecting piece 39 by a universal coupling 35, and the other end of the connecting rod 36 is connected to a rotating disk 37 with a profile hole at the center, and the rotating disk 37 is inserted into the leg support bearing seat 19, and is connected to the spline at the end of the worm shaft 24 by a profile connection method, so that the worm gear drives the leg 31 to walk and set the trajectory path.

[0049] As a preferred option, please refer to Figure 2, Figure 8 A hollow support shaft bearing 121 is installed between the hollow support shaft 12 and the hollow shaft 34 to increase the rotation flexibility of the hollow shaft 34.

[0050] As a preferred option, please refer to Figure 1 , Figure 2 , the axes of the two worm gear bearing seats 18 and the two leg support bearing seats 19 are located on the same horizontal line.

[0051] As a preferred option, please refer to Figure 4 The rotating pair 38 is composed of a connecting shaft 381, a rotating pair bearing 382 and a bearing spacer 383.

[0052] As a preferred solution, further, Figure 8 As shown, a stopper 15 is inserted into the end of the hollow shaft 34 , and the stopper 15 is fixed to the hollow support shaft 12 by rivets.

[0053] As a preferred solution, further, Figure 1 As shown, the support rods 14 are arranged symmetrically with the supporting rib plate 13 as the center line.

[0054] As a preferred solution, further, Figure 2 As shown, the worm bearing seat 161 at the bottom end of the worm bearing bracket 16, the two worm wheel bearing seats 18, and the two leg support bearing seats 19 are all provided with retaining rings 4.

[0055] In specific applications, the retaining ring 4 can be designed as an ear-shaped structure, and a corresponding insert is designed with a notch. During installation, it is only necessary to insert the ear-shaped structure along the notch, and rotate it clockwise when it is inserted to the bottom, so that the retaining ring 4 is stuck in the body cavity to complete the installation.

[0056] Working principle:

[0057] like Figure 1-Figure 8As shown, the single-segment motion mechanism of the utility model can be powered by a servo motor or a steering gear, the output end of the power source is connected to one end of the worm shaft 21, and provides power for the worm shaft 21. The worm shaft 21 is placed in the worm bearing seat 161 in the housing 11 through the worm bearings 22 at both ends, and the worm gear shaft 24 is placed in the worm gear bearing seat 18 in the housing 11 through the worm gear bearings 25 at both ends; when the worm shaft 21 rotates, it drives the worm gear shaft 24 to rotate accordingly, so that the power is transmitted to the rotating disk 37 connected at both ends of the worm gear shaft 24, and the leg 31 is driven to move in a circular trajectory through the universal coupling 35. The connecting rod 33 is connected to the housing 11 through the hollow shaft 34, which limits the rotation of the leg 31 in the horizontal direction, ensures that the end of the leg 31 always moves in a vertical plane, and ensures the stability of the movement of the leg 31. The limit rod 32 is connected to the connecting rod 33 and the leg 31 respectively through the rotating pair 38. The combination of the two rotating pairs allows the leg 31 to move in the vertical plane, and finally makes the leg 31 move according to the predetermined design trajectory.

[0058] In specific applications, such as Figure 2 , Figure 3 , Figure 6 As shown, the splines 241 on both sides of the worm shaft 23 are connected to the profile holes, i.e., the spline holes, on the end surface of the rotating disk 37. Each time the worm shaft 23 rotates, the plane where the leg connecting rod structure 3 is located rotates accordingly, thereby driving the leg connecting rod structure 3 to rotate. The setting of the universal coupling 35 can ensure that the connecting rod 36 transmits the rotational force and avoids the influence of the circumferential motion on the leg 31. After avoiding the influence of the circumferential motion by the universal coupling 35, the circumferential motion of the leg 1 is constrained by the limit rod 32. The limit rod 32 needs to bear a large part of the bending moment during the movement. The rotation amplitude 38 is used at the connection point for easy installation and replacement. The design of the limit rod determines the movement path of the leg 31 and directly affects the performance of the robot. Figure 7 As shown, the number of segments of the utility model is based on three, and the servo motor or steering gear receives the control signal and outputs the corresponding torque and speed, thereby controlling the rotation of the worm gear transmission structure 2 to achieve the function of realizing the overall movement of the robot by cooperating with multiple segments.

Claims

1. A single-segment motion mechanism of a multi-legged bionic robot, mainly consisting of a housing assembly (1), a worm gear transmission structure (2), and a leg connecting rod structure (3), characterized in that: The worm gear transmission structure is located inside the housing assembly (1) and is connected to the leg connecting rod structure (3) on both sides of the housing assembly (1); The housing assembly (1) is composed of a housing (11), a hollow support shaft (12), a supporting rib plate (13), a support rod (14), a stopper (15), a worm bearing bracket (16), a worm bearing seat (161), a worm gear bearing support (17), a worm gear bearing seat (18), and a leg support bearing seat (19). The housing (11) is a four-sided structure, the hollow support shaft (12) is connected to the top of the housing (11) through a supporting rib plate (13) and a support rod (14), a worm bearing bracket (16) is symmetrically arranged at the positions of the front and rear ends of the inner top surface of the housing (11), and a worm bearing seat (161) is arranged at the bottom end of the worm bearing bracket; a worm wheel bearing support (17) is symmetrically arranged on the inner bottom surface of the housing (11), and a worm wheel bearing seat (18) is arranged on the upper part of the worm wheel bearing support (17), and a leg support bearing seat (19) is arranged at a corresponding position on the outer side wall of the housing (11).

2. The single-segment motion mechanism of a multi-legged bionic robot according to claim 1, characterized in that: The two ends of the worm shaft (21) in the worm gear transmission structure (2) are connected to a worm bearing seat (161) at the bottom end of a worm bearing support (16) in the housing (11) through a worm bearing (22); worm bearings (25) are placed at both ends of a worm shaft (24) of a worm wheel (23) to be fixed to a worm bearing support (17); and splines are provided at both ends of the worm shaft (24).

3. The single-segment motion mechanism of a multi-legged bionic robot according to claim 1, characterized in that: The leg connecting rod structure (3) comprises a leg (31), a limiting rod (32), a connecting rod (33), a hollow shaft (34), a coupling (35), a connecting rod (36) and a rotating disk (37). A U-shaped groove is provided at the top end of the leg (31) and the bottom end of the connecting rod (33), and a limit rod (32) is connected at the end of the U-shaped groove through a rotating pair (38). The top end of the connecting rod (33) is connected to a hollow shaft (34), and the hollow shaft (34) is connected to the hollow support shaft (12) by a plug-in connection method. The middle part of the leg (31) is connected to a connecting piece (39) and fixed by a rivet. The end of the connecting piece (39) is connected to a connecting rod (36) by a universal coupling (35). The other end of the connecting rod (36) is connected to a rotating disk (37) with a profile hole (371) at the center. The rotating disk (37) is inserted into the leg support bearing seat (19) and is connected to the spline (241) at the end of the worm gear shaft (24) by a profile connection method, so that the worm gear drives the leg (31) to walk and set a trajectory path.

4. The single-segment motion mechanism of a multi-legged bionic robot according to claim 1, characterized in that: A hollow support shaft bearing (121) is installed between the hollow support shaft (12) and the hollow shaft (34) to increase the rotation flexibility of the hollow shaft (34).

5. The single-segment motion mechanism of a multi-legged bionic robot according to claim 1, characterized in that: The axes of the two worm gear bearing seats (18) and the two leg support bearing seats (19) are on the same horizontal line.

6. The single-segment motion mechanism of a multi-legged bionic robot according to claim 3, characterized in that: The rotary pair (38) is composed of a connecting shaft (381), a rotary pair bearing (382) and a bearing spacer (383).

7. The single-segment motion mechanism of a multi-legged bionic robot according to claim 3, characterized in that: A stopper (15) is inserted into the end of the hollow shaft (34), and the stopper (15) is fixed to the hollow support shaft (12) by means of rivets.

8. The single-segment motion mechanism of a multi-legged bionic robot according to claim 1, characterized in that: The support rods (14) are symmetrically arranged with the supporting rib plate (13) as the center line.

9. The single-segment motion mechanism of a multi-legged bionic robot according to claim 1, characterized in that: The worm bearing seat (161) at the bottom end of the worm bearing bracket (16), the two worm wheel bearing seats (18), and the two leg support bearing seats (19) are all provided with retaining rings (4) inside.

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