Leg mechanism of quadruped robot

Abstract

The utility model discloses a leg mechanism of a quadruped robot, which belongs to the technical field of quadruped robots and comprises a robot main body, an upper support leg is arranged on the outer surface of the robot main body, a lower support leg is rotatably connected to the inner surface of the upper support leg, and a bearing rod is fixedly connected to the bottom of the robot main body. A storage box is installed at the bottom of the bearing rod, and infrared sensors are installed on the two sides of the storage box. According to the leg mechanism of the quadruped robot, the robot body can rapidly move through the upper supporting legs and the lower supporting legs, starting of a micro air pump can be triggered by shielding an infrared sensor when the lower supporting legs move, and air can be injected into a storage box through an air inlet pipe and an exhaust pipe when the micro air pump is started; the gas in the storage box is enhanced to enable the cooling liquid in the storage box to move, and the cooling liquid in the storage box can be sprayed into the upper supporting leg through the one-way electromagnetic valve and the hose, so that the upper supporting leg is prevented from being overheated and damaged due to long-term work as much as possible.

Description

Technical Field

[0001] The utility model belongs to the technical field of quadruped robots, and specifically relates to a leg mechanism of a quadruped robot. Background Art

[0002] A quadruped robot is a bionic robot, whose design inspiration comes from the limb movements of animals. A quadruped robot has a higher load capacity and higher stability than a biped robot, and a larger leg movement space than a multi-legged robot, while reducing the redundancy and complexity of the mechanism.

[0003] Quadruped robots are commonly used in fields such as scientific research, disaster relief and rescue, forest protection, exploration of unknown areas, and field exploration. The leg joints of quadruped robots are relatively important components. At the same time, due to the long working hours of quadruped robots, it is easy for their leg joints to overheat, and simple cooling means such as air cooling cannot meet the working requirements of quadruped robots, while repetitive spraying of coolant easily leads to excessive waste of coolant.

[0004] To solve the above problems, a leg mechanism of a quadruped robot is proposed in this application. Summary of the Utility Model

[0005] In view of the problems in the related art, the utility model proposes a leg mechanism of a quadruped robot to overcome the above technical problems existing in the prior related art.

[0006] To achieve the above object, the utility model adopts the following technical scheme:

[0007] The leg mechanism of a quadruped robot includes a robot main body. An upper support leg is arranged on the outer surface of the robot main body. A lower support leg is rotatably connected to the inner surface of the upper support leg. A load-bearing rod is fixedly connected to the bottom of the robot main body. A storage box is installed at the bottom of the load-bearing rod. Infrared sensors are installed on both sides of the storage box. Miniature air pumps are installed on both sides of the storage box. An air inlet pipe is installed at the input end of the miniature air pump. An exhaust pipe is installed at the output end of the miniature air pump. One end of the exhaust pipe away from the miniature air pump is fixedly inserted into the inner cavity of the storage box. A one-way solenoid valve is fixedly inserted into the inner cavity of the storage box. One end of the one-way solenoid valve away from the storage box is flange-connected to a hose. One end of the hose away from the one-way solenoid valve is fixedly inserted into the inner cavity of the upper support leg.

[0008] A long partition is welded to the inner wall of the storage box. The length of the long partition is equal to the inner surface length of the storage box. By setting the long partition, the long partition located in the middle position inside the storage box can evenly divide the space inside the storage box, which is convenient for staff to master the working conditions of different upper support legs according to the consumption of coolant.

[0009] The inner cavity of the storage box is threadedly connected with a dust-proof plug, and a control handle is fixedly connected to the outer surface of the dust-proof plug. By setting the dust-proof plug and the control handle, when the dust-proof plug is forced to rotate counterclockwise, it can gradually disengage from the inside of the storage box. Subsequently, the staff can replenish the coolant for the storage box through the gap generated by the disengagement of the dust-proof plug. At the same time, when the staff holds the control handle, it is relatively labor-saving to control the rotation of the dust-proof plug.

[0010] An observation window is arranged on the outer surface of the storage box, and scale lines are arranged on the outer surface of the observation window. By setting the observation window and the scale lines, the staff can observe the remaining amount of the coolant inside the storage box through the observation window, and the scale lines on the surface of the observation window can further reflect the remaining volume of the coolant.

[0011] A joint protection box is installed on the outer surface of the upper support leg. A reset telescopic rod is installed on the inner surface of the joint protection box. A reset spring is wound around the telescopic end of the reset telescopic rod. The telescopic end of the reset telescopic rod is detachably installed with a protection cover. By setting the joint protection box, the reset telescopic rod, the reset spring and the protection cover, the joint protection box is located at the joint of the upper support leg and the lower support leg. When relatively large sundries hit the joint protection box, the protection cover is forced to move and squeeze the reset telescopic rod and the reset spring, and the movement of the protection cover can minimize the damage to the connection between the upper support leg and the lower support leg.

[0012] One end of the reset telescopic rod far away from the inner surface of the joint protection box is fixedly connected with a threaded rod, and the protection cover is threadedly connected to the outer surface of the threaded rod. By setting the threaded rod, when the protection cover is forced to rotate counterclockwise, it can move away from the reset telescopic rod. When the protection cover is completely separated from the threaded rod, the worn protection cover can be quickly disassembled and replaced.

[0013] In summary, the technical effects and advantages of the present utility model are as follows:

[0014] 1. For the leg mechanism of the quadruped robot, the robot body can move quickly through the upper support leg and the lower support leg. When the lower support leg moves to block the infrared sensor during movement, it can trigger the start of the micro air pump. When the micro air pump starts, it can inject air into the storage box through the intake pipe and the exhaust pipe. The increased gas in the storage box can make the internal coolant move, and the coolant in the storage box can be sprayed into the upper support leg through the one-way solenoid valve and the hose, minimizing the damage to the upper support leg caused by overheating during long-term operation.

[0015] 2. For the leg mechanism of the quadruped robot, when the connection between the upper support leg and the lower support leg is hit by sundries, the protection cover on the surface of the upper support leg is forced to move and squeeze the reset telescopic rod and the reset spring, and the movement of the protection cover can further minimize the damage to the connection between the upper support leg and the lower support leg, minimizing the accidental damage to the leg parts when the robot body moves. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic structural diagram of the robot main body, upper support leg, lower support leg and their related parts of the present utility model;

[0017] Figure 2 This is a three-dimensional sectional view schematic diagram of the storage box of the present utility model;

[0018] Figure 3 This is a schematic structural diagram of the robot main body, upper support leg, lower support leg and their related parts of the present utility model from another angle;

[0019] Figure 4 This is a schematic structural diagram of the joint protection box, protection cover and their related parts of the present utility model.

[0020] In the figure:

[0021] 1. Robot main body; 2. Upper support leg; 3. Lower support leg; 4. Load-bearing rod; 5. Storage box; 6. Infrared sensor; 7. Micro air pump; 8. Intake pipe; 9. Exhaust pipe; 10. One-way solenoid valve; 11. Hose; 12. Long partition; 13. Dust plug; 14. Control handle; 15. Observation window; 16. Scale line; 17. Joint protection box; 18. Reset telescopic rod; 19. Reset spring; 20. Protection cover; 21. Threaded rod. Specific embodiments

[0022] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments.

[0023] Refer to Figure 1 , the leg mechanism of the quadruped robot includes a robot main body 1. An upper support leg 2 is provided on the outer surface of the robot main body 1. The connection method between the robot main body 1 and the upper support leg 2 is a prior art. A lower support leg 3 is rotatably connected to the inner surface of the upper support leg 2. The connection orientation and driving technology between the upper support leg 2 and the lower support leg 3 are both prior arts. And the robot main body 1 can move horizontally through the upper support leg 2 and the lower support leg 3.

[0024] Refer to Figure 1-2, a load-bearing rod 4 is fixedly connected to the bottom of the robot main body 1. A storage box 5 is installed at the bottom of the load-bearing rod 4. The horizontal cross-sectional area of the storage box 5 is smaller than that of the robot main body 1. And a certain amount of coolant is stored in the storage box 5, and the volume of the coolant does not exceed four-fifths of the total volume of the storage box 5. Infrared sensors 6 are installed on both sides of the storage box 5. The detection distance of the infrared sensor 6 is equal to the distance between the surface of the storage box 5 and the surface of the upper support leg 2. Miniature air pumps 7 are installed on both sides of the storage box 5. When the upper support leg 2 is stressed and moves upward, the storage box 5 can be triggered. After the storage box 5 is triggered, it can output an electrical signal, and this signal can be used to trigger the switch of the miniature air pump 7, thereby controlling the opening and closing of the miniature air pump 7.

[0025] Refer to Figure 1-2 , an intake pipe 8 is installed at the input end of the miniature air pump 7, and an exhaust pipe 9 is installed at the output end of the miniature air pump 7. One end of the exhaust pipe 9 far from the miniature air pump 7 is fixedly inserted into the inner cavity of the storage box 5. After the miniature air pump 7 is turned on, it can send air into the storage box 5 through the intake pipe 8 and the exhaust pipe 9 and increase the air pressure in the storage box 5. A one-way solenoid valve 10 is fixedly inserted into the inner cavity of the storage box 5. One end of the one-way solenoid valve 10 far from the storage box 5 is flange-connected to a hose 11. One end of the hose 11 far from the one-way solenoid valve 10 is fixedly inserted into the inner cavity of the upper support leg 2. After the air pressure in the storage box 5 slowly increases, the coolant in the storage box 5 can be sprayed onto the joint between the upper support leg 2 and the robot main body 1 through the one-way solenoid valve 10 and the hose 11, which is convenient for increasing the heat dissipation efficiency at the joint between the upper support leg 2 and the robot main body 1. And the spraying time of the coolant in the hose 11 is controlled by the upper support leg 2. When the upper support leg 2 is stressed and moves upward to trigger the infrared sensor 6, the coolant in the storage box 5 can enter the hose 11 through the one-way solenoid valve 10 one-way.

[0026] Refer to Figure 2 , a long partition 12 is welded to the inner wall of the storage box 5. The long partition 12 is made of polypropylene and has chemical resistance, high-strength mechanical properties, and good high-abrasion processing properties, etc. The length of the long partition 12 is equal to the inner surface length of the storage box 5. The long partition 12 can evenly divide the inside of the storage box 5 into two independent spaces with equal volume. Furthermore, the coolant in the storage box 5 is also distributed in two symmetric independent spaces. The staff can master the working conditions of different sides of the upper support leg 2 through the coolant in the independent space.

[0027] Refer to Figure 2, a dust-proof plug 13 is threadedly connected to the inner cavity of the storage box 5. A control handle 14 is fixedly connected to the outer surface of the dust-proof plug 13. The control handle 14 is installed at the central part of the surface of the dust-proof plug 13. When a staff member holds the control handle 14, it is relatively labor-saving to rotate the dust-proof plug 13. After the dust-proof plug 13 rotates under force and disengages from the inside of the storage box 5, the staff can quickly replenish the coolant into the storage box 5 through the circular hole exposed by the dust-proof plug 13.

[0028] Refer to Figure 2 , an observation window 15 is arranged on the outer surface of the storage box 5. The height of the observation window 15 is less than the height of the storage box 5. And the staff can observe the coolant in the storage box 5 through the transparent observation window 15. Scale lines 16 are arranged on the outer surface of the observation window 15. The arrangement of the scale lines 16 is convenient for the staff to further master the remaining volume of the coolant.

[0029] Refer to Figure 3 , a joint protection box 17 is installed on the outer surface of the upper support leg 2. The joint protection box 17 is installed at the connection between the upper support leg 2 and the lower support leg 3. A reset telescopic rod 18 is installed on the inner surface of the joint protection box 17. The reset telescopic rod 18 is installed at the central part of the inner surface of the joint protection box 17. A reset spring 19 is wound around the telescopic end of the reset telescopic rod 18. A protective cover 20 is detachably installed at the telescopic end of the reset telescopic rod 18. The outer surface of the protective cover 20 is movably connected to the inner surface of the joint protection box 17. When sundries impact the protective cover 20, the protective cover 20 moves under force and compresses the reset telescopic rod 18 and the reset spring 19. And the movement of the protective cover 20 can slow down the impact force at the connection between the upper support leg 2 and the lower support leg 3 as much as possible under the action of the reset telescopic rod 18 and the reset spring 19, and the service life of the connection between the upper support leg 2 and the lower support leg 3 is extended as much as possible.

[0030] Refer to Figure 3-4 , one end of the reset telescopic rod 18 far from the inner surface of the joint protection box 17 is fixedly connected to a threaded rod 21. The radius of the threaded rod 21 is smaller than the radius of the reset telescopic rod 18. The protective cover 20 is threadedly connected to the outer surface of the threaded rod 21. When the protective cover 20 is forced to rotate counterclockwise, it can gradually separate from the reset telescopic rod 18. After the protective cover 20 completely disengages from the surface of the threaded rod 21, the staff can quickly remove the worn protective cover 20 and replace it with a brand-new protective cover 20.

[0031] Working principle: First, the robot main body 1 can move horizontally through the upper support leg 2 and the lower support leg 3. The long-term movement of the upper support leg 2 may cause damage due to overheating. There is a certain amount of coolant stored inside the storage box 5 under the robot main body 1. When the upper support leg 2 is forced to move upward, the upper support leg 2 can control the opening and closing of the micro air pump 7 by blocking the infrared sensor 6. When the upper support leg 2 blocks the infrared sensor 6, the micro air pump 7 is turned on and conveys air into the storage box 5 through the intake pipe 8 and the exhaust pipe 9. As the pressure in the storage box 5 gradually increases, the coolant in the storage box 5 can enter the hose 11 unidirectionally through the one-way solenoid valve 10. When the hose 11 is filled with coolant, the upward movement of the upper support leg 2 can trigger the coolant in the hose 11 to be sprayed onto the joint connection between the upper support leg 2 and the robot main body 1 for cooling.

[0032] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A leg mechanism of a quadruped robot, comprising a robot body (1), characterized in that: The outer surface of the robot body (1) is provided with an upper supporting leg (2), the inner surface of the upper supporting leg (2) is rotatably connected to a lower supporting leg (3), the bottom of the robot body (1) is fixedly connected to a load-bearing rod (4), the bottom of the load-bearing rod (4) is installed with a storage box (5), both sides of the storage box (5) are installed with infrared sensors (6), both sides of the storage box (5) are installed with a micro air pump (7), and the input end of the micro air pump (7) is installed with an inlet An air pipe (8) is installed at the output end of the micro air pump (7), and the end of the exhaust pipe (9) away from the micro air pump (7) is fixedly inserted in the inner cavity of the storage box (5), and a one-way solenoid valve (10) is fixedly inserted in the inner cavity of the storage box (5), and the one-way solenoid valve (10) is flange-connected to a hose (11) at one end away from the storage box (5), and the one-way solenoid valve (10) is fixedly inserted in the inner cavity of the upper support leg (2).

2. The leg mechanism of the quadruped robot according to claim 1, characterized in that: A long partition (12) is welded to the inner wall of the storage box (5), and the length of the long partition (12) is equal to the length of the inner surface of the storage box (5).

3. The leg mechanism of the quadruped robot according to claim 1, characterized in that: The inner cavity of the storage box (5) is threadedly connected to a dust plug (13), and the outer surface of the dust plug (13) is fixedly connected to a control handle (14).

4. The leg mechanism of the quadruped robot according to claim 1, characterized in that: The outer surface of the storage box (5) is provided with an observation window (15), and the outer surface of the observation window (15) is provided with scale lines (16).

5. The leg mechanism of the quadruped robot according to claim 1, characterized in that: A joint protection box (17) is installed on the outer surface of the upper supporting leg (2), a reset telescopic rod (18) is installed on the inner surface of the joint protection box (17), a reset spring (19) is wound around the telescopic end of the reset telescopic rod (18), and a protective cover (20) is detachably installed on the telescopic end of the reset telescopic rod (18).

6. The leg mechanism of the quadruped robot according to claim 5, characterized in that: One end of the resetting telescopic rod (18) away from the inner surface of the joint protection box (17) is fixedly connected to a threaded rod (21), and the protection cover (20) is threadedly connected to the outer surface of the threaded rod (21).

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