Gear drive crank connecting rod structure based on legs of quadruped robot

Abstract

The utility model discloses a gear drive crank connecting rod structure based on legs of a quadruped robot, which comprises a driving gear connected with a driving motor of a quadruped robot body, a driven gear butted with the driving gear, a thigh component and a crank connecting rod component arranged inside the thigh component. The connecting rod is arranged in the length direction of the thigh assembly, and the first crank connecting module and the second crank connecting module are arranged at the two ends of the connecting rod. The first crank connecting module is movably connected with the outer ring of the driven gear through a pin shaft, the second crank connecting module is movably connected with a shank assembly through a pin shaft, and the shank assembly is in shaft connection with the end, away from the driving gear, of the thigh assembly through a knee joint screw. A gear transmission structure and a crank connecting rod structure are designed, so that the leg transmission structure of the quadruped robot can be optimized, the gait dynamic performance of the robot is improved, and the transmission efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of quadruped robots, and particularly relates to a gear transmission crank and connecting rod structure based on the legs of a quadruped robot. Background Technique

[0002] The original invention CN221091031 U is a leg structure of a quadruped robot. By setting a driving mechanism to control the swinging of the thigh and the calf, the angle between the calf and the thigh decreases while the foot end of the robot lands, and the driving device can absorb energy and buffer, improving the dynamic performance of the quadruped robot. However, the original invention has the following disadvantages: (1) Poor leg control accuracy: The existing transmission structure cannot meet precise algorithm control, and the angles for controlling the rotation of the thigh and the calf cannot meet actual requirements, resulting in poor steady-state performance during gait progression on complex terrains. (2) Poor leg control margin: The existing transmission structure is simple and has a small rotation range. During the walking process of the quadruped robot, the gait planning process is small and the walking speed is slow. (3) Poor leg kinetic energy utilization efficiency: The conversion efficiency of the driving energy into forward energy in the existing invention is too low, and the cooperation degree of each structure is poor, resulting in low energy utilization efficiency for various gaits of the quadruped robot. Content of the Utility Model

[0003] The purpose of the utility model is to provide a gear transmission crank and connecting rod structure based on the legs of a quadruped robot to solve the problems raised in the above background technique.

[0004] To achieve the above purpose, the utility model provides the following technical solution: A gear transmission crank and connecting rod structure based on the legs of a quadruped robot, including a driving gear connected to the driving motor of the quadruped robot body, a driven gear docked with the driving gear, and a thigh assembly, and further includes

[0005] a crank and connecting rod assembly. The crank and connecting rod assembly is arranged inside the thigh assembly, and the crank and connecting rod assembly includes a connecting rod arranged along the length direction of the thigh assembly, and a crank connection module one and a crank connection module two at both ends of the connecting rod;

[0006] The crank connection module one is movably connected to the outer ring of the driven gear through a pin shaft, and the crank connection module two is movably connected to a calf assembly through a pin shaft. The calf assembly is axially connected to one end of the thigh assembly far from the driving gear through a knee joint screw.

[0007] Further, the connecting rod part of the crank and connecting rod assembly is in a "√" shape structure, and the top of the short rod of the connecting rod of the crank and connecting rod assembly is movably connected to the calf connection module of the calf assembly through a rotating shaft.

[0008] Further, the thigh assembly includes a fixed housing and a movable housing for fixing parts, and the movable housing is detachably buckled on the outside of the fixed housing.

[0009] Further, an organism connection seat is arranged at one end of the outer side of the fixed housing close to the driving gear, and the organism connection seat is connected with the quadruped robot body.

[0010] Further, anti-slip feet are also arranged at the top end of the calf component in contact with the ground.

[0011] Compared with the prior art, the beneficial effects of the present utility model are as follows: (1) Optimized gear transmission structure: The transmission structure adopts a fixed motor module structure and a driven gear mechanism, and uses gear transmission, which greatly improves the control accuracy. (2) Crank connecting rod design: The connecting rod design conforms to the parallelogram control method of the quadruped robot, which greatly improves the control accuracy and control margin, and greatly increases the included angle range of the control of the thigh and the calf, and can meet the design and planning of various gaits. (3) High-efficiency transmission structure: Make full use of the driving ability generated by the driving motor, and each structure is closely matched, which greatly improves the transmission efficiency of the driving module. Description of the Drawings

[0012] Figure 1 is the external front view structure schematic diagram of the present utility model;

[0013] Figure 2 is the internal sectional view structure schematic diagram of the present utility model;

[0014] Figure 3 is the structure schematic diagram of the driven result of the calf when the motor of the present utility model drives clockwise;

[0015] Figure 4 is the enlarged structure schematic diagram of the gear joint part of the present utility model;

[0016] Figure 5 is the enlarged structure schematic diagram of the knee joint part of the present utility model;

[0017] In the figure: 1, driving gear; 2, driven gear; 3, crank connecting rod assembly; 301, crank connection module one; 302, crank connection module two; 4, calf component; 401, calf connection module; 5, knee joint screw; 6, thigh component; 601, fixed housing; 602, movable housing; 7, organism connection seat. Detailed Embodiment

[0018] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the drawings in the embodiments of the present utility model. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present utility model.

[0019] Please refer to Figures 1-5, an embodiment provided by the present utility model: A gear transmission crank - connecting rod structure based on the leg of a quadruped robot, including a driving gear 1 connected to the driving motor of the quadruped robot body, a driven gear 2 docked with the driving gear 1, and a thigh assembly 6, further including

[0020] a crank - connecting rod assembly 3. The crank - connecting rod assembly 3 is arranged inside the thigh assembly 6, and the crank - connecting rod assembly 3 includes a connecting rod arranged along the length direction of the thigh assembly 6, and a crank connection module one 301 and a crank connection module two 302 at both ends of the connecting rod;

[0021] The crank connection module one 301 is movably connected to the outer ring of the driven gear 2 through a pin shaft, and the crank connection module two 302 is movably connected to a calf assembly 4 through a pin shaft. The calf assembly 4 is axially connected to one end of the thigh assembly 6 away from the driving gear 1 through a knee joint screw 5.

[0022] The connecting rod part of the crank - connecting rod assembly 3 is in a "√" - shaped structure, and the top of the short rod of the connecting rod of the crank - connecting rod assembly 3 is movably connected to the calf connection module 401 of the calf assembly 4 through a rotating shaft.

[0023] Specifically, in the cross - sectional view Figure 2 when the motor drives the driving gear 1 to rotate clockwise, the docked driven gear 2 rotates counterclockwise. A crank - connecting rod connection module 301 is fixed on the outer ring of the driven gear 2. The crank - connecting rod connection module 301 drives the connecting rod of the crank - connecting rod assembly 3 to move from bottom to top. The connecting rod drives the crank connection module 302 to move upward. The calf connection module 401 fixed by the crank connection module 302 makes a downward movement with the fixed knee joint 5 as the fulcrum. The calf 4 driven by the calf connection module 401 moves from bottom to top.

[0024] The thigh assembly 6 includes a fixed housing 601 for fixing parts and a movable housing 602, and the movable housing 602 is detachably buckled on the outside of the fixed housing 601.

[0025] The detachably arranged movable housing 602 facilitates the installation and maintenance of the entire

[0026] One end of the outside of the fixed housing 601 close to the driving gear 1 is provided with a body connection seat 7, and the body connection seat 7 is connected to the quadruped robot body.

[0027] The gear - transmission crank - connecting rod structure for quick connection with the robot body is installed for maintenance.

[0028] The top of the calf assembly 4 in contact with the ground is also provided with an anti - slip foot.

[0029] Increase friction and improve the gait dynamic stability performance of the robot.

[0030] Obviously, the embodiments described above are only some of the embodiments of the present utility model, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments in the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0031] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they specify the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0032] It should be noted that the terms "first", "second", etc. in the description and claims of the present application and the above drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application described herein can be implemented in an order different from those illustrated or described herein.

[0033] The above are only the preferred embodiments of the present utility model and are not used to limit the present utility model. For those skilled in the art, the present utility model can have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. A gear-driven crank-connecting rod structure based on the legs of a quadruped robot, comprising a driving gear (1) connected to a driving motor of the quadruped robot body, a driven gear (2) connected to the driving gear (1) and a thigh assembly (6), characterized in that: Also includes A crank-connecting rod assembly (3), wherein the crank-connecting rod assembly (3) is arranged inside the thigh assembly (6), and the crank-connecting rod assembly (3) comprises a connecting rod arranged along the length direction of the thigh assembly (6) and a crank connection module 1 (301) and a crank connection module 2 (302) at both ends of the connecting rod; The crank connection module 1 (301) is movably connected to the outer ring of the driven gear (2) via a pin shaft, and the crank connection module 2 (302) is movably connected to the calf component (4) via a pin shaft, and the calf component (4) is connected to an end of the thigh component (6) away from the driving gear (1) via a knee joint screw (5).

2. The gear transmission crank connecting rod structure based on the legs of a quadruped robot according to claim 1, characterized in that: The connecting rod portion of the crank-connecting rod assembly (3) is in a "√"-shaped structure, and the top end of the short rod of the connecting rod of the crank-connecting rod assembly (3) is movably connected to the calf connection module (401) of the calf assembly (4) via a rotating shaft.

3. The gear transmission crank connecting rod structure based on the legs of a quadruped robot according to claim 1, characterized in that: The thigh component (6) comprises a fixed shell (601) for fixing parts and a movable shell (602), and the movable shell (602) is detachably fastened to the outer side of the fixed shell (601).

4. The gear transmission crank connecting rod structure based on the legs of a quadruped robot according to claim 3, characterized in that: An organic body connection seat (7) is arranged at one end of the outer side of the fixed shell (601) close to the driving gear (1), and the organic body connection seat (7) is connected to the main body of the quadruped robot.

5. The gear transmission crank connecting rod structure based on the legs of a quadruped robot according to claim 1, characterized in that: The top of the calf component (4) contacting the ground is also provided with an anti-slip foot.

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