Simulation animal joint rotation fixing structure

Abstract

The utility model provides a simulated animal joint rotating and fixing structure, which belongs to the technical field of robots, and comprises an upper arm, a lower arm rotationally connected to the tail end of the upper arm, a foot joint rotationally connected to one end, far away from the upper arm, of the lower arm, and a lower limb driving component fixedly connected to the outer wall of the upper arm, the lower limb driving assembly comprises a rack fixedly connected to the outer wall of the upper arm, a first bearing sliding rail fixedly connected to the outer wall of the upper arm and a first bearing sliding base slidably connected to the outer wall of the first bearing sliding rail. The lower limb damping assembly is fixedly connected to the outer wall of the upper arm; the foot driving assembly is fixedly connected to the outer wall of the lower arm; the foot damping assembly is slidably connected to the inner wall of the foot damping assembly; the foot adjusting assembly is rotationally connected to the inner wall of the foot joint. The damping elastic force of the damping spring can be regulated and controlled in real time, the damping effect of the simulation animal moving in different terrains is enhanced, meanwhile, the freedom degree of foot joint movement is increased, and the adaptation degree to different terrains is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a simulated animal joint rotation fixing structure. Background Art

[0002] With the continuous development of society and the continuous progress of science, in recent years, simulated animal quadruped robots have become a hot topic in the research of simulated animal footed robots due to their good environmental adaptability and motion performance. The joints of simulated animal quadruped robots, similar to human joints, are the key components connecting various parts of the robot. They mainly play the role of support, energy storage and release, impact absorption and precise control.

[0003] After searching, in the prior art, a Chinese patent with patent application number 202220390957.1 discloses a joint connection structure of a simulated animal, including an upper limb, one end of the upper limb is fixedly connected to a first gear, one side of the first gear is meshed with a second gear, the front of the first gear and the front of the second gear are both movably connected to a connecting rod through a pin shaft, the bottom of the second gear is fixedly connected to a lower limb, a stabilizing mechanism is arranged inside the lower limb, a shock absorbing mechanism is arranged at the bottom of the lower limb, a connecting block is arranged at the bottom of the shock absorbing mechanism, a mechanical foot body is arranged at the bottom of the connecting block, the stabilizing mechanism includes a first spring, a lifting block, a movable rod and a fixed block, one end of the first spring is fixedly connected to the inner wall of the lower limb, but the following defects still exist:

[0004] (1) In the above patent documents, springs are used as the main shock-absorbing mechanism. However, when the simulated animals perform exercises of different intensities or carry loads of different weights, the shock-absorbing structure needs to feedback different elastic forces to damp the movements of the simulated animals. However, the spring shock-absorbing structure used in the existing device cannot adjust the elastic force of the shock-absorbing spring in real time, resulting in a poor shock-absorbing effect.

[0005] In the above patent documents, the joints at the end of the lower limbs can only control the mechanical foot to rotate in a single direction. In the actual movement of the simulated animal, in order to adapt to different terrains, the mechanical foot of the simulated animal needs to be able to deflect slightly in different directions. Utility Model Content

[0006] The purpose of the utility model is to address the current use of springs as the main shock-absorbing mechanism. However, when the simulated animal performs exercises of different intensities or carries loads of different weights, the shock-absorbing structure needs to feedback different elastic forces to damp the movement of the simulated animal. However, the spring shock-absorbing structure used in the existing device cannot adjust the elastic force of the shock-absorbing spring in real time, resulting in a poor shock-absorbing effect. The joints at the ends of the lower limbs can only control the mechanical feet to rotate in a single direction. In the actual movement of the simulated animal, in order to adapt to different terrains, the mechanical feet of the simulated animal need to be able to deflect slightly in different directions.

[0007] In order to achieve the above-mentioned utility model purpose, the utility model provides the following technical solutions:

[0008] A simulated animal joint rotation fixing structure comprises an upper arm, a lower arm rotationally connected to the end of the upper arm, and a foot joint rotationally connected to an end of the lower arm away from the upper arm, and further comprises:

[0009] A lower limb driving assembly is fixedly connected to the outer wall of the upper arm and is used to drive the lower arm to rotate about the upper arm, wherein the lower limb driving assembly includes a rack fixedly connected to the outer wall of the upper arm, a first bearing slide fixedly connected to the outer wall of the upper arm, a first bearing slide slidably connected to the outer wall of the first bearing slide, a motor fixedly connected to the outer wall of the first bearing slide, and a gear fixedly connected to the output end of the motor, wherein the gear and the rack are meshed with each other;

[0010] A lower limb shock-absorbing assembly is fixedly connected to the outer wall of the upper arm and is used for shock absorption of the movement of the upper arm and the lower arm;

[0011] A foot driving assembly, fixedly connected to the outer wall of the lower arm, for driving the foot joint to rotate about the lower arm;

[0012] A foot shock-absorbing component is slidably connected to the inner wall of the foot shock-absorbing component and is used for shock absorption during foot movement;

[0013] The foot adjustment component is rotatably connected to the inner wall of the foot joint and is used to adjust the deflection angle of the foot.

[0014] As a preferred technical solution of the utility model, the lower limb shock absorbing assembly includes a shock absorbing hydraulic cylinder fixedly connected to the outer wall of the upper arm, a compression baffle fixedly connected to the telescopic end of the shock absorbing hydraulic cylinder, a first shock absorbing spring slidably connected to the inner wall of the first bearing slide, a first shock absorbing rod slidably connected to the inner wall of the first bearing slide, and a first transmission rod rotatably connected to one end of the first shock absorbing rod away from the first bearing slide, the first shock absorbing rod pushes the lower arm to rotate about the upper arm through the first transmission rod, and the shock absorbing hydraulic cylinder compresses the first shock absorbing spring through the compression baffle.

[0015] As a preferred technical solution of the utility model, the foot driving assembly includes a second bearing slide rail fixedly connected to the outer wall of the lower arm, a second bearing seat slidably connected to the outer wall of the second bearing slide rail, and a driving hydraulic cylinder fixedly connected to the outer wall of the lower arm, and the driving hydraulic cylinder pushes the second bearing slide rail to move along the outer wall of the second bearing slide rail.

[0016] As a preferred technical solution of the utility model, the foot shock absorption assembly includes a second shock absorption rod slidably connected to the inner wall of the second bearing slide, a shock absorption spring group slidably connected to the inner wall of the second bearing slide, and a second transmission rod rotatably connected to one end of the second shock absorption rod away from the second bearing slide, and the second shock absorption rod drives the foot joint to rotate about the lower arm through the second transmission rod.

[0017] As a preferred technical solution of the utility model, the foot adjustment assembly includes a sole rotatably connected to the inner wall of the foot joint and a steering hydraulic cylinder rotatably connected to the outer wall of the foot joint, and the steering hydraulic cylinder pushes the sole to rotate about the foot joint.

[0018] Compared with the prior art, the utility model has the following beneficial effects:

[0019] In the solution of the utility model:

[0020] 1. The compression baffle is pushed by the damping hydraulic cylinder to apply pressure to the first damping spring so that it is in a pressure-controllable compressed state at any time. The motor drives the gear to rotate, and the rack generates a reaction force on the gear to push the first bearing slide to move along the first bearing slide rail. The first bearing slide pushes the lower arm to rotate through the first damping rod and the first transmission rod. When the lower arm is impacted during the movement, the lower arm squeezes the first damping spring through the first transmission rod and the first damping rod, thereby alleviating the impact vibration between the lower arm and the upper arm. This solves the problem that the spring is used as the main damping mechanism in the prior art. However, when the simulated animal performs exercises of different intensities or carries loads of different weights, the damping structure needs to feedback different elastic forces to damp the movement of the simulated animal. However, the spring damping structure used in the prior art cannot adjust the elastic force of the damping spring in real time, resulting in a poor damping effect.

[0021] 2. The second load-bearing slide, the second shock-absorbing rod and the second transmission rod are set to push the foot joint to rotate about the lower arm, and the foot joint drives the sole of the foot to rotate about the lower arm. The steering hydraulic cylinder is controlled to push the sole of the foot to deflect at a specified angle about the foot joint, thereby realizing multi-angle adjustment between the foot joint and the sole of the simulated animal's foot, enhancing the simulation effect and movement ability of the simulated animal, and solving the problem that the joint at the end of the lower limb in the prior art can only control the mechanical foot to rotate in a single direction. In the actual movement of the simulated animal, in order to adapt to different terrains, the mechanical foot of the simulated animal needs to be able to deflect slightly in different directions. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of a simulated animal joint rotation and fixing structure provided by the utility model;

[0023] Figure 2 This is a schematic diagram of the overall structure of a simulated animal joint rotation and fixing structure provided by the utility model;

[0024] Figure 3 A schematic cross-sectional structure diagram of a simulated animal joint rotation fixing structure provided by the utility model;

[0025] Figure 4 The utility model provides a simulated animal joint rotation fixing structure Figure 3 A magnified schematic diagram of the structure in the middle.

[0026] Indicated in the figure:

[0027] 1. Upper arm; 11. Lower arm; 12. Foot joint; 2. First load-bearing slide rail; 21. First load-bearing slide seat; 22. Rack; 23. Motor; 24. Gear; 3. Shock-absorbing hydraulic cylinder; 31. Compression baffle; 32. First shock-absorbing spring; 33. First shock-absorbing rod; 34. First transmission rod; 4. Second load-bearing slide rail; 41. Driving hydraulic cylinder; 42. Second load-bearing slide seat; 5. Second shock-absorbing rod; 51. Shock-absorbing spring group; 52. Second transmission rod; 6. Sole of foot; 61. Steering hydraulic cylinder. DETAILED DESCRIPTION

[0028] To make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments.

[0029] like Figure 1 , Figure 2 and Figure 3 As shown, this embodiment proposes a simulated animal joint rotation fixing structure, including an upper arm 1 and a lower arm 11 rotatably connected to the end of the upper arm 1 and a foot joint 12 rotatably connected to the end of the lower arm 11 away from the upper arm 1, and also includes:

[0030] A lower limb driving assembly is fixedly connected to the outer wall of the upper arm 1, and is used to drive the lower arm 11 to rotate about the upper arm 1, wherein the lower limb driving assembly includes a rack 22 fixedly connected to the outer wall of the upper arm 1, a first bearing slide 2 fixedly connected to the outer wall of the upper arm 1, a first bearing slide 21 slidably connected to the outer wall of the first bearing slide 2, a motor 23 fixedly connected to the outer wall of the first bearing slide 21, and a gear 24 fixedly connected to the output end of the motor 23, and the gear 24 is meshed with the rack 22;

[0031] The lower limb shock absorbing assembly is fixedly connected to the outer wall of the upper arm 1 and is used for shock absorbing the movement of the upper arm 1 and the lower arm 11;

[0032] A foot driving assembly, fixedly connected to the outer wall of the lower arm 11, for driving the foot joint 12 to rotate about the lower arm 11;

[0033] A foot shock-absorbing component is slidably connected to the inner wall of the foot shock-absorbing component and is used for shock absorption during foot movement;

[0034] A foot adjustment component, rotatably connected to the inner wall of the foot joint 12, for adjusting the deflection angle of the foot;

[0035] The motor 23 is started and drives the gear 24 to rotate. Since the gear 24 and the rack 22 are meshed with each other, the rack 22 generates a reaction force on the gear 24 to push the motor 23 and the first bearing slide 21 to move along the first bearing slide rail 2, thereby completing the power output of the simulated animal movement.

[0036] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, as a preferred embodiment, on the basis of the above-mentioned method, further, the lower limb shock absorbing assembly includes a shock absorbing hydraulic cylinder 3 fixedly connected to the outer wall of the upper arm 1, a compression baffle 31 fixedly connected to the telescopic end of the shock absorbing hydraulic cylinder 3, a first shock absorbing spring 32 slidably connected to the inner wall of the first bearing slide 21, a first shock absorbing rod 33 slidably connected to the inner wall of the first bearing slide 21, and a first transmission rod 34 rotatably connected to the first shock absorbing rod 33 away from one end of the first bearing slide 21. The first shock absorbing rod 33 pushes the lower arm 11 to rotate about the upper arm 1 through the first transmission rod 34, and the shock absorbing hydraulic cylinder 3 is compressed by The compression baffle 31 compresses the first shock-absorbing spring 32, and the shock-absorbing hydraulic cylinder 3 is controlled to push the compression baffle 31 to apply pressure to the first shock-absorbing spring 32 to make it contract, so that the first shock-absorbing spring 32 is in a pressure-controlled compressed state at any time, and the first bearing slide 21 drives the lower arm 11 to rotate about the upper arm 1 to a set amplitude through the first shock-absorbing rod 33 and the first transmission rod 34. When the lower arm 11 is impacted during the movement, the lower arm 11 squeezes the first shock-absorbing spring 32 through the first transmission rod 34 and the first shock-absorbing rod 33, so as to alleviate the vibration between the lower arm 11 and the upper arm 1 caused by movement and impact.

[0037] like Figure 1 and Figure 2As shown, as a preferred embodiment, on the basis of the above method, further, the foot driving assembly includes a second bearing slide 4 fixedly connected to the outer wall of the lower arm 11, a second bearing seat slidably connected to the outer wall of the second bearing slide 4, and a driving hydraulic cylinder 41 fixedly connected to the outer wall of the lower arm 11, the driving hydraulic cylinder 41 pushes the second bearing slide 42 to move along the outer wall of the second bearing slide 4, and the power output of the foot joint 12 movement is completed by controlling the driving hydraulic cylinder 41 to push the second bearing slide 42 to move along the outer wall of the second bearing slide 4.

[0038] like Figure 1 , Figure 2 and Figure 3 As shown, as a preferred embodiment, on the basis of the above method, further, the foot shock absorbing assembly includes a second shock absorbing rod 5 slidably connected to the inner wall of the second bearing slide 42, a shock absorbing spring group 51 slidably connected to the inner wall of the second bearing slide 42, and a second transmission rod 52 rotatably connected to the second shock absorbing rod 5 away from one end of the second bearing slide 42. The second shock absorbing rod 5 pushes the foot joint 12 to rotate about the lower arm 11 through the second transmission rod 52, and the second bearing slide 42 pushes the foot joint 12 to rotate about the lower arm 11 through the shock absorbing spring group 51, the second shock absorbing rod 5 and the second transmission rod 52. At the same time, the shock absorbing spring group 51 elastically squeezes the second shock absorbing rod 5 to relieve the vibration of the foot joint 12 during movement.

[0039] like Figure 1 and Figure 2 As shown, as a preferred embodiment, on the basis of the above method, further, the foot adjustment component includes a sole 6 rotatably connected to the inner wall of the foot joint 12 and a steering hydraulic cylinder 61 rotatably connected to the outer wall of the foot joint 12, the steering hydraulic cylinder 61 pushes the sole 6 to rotate about the foot joint 12, the foot joint 12 drives the sole 6 to rotate about the lower arm 11, and at the same time controls the steering hydraulic cylinder 61 to push the sole 6 to deflect a specified angle about the foot joint 12, thereby completing multi-angle adjustment between the foot joint 12 and the sole 6 of the simulated animal, thereby enhancing the simulation effect and athletic ability of the simulated animal.

[0040] Specifically, when the device is in use: the motor 23 is started, and the motor 23 drives the gear 24 to rotate. Since the gear 24 and the rack 22 are meshed with each other, the rack 22 generates a reaction force on the gear 24 to push the motor 23 and the first bearing slide 21 to move along the first bearing slide rail 2, thereby completing the power output of the simulated animal movement, and controlling the shock-absorbing hydraulic cylinder 3 to push the compression baffle 31 to apply pressure to the first shock-absorbing spring 32 to make it contract, so that the first shock-absorbing spring 32 is in a pressure-controlled compressed state at any time, and the first bearing slide 21 drives the lower arm 11 to rotate about the upper arm 1 by a set amplitude through the first shock-absorbing rod 33 and the first transmission rod 34. When the lower arm 11 is impacted during the movement, the lower arm 11 squeezes the first shock-absorbing spring 32 through the first transmission rod 34 and the first shock-absorbing rod 33. , alleviate the vibration caused by movement and impact between the lower arm 11 and the upper arm 1, and push the second load-bearing slide 42 to move along the outer wall of the second load-bearing slide rail 4 by controlling the driving hydraulic cylinder 41 to complete the power output of the movement of the foot joint 12. The second load-bearing slide 42 pushes the foot joint 12 to rotate about the lower arm 11 through the shock-absorbing spring group 51, the second shock-absorbing rod 5 and the second transmission rod 52. At the same time, the shock-absorbing spring group 51 elastically squeezes the second shock-absorbing rod 5 to alleviate the vibration of the foot joint 12 during movement. The foot joint 12 drives the sole 6 to rotate about the lower arm 11. At the same time, the steering hydraulic cylinder 61 is controlled to push the sole 6 to deflect at a specified angle about the foot joint 12, completing the multi-angle adjustment between the foot joint 12 and the sole 6 of the simulated animal, thereby enhancing the simulation effect and movement ability of the simulated animal.

[0041] All technical features in this embodiment can be freely combined according to actual needs.

[0042] The above embodiments are preferred implementation schemes of the present invention. In addition, the present invention can also be implemented in other ways. Any obvious replacement without departing from the concept of the present technical solution is within the protection scope of the present invention.

Claims

1. A simulated animal joint rotation fixing structure, comprising an upper arm (1), a lower arm (11) rotationally connected to the end of the upper arm (1), and a foot joint (12) rotationally connected to an end of the lower arm (11) away from the upper arm (1), and further comprising: A lower limb drive assembly, fixedly connected to the outer wall of the upper arm (1), used for driving the lower arm (11) to rotate relative to the upper arm (1), wherein the lower limb drive assembly comprises a rack (22) fixedly connected to the outer wall of the upper arm (1), a first bearing slide rail (2) fixedly connected to the outer wall of the upper arm (1), a first bearing slide seat (21) slidably connected to the outer wall of the first bearing slide rail (2), a motor (23) fixedly connected to the outer wall of the first bearing slide seat (21), and a gear (24) fixedly connected to the output end of the motor (23), wherein the gear (24) and the rack (22) are meshed with each other; A lower limb shock absorbing assembly, fixedly connected to the outer wall of the upper arm (1), and used for shock absorbing the movement of the upper arm (1) and the lower arm (11); A foot driving assembly, fixedly connected to the outer wall of the lower arm (11), and used for driving the foot joint (12) to rotate relative to the lower arm (11); A foot shock-absorbing component is slidably connected to the inner wall of the foot shock-absorbing component and is used for shock absorption during foot movement; A foot adjustment component is rotatably connected to the inner wall of the foot joint (12) and is used to adjust the deflection angle of the foot.

2. The simulated animal joint rotation fixing structure according to claim 1, characterized in that: The lower limb shock absorbing assembly comprises a shock absorbing hydraulic cylinder (3) fixedly connected to the outer wall of the upper arm (1), a compression baffle (31) fixedly connected to the telescopic end of the shock absorbing hydraulic cylinder (3), a first shock absorbing spring (32) slidably connected to the inner wall of the first bearing slide (21), a first shock absorbing rod (33) slidably connected to the inner wall of the first bearing slide (21), and a first transmission rod (34) rotatably connected to one end of the first shock absorbing rod (33) away from the first bearing slide (21), the first shock absorbing rod (33) pushes the lower arm (11) to rotate relative to the upper arm (1) through the first transmission rod (34), and the shock absorbing hydraulic cylinder (3) compresses the first shock absorbing spring (32) through the compression baffle (31).

3. The simulated animal joint rotation fixing structure according to claim 1, characterized in that: The foot drive assembly comprises a second bearing slide rail (4) fixedly connected to the outer wall of the lower arm (11), a second bearing seat slidably connected to the outer wall of the second bearing slide rail (4), and a driving hydraulic cylinder (41) fixedly connected to the outer wall of the lower arm (11), wherein the driving hydraulic cylinder (41) pushes the second bearing slide seat (42) to move along the outer wall of the second bearing slide rail (4).

4. The simulated animal joint rotation fixing structure according to claim 1, characterized in that: The foot shock-absorbing assembly comprises a second shock-absorbing rod (5) slidably connected to the inner wall of the second bearing slide (42), a shock-absorbing spring group (51) slidably connected to the inner wall of the second bearing slide (42), and a second transmission rod (52) rotatably connected to one end of the second shock-absorbing rod (5) away from the second bearing slide (42), and the second shock-absorbing rod (5) drives the foot joint (12) to rotate about the lower arm (11) through the second transmission rod (52).

5. The simulated animal joint rotation fixing structure according to claim 1, characterized in that: The foot adjustment component comprises a sole (6) rotatably connected to the inner wall of a foot joint (12) and a steering hydraulic cylinder (61) rotatably connected to the outer wall of the foot joint (12); the steering hydraulic cylinder (61) pushes the sole (6) to rotate about the foot joint (12).

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