Leg structure of quadruped robot

Abstract

The utility model discloses a leg structure of a quadruped robot, which belongs to the technical field of quadruped robots and comprises a thigh, the thigh is mounted at the lower end of a fixed connecting seat, a first shank is arranged on the lower side of the thigh and connected with the thigh through a connecting mechanism, a second shank is arranged on the lower side of the first shank, and a foot is arranged at the lower end of the second shank. The adjusting assembly is arranged, the motor is started to drive the first bevel gear to rotate, the first bevel gear drives the screw to rotate in the fixing cylinder through the second bevel gear, the screw rotates to drive the first shank to move in the fixing cylinder through the screw groove, and meanwhile the sliding blocks on the lower sides of the two ends of the first shank move in the sliding grooves in the fixing cylinder; the leg structures can be adjusted to be used in different lengths by moving the shanks, the leg structures can be adjusted to be used in different lengths by arranging the adjusting assemblies, and the situation that when the robot needs to wade, the leg structures are short, and objects conveyed by the robot are prone to being soaked by water is avoided.

Description

Technical Field

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

[0002] The quadruped robot is a type of bionic robot, which has the characteristic of being able to automatically change its shape according to different conditions. It has good balance, flexibility, and adaptability, and can walk on complex roads and perform a variety of complex movements such as running, climbing stairs, moving forward, backward, and walking sideways.

[0003] Chinese patent application No. 2023224407601 discloses a leg structure of a quadruped robot, which relates to the technical field of quadruped robots. Its structure includes a fixed connection seat, a hip connection seat, a thigh mounting seat, a thigh, a calf joint seat, a calf, a foot and a hydraulic cylinder; the fixed connection seat and the hip connection seat are swung together by a first driving mechanism; the thigh mounting seat is installed at the lower end of the hip connection seat by bolts; the thigh mounting seat and the thigh are rotatably connected by a first shaft rod; the thigh mounting seat and the thigh are swung together by a second driving mechanism. In the process of driving the reduction of the angle between the calf and the thigh of the utility model, the hydraulic cylinder is compressed and begins to store energy. When the quadruped robot needs to jump, the third driving mechanism drives the calf and the thigh to unfold quickly, and the energy of the hydraulic cylinder is released at the same time, which is conducive to increasing the jumping height. At the same time, when the angle between the calf and the thigh of the robot decreases when landing, the hydraulic cylinder absorbs energy and buffers, thereby improving the jumping agility of the quadruped robot.

[0004] The above-mentioned patent cannot adjust the leg structure to different lengths according to needs. When the robot needs to wade, the leg structure is shorter, and the items transported by the robot are easily soaked by water. At the same time, the original device is not convenient for disassembly and replacement of the feet. The wear and tear of the feet due to long-term use seriously affects the quality of subsequent use. Utility Model Content

[0005] In order to solve the problems raised in the above background technology, the utility model provides a leg structure of a quadruped robot, which has the characteristic of being able to adjust the leg structure to different lengths according to needs.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a leg structure of a quadruped robot, including a thigh, which is installed at the lower end of a fixed connecting seat, a calf one is arranged on the lower side of the thigh, and the calf one is connected to the thigh by a connecting mechanism, a calf two is arranged on the lower side of the calf, a foot is arranged at the lower end of the calf two, the foot and the calf two are connected by a mounting assembly, and an adjustment assembly is arranged between the calf two and the calf one.

[0007] Preferably, the adjustment component includes a fixed cylinder, a screw, a screw groove, a second bevel gear, a motor, a first bevel gear, a slider, a slide groove and a maintenance component, wherein a fixed cylinder is provided at the upper end of the second calf, a screw is provided inside the fixed cylinder, a screw groove corresponding to the screw is provided inside the first calf, sliders are provided at the lower sides of both ends of the first calf, a slide groove corresponding to the slider is provided inside the fixed cylinder, a second bevel gear is provided on the lower side of the screw surface, a motor is provided at a position corresponding to the second bevel gear at one end of the fixed cylinder, a first bevel gear is provided at the output end of the motor, and a maintenance component is provided at the front end of the fixed cylinder.

[0008] Preferably, the inspection assembly includes an arc-shaped plate, an inspection port, a handle, a fixing bolt and a fixing hole, wherein an inspection port is provided at the front end of the fixing cylinder, an arc-shaped plate is provided in the inspection port, a handle is provided at the front end of the arc-shaped plate, the arc-shaped plate and the fixing cylinder are connected by fixing bolts, and a fixing hole corresponding to the fixing bolt is provided in the inspection port.

[0009] Preferably, a rubber pad is bonded to the inner wall of the inspection port by glue, a bearing rotating seat is provided between the screw and the fixed cylinder, and the second bevel gear and the screw are a welded one-piece structure.

[0010] Preferably, the mounting assembly includes mounting bolts, a plug plate, a slot, an arc-shaped edge and a mounting hole, wherein a plug plate is provided at the upper end of the foot, a slot corresponding to the plug plate is provided at the lower end of the calf, arc-shaped edges are provided on both sides of one end of the plug plate, the plug plate is connected to the calf by mounting bolts, and a mounting hole corresponding to the plug plate is provided in the plug plate.

[0011] Preferably, after the inserting plate enters the slot, the side of the inserting plate is in close contact with the inner wall of the slot, and a through hole corresponding to the mounting bolt is provided in the lower leg.

[0012] Compared with the prior art, the beneficial effects of the utility model are:

[0013] 1. The utility model sets an adjustment component, turns on the motor to drive the bevel gear 1 to rotate, the bevel gear 1 drives the screw to rotate in the fixed cylinder through the bevel gear 2, the rotation of the screw drives the calf 1 to move in the fixed cylinder through the screw groove, and at the same time, the sliders on the lower sides of the two ends of the calf 1 move in the slide groove inside the fixed cylinder. The movement of the calf 1 can adjust the leg structure to different lengths. By setting the adjustment component, the leg structure can be adjusted to different lengths, so as to avoid the leg structure being too short when the robot needs to wade, and the objects transported by the robot are easily soaked by water.

[0014] 2. The utility model sets a mounting assembly. When the foot is installed, the plug plate at the upper end of the foot is inserted into the slot at the lower end of the calf. Arc edges are set on both sides of one end of the plug plate to facilitate the insertion of the plug plate into the slot. Then the mounting bolts are screwed into the mounting holes of the plug plate to achieve the effect of limiting and fixing the plug plate and the foot. The installation assembly is set to facilitate the disassembly, assembly and replacement of the foot, thereby preventing the foot from being worn out for a long time and seriously affecting the subsequent use quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional diagram of the utility model;

[0016] Figure 2 This is a three-dimensional diagram of the utility model when the access panel is installed;

[0017] Figure 3 It is a cutaway stereogram of the fixing tube and the lower leg of the utility model;

[0018] Figure 4 This is a three-dimensional diagram of the foot of the utility model when installed;

[0019] In the figure: 1. thigh; 2. adjustment component; 21. fixing cylinder; 22. screw; 23. screw groove; 24. bevel gear 2; 25. motor; 26. bevel gear 1; 27. slider; 28. slide groove; 29. ​​inspection component; 291. arc plate; 292. inspection port; 293. handle; 294. fixing bolt; 295. fixing hole; 3. installation component; 31. mounting bolt; 32. plug plate; 33. slot; 34. arc edge; 35. installation hole; 4. calf 1; 5. calf 2; 6. foot; 7. connecting mechanism; 8. fixed connecting seat. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0021] Example 1

[0022] See also Figure 1-4 The utility model provides the following technical solutions: a leg structure of a quadruped robot, including a thigh 1, which is installed at the lower end of a fixed connecting seat 8, a calf 1 4 is arranged at the lower side of the thigh 1, the calf 1 4 is connected to the thigh 1 through a connecting mechanism 7, a calf 2 5 is arranged at the lower side of the calf 1 4, a foot 6 is arranged at the lower end of the calf 2 5, the foot 6 is connected to the calf 2 5 through a mounting assembly 3, and an adjustment assembly 2 is arranged between the calf 2 5 and the calf 1 4.

[0023] Specifically, the adjustment component 2 includes a fixed cylinder 21, a screw 22, a screw groove 23, a bevel gear 24, a motor 25, a bevel gear 1 26, a slider 27, a slide groove 28 and an inspection component 29, wherein a fixed cylinder 21 is provided at the upper end of the calf 25, a screw 22 is provided inside the fixed cylinder 21, a screw groove 23 corresponding to the screw 22 is provided inside the calf 1 4, sliders 27 are provided on the lower sides of both ends of the calf 1 4, a slide groove 28 corresponding to the slider 27 is provided inside the fixed cylinder 21, a bevel gear 24 is provided on the lower side of the surface of the screw 22, a motor 25 is provided at a position corresponding to the bevel gear 24 at one end of the fixed cylinder 21, a bevel gear 1 26 is provided at the output end of the motor 25, and an inspection component 29 is provided at the front end of the fixed cylinder 21.

[0024] By adopting the above technical solution, the motor 25 is turned on to drive the bevel gear 1 26 to rotate, and the bevel gear 1 26 drives the screw 22 to rotate in the fixed cylinder 21 through the bevel gear 2 24. The screw 22 rotates through the screw groove 23 to drive the calf 1 4 to move in the fixed cylinder 21. At the same time, the sliders 27 on the lower sides of the two ends of the calf 1 4 move in the slide groove 28 inside the fixed cylinder 21. The movement of the calf 1 4 can adjust the leg structure to different lengths. By setting the adjustment component 2, the leg structure can be adjusted to different lengths, so as to avoid the leg structure being short when the robot needs to wade, and the objects transported by the robot are easily soaked by water.

[0025] Specifically, the inspection component 29 includes an arc plate 291, an inspection port 292, a handle 293, a fixing bolt 294 and a fixing hole 295, wherein the inspection port 292 is provided at the front end of the fixed cylinder 21, the inspection port 292 is provided with an arc plate 291, the front end of the arc plate 291 is provided with a handle 293, the arc plate 291 and the fixed cylinder 21 are connected by a fixing bolt 294, and the inspection port 292 is provided with a fixing hole 295 corresponding to the fixing bolt 294.

[0026] By adopting the above technical solution, the fixing bolt 294 is screwed out from the fixing hole 295, and the arc plate 291 can be removed from the inspection port 292 of the fixed cylinder 21 through the handle 293. After that, the parts in the fixed cylinder 21 can be inspected and maintained through the inspection port 292. By setting up the inspection component 29, it is convenient to inspect and maintain the parts inside the fixed cylinder 21.

[0027] Specifically, a rubber pad is bonded to the inner wall of the inspection port 292 by glue, a bearing rotating seat is provided between the screw rod 22 and the fixed cylinder 21, and the bevel gear 24 and the screw rod 22 are welded into an integrated structure.

[0028] By adopting the above technical solution, a rubber pad is arranged on the inner wall of the inspection port 292 to make the arc plate 291 more sealed after installation, and the screw rod 22 can rotate in the fixed cylinder 21.

[0029] When the present embodiment is used, when the leg structure of the quadruped robot is used, the device is installed in a suitable position, and the adjustment component 2 is set, the motor 25 is turned on to drive the bevel gear 1 26 to rotate, and the bevel gear 1 26 drives the screw 22 to rotate in the fixed cylinder 21 through the bevel gear 24, and the screw 22 rotates through the screw groove 23 to drive the shank 1 4 to move in the fixed cylinder 21, and at the same time, the sliders 27 on the lower sides of the two ends of the shank 1 4 move in the slide groove 28 inside the fixed cylinder 21. The movement of the shank 1 4 can adjust the leg structure to different lengths. By setting the adjustment component 2, the motor 25 is turned on to drive the bevel gear 1 26 to rotate, and the bevel gear 1 26 drives the screw 22 to rotate in the fixed cylinder 21 through the screw groove 23. The joint component 2 can adjust the leg structure to different lengths to avoid the leg structure being too short when the robot needs to wade through water, which can make the items transported by the robot easily soaked by water. By setting the inspection component 29, the fixing bolt 294 can be unscrewed from the fixing hole 295, and the arc plate 291 can be removed from the inspection port 292 of the fixed cylinder 21 through the handle 293. After that, the parts in the fixed cylinder 21 can be inspected and maintained through the inspection port 292. The inspection component 29 is set to facilitate the inspection and maintenance of the parts inside the fixed cylinder 21.

[0030] Example 2

[0031] The difference between this embodiment and embodiment 1 is that the mounting assembly 3 includes a mounting bolt 31, a plug plate 32, a slot 33, an arcuate edge 34 and a mounting hole 35, wherein a plug plate 32 is provided at the upper end of the foot 6, a slot 33 corresponding to the plug plate 32 is provided at the lower end of the calf 5, arcuate edges 34 are provided on both sides of one end of the plug plate 32, the plug plate 32 is connected to the calf 5 by a mounting bolt 31, and a mounting hole 35 corresponding to the plug plate 32 is provided in the plug plate 32.

[0032] By adopting the above technical solution, when the foot 6 is installed, the plug plate 32 at the upper end of the foot 6 is inserted into the slot 33 at the lower end of the calf 2 5, and arc-shaped edges 34 are provided on both sides of one end of the plug plate 32 to facilitate the insertion of the plug plate 32 into the slot 33. Then, the mounting bolt 31 is screwed into the mounting hole 35 of the plug plate 32 to achieve the effect of limiting and fixing the plug plate 6 and the foot 32. By providing the mounting component 3, it is convenient to disassemble, assemble and replace the foot 6, so as to avoid the foot 6 being worn out for a long time and seriously affecting the subsequent use quality.

[0033] Specifically, after the inserting plate 32 enters the slot 33 , the side of the inserting plate 32 is in close contact with the inner wall of the slot 33 , and a through hole corresponding to the mounting bolt 31 is provided in the shank 2 5 .

[0034] By adopting the above technical solution, after the inserting plate 32 enters the slot 33 , the inserting plate 32 is more stable in the slot 33 , and the mounting bolt 31 can be passed through the calf 25 and screwed into the mounting hole 35 of the inserting plate 32 .

[0035] When this embodiment is used, by setting the installation component 3, when the foot 6 is installed, the plug plate 32 at the upper end of the foot 6 is inserted into the slot 33 at the lower end of the calf 2 5, and arc-shaped edges 34 are set on both sides of one end of the plug plate 32 to facilitate the insertion of the plug plate 32 into the slot 33. Then, the mounting bolt 31 is screwed into the mounting hole 35 of the plug plate 32 to achieve the effect of limiting and fixing the plug plate 6 and the foot 32. By setting the installation component 3, it is convenient to disassemble, assemble and replace the foot 6, so as to avoid the foot 6 being worn out for a long time and seriously affecting the subsequent use quality.

[0036] The motor 25 in the utility model is an existing disclosed technology, and the selected model is 5IK120GN-CF.

[0037] The structure and working principle of the thigh 1, calf 1 4, calf 2 5, foot 6, connecting mechanism 7 and fixed connecting seat 8 in the utility model have been disclosed in a quadruped robot leg structure disclosed in Chinese patent application No. 2023224407601.

[0038] The working principle and use process of the utility model are as follows: when the leg structure of the quadruped robot is used, the device is installed in a suitable position, and the adjustment component 2 is set, the motor 25 is turned on to drive the bevel gear 1 26 to rotate, and the bevel gear 1 26 drives the screw 22 to rotate in the fixed cylinder 21 through the bevel gear 24, and the screw 22 rotates through the screw groove 23 to drive the shank 1 4 to move in the fixed cylinder 21, and at the same time, the sliders 27 on the lower sides of the two ends of the shank 1 4 move in the slide groove 28 inside the fixed cylinder 21. The movement of the shank 1 4 can adjust the leg structure to different lengths. The leg structure can be adjusted to different lengths by setting the adjustment component 2 to avoid the leg structure being too short when the robot needs to wade, and the objects transported by the robot are easily soaked by water. By setting the maintenance component 29, the fixing bolt 294 is inserted from the fixing hole 29 5, the curved plate 291 can be removed from the inspection port 292 of the fixed cylinder 21 through the handle 293, and then the parts in the fixed cylinder 21 can be inspected and maintained through the inspection port 292. The inspection component 29 is provided to facilitate the inspection and maintenance of the parts inside the fixed cylinder 21. By providing the installation component 3, when the foot 6 is installed, the plug plate 32 at the upper end of the foot 6 is inserted into the slot 33 at the lower end of the calf 2 5, and curved edges 34 are provided on both sides of one end of the plug plate 32 to facilitate the insertion of the plug plate 32 into the slot 33, and then the installation bolts 31 are screwed into the installation holes 35 of the plug plate 32, so as to achieve the effect of limiting and fixing the plug plate 6 and the foot 32. By providing the installation component 3, the foot 6 can be easily disassembled, assembled and replaced, so as to avoid the foot 6 from being worn out for a long time and seriously affecting the subsequent use quality.

[0039] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A quadruped robot leg structure, comprising a thigh (1), the thigh (1) being mounted on the lower end of a fixed connection seat (8), a calf 1 (4) being arranged on the lower side of the thigh (1), the calf 1 (4) being connected to the thigh (1) via a connection mechanism (7), a calf 2 (5) being arranged on the lower side of the calf 1 (4), a foot (6) being arranged at the lower end of the calf 2 (5), and characterized in that: The foot (6) is connected to the second calf (5) via a mounting assembly (3), and an adjustment assembly (2) is provided between the second calf (5) and the first calf (4).

2. A quadruped robot leg structure according to claim 1, characterized in that: The adjustment assembly (2) comprises a fixed cylinder (21), a screw rod (22), a screw groove (23), a second bevel gear (24), a motor (25), a first bevel gear (26), a slider (27), a slide groove (28) and an inspection assembly (29), wherein a fixed cylinder (21) is arranged at the upper end of the second leg (5), a screw rod (22) is arranged inside the fixed cylinder (21), a screw groove (23) corresponding to the screw rod (22) is arranged inside the first leg (4), sliders (27) are arranged at the lower sides of both ends of the first leg (4), a slide groove (28) corresponding to the slider (27) is arranged inside the fixed cylinder (21), a second bevel gear (24) is arranged on the lower side of the surface of the screw rod (22), a motor (25) is arranged at a position corresponding to the second bevel gear (24) at one end of the fixed cylinder (21), a first bevel gear (26) is arranged at the output end of the motor (25), and an inspection assembly (29) is arranged at the front end of the fixed cylinder (21).

3. A quadruped robot leg structure according to claim 2, characterized in that: The inspection assembly (29) comprises an arc-shaped plate (291), an inspection opening (292), a handle (293), a fixing bolt (294) and a fixing hole (295), wherein the front end of the fixing cylinder (21) is provided with an inspection opening (292), the inspection opening (292) is provided with an arc-shaped plate (291), the front end of the arc-shaped plate (291) is provided with a handle (293), the arc-shaped plate (291) and the fixing cylinder (21) are connected via a fixing bolt (294), and the inspection opening (292) is provided with a fixing hole (295) corresponding to the fixing bolt (294).

4. A quadruped robot leg structure according to claim 3, characterized in that: The inner wall of the inspection port (292) is bonded with a rubber pad by glue, a bearing rotating seat is arranged between the screw rod (22) and the fixed cylinder (21), and the second bevel gear (24) and the screw rod (22) are a welded integrated structure.

5. The quadruped robot leg structure according to claim 1, characterized in that: The mounting assembly (3) comprises a mounting bolt (31), an insert plate (32), a slot (33), an arc-shaped edge (34) and a mounting hole (35), wherein the upper end of the foot (6) is provided with an insert plate (32), the lower end of the second calf (5) is provided with a slot (33) corresponding to the insert plate (32), and arc-shaped edges (34) are provided on both sides of one end of the insert plate (32), the insert plate (32) and the second calf (5) are connected by the mounting bolt (31), and the insert plate (32) is provided with a mounting hole (35) corresponding to the insert plate (32).

6. A quadruped robot leg structure according to claim 5, characterized in that: After the inserting plate (32) enters the slot (33), the side of the inserting plate (32) is in close contact with the inner wall of the slot (33), and a through hole corresponding to the mounting bolt (31) is provided in the lower leg second (5).

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