Multifunctional leg structure for bionic robot

Abstract

The utility model provides a multifunctional leg structure for a bionic robot, which comprises a connecting seat, the bottom of the connecting seat is rotatably connected with a first limb, the first limb is connected with a second limb through a joint shaft, the joint shaft comprises a spherical joint head, the spherical joint head is connected in a concave articular fossa, the spherical joint head is connected with a rotating shaft through a connecting rod, and the rotating shaft is connected with the connecting rod. A gear ring is arranged on one side of the rotating shaft and is in transmission connection with a driving gear below through a chain, and the driving gear is rotationally connected to an output shaft of a driving motor. The spherical joint head of the joint shaft can freely rotate in the concave joint fossa, and the multi-degree-of-freedom motion characteristic of a biological joint is simulated. According to the leg structure of the bionic robot, the direction and posture of the leg of the bionic robot can be flexibly adjusted, the problem that joint movement of a traditional leg structure is limited is solved, the movement flexibility of the leg is improved, the overall performance of the leg structure of the bionic robot is remarkably improved, and the requirements of the bionic robot in different application scenes are met.

Description

Technical Field

[0001] The utility model mainly relates to the technical field of bionic robots, in particular to a multifunctional leg structure for bionic robots. Background Art

[0002] A bionic robot refers to a robot that imitates the work of a living organism and usually possesses some characteristics of the living organism to improve work efficiency.

[0003] Existing technology discloses a bionic robot leg structure, including a frame and a rotating shaft. The lower end of the inner side of the frame is rotatably connected to a rotating rod. The middle end of the outer surface of the rotating rod is fixedly connected to a first limb. A tooth groove is formed on the right side of the outer surface of the rotating rod. A drive motor is fixedly mounted on the lower end of the right side of the frame. After the utility model is inserted into a designated area through the slot, a fastener is inserted through the fixing hole to fix the fixing base. The drive motor is turned on by an external controller, and the drive motor drives the driving gear to rotate. The driving gear drives the rotating rod to rotate and adjust via the tooth groove. The rotating rod drives the first limb to rotate and adjust. The first limb drives the second limb to rotate and adjust via the rotating shaft. The second limb drives the second limb to rotate and adjust. This achieves the purpose of high automation and solves the problem that existing bionic robot leg structures do not have high automation functions, resulting in the inability to meet the requirements of highly automated robot operation.

[0004] However, although the above technology achieves a certain degree of leg movement adjustment through the rotating rod, rotating shaft and corresponding drive motor and cylinder, the overall joint freedom is relatively limited, and its movement pattern is relatively fixed, and it can only achieve walking. As a result, the bionic robot is restricted when walking on complex terrain or performing tasks that require fine movements. It cannot quickly make a variety of flexible movement combinations to adapt to new situations like biological legs. Utility Model Content

[0005] The utility model mainly provides a multifunctional leg structure for a bionic robot, so as to solve the technical problems raised in the above background technology.

[0006] The technical solution adopted by the utility model to solve the above technical problems is:

[0007] A multifunctional leg structure for a bionic robot, comprising a connecting seat, a first limb being rotatably connected to the bottom of the connecting seat, and the first limb being connected to a second limb via a joint axis;

[0008] The joint shaft includes a spherical joint head, which is connected to a concave joint socket. The spherical joint head is connected to the rotating shaft through a connecting rod. A gear ring is provided on one side of the rotating shaft. The gear ring is connected to the driving gear below through a chain. The driving gear is rotatably connected to the output shaft of the drive motor.

[0009] Furthermore, the joint shaft is made of high-strength wear-resistant alloy, and its size is determined according to the overall size of the leg structure and the load it needs to bear.

[0010] Furthermore, the spherical joint head can rotate freely in the concave joint socket, and a wear-resistant coating is provided in the concave joint socket.

[0011] Furthermore, the concave joint socket is detachably connected to the bottom of the first limb, and the spherical joint head, connecting rod, rotating shaft, gear ring, chain, driving gear and driving motor are located in a protective shell, and the protective shell is connected to the top of the first limb.

[0012] Furthermore, the connecting seat is made of high-strength stainless steel and is provided with a connecting port on the top. The connecting port is designed as a card slot, which corresponds to the buckle of the torso part of the bionic robot.

[0013] Furthermore, a cylinder is connected between the back of the first limb and the second limb, and a piston end of the cylinder is movably connected to the back of the second limb, and the other end is movably connected to the back of the first limb.

[0014] Furthermore, a supporting foot is provided at the bottom of the second limb, and the front and rear ends of the supporting foot are rotatably connected via a rotating rod.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] The spherical joint head of the joint shaft in this invention rotates freely within the concave joint socket, simulating the multi-degree-of-freedom motion characteristics of biological joints. This allows the bionic robot leg to flexibly adjust its direction and posture, overcoming the limited joint movement of traditional leg structures and enhancing leg flexibility. This significantly improves the overall performance of the bionic robot leg structure and meets the needs of bionic robots in different application scenarios.

[0017] 2. The pneumatic cylinders connected to the backs of the first and second limbs in this utility model extend and retract to assist in adjusting the angle between them. During leg bending and extension, the cylinders provide additional force or fine-tuning, making leg movements more natural and precise. The support foot at the bottom of the second limb is pivotally connected at both ends via a rotating rod. This design allows the support foot to automatically adjust its position based on the ground surface when in contact.

[0018] The present invention will be explained in detail below with reference to the accompanying drawings and specific embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0020] Figure 2 This is a side view of the overall structure of the utility model;

[0021] Figure 3 This is a schematic diagram of the joint shaft structure of the utility model;

[0022] Figure 4 This is a schematic structural diagram of the spherical joint head of the utility model;

[0023] Figure 5 The utility model is a schematic diagram of the cross-sectional structure of the concave articular socket.

[0024] Reference numerals in the figure: 1. connecting seat; 101. connecting port; 2. first limb; 3. second limb; 4. joint shaft; 401. spherical joint head; 402. concave joint socket; 403. connecting rod; 404. rotating shaft; 405. ring gear; 406. chain; 407. driving gear; 408. driving motor; 409. wear-resistant layer; 410. protective shell; 5. supporting foot; 6. cylinder. DETAILED DESCRIPTION

[0025] In order to facilitate the understanding of the present invention, the present invention will be described more comprehensively below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings, but the present invention can be implemented in different forms and is not limited to the embodiments described in the text. On the contrary, these embodiments are provided to make the content disclosed in the present invention more thorough and comprehensive. Example

[0026] Please refer to the attached Figure 1 、 2 As shown in Figures 3, 4, and 5, a multifunctional leg structure for a bionic robot includes a connecting base 1, a connecting port 101 is provided on the top of the connecting base 1, a first limb 2 is rotatably connected to the bottom of the connecting base 1, the first limb 2 is connected to the second limb 3 through a joint shaft 4, the joint shaft 4 includes a spherical joint head 401, the spherical joint head 401 is connected to the concave joint socket 402, the spherical joint head 401 is connected to the rotating shaft 404 through a connecting rod 403, a gear ring 405 is provided on one side of the rotating shaft 404, the gear ring 405 is connected to the driving gear 407 below through a chain 406, and the driving gear 407 is rotatably connected to the output shaft of the drive motor 408.

[0027] It should be noted that the connecting seat 1 is made of high-strength stainless steel, and the connecting port 101 is designed as a card slot, which corresponds to the buckle of the torso of the bionic robot and is used to fix the leg structure to the torso of the bionic robot.

[0028] It should be noted that the joint shaft 4 is made of a high-strength, wear-resistant alloy, and its dimensions are determined by the overall dimensions of the leg structure and the load it must withstand. The spherical joint head 401 can rotate freely within the concave joint socket 402, which is provided with a wear-resistant layer 409. The spherical joint head 401 of the joint shaft 4 can rotate freely within the concave joint socket 402, simulating the multi-degree-of-freedom motion characteristics of a biological joint, allowing flexible adjustment of posture in different directions and improving the leg's mobility.

[0029] It should be noted that the main components related to the joint shaft 4, namely the spherical joint head 401, the connecting rod 403, the rotating shaft 404, the gear ring 405, the chain 406, the driving gear 407 and the driving motor 408 are arranged in a protective shell 410. This can prevent external dust, debris, etc. from entering the interior and affecting the normal operation of each component, reducing the probability of component wear and failure. In addition, the protective shell 410 allows these components to form a relatively integrated whole, which is convenient for overall operation during installation, maintenance and replacement of components, thereby improving maintainability and reducing maintenance costs. The concave joint socket 402 is detachably connected to the bottom of the first limb, which is convenient for individual replacement when the joint component fails or wears out, without having to replace the entire leg structure or joint shaft assembly, further improving maintainability and saving maintenance time and costs.

[0030] It should be noted that when the drive motor 408 is started and rotated, the driving gear 407 on its output shaft rotates accordingly, driving the ring gear 405 to rotate through the chain 406, and then rotating the rotating shaft 404. Through the linkage action of the connecting rod 403, the spherical joint head 401 rotates in the concave joint socket 402, realizing the inward and outward flipping of the second limb 3 relative to the first limb.

[0031] Please refer to the attached Figure 2 As shown, a cylinder 6 is connected between the back of the first limb 2 and the second limb 3. The piston end of the cylinder 6 is movably connected to the back of the second limb 3, and the other end is movably connected to the back of the first limb 2. A support foot 5 is provided at the bottom of the second limb 3, and the front and rear ends of the support foot 5 are rotatably connected by a rotating rod.

[0032] It should be noted that the piston end of the cylinder 6 is movably connected to a specific position on the back of the second limb 3 in a flexible and retractable manner. This connection method can ensure that when the cylinder 6 moves in a retractable and retractable manner, the connection between the piston end and the second limb 3 is both stable and can achieve relatively smooth displacement changes. The other end of the cylinder 6 also adopts an adaptive movable connection structure to connect with the corresponding part on the back of the first limb 2, so that the entire cylinder 6 can effectively perform its function between the first limb 2 and the second limb 3. When the legs of the bionic robot need to perform various complex movements such as bending, stretching, and crossing obstacles, the cylinder 6 assists in adjusting the angle between the two through telescoping, providing additional force or fine-tuning, making the leg movements more natural and precise, and coordinating with the rotation of the joint axis to work together, allowing the legs to complete the corresponding posture changes more quickly and smoothly, enriching the movement posture of the legs and enhancing the flexibility of the overall movement.

[0033] It should be noted that the front and rear ends of the supporting foot 5 at the bottom of the second limb 3 are rotatably connected by a rotating rod. This design enables the supporting foot 5 to automatically adjust its posture according to the actual conditions of the ground when in contact with the ground. When the robot walks on complex terrain such as slopes, potholes, and rugged roads, the supporting foot 5 can rely on the rotation of the front and rear rotating rods to automatically adjust its posture according to the actual undulations of the ground, better fit the shape of the ground, increase the contact area with the ground, effectively prevent slipping or loss of balance, and thereby enhance the robot's adaptability to complex terrain.

[0034] The specific operation mode of the utility model is as follows:

[0035] When the drive motor 408 rotates clockwise, the drive gear 407, chain 406, and ring gear 405 drive the rotating shaft 4 to rotate clockwise, causing the spherical joint head 401 to rotate inward relative to the central axis of the bionic robot body within the concave joint socket 402, thereby achieving an inversion movement. When the drive motor 408 rotates counterclockwise, it causes the spherical joint head 401 to rotate inward relative to the central axis of the bionic robot body within the concave joint socket 402, thereby achieving an outversion movement. Through the above-mentioned power transmission and the linkage mechanism between the spherical joint head 401 and the concave joint socket 402, the rotation of the drive motor 408 can effectively drive the spherical joint head 401 to rotate within the concave joint socket 402, achieving the inward and outward flipping movement of the joint shaft 4, thereby giving the bionic robot leg more flexible movement capabilities to adapt to complex terrain and perform various tasks.

[0036] The above description of the present invention is illustrative in combination with the accompanying drawings. It is obvious that the specific implementation of the present invention is not limited to the above-mentioned method. As long as such non-substantial improvements are made by adopting the method concept and technical solution of the present invention, or the concept and technical solution of the present invention are directly applied to other occasions without improvement, they are all within the scope of protection of the present invention.

Claims

1. A multifunctional leg structure for a bionic robot, comprising a connecting seat (1), characterized in that: The bottom of the connecting seat (1) is rotatably connected to a first limb (2), and the first limb (2) is connected to a second limb (3) via a joint shaft (4); The joint shaft (4) includes a spherical joint head (401), which is connected to a concave joint socket (402). The spherical joint head (401) is connected to a rotating shaft (404) via a connecting rod (403). A gear ring (405) is provided on one side of the rotating shaft (404). The gear ring (405) is connected to a driving gear (407) below via a chain (406). The driving gear (407) is rotatably connected to the output shaft of a driving motor (408).

2. The multifunctional leg structure for a bionic robot according to claim 1, characterized in that: The joint shaft (4) is made of high-strength wear-resistant alloy, and its size is determined according to the overall size of the leg structure and the load it needs to bear.

3. The multifunctional leg structure for a bionic robot according to claim 1, characterized in that: The spherical joint head (401) can rotate freely in the concave joint socket (402), and a wear-resistant layer (409) is provided in the concave joint socket (402).

4. The multifunctional leg structure for a bionic robot according to claim 1, characterized in that: The concave joint socket (402) is detachably connected to the bottom of the first limb (2), and the spherical joint head (401), the connecting rod (403), the rotating shaft (404), the gear ring (405), the chain (406), the driving gear (407) and the driving motor (408) are located in a protective shell (410), and the protective shell (410) is connected to the top of the second limb (3).

5. The multifunctional leg structure for a bionic robot according to claim 1, characterized in that: The connecting seat (1) is made of high-strength stainless steel and is provided with a connecting port (101) on the top. The connecting port (101) is designed as a card slot, corresponding to the buckle of the torso of the bionic robot.

6. The multifunctional leg structure for a bionic robot according to claim 1, characterized in that: A cylinder (6) is connected between the backs of the first limb (2) and the second limb (3); a piston end of the cylinder (6) is movably connected to the back of the second limb (3), and the other end is movably connected to the back of the first limb (2).

7. The multifunctional leg structure for a bionic robot according to claim 1, characterized in that: A supporting foot (5) is provided at the bottom of the second limb (3), and the front and rear ends of the supporting foot (5) are rotatably connected via a rotating rod.

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