Puncture jamming prevention quadruped robot leg structure

Abstract

The utility model discloses an anti-puncture jamming quadruped robot leg structure, which belongs to the technical field of quadruped robots, and comprises a polyurethane elastomer fixedly connected to the inner side wall of a big arm main body, one end of the polyurethane elastomer far away from the big arm main body is fixedly connected with a clamping column, and the outer side wall of a small arm main body is provided with a mounting groove. The small arm main body is clamped with the clamping column through the mounting groove, a sliding groove is formed in the outer side wall of the large arm main body, a sliding column is fixedly connected to the outer side wall of the large arm main body, and the sliding column is located in the sliding groove. According to the anti-puncture jamming leg structure of the quadruped robot, the polyurethane elastomer, the sliding groove, the sliding column, the moving rod, the mounting groove and the clamping column are matched for use, so that the joint of the large arm main body and the small arm main body is conveniently blocked, and the situation that the leg joints of the quadruped robot are punctured by exposed reinforcing steel bars and sharp objects in the rescue walking process is avoided; therefore, the movement of the quadruped robot is prevented from being blocked by reinforcing steel bars or sharp objects.

Description

Technical Field

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

[0002] As a robot with a special structure, the spine-type quadruped robot has shown great potential in operations in complex terrain and special environments due to its unique design and good maneuverability.

[0003] Spine-type quadruped robots are typically constructed to mimic the locomotion of quadrupeds, with their leg structure playing a key role in overall performance. Their legs are typically composed of a main arm and a lower arm, connected by joints to achieve flexible flexion, extension, and steering movements, enabling them to navigate rescue scenarios such as earthquake ruins and fire scenes.

[0004] However, the rescue environment is often extremely harsh and complex, with a large number of obstacles such as exposed steel bars, sharp metal fragments, broken glass, etc. When a quadruped robot walks in such an environment, its leg joints are extremely vulnerable to threats from these sharp objects. Once a sharp object penetrates the leg joint, it may directly damage the precision mechanical structures inside the joint, such as transmission devices, sensors, etc., causing the robot's legs to lose normal movement ability, and then causing the robot to get stuck. This will not only prevent the robot from continuing to perform rescue tasks, such as searching for trapped people, transporting rescue supplies, etc., but may also bring new obstacles to the rescue site due to the failure of the robot, and even cause rescuers to spend extra energy on troubleshooting the robot or clearing its route;

[0005] In order to solve the above problems, this application proposes a puncture-proof and jam-resistant quadruped robot leg structure. Utility Model Content

[0006] In response to the problems in the related art, the present invention proposes a puncture-proof and jam-resistant quadruped robot leg structure to overcome the above-mentioned technical problems existing in the existing related art.

[0007] In order to achieve the above purpose, the present invention adopts the following technical solutions:

[0008] A puncture-proof and jam-resistant quadruped robot leg structure comprises a connecting wheel, an outer side wall of the connecting wheel is provided with an adjustment structure, and an interior of the adjustment structure is provided with a shielding structure;

[0009] The adjustment structure includes a large arm body rotatably connected to the outer side wall of the connecting wheel, and an end of the large arm body away from the connecting wheel is rotatably connected to a small arm body;

[0010] The shielding structure includes a polyurethane elastomer fixedly connected to the inner wall of the upper arm body, and the end of the polyurethane elastomer away from the upper arm body is fixedly connected to a clamping column, the outer side wall of the lower arm body is provided with a mounting groove, and the lower arm body is clamped with the clamping column through the mounting groove, and the outer side wall of the upper arm body is provided with a sliding groove, and the outer side wall of the upper arm body is fixedly connected to a sliding column, and the sliding column is located inside the sliding groove, and the outer side wall of the sliding column is slidably connected to a moving rod, and the moving rod is located below the polyurethane elastomer, and the outer side wall of the moving rod is in contact with the outer side wall of the sliding column.

[0011] Preferably, the outer side wall of the forearm body is fixedly connected to a fixing seat, the inner side wall of the upper arm body is rotatably connected to a baffle, the inner side wall of the fixing seat is rotatably connected to a connecting rod, the end of the connecting rod away from the fixing seat is rotatably connected to a slider, and the end of the slider away from the connecting rod is in contact with the outer side wall of the baffle. By setting the fixing seat, connecting rod, slider and baffle, it is convenient to adjust the angle of the baffle, thereby squeezing and contacting the polyurethane elastomer.

[0012] Preferably, a movable groove is provided on the outer side wall of the baffle, and the slider is located inside the movable groove. The inner side wall of the movable groove fits with the outer side wall of the slider. By setting the movable groove, the position of the slider can be restricted to avoid the slider from detaching from the baffle during use.

[0013] Preferably, the outer side wall of the upper arm body is fixedly connected to a positioning plate, the outer side wall of the positioning plate is rotatably connected to a threaded rod, and the outer side wall of the threaded rod is threadedly connected to one end of the moving rod. By setting the positioning plate and the threaded rod, the position of the moving rod can be easily adjusted and fixed.

[0014] Preferably, one end of the threaded rod is fixedly connected to a knob, and the outer wall of the knob is provided with corrugations to facilitate the operator to rotate the knob. By providing the knob, the sliding column is facilitated to rotate, reducing the difficulty of the operator in adjusting the moving rod.

[0015] Preferably, the outer wall of the moving rod is fixedly connected with a return spring, and the return spring is located outside the sliding column. The end of the return spring away from the moving rod is fixedly connected to the outer wall of the arm body. By setting the return spring, it is convenient to provide a certain supporting force to the moving rod.

[0016] Preferably, a limiting groove is provided on the inner side wall of the upper arm body, and the baffle is fixedly connected to a limiting column at one end close to the lower arm body. The end of the limiting column is located inside the limiting groove, and the outer side wall of the end of the limiting column fits with the inner side wall of the limiting groove. By setting the limiting groove and the limiting column, it is convenient to limit the position of the baffle to avoid excessive angular deviation of the baffle and causing obstruction to the movement of the lower arm body.

[0017] To sum up, the technical effects and advantages of the utility model are as follows: the anti-puncture blocking quadruped robot leg structure, through the coordinated use of polyurethane elastomer, slide groove, slide column, movable rod, installation groove and clamping column, is convenient for blocking the connection between the upper arm body and the lower arm body, avoiding the leg joints of the quadruped robot from being punctured by exposed steel bars or sharp objects during the rescue walking process, thereby avoiding the steel bars or sharp objects from blocking the movement of the quadruped robot.

[0018] By using the fixed seat, connecting rod, slider, baffle, moving groove, limit groove and limit column in coordination, it is convenient to push out steel bars, sharp objects, etc., improve the protection capability of the polyurethane elastomer, and reduce the chance of the legs of the quadruped robot getting stuck. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 2 This is a schematic diagram of the polyurethane elastomer and related parts of the utility model;

[0021] Figure 3 This is a schematic diagram of the structure moving rod and related parts of the utility model;

[0022] Figure 4 This is a schematic diagram of the structural limit groove and related parts of the utility model.

[0023] In the picture:

[0024] 1. Connecting wheel;

[0025] 2. Adjustment structure; 201. Upper arm body; 202. Lower arm body; 203. Positioning plate; 204. Threaded rod; 205. Knob;

[0026] 3. Shielding structure; 301. Polyurethane elastomer; 302. Slide groove; 303. Slide column; 304. Moving rod; 305. Return spring; 306. Fixed seat; 307. Connecting rod; 308. Slider; 309. Baffle; 310. Moving groove; 311. Limiting groove; 312. Limiting column; 313. Mounting groove; 314. Clamping column. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0028] Reference Figure 1-3A puncture-proof and jam-proof quadruped robot leg structure includes a connecting wheel 1, an outer wall of the connecting wheel 1 is provided with an adjusting structure 2, and an inner portion of the adjusting structure 2 is provided with a shielding structure 3;

[0029] The adjustment structure 2 includes a large arm body 201 rotatably connected to the outer wall of the connecting wheel 1, and an end of the large arm body 201 away from the connecting wheel 1 is rotatably connected to a small arm body 202;

[0030] The shielding structure 3 includes a polyurethane elastomer 301 fixedly connected to the inner wall of the upper arm body 201. The polyurethane elastomer 301 has high elasticity and high strength. It is a network structure formed by chemical cross-linking of soft segments and hard segments. The soft segment is usually polyester or polyether, which provides elasticity; the hard segment is the part generated by the reaction of isocyanate and chain extender, which provides rigidity and wear resistance. The polyurethane elastomer 301 is rectangular in shape. The end of the polyurethane elastomer 301 away from the upper arm body 201 is fixedly connected with a clamping column 314. The clamping column 314 is provided with a raised clamping block on the side close to the forearm body 202. The outer wall of the forearm body 202 is provided with a mounting groove 313. The inner wall of the mounting groove 313 fits with the outer wall of the clamping column 314. The operator can insert the clamping column 314 into the mounting groove 313, which is convenient for the operator to check the polyurethane elastomer 301 and avoid the polyurethane elastomer 301 from being used. The cam 304 is connected to the cam 306 through the slot 313 to lock the cam 306. The cam 306 has two cams 308 and two cams 309. The cam 308 has two cams 309. The cam 309 has two cams 301 and two cams 302.

[0031] During use, the operator can adjust the position of the movable rod 304 along the two sliding columns 303, thereby adjusting the shape of the polyurethane elastomer 301, so as to adjust the protection distance of the polyurethane elastomer 301 close to one end of the forearm body 202, thereby improving the protection applicability and reducing the risk of the quadruped robot being pierced by steel bars and sharp objects during rescue and search, thereby reducing the risk of steel bars and sharp objects blocking the robot's legs.

[0032] Reference Figure 3 and Figure 4The outer side wall of the arm body 202 is fixedly connected with a fixing seat 306. There are two fixing seats 306. The two fixing seats 306 are symmetrically distributed with the symmetric plane of the arm body 202. The inner side wall of the arm body 201 is rotatably connected with a baffle 309. The inner side walls of the two fixing seats 306 are rotatably connected with connecting rods 307 respectively. The ends of the two connecting rods 307 away from the fixing seats 306 are rotatably connected with sliders 308 respectively. The ends of the sliders 308 away from the connecting rods 307 are in conflict with the outer side wall of the baffle 309. The angle between the two connecting rods 307 and the baffle 309 changes with the arm body 201 and the arm body 202. 02. When the angle between the upper arm body 201 and the lower arm body 202 gradually increases, that is, when the robot legs are unfolded, the angle between the two connecting rods 307 and the baffle 309 gradually decreases, so as to facilitate further squeezing of the connecting rod 307 by the lower arm body 202, thereby applying greater force to the baffle 309 to protect the polyurethane elastomer 301 from collision, and avoid deformation of the polyurethane elastomer 301 when steel bars or sharp objects squeeze the polyurethane elastomer 301, thereby avoiding steel bars or sharp objects from being trapped at the connection between the upper arm body 201 and the lower arm body 202.

[0033] Reference Figure 3 and Figure 4 The outer wall of the baffle 309 is provided with a movable groove 310, and there are two movable grooves 310. The positions of the two movable grooves 310 correspond to the positions of the two sliders 308, and the two sliders 308 are respectively located inside the two movable grooves 310. The inner walls of the two movable grooves 310 are respectively matched with the outer walls of the two sliders 308. The relative positions of the two sliders 308 and the baffle 309 are fixed. The two sliders 308 move linearly along the two movable grooves 310 on the outer wall of the baffle 309 and will not separate from the baffle 309, thereby avoiding the two connecting rods 307 from separating from the baffle 309 during use, and further avoiding the inability to drive the baffle 309 when the upper arm body 201 and the lower arm body 202 are adjusted.

[0034] Reference Figure 1 The outer side wall of the arm body 201 is fixedly connected with a positioning plate 203, and there are four positioning plates 203. The four positioning plates 203 are divided into two groups. The two groups of positioning plates 203 are respectively located on both sides of the arm body 201, and the positions of the two groups of positioning plates 203 are both located at both ends of the slide groove 302. The outer side walls of the two groups of positioning plates 203 are respectively rotatably connected with a threaded rod 204, and the outer side walls of the two threaded rods 204 are respectively threadedly connected to one end of the moving rod 304. When in use, the operator can rotate the two threaded rods 204 to adjust the position of the moving rod 304 so that the two ends of the moving rod 304 are in the same straight line.

[0035] Reference Figure 1One end of the threaded rod 204 is fixedly connected to a knob 205. There are two knobs 205, which are respectively located at one end of the two threaded rods 204. The outer walls of the two knobs 205 are provided with corrugations to facilitate the operator to rotate the knob 205.

[0036] Reference Figure 2 and Figure 3 The outer walls of the two moving rods 304 are fixedly connected with return springs 305, and the two return springs 305 are respectively located outside the two sliding columns 303. The ends of the two return springs 305 away from the moving rods 304 are respectively fixedly connected to the outer walls of the arm body 201. During the movement of the moving rod 304, the two return springs 305 provide a certain supporting force to the moving rod 304, reducing the adjustment difficulty of the operator.

[0037] Reference Figure 4 The inner wall of the upper arm body 201 is provided with a limiting groove 311, and there are two limiting grooves 311. The two limiting grooves 311 are respectively located on the inner walls on both sides of the upper arm body 201. The end of the baffle 309 close to the small arm body 202 is fixedly connected to the limiting column 312. The end of the limiting column 312 is located inside the limiting groove 311, and the outer wall of the end of the limiting column 312 fits with the inner wall of the limiting groove 311, so as to limit the moving distance of the baffle 309 and prevent the baffle 309 from falling due to its own gravity.

[0038] Working principle: When in use, the operator can rotate the two knobs 205 to adjust the position of the moving rod 304 through the two threaded rods 204, so that the moving rod 304 moves along the two sliding columns 303. The moving rod 304 resists the polyurethane elastomer 301 during the movement, thereby adjusting the shape of the polyurethane elastomer 301 to adjust the protective distance of the polyurethane elastomer 301 close to one end of the small arm body 202. Furthermore, when the angle between the big arm body 201 and the small arm body 202 gradually increases, that is, when the robot legs are unfolded, the two connecting rods 307 and the blocking rod 307 are in contact with each other. The angle between the plates 309 gradually decreases to facilitate further squeezing of the connecting rod 307 through the forearm body 202, thereby applying greater force to the baffle 309 to provide resistance protection for the polyurethane elastomer 301, and prevent the polyurethane elastomer 301 from being deformed when steel bars or sharp objects squeeze the polyurethane elastomer 301, thereby preventing steel bars or sharp objects from being trapped at the connection between the upper arm body 201 and the forearm body 202, thereby improving the protection applicability and reducing the risk of the quadruped robot being punctured by steel bars or sharp objects during rescue and search, thereby reducing the risk of steel bars or sharp objects blocking the robot's legs.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A puncture-proof and jam-resistant quadruped robot leg structure, comprising a connecting wheel (1), characterized in that: An outer wall of the connecting wheel (1) is provided with an adjustment structure (2), and a shielding structure (3) is provided inside the adjustment structure (2); The regulating structure (2) comprises a large arm body (201) rotatably connected to the outer side wall of the connecting wheel (1), and an end of the large arm body (201) away from the connecting wheel (1) is rotatably connected to a small arm body (202); The shielding structure (3) includes a polyurethane elastomer (301) fixedly connected to the inner wall of the upper arm body (201), an end of the polyurethane elastomer (301) away from the upper arm body (201) is fixedly connected to a clamping column (314), an outer wall of the lower arm body (202) is provided with a mounting groove (313), the lower arm body (202) is clamped with the clamping column (314) through the mounting groove (313), the outer wall of the upper arm body (201) is provided with a sliding groove (302), the outer wall of the upper arm body (201) is fixedly connected to a sliding column (303), the sliding column (303) is located inside the sliding groove (302), the outer wall of the sliding column (303) is slidably connected to a moving rod (304), the moving rod (304) is located below the polyurethane elastomer (301), and the outer wall of the moving rod (304) is in contact with the outer wall of the sliding column (303).

2. The anti-puncture and jamming quadruped robot leg structure according to claim 1, characterized in that: The outer side wall of the small arm body (202) is fixedly connected to a fixing seat (306), the inner side wall of the large arm body (201) is rotatably connected to a baffle (309), the inner side wall of the fixing seat (306) is rotatably connected to a connecting rod (307), and one end of the connecting rod (307) away from the fixing seat (306) is rotatably connected to a slider (308), and one end of the slider (308) away from the connecting rod (307) contacts the outer side wall of the baffle (309).

3. The anti-puncture and jamming quadruped robot leg structure according to claim 2, characterized in that: The outer side wall of the baffle (309) is provided with a movable groove (310), the slider (308) is located inside the movable groove (310), and the inner side wall of the movable groove (310) is matched with the outer side wall of the slider (308).

4. The anti-puncture and jamming quadruped robot leg structure according to claim 1, characterized in that: The outer side wall of the upper arm body (201) is fixedly connected to a positioning plate (203), the outer side wall of the positioning plate (203) is rotatably connected to a threaded rod (204), and the outer side wall of the threaded rod (204) is threadedly connected to one end of the moving rod (304).

5. The anti-puncture and jamming quadruped robot leg structure according to claim 4, characterized in that: One end of the threaded rod (204) is fixedly connected to a knob (205), and the outer side wall of the knob (205) is provided with corrugations.

6. The anti-puncture and jamming quadruped robot leg structure according to claim 4, characterized in that: The outer side wall of the moving rod (304) is fixedly connected to a return spring (305), the return spring (305) is located outside the sliding column (303), and one end of the return spring (305) away from the moving rod (304) is fixedly connected to the outer side wall of the upper arm body (201).

7. The anti-puncture and jamming quadruped robot leg structure according to claim 2, characterized in that: A limiting groove (311) is provided on the inner side wall of the upper arm body (201), and one end of the baffle (309) close to the lower arm body (202) is fixedly connected to a limiting column (312), an end of the limiting column (312) is located inside the limiting groove (311), and an outer side wall of the end of the limiting column (312) is matched with an inner side wall of the limiting groove (311).

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