Walking leg of four-footed robot dog and four-footed robot dog

Abstract

The utility model discloses a walking leg of a four-footed robot dog and the four-footed robot dog, which comprise thighs, shanks and motors arranged at the first ends of the thighs, the first end of the swing arm and the power output end of the motor are connected and rotate synchronously; the first end of the transmission rod is hinged to the second end of the swing arm, the second end of the transmission rod is hinged to the first end of the shank, the second end of the thigh is hinged to the preset position of the shank, and the preset position of the shank is located between the first end of the shank and the second end of the shank and is close to the first end of the shank; the head end of the linear damper is hinged to the thigh, and the tail end of the linear damper is hinged to the shank. The linear dampers are arranged between the thighs and the shanks, so that the walking stability of the four-footed robot dog can be improved, the abrasion of joints of the four-footed robot dog is reduced, and the service life is prolonged.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of four -legged machine dog further relates to four -legged machine dog walking leg and its four -legged machine dog. BACKGROUND

[0002] Four -legged machine dog is a kind of bionic robot, it adopts mechanical structure and control system design, can imitate the movement mode of four -legged animal in nature, realizes the walking, sitting, tumbling etc.Various actions of dog, to be applied to military, search and rescue, scientific research, entertainment education, auxiliary life and logistics transportation etc.Field, with very broad application prospect.Therefore, four -legged machine dog is the research and development hotspot of current robot field and is developing rapidly.

[0003] At present, four -legged machine dog is optimized to leg structure to adapt to more complex terrain, Chinese invention patent application (CN202310979757.9) discloses a kind of simulation four -legged machine dog for rescue, it is realized to buffer shock absorbing by setting buffer shock absorbing component between thigh and shank, it is mainly realized to the pressure between thigh and shank by the elasticity of compression spring Buffer, but its buffer shock absorbing effect is unstable, and the stability of four -legged machine dog walking cannot be effectively improved. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of four -legged machine dog walking leg and its four -legged machine dog, solve the technical problem of insufficient stability of four -legged machine dog walking in prior art, can improve the stability of four -legged machine dog walking, reduce the abrasion of joint of four -legged machine dog, improve service life.

[0005] To achieve the above-mentioned purpose, the utility model provides a kind of four -legged machine dog walking leg, including thigh and shank, further comprising: motor is arranged at the first end of the thigh;Swing arm, the first end of the swing arm is connected with the power output end of the motor and rotates synchronously;Transmission rod, the first end of the transmission rod is hinged with the second end of the swing arm, the second end of the transmission rod is hinged with the first end of the shank, the second end of the thigh is hinged with the predetermined position of the shank, the predetermined position of the shank is located between the first end of the shank and the second end of the shank and close to the first end of the shank;Linear damper, the head end of the linear damper is hinged to the thigh, and the tail end of the linear damper is hinged to the shank.

[0006] In some embodiments, the linear damper is a hydraulic linear damper;And / or the motor is a planetary reducer motor.

[0007] In some embodiments, the thigh comprises a thigh shell and a thigh base connected to each other, the thigh shell and the thigh base jointly forming an accommodation space for accommodating a transmission rod and a linear damper, the transmission rod and the linear damper being located in the accommodation space at all times.

[0008] In some embodiments, the quadruped robot walking leg further comprises a foot structure connected to the second end of the shank, the foot structure comprising a rubber block, a first hole being formed in the rubber block, and a walking contact surface of the rubber block being a ground contact surface when the quadruped robot touches the ground, the first hole being arranged close to the walking contact surface.

[0009] In some embodiments, the first hole is a plurality of first holes, and the plurality of first holes are uniformly arranged along the walking contact surface.

[0010] In some embodiments, the walking contact surface is composed of a plurality of arc surfaces, and the arc surfaces are arranged one by one corresponding to the first holes.

[0011] In some embodiments, the foot structure further comprises a second hole arranged on the rubber block, the second hole having a larger opening size than the first hole, and the inner side of the second hole being provided with a plurality of rubber support plates, the plurality of rubber support plates being arranged radially, and the rubber support plates being integrally formed with the rubber block.

[0012] In some embodiments, the rubber block is detachably connected to the second end of the shank.

[0013] The utility model also provides a quadruped robot dog, including any described quadruped robot dog walking leg, still include control unit, control unit with motor is connected.

[0014] In some embodiments, the quadruped robot further comprises: a laser radar connected to the control unit; and / or a depth vision device connected to the control unit; and / or an antenna connected to the control unit.

[0015] Compared with the prior art, the quadruped robot walking leg and the quadruped robot dog provided by the utility model have the following beneficial effects:

[0016] 1. The quadrupedal robot dog walking legs and the quadrupedal robot dog provided by the present invention reduce wear on the robot dog's joints by disposing linear dampers between the thigh and calf. These joints specifically refer to the motors driving the thigh and calf. This reduces maintenance frequency, extending the motor's service life and durability, and thereby extending the life of the quadrupedal robot dog. Furthermore, the linear dampers provide more stable extension and compression during the robot dog's walking process, and the linear dampers have maximum and minimum strokes. This not only further improves the robot dog's walking stability but also limits the extreme positions of the calf's movement.

[0017] 2. The quadrupedal robot dog walking legs and quadrupedal robot dog provided by the present invention utilize a foot structure designed to cushion minor impacts through a first, smaller hole. If a larger impact occurs, the first hole provides additional cushioning, while the second hole provides additional cushioning. This allows the foot structure to be made of relatively hard, supportive rubber. This ensures both excellent support and cushioning properties, and is more wear-resistant, extending the life of the foot structure.

[0018] 3. The quadruped robot dog walking legs and quadruped robot dog provided by the present invention can realize functions such as signal interaction, automatic positioning and navigation of the quadruped robot dog by setting a laser radar, a depth vision device and an antenna, and connecting them to a control unit respectively. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The preferred embodiments will be described below in a clear and understandable manner with reference to the accompanying drawings to further illustrate the above-mentioned characteristics, technical features, advantages and implementation methods of the present invention.

[0020] Figure 1 It is a three-dimensional image of a four-legged robot dog;

[0021] Figure 2 It is a side view of the quadruped robot dog;

[0022] Figure 3 This is a schematic diagram of the structure of the quadruped robot dog's walking legs when the lower leg is folded to the smallest state, with the thigh shell hidden;

[0023] Figure 4 This is a schematic diagram of the structure of the quadruped robot dog's walking legs when the calves are folded to the smallest possible position, viewed from the outside.

[0024] Figure 5 This is a schematic diagram of the structure of the quadruped robot dog's walking legs with the lower legs extended to the maximum, with the thigh shell hidden;

[0025] Figure 6This is a schematic diagram of the structure of the walking legs of a quadruped robot dog, viewed from an outside perspective, with the calves stretched to their maximum extent.

[0026] Description of Figure Numbers:

[0027] The quadruped robot dog walking leg 100, motor 110, swing arm 120, transmission rod 130, thigh shell 141, thigh base 142, calf 150, linear damper 160, foot structure 170, rubber block 171, first hole 172, second hole 173, rubber support plate 174, walking contact surface 175, depth vision device 200, laser radar 300, antenna 400. DETAILED DESCRIPTION

[0028] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without inventive work.

[0029] To simplify the drawings, only the parts relevant to the utility model are schematically shown in each figure; they do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically depicted or labeled. In this document, "one" not only means "only one" but also "more than one."

[0030] It should be further understood that the term "and / or" used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

[0031] It should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they can refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of these terms in this utility model based on the specific circumstances.

[0032] In addition, in the description of the present application, the terms "first", "second", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0033] In one embodiment, this embodiment discloses a specific implementation of a quadruped robot dog walking leg 100, such as Figures 1-6 As shown, the device comprises a thigh, a calf 150, a motor 110 disposed at the first end of the thigh, a swing arm 120, a transmission rod 130, and a linear damper 160. The first end of the swing arm 120 is connected to the power output of the motor 110 and rotates synchronously therewith. The first end of the transmission rod 130 is hinged to the second end of the swing arm 120, and the second end of the transmission rod 130 is hinged to the first end of the calf 150. The second end of the thigh is hinged to a predetermined position of the calf 150, which is located between the first and second ends of the calf 150 and near the first end of the calf 150. The head end of the linear damper 160 is hinged to the thigh, and the tail end of the linear damper 160 is hinged to the calf 150. In this embodiment, the motor 110 is a planetary reduction motor, and the linear damper 160 is a hydraulic linear damper. Planetary reduction motors are more stable and quieter during operation, improving the user experience. During use, the planetary reduction motor drives the swing arm 120 to rotate, thereby driving the transmission rod 130 to move, and ultimately driving the calf 150 to rotate, achieving angle adjustment of the calf 150. The linear damping mechanism acts as a buffering and shock-absorbing mechanism to coordinate with the movement of the planetary reduction motor, limiting the rotation angle of the swing arm 120 to a certain range. Even if the rotation angle of the planetary reduction motor deviates to a certain extent, the transmission rod 130 can be smoothly transmitted without bending or breaking, reducing collisions between the transmission rod 130 and the thigh and calf 150, and extending the service life of the transmission rod 130.

[0034] like Figure 3 and Figure 4 As shown in FIG, when the calf 150 is closed to the minimum state, the hydraulic linear damper is compressed to the shortest state. At this time, since the hydraulic linear damper can no longer be compressed, it acts as a limit on the calf 150 and the calf 150 cannot continue to close. Figure 5 and Figure 6 As shown, when calf 150 is stretched to its maximum, the hydraulic linear damper is stretched to its longest position. At this point, since the hydraulic linear damper cannot be stretched any further, it acts as a limiter for calf 150, preventing it from stretching further. In summary, the provision of a hydraulic linear damper eliminates the need for a separate structure to limit the position of calf 150 in the quadruped robot dog, simplifying its structure.

[0035] Furthermore, by installing a linear damper 160 between the thigh and calf 150, wear on the joints of the quadruped robot dog is reduced. Specifically, the joints refer to the motors 110 driving the thigh and calf 150. This reduces maintenance frequency, extending the service life and durability of the motors 110, and thus the life of the quadruped robot dog. Furthermore, because the linear damper 160 is more stable in both compression and extension, it further enhances the stability of the quadruped robot dog during walking.

[0036] In other embodiments, the linear damper 160 may also be an electromagnetic linear damper or a compressed gas linear damper; the motor 110 may also be other types of reduction motors, which will not be described in detail here.

[0037] In one embodiment, when the quadruped robot dog walking leg 100 walks, the connection position of the first end of the swing arm 120 and the power output end of the motor 110, the hinge position of the first end of the transmission rod 130 and the second end of the swing arm 120, the hinge position of the second end of the transmission rod 130 and the first end of the calf 150, and the predetermined position are connected end to end to form a parallelogram, thereby forming a crank-connecting rod mechanism, which is more conducive to the smooth output of driving force.

[0038] In one embodiment, Figures 3-6 As shown, the thigh includes a thigh shell 141 and a thigh base 142 that are interconnected. The thigh shell 141 and thigh base 142 together form a housing space for accommodating the transmission rod 130 and the linear damper 160. The transmission rod 130 and the linear damper 160 are always located within this housing space. By placing the transmission rod 130 and the linear damper 160 within the housing space, the thigh shell 141 and thigh base 142 protect them from external impact.

[0039] In one embodiment, Figure 3 As shown, the quadruped robot dog walking leg 100 further includes a foot structure 170 connected to the second end of the calf 150. Foot structure 170 includes a rubber block 171 with a first hole 172 defined therein. When the quadruped robot dog touches the ground, the contact surface between rubber block 171 and the ground forms a walking contact surface 175, with first hole 172 positioned adjacent to walking contact surface 175. In this embodiment, rubber block 171 is made of thermoplastic polyurethane (TPU), which has high hardness and good support. When foot structure 170 is subjected to a small impact force, first hole 172 deforms to provide cushioning, thereby enabling foot structure 170 to achieve both good support and cushioning properties.

[0040] In other embodiments, the rubber block 171 may also be made of other rubber materials, such as ethylene propylene rubber, butadiene rubber, etc., which will not be described in detail here.

[0041] In one embodiment, Figure 3 As shown, in order to further enhance the cushioning capability of the foot structure 170 , there are a plurality of first holes 172 , and the plurality of first holes 172 are evenly arranged along the walking contact surface 175 .

[0042] In one embodiment, Figure 3 As shown, the walking contact surface 175 is composed of a plurality of arcuate surfaces, and the arcuate surfaces are arranged one-to-one corresponding to the first holes 172. The arcuate surfaces are provided to increase the friction between the foot structure 170 and the ground, thereby achieving the anti-slip function of the foot structure 170.

[0043] In one embodiment, Figure 3 As shown, foot structure 170 further includes second holes 173 disposed on rubber block 171. The second holes 173 are larger than the first holes 172, and a plurality of rubber support plates 174 are disposed within the second holes 173. These rubber support plates 174 are radially arranged and integrally formed with rubber block 171. When foot structure 170 is subjected to a significant impact, first holes 172 deform first to provide cushioning, followed by second holes 173, thereby improving the cushioning performance of foot structure 170.

[0044] In one embodiment, Figure 3 As shown, the rubber block 171 is detachably connected to the second end of the shank 150. Specifically, in this embodiment, the rubber block 171 is detachably connected to the second end of the shank 150 via a bolt assembly. In other embodiments, a snap-fit ​​connection or other methods may also be used, which will not be repeated here.

[0045] In one embodiment, Figures 1-2 As shown, this embodiment discloses a specific implementation of a quadruped robot dog, which includes the quadruped robot dog walking leg 100 described in any of the aforementioned embodiments, and also includes a control unit, which is connected to the motor 110 to control the rotation angle and speed of the motor 110, thereby realizing the control of the calf 150 of the quadruped robot dog.

[0046] In one embodiment, Figures 1-2 As shown, the quadruped robot dog also includes a laser radar 300, a depth vision device 200 and an antenna 400. The laser radar 300, the depth vision device 200 and the antenna 400 are all connected to the control unit, so that the quadruped robot dog can have automatic positioning and navigation functions, and then signal interaction can be achieved through the antenna 400.

Claims

1. A quadruped robot dog walking leg, comprising a thigh and a calf, characterized in that: Also includes: a motor disposed at a first end of the thigh; A swing arm, a first end of the swing arm is connected to the power output end of the motor and rotates synchronously; a transmission rod, wherein a first end of the transmission rod is hingedly connected to the second end of the swing arm, the second end of the transmission rod is hingedly connected to the first end of the calf, the second end of the thigh is hingedly connected to a predetermined position of the calf, and the predetermined position of the calf is located between the first end of the calf and the second end of the calf and close to the first end of the calf; A linear damper, wherein the head end of the linear damper is hinged to the thigh, and the tail end of the linear damper is hinged to the calf.

2. The quadruped robot dog walking leg according to claim 1, characterized in that: The linear damper is a hydraulic linear damper; and / or; The motor is a planetary reduction motor.

3. The quadruped robot dog walking leg according to claim 1, characterized in that: The thigh includes a thigh shell and a thigh base that are connected to each other. The thigh shell and the thigh base together form a receiving space for accommodating a transmission rod and a linear damper. The transmission rod and the linear damper are always located in the receiving space.

4. The quadruped robot dog walking leg according to claim 1, characterized in that: It also includes a foot structure connected to the second end of the calf, the foot structure includes a rubber block, and a first hole is opened on the rubber block. When the four-legged robot dog touches the ground, the contact surface between the rubber block and the ground is a walking contact surface, and the first hole is arranged close to the walking contact surface.

5. The quadruped robot dog walking leg according to claim 4, characterized in that: There are a plurality of the first holes, and the plurality of the first holes are evenly arranged along the walking contact surface.

6. The quadruped robot dog walking leg according to claim 5, characterized in that: The walking contact surface is composed of a plurality of arc-shaped surfaces, and the arc-shaped surfaces are arranged in a one-to-one correspondence with the first holes.

7. The quadruped robot dog walking leg according to claim 6, characterized in that: The foot structure also includes a second hole arranged on the rubber block. The opening size of the second hole is larger than the first hole, and a plurality of rubber support plates are provided on the inner side of the second hole. The plurality of rubber support plates are arranged radially, and the rubber support plates are integrally formed with the rubber block.

8. The quadruped robot dog walking leg according to claim 4, characterized in that: The rubber block is detachably connected to the second end of the calf.

9. A quadruped robot dog comprising the quadruped robot dog walking legs according to any one of claims 1 to 8, characterized in that: The device further comprises a control unit connected to the motor.

10. The quadruped robot dog according to claim 9, characterized in that: Also includes: a laser radar, the laser radar being connected to the control unit; and / or; a depth vision device, the depth vision device being connected to the control unit; and / or; An antenna is connected to the control unit.

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