Leg component of bionic robot

Abstract

The utility model discloses a leg component of a bionic robot, which belongs to the technical field of bionic robots and is mainly used for walking of the bionic robot. The bionic robot leg component comprises a frame body, a rotating device, a first limb, a second limb and a telescopic mechanism, a supporting leg mechanism is arranged at the bottom of the second limb and comprises a base fixedly connected with the bottom of the second limb, a supporting plate is arranged on the side, away from the second limb, of the base, and the supporting plate is fixedly connected with the bottom of the second limb. The two supporting plates are oppositely arranged on the two sides of the base and extend in the direction away from the second limb, and supporting legs are detachably connected between the two supporting plates; according to the component, the two oppositely-arranged supporting plates are designed on the base, and the supporting legs are detachably arranged between the two supporting plates, so that the supporting legs of different materials, shapes or sizes can be replaced according to the use environment of the bionic robot, namely the actual requirement, so as to adapt to different terrains and work requirements, and the application range of the bionic robot is expanded.

Description

Technical Field

[0001] This utility model relates to the field of bionic robot technology, and in particular to a bionic robot leg component. Background Technology

[0002] Bionic robots are robots that mimic the shape, structure, or function of living organisms to perform tasks. They mainly achieve autonomous control or complete specific tasks by imitating the structure, function, and behavior of living organisms in nature and utilizing modern technologies such as mechatronics, microprocessors, sensors, and control technology. Their walking is mainly achieved by the bionic robot leg components set below them.

[0003] For example, patent number CN219172551U, "A Bionic Robot Leg Structure," includes a frame and a rotating shaft. A rotating rod is rotatably connected to the lower end of the inner side of the frame. A first limb is fixedly connected to the middle end of the outer surface of the rotating rod. A toothed groove is formed on the right side of the outer surface of the rotating rod. A drive motor is fixedly installed at the lower end of the right side of the frame. In use, the drive motor drives a drive gear to rotate, which in turn drives the rotating rod to rotate and adjust via the toothed groove. The rotating rod then drives the first limb to rotate and adjust, and the first limb, through the rotating shaft, drives the second limb to rotate and adjust, and the second limb then drives the second limb to rotate and adjust. The support feet are directly located at the bottom of the second limb, and the angle between the first and second limbs is adjusted by the extension and retraction of cylinders to achieve the walking function. However, when walking on different types of road surfaces, different types of support feet are required to ensure the stable walking of the bionic robot. For example, soft muddy ground requires support feet with a large contact area and good grip, while slippery surfaces require support frames with anti-slip function. However, the support frames are directly located at the bottom of the second limb, and the support feet cannot be replaced according to the actual road conditions, which limits the applicability of this bionic robot. Utility Model Content

[0004] The technical problem to be solved by this utility model is to provide a leg component for a bionic robot, mainly used for walking, so as to achieve detachable supporting feet for replacement according to road conditions, thereby making the bionic robot more widely applicable.

[0005] This utility model discloses a biomimetic robot leg component, including a frame. A rotating device is arranged inside the frame. A first limb with one end located inside the frame is mounted on the rotating device. A second limb is rotatably connected to the bottom of the first limb. A supporting foot mechanism is provided at the bottom of the second limb. A telescopic mechanism is movably connected to the rear side of the first limb. The other end of the telescopic mechanism is movably connected to the rear side of the second limb. The supporting foot mechanism includes a base fixedly connected to the bottom of the second limb. A support plate is provided on the side of the base away from the second limb. Two support plates are arranged opposite to each other on both sides of the base and extend away from the second limb. A supporting foot is detachably connected between the two support plates.

[0006] Furthermore, each of the support plates is provided with a connecting rod for connecting to the support foot, and both sides of the support foot are provided with circular holes for the connecting rod to pass through; the end of the connecting rod connected to the support foot is provided with a protrusion, and the circumference of the circular hole is provided with a first sliding groove for the protrusion to pass through, and the end of the circular hole located inside the support foot is also provided with a second sliding groove adapted to the protrusion, the second sliding groove being arc-shaped and one end communicating with the first sliding groove; the protrusion is movably connected in the first sliding groove and the second sliding groove.

[0007] As a preferred embodiment, each of the connecting rods is fitted with a limiting spring, which is disposed between the support plate and the support foot.

[0008] As a preferred embodiment, the connecting rod has a rotating disk at one end located on the outside of the support plate.

[0009] Furthermore, a non-slip base plate adapted to the support foot is detachably provided below the support foot.

[0010] As a preferred embodiment, the anti-slip base plate is provided with vertical insertion rods at each of the four corners, and the support feet are provided with slots corresponding to the insertion rods one by one, and the insertion rods are inserted into the slots.

[0011] Furthermore, it also includes a lighting lamp. The rotating device includes a first rotating rod, a second rotating rod, and a drive motor. The drive motor is fixedly installed on the outer wall of the frame. One end of the first rotating rod passes through the frame and is fixedly installed with the output end of the drive motor. The second rotating rod is rotatably disposed inside the frame and located below the first rotating rod. The first limb is rotatably connected to the outer wall of the second rotating rod. A transmission gear is provided at the end of the first rotating rod near the drive motor, located inside the frame. A driven gear meshing with the transmission gear is provided on the second rotating rod. The end of the first rotating rod away from the drive motor passes through the frame and extends outward. A first transmission wheel is provided at the extended end of the first rotating rod. A third rotating rod is provided below the extended end of the first rotating rod. One end of the third rotating rod is rotatably connected to the outer wall of the frame through a bearing. A lighting lamp is fixedly installed at the other end of the third rotating rod. A second transmission wheel is fixedly sleeved on the third rotating rod. A transmission belt is sleeved on the first transmission wheel and the second transmission wheel.

[0012] The beneficial effects of this utility model are as follows: By designing two opposing support plates on the base and detachably mounting the support feet between the two support plates, the support feet of different materials, shapes, or sizes can be replaced according to the actual needs of the bionic robot's operating environment to adapt to different terrains and work requirements, thus broadening the applicability of the bionic robot and making replacement convenient; when the support feet are damaged or worn, it is not necessary to replace the entire leg component, only the damaged support foot needs to be replaced, reducing maintenance costs; and by replacing support feet of different heights, the height of the bionic robot's legs can be adjusted, thereby changing its walking or standing posture to meet different needs. Attached Figure Description

[0013] Figure 1 : A three-dimensional structural schematic diagram of this utility model;

[0014] Figure 2 : A three-dimensional front view of this utility model;

[0015] Figure 3 : A schematic diagram of the support leg mechanism of this utility model;

[0016] Figure 4 : A schematic diagram of the cross-sectional structure of the support foot of this utility model;

[0017] Figure 5 : Schematic diagram of the connection structure between the support foot and the protective base plate of this utility model;

[0018] Figure 6 : A schematic diagram of the rotating device structure of this utility model;

[0019] In the diagram: 1-Frame; 11-Fixed base; 12-Slot; 13-Fixed hole; 2-Rotating device; 201-Drive motor; 202-First rotating rod; 203-First transmission wheel; 204-Transmission belt; 205-Second transmission wheel; 206-Third rotating rod; 207-Lighting lamp; 208-Transmission gear; 209-Driven gear; 210-Second rotating rod; 3-First limb; 4-Second limb; 5-Supporting foot mechanism; 501-Base; 5011-Support plate; 502-Connecting rod; 503-Rotating disk; 504-Limiting spring; 505-Protrusion; 506-Supporting foot; 507-Round hole; 508-First sliding groove; 509-Second sliding groove; 510-Anti-slip base plate; 511-Slot; 512-Insertion rod; 6-Telescopic mechanism. Detailed Implementation

[0020] The present invention will be further described below.

[0021] This utility model provides a bionic robot leg component, mainly used for bionic robot walking. It includes a frame 1, inside which a rotating device 2 is provided. A first limb 3 with one end located inside the frame 1 is provided on the rotating device 2. A second limb 4 is rotatably connected to the bottom of the first limb 3. A support foot mechanism 5 is provided at the bottom of the second limb 4. A telescopic mechanism 6 is movably connected to the rear side of the first limb 3. The other end of the telescopic mechanism 6 is movably connected to the rear side of the second limb 4. The support foot mechanism 5 includes a base 501 fixedly connected to the bottom of the second limb 4. A support plate 5011 is provided on the side of the base 501 away from the second limb 4. Two support plates 5011 are arranged opposite to each other on both sides of the base 501 and extend in a direction away from the second limb 4. A support foot 506 is detachably connected between the two support plates 5011.

[0022] like Figure 1 , Figure 2As shown, the bionic robot's leg component includes a frame 1, within which a rotating device 2 is provided. This rotating device 2 can employ a drive motor, active gear, toothed groove, and rotating rod as described in CN219172551U, "A Bionic Robot Leg Structure." A first limb 3, with one end located within the frame 1, is mounted on the rotating device 2. A second limb 4 is rotatably connected to the end of the first limb 3 furthest from the frame 1. A telescopic mechanism 6 is movably connected to the rear side of the first limb 3, with the other end of the telescopic mechanism 6 movably connected to the rear side of the second limb 4. The telescopic mechanism 6 supports the first limb 3 and the second limb 4, and adjusts the distance between them, thereby enabling rotation between the second limb 4 and the first limb 3. This telescopic mechanism 6 can employ existing electric telescopic rods, cylinders, or hydraulic cylinders. A support foot mechanism 5 is provided at the end of the second limb 4 furthest from the first limb 3. This support foot mechanism 5 includes a base 501 fixedly connected to the second limb 4. A support foot mechanism 5 is provided on the side of the base 501 furthest from the second limb 4. Support plates 5011 are arranged opposite each other on both sides of the base 501 and extend away from the second limb 4. Support feet 506 are detachably connected between the two support plates 5011. Specifically, the support feet 506 and the support plates 5011 can be connected by bolts, plugs, or sliding connections with a limiting mechanism. By designing two oppositely arranged support plates 5011 on the base 501 and detachably setting the support feet 506 between the two support plates 5011, the support feet 506 of different materials, shapes, or sizes can be replaced according to the actual needs of the bionic robot's use environment to adapt to different terrains and work requirements, thus broadening the applicability of the bionic robot and making replacement convenient. When the support feet 506 are damaged or worn, it is not necessary to replace the entire leg component; only the damaged support feet 506 need to be replaced, reducing maintenance costs. Furthermore, by replacing support feet 506 of different heights, the leg height of the bionic robot can be adjusted, thereby changing its walking or standing posture to meet different needs.

[0023] like Figure 2 As shown, a fixing seat 11 is fixedly installed on the top of the frame 1. A slot 12 is fixedly opened inside the fixing seat 11. Fixing holes 13 are fixedly opened on the left and right sides of the fixing seat 11. The fixing seat 11 is fixedly connected to the top of the frame 1. The slot 12 is fixedly opened inside the fixing seat 11. The fixing holes 13 are fixedly opened on the sides of the fixing seat 11. The fixing seat 11 is engaged in the designated position by the slot 12. Fasteners are installed in the fixing holes 13 to install the leg component of the bionic robot on the leg of the bionic robot.

[0024] As a preferred method, to facilitate the disassembly and installation of the support leg 506 and the support plate 5011, and to achieve quick assembly and disassembly, such as... Figures 2-4As shown, each of the support plates 5011 is provided with a connecting rod 502 for connecting to the support foot 506. Both sides of the support foot 506 have circular holes 507 for the connecting rod 502 to pass through. One end of the connecting rod 502 connected to the support foot 506 has a protrusion 505. A first groove 508 is provided circumferentially around the circular hole 507 for the protrusion 505 to pass through. The end of the circular hole 507 located inside the support foot 506 also has a second groove 509 adapted to a slider. The second groove 509 is arc-shaped and one end is connected to the first groove 508. The protrusion 505 is movably connected within the first groove 508 and the second groove 509. Figure 3 As shown, the support plate 5011 and the support leg 506 are connected by a plug-in joint. To ensure the stability of the connection between the support plate 5011 and the support leg 506, each support plate 5011 is provided with a connecting rod 502 for connecting to the support leg 506. The support plate 5011 has through holes for the connecting rod 502 and the protrusion 505 on the connecting rod 502 to pass through. The support leg 506 has round holes 507 on both its left and right sides for the connecting rod 502 to pass through. The end of the connecting rod 502 connected to the support leg 506 has a protrusion 505, which can... Two protrusions 505 are symmetrically arranged on the connecting rod 502. To facilitate the smooth insertion of the protrusions 505 into the support foot 506 along with the connecting rod 502, a first groove 508 is provided circumferentially in the circular hole 507 for the protrusions 505 to pass through. The number and position of the first grooves 508 are adapted to the number and position of the protrusions 505. The connecting rod 502 passes through the support plate 5011 and then through the circular hole 507 into the support foot 506. The protrusions 505 located at the end of the connecting rod 502 pass through the first grooves 508 and enter the support foot 506 together with the connecting rod 502. To avoid overuse During the process, the connecting rod 502 slides out from inside the support foot 506, causing instability in the connection between the support foot 506 and the support plate 5011. The end of the circular hole 507 located inside the support foot 506 is also provided with a second sliding groove 509 adapted to the protrusion 505. This second sliding groove 509 is arc-shaped and one end is connected to the first sliding groove 508. After the connecting rod 502 enters the support foot 506, rotating the connecting rod 502 causes the protrusion 505 to slide along the second sliding groove 509, thereby causing the position of the protrusion 505 to be misaligned from the first sliding groove 508. This is achieved through the connecting rod 502 and the protrusion 5011. The first slide groove 508 and the second slide groove 509 work together to fix the support foot 506 between the two support plates 5011. When the support foot 506 needs to be replaced, rotate the connecting rod 502 so that the protrusion 505 slides along the second slide groove 509 into the first slide groove 508, and then pull the connecting rod 502 outward. This not only realizes the detachable connection between the support foot 506 and the support plate 5011, but also ensures the connection stability between the support foot 506 and the support plate 5011, preventing the support foot 506 from detaching from the support plates 5011 during the walking process of the bionic robot.

[0025] To further secure the support leg 506 and limit its lateral displacement between the two support plates 5011, thus preventing the support leg 506 from swaying left and right during use, such as... Figure 3 As shown, each of the connecting rods 502 is fitted with a limiting spring 504. One end of the limiting spring 504 is connected to the inner wall of the support plate 5011, and the other end is connected to the support foot 506. By fitting the limiting spring 504 on the connecting rod 502, when the support foot 506 is installed between the two support plates 5011 via the connecting rod 502, the support foot 506 will compress the limiting spring 504 fitted on the connecting rod 502. This achieves the purpose of fixing the position of the support foot 506 within the support plate 5011 using the limiting spring 504, limiting the left and right displacement of the support foot 506 between the two support plates 5011. Furthermore, by fixing the support foot 506 with the limiting spring 504, it is possible to accommodate support feet 506 of different sizes and fix support feet 506 of different sizes.

[0026] To facilitate the rotation of connecting rod 502, such as Figure 3 As shown, the connecting rod 502 is provided with a rotating disk 503 at one end located on the outside of the support plate 5011. By setting the rotating disk 503, the operator does not need to twist the connecting rod 502 with a small diameter, making it easy for the operator to rotate the connecting rod 502, thereby driving the rotation of the protrusion 505, so as to achieve the purpose of quickly installing and removing the support foot 506 within the two support plates 5011.

[0027] To further ensure the anti-slip performance of the bionic robot's leg components during use, and to broaden its applicability, especially on smooth surfaces, such as... Figure 4 As shown, a detachable anti-slip base plate 510 adapted to the support foot 506 is detachably provided below the support foot 506; the connection between the anti-slip base plate 510 and the support foot 506 can be a bolt connection or a sliding connection using sliders, grooves, and limiting components; by providing a detachable anti-slip base plate 510 at the bottom of the support foot 506, the leg components of this bionic robot can use different anti-slip base plates 510 on different terrains, expanding its application range while reducing the frequency of replacing the support foot 506 and improving ease of use. Specifically, to facilitate the disassembly and assembly of the anti-slip base plate 510 and the bottom of the support foot 506, such as... Figure 4 As shown, the anti-slip base plate 510 is provided with vertical insertion rods 512 at each of its four corners, and the support foot 506 is provided with a slot 511 below it that corresponds to each insertion rod 512. The insertion rods 512 are inserted into the slots 511. By setting the insertion rods 512 and the slots 511, the anti-slip base plate 510 can be quickly installed and removed.

[0028] When the environment is dark, the bionic robot cannot properly identify the path it is traveling on. To adapt to this situation, such as... Figure 2 、 Figure 6As shown, it also includes a lighting lamp 207. The rotating device 2 includes a first rotating rod 202, a second rotating rod 210, and a drive motor 201. The drive motor 201 is fixedly installed on the outer wall of the frame 1. One end of the first rotating rod 202 passes through the frame 1 and is fixedly installed with the output end of the drive motor 201. The second rotating rod 210 is rotatably disposed inside the frame 1 and located below the first rotating rod 202. The first limb 3 is rotatably connected to the outer wall of the second rotating rod 210. The end of the first rotating rod 202 near the drive motor 201 is located on the frame 1. The inner transmission gear 208, the second rotating rod 210 is provided with a driven gear 209 that meshes with the transmission gear 208, the end of the first rotating rod 202 away from the drive motor 201 passes through the frame 1 and extends outward, the extended end of the first rotating rod 202 is provided with a first transmission wheel 203, the lower end of the extended end of the first rotating rod 202 is provided with a third rotating rod 206, one end of the third rotating rod 206 is rotatably connected to the outer wall of the frame 1 through a bearing, the other end of the third rotating rod 206 is fixedly provided with a lighting lamp 207, and a fixed sleeve is provided on the third rotating rod 206. A second transmission wheel 205 is provided, and a transmission belt 204 is fitted onto the first transmission wheel 203 and the second transmission wheel 205. A drive motor 201 is fixedly mounted on the outer wall of the frame 1. A first rotating rod 202 passes through the frame 1 and is fixedly connected to the output end of the drive motor 201, and is rotatably disposed within the frame 1. The end of the first rotating rod 202 away from the drive motor 201 passes through the frame 1 and is fixedly fitted with the first transmission wheel 203. The end of the first rotating rod 202 near the drive motor 201 is fixedly provided with a transmission gear 208 located within the frame 1. When the first rotating rod 202... When driven by the drive motor 201, the first transmission wheel 203 and the transmission gear 208 rotate together with the first rotating rod 202. The frame 1 is also provided with a second rotating rod 210. The second rotating rod 210 is rotatably mounted in the frame 1 through a bearing, and the second rotating rod 210 is provided with a driven gear 209 that meshes with the transmission gear 208. That is, when the first rotating rod 202 rotates, the second rotating rod 210 rotates synchronously through the drive of the driven gear 209, and the first limb 3 is rotatably mounted on the outer wall of the second rotating rod 210, thereby driving the rotation of the first limb 3.A third rotating rod 206 is provided below the extended end of the first rotating rod 202. One end of the third rotating rod 206 is rotatably connected to the outer wall of the frame 1 via a bearing. A second transmission wheel 205 is fixedly sleeved on the third rotating rod 206. A transmission belt 204 is sleeved between the second transmission wheel 205 and the first transmission wheel 203. The transmission belt 204 drives the second transmission wheel 205 to rotate, thereby causing the third rotating rod 206 to rotate together with the first rotating rod 202. The lighting lamp 207 is fixedly installed at the end of the third rotating rod 206 and can rotate with it, thereby adjusting the angle of the lighting lamp 207. 7. This allows the robot to be illuminated during use. By adjusting the angle of the lighting lamp 207, the illumination range is increased, enabling the robot to adapt to dark environments and expanding its adaptability. Simultaneously, the rotation of the first rotating rod 202 drives the transmission gear 208 to rotate. The transmission gear 208 meshes with the driven gear 209, which in turn drives the driven gear 209 to rotate. The driven gear 209 then drives the second rotating rod 210 to rotate, which in turn drives the first limb 3 to rotate. The first limb 3 and the second limb 4 are then rotatably connected, thereby controlling the bionic robot to walk.

Claims

1. A biomimetic robot leg component, comprising a frame (1), wherein a rotating device (2) is disposed inside the frame (1), a first limb (3) is disposed on the rotating device (2) with one end located inside the frame (1), a second limb (4) is rotatably connected to the bottom of the first limb (3), a supporting foot mechanism (5) is disposed at the bottom of the second limb (4), a telescopic mechanism (6) is movably connected to the rear side of the first limb (3), and the other end of the telescopic mechanism (6) is movably connected to the rear side of the second limb (4); characterized in that: The support foot mechanism (5) includes a base (501) fixedly connected to the bottom of the second limb (4). The base (501) has a support plate (5011) on the side away from the second limb (4). The two support plates (5011) are arranged opposite to each other on both sides of the base (501) and extend in a direction away from the second limb (4). A support foot (506) is detachably connected between the two support plates (5011).

2. The bionic robot leg component as described in claim 1, characterized in that: Each of the support plates (5011) is provided with a connecting rod (502) for connecting to the support foot (506). Both sides of the support foot (506) are provided with round holes (507) for the connecting rod (502) to pass through. One end of the connecting rod (502) connected to the support foot (506) is provided with a protrusion (505). The circumference of the round hole (507) is provided with a first groove (508) for the protrusion (505) to pass through. One end of the round hole (507) located inside the support foot (506) is also provided with a second groove (509) adapted to the protrusion (505). The second groove (509) is arc-shaped and one end is connected to the first groove (508). The protrusion (505) is movably connected in the first groove (508) and the second groove (509).

3. The bionic robot leg component as described in claim 2, characterized in that: Each of the connecting rods (502) is fitted with a limiting spring (504), one end of which is connected to the inner wall of the support plate (5011) and the other end is connected to the support foot (506).

4. The bionic robot leg component as described in claim 2, characterized in that: The connecting rod (502) is provided with a rotating disk (503) at one end located outside the support plate (5011).

5. The bionic robot leg component as described in claim 1, characterized in that: A non-slip base plate (510) adapted to the support foot (506) is detachably provided below the support foot (506).

6. The bionic robot leg component as described in claim 5, characterized in that: The anti-slip base plate (510) has vertically inserted rods (512) at each of its four corners. The support foot (506) has a slot (511) below it that corresponds to each of the inserted rods (512). The inserted rods (512) are inserted into the slots (511).

7. A biomimetic robot leg component as described in any one of claims 1-6, characterized in that: It also includes a lighting lamp (207). The rotating device (2) includes a first rotating rod (202), a second rotating rod (210), and a drive motor (201). The drive motor (201) is fixedly installed on the outer wall of the frame (1). One end of the first rotating rod (202) passes through the frame (1) and is fixedly installed with the output end of the drive motor (201). The second rotating rod (210) is rotatably disposed inside the frame (1) and located below the first rotating rod (202). The first limb (3) is rotatably connected to the outer wall of the second rotating rod (210). The first rotating rod (202) has a transmission gear (208) located inside the frame (1) at one end near the drive motor (201). The second rotating rod (210) has a... There is a driven gear (209) that meshes with the transmission gear (208); the end of the first rotating rod (202) away from the drive motor (201) passes through the frame (1) and extends outward. The extended end of the first rotating rod (202) is provided with a first transmission wheel (203). Below the extended end of the first rotating rod (202) is a third rotating rod (206). One end of the third rotating rod (206) is rotatably connected to the outer wall of the frame (1) through a bearing. The other end of the third rotating rod (206) is fixedly provided with a lighting lamp (207). A second transmission wheel (205) is fixedly sleeved on the third rotating rod (206). A transmission belt (204) is sleeved on the first transmission wheel (203) and the second transmission wheel (205).

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