Robot dog leg structure based on joint module

Abstract

The utility model discloses a robot dog leg structure based on a joint module. The robot dog leg structure comprises a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a shank structure and a transmission shaft. The knee joint module and the hip joint module are arranged on the frame side by side, the output end of the knee joint module and the input end of the hip joint module are matched to be located on the same side, and the hip joint module and the knee joint module are both gear motors, so that the gear motors replace an existing motor acceleration and deceleration machine direct connection driving mode; the overall structure is simpler and is more compact in cooperation with the side-by-side arrangement mode, meanwhile, the transverse distance between the knee joint module and the hip joint module is closer, the space compactness is guaranteed, and meanwhile the transmission process is more stable due to the fact that the load ends of the knee joint module and the hip joint module are arranged in a separated mode.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field technology of machine dog, especially point to a kind of machine dog leg structure based on joint module. BACKGROUND

[0002] Quadruped Robot, is a kind of robot, because its appearance bionics pet dog is also called machine dog. Quadruped Robot is becoming the hot field of current countries with the advantages of more acceptable appearance, universal land movement. Quadruped Robot has been widely used in industry, rescue and other fields, helps various industries to improve production efficiency, replace dangerous operation. In the field of science and technology, the capabilities of quadruped robot are being developed.

[0003] The existing quadruped robot adopts the direct connection mode of motor plus speed reducer for joint transmission. This driving mode not only has a more complex structure, but also occupies a larger space. It cannot meet the technical requirements of compactness and lightness, and the overall weight of the machine dog is also larger, which cannot meet the production demand of light weight. Therefore, it is necessary to further improve the existing machine dog leg structure. UTILITY MODEL CONTENT

[0004] Therefore, the utility model provides a kind of machine dog leg structure based on joint module, which can effectively solve the problems of large space occupation, inability to meet the technical requirements of compactness and lightness and production demand of light weight of the existing machine dog leg structure.

[0005] To achieve the above-mentioned purpose, the utility model adopts the following technical scheme:

[0006] A machine dog leg structure based on joint module, comprising a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a calf structure and a transmission shaft. The shoulder joint module is arranged on the external machine dog body. The frame is arranged at the output end of the shoulder joint module and is driven by the shoulder joint module to rotate back and forth. The knee joint module and the hip joint module are arranged side by side on the frame and rotate back and forth with the frame. The output end of the knee joint module and the input end of the hip joint module are located on the same side. The hip joint module and the knee joint module are both speed reducing motors. One end of the thigh structure is arranged beside the output end of the hip joint module and is driven by the hip joint module to rotate back and forth. One end of the calf structure is arranged at the other end of the thigh structure and is arranged to rotate back and forth around the other end of the thigh structure. One end of the transmission shaft is arranged beside the output end of the knee joint module and is driven by the knee joint module to rotate back and forth. The other end of the transmission shaft extends beside the hip joint module and drives the calf structure to rotate back and forth.

[0007] As a preferred scheme, the frame comprises a mounting plate, support plates and support rods; the mounting plate is arranged on the output end of the shoulder joint module and is driven by the shoulder joint module to rotate back and forth; the support plates are arranged in two, and the two support plates are arranged in parallel on the mounting plate; the two ends of the knee joint module and the hip joint module are arranged on the corresponding two support plates respectively; and the support rods are arranged in multiple, and the multiple support rods are arranged in parallel between the two support plates.

[0008] As a preferred scheme, a through groove is arranged in the hip joint module, the transmission shaft is arranged in the through groove, and the two ends of the transmission shaft extend out of the through groove respectively, the input end of the transmission shaft extends out of the side of the input end of the hip joint module, and the output end of the transmission shaft extends out of the side of the output end of the hip joint module.

[0009] As a preferred scheme, the output end of the knee joint module is provided with a transmission member, the transmission member is driven by the knee joint module to rotate back and forth, the output end of the transmission shaft is provided with a driven member, and the driven member is located on the outside of the input end of the hip joint module and is driven by the transmission member to rotate back and forth.

[0010] As a preferred scheme, the driven member and the transmission member are connected through first transmission rods, the first transmission rods are arranged in two in an up-down mode, and the two ends of each first transmission rod are hingedly connected with the corresponding driven member and transmission member respectively.

[0011] As a preferred scheme, the lower leg structure is provided with a second transmission rod and a third transmission rod, one end of the second transmission rod is connected with the output end of the transmission shaft and is driven by the transmission shaft to rotate back and forth, one end of the third transmission rod is hingedly connected with the free end of the second transmission rod, and the other end of the third transmission rod is hingedly connected with the lower leg structure.

[0012] As a preferred scheme, a protective cover is arranged on the outside of the upper leg structure, and the second transmission rod and the third transmission rod are covered by the protective cover.

[0013] As a preferred scheme, one end of the lower leg structure away from the upper leg structure is provided with a detachable foot end structure.

[0014] As a preferred scheme, the foot end structure is a rubber-encased wheel, a small-sized wheel or an electrically-driven roller-type foot end.

[0015] As a preferred scheme, the shoulder joint module is a speed-reducing motor.

[0016] Compared with the prior art, the utility model has obvious advantages and beneficial effects, specifically speaking, it can be known from the above technical scheme that:

[0017] The knee joint module and the hip joint module are arranged side by side on the frame and rotate back and forth with the frame, and the output end of the knee joint module and the input end of the hip joint module are located on the same side, the knee joint module and the hip joint module are both reduction motors, so that the driving mode of the reduction motor is used to replace the existing motor and speed reducer direct connection driving mode, the overall structure is more simple, the side-by-side arrangement mode makes the overall structure more compact, and since the diameter of the output end of the reduction motor is larger than the diameter of the input end, the output end of the knee joint module and the input end of the hip joint module are located on the same side, so that the transverse distance between the knee joint module and the hip joint module is closer, and the compactness of the space is ensured, and the separated arrangement of the load ends of the knee joint module and the hip joint module can make the transmission process more stable.

[0018] In order to more clearly set forth the structural features and functions of the present application, the present application will be described in detail below in conjunction with the drawings and specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0019] Fig. 1 is a perspective structural schematic view of a preferred embodiment of the present application;

[0020] Fig. 2 is a perspective structural schematic view of another angle of a preferred embodiment of the present application;

[0021] Fig. 3 is a cross-sectional schematic view of a preferred embodiment of the present application;

[0022] Fig. 4 is a partial assembly schematic view of a preferred embodiment of the present application.

[0023] BRIEF DESCRIPTION OF DRAWINGS

[0024] 10, shoulder joint module 20, frame

[0025] 21, mounting plate 22, support plate

[0026] 23, support rod 30, knee joint module

[0027] 31, transmission member 40, hip joint module

[0028] 401, through slot 50, thigh structure

[0029] 51, protective cover 60, calf structure

[0030] 61, second transmission rod 62, third transmission rod

[0031] 63, foot end structure 70, transmission shaft

[0032] 71, driven member 72, first transmission rod. DETAILED DESCRIPTION

[0033] Please refer to Figs. 1 to 4 The specific structure of the preferred embodiment of the utility model is shown in the figure, which includes shoulder joint module 10, frame 20, knee joint module 30, hip joint module 40, thigh structure 50, calf structure 60 and transmission shaft 70.

[0034] The shoulder joint module 10 is arranged on the external robot dog body; in the embodiment, the shoulder joint module 10 is a reduction motor.

[0035] The frame 20 is arranged on the output end of the shoulder joint module 10 and is driven by the shoulder joint module 10 to rotate back and forth; in the embodiment, the frame 20 includes mounting plate 21, support plate 22 and support rod 23; the mounting plate 21 is arranged on the output end of the shoulder joint module 10 and is driven by the shoulder joint module 10 to rotate back and forth; the support plate 22 is arranged in two, and the two support plates 22 are arranged in parallel on the mounting plate 21; the support rod 23 is arranged in multiple, and the multiple support rods 23 are arranged in parallel between the two support plates 22. The support rod 23 is used to enhance the overall structural strength of the frame 20.

[0036] The knee joint module 30 and the hip joint module 40 are arranged side by side on the frame 20 and rotate back and forth with the frame 20, and the output end of the knee joint module 30 and the input end of the hip joint module 40 are located on the same side, and the knee joint module 30 and the hip joint module 40 are both reduction motors. Since the size of the output end of the reduction motor is larger than that of the input end, the opposite arrangement structure of the output ends of the knee joint module 30 and the hip joint module 40 can ensure that the spacing between the knee joint module 30 and the hip joint module 40 is smaller, ensuring the compactness of the space; at the same time, the opposite arrangement of the output ends of the knee joint module 30 and the hip joint module 40 makes the loads of the two located on different sides, and the transmission process will also be more stable. In the embodiment, the two ends of the knee joint module 30 and the hip joint module 40 are arranged on the corresponding two support plates 22 respectively. A through groove 401 is arranged in the hip joint module 40. The output end of the knee joint module 30 is provided with a transmission piece 31, which is driven by the knee joint module 30 to rotate back and forth.

[0037] One end of the thigh structure 50 is arranged beside the output end side of the hip joint module 40 and is driven by the hip joint module 40 to rotate back and forth. In the embodiment, a protective cover 51 is arranged on the outside of the thigh structure 50.

[0038] One end of the shank structure 60 is arranged at the other end of the thigh structure 50 and is rotatably arranged around the other end of the thigh structure 50. In the embodiment, the shank structure 60 is provided with a second transmission rod 61 and a third transmission rod 62. The second transmission rod 61 and the third transmission rod 62 are covered by the protective cover 51, and the protective cover 51 protects the second transmission rod 61 and the third transmission rod 62 from being damaged by external forces. The other end of the shank structure 60 away from the thigh structure 50 is provided with a detachable foot end structure 63, so that different foot ends can be selected for different use scenarios; the foot end structure 63 is a rubber-coated wheel, a small wheel, or an electrically driven roller-type foot end, and can also be other foot end structures that meet the conditions, without limitation.

[0039] One end of the transmission shaft 70 is arranged beside the output end side of the knee joint module 30 and is driven to rotate by the knee joint module 30, and the other end of the transmission shaft 70 extends out of the side of the hip joint module 40 and drives the shank structure 60 to rotate. During transmission, the thigh structure 50 is driven to rotate by the hip joint module 40, and the shank structure 60 is driven to rotate around the free end of the thigh structure 50 by the cooperation of the knee joint module 30 and the transmission shaft 70. In the embodiment, the transmission shaft 70 is arranged in the through slot 401, and the two ends of the transmission shaft 70 extend out of the through slot 401, respectively. The input end of the transmission shaft 70 extends out of the input end side of the hip joint module 40, and the output end of the transmission shaft 70 extends out of the output end side of the hip joint module 40. The hollow hip joint module 40 can hide the transmission shaft 70 inside the hip joint module 40, avoiding the transmission shaft 70 from occupying additional space, and further ensuring the compactness of the space.

[0040] The output end of the transmission shaft 70 is provided with a driven part 71, which is located outside the input end of the hip joint module 40 and is driven to rotate by the transmission part 31. The driven part 71 and the transmission part 31 are connected by a first transmission rod 72, and the driven part 71 is driven to rotate by the transmission part 31 through the first transmission rod 72. The first transmission rod 72 is arranged in an up-down manner, and each first transmission rod 72 is hingedly connected between the corresponding driven part 71 and the transmission part 31. The two first transmission rods 72 arranged in an up-down manner can ensure the stability and reliability of the transmission process between the transmission part 31 and the driven part 71.

[0041] One end of the second transmission rod 61 is connected with the output end of the transmission shaft 70 and is driven to rotate by the transmission shaft 70, and one end of the third transmission rod 62 is hingedly connected with the free end of the second transmission rod 61. The other end of the third transmission rod 62 is hingedly connected with the shank structure 60, so that the shank structure 60 is driven to rotate around the thigh structure 50 by the transmission shaft 70 through the cooperation of the second transmission rod 61 and the third transmission rod 62.

[0042] The working principle of the embodiment is described as follows:

[0043] In operation, the whole structure is first installed on an external robot dog, and the input ends of the shoulder joint module 10, the knee joint module 30 and the hip joint module 40 are connected with the robot dog for conduction; when moving, the whole frame 20 can be driven by the shoulder joint module 10 to rotate by a certain angle, thereby driving the knee joint module 30, the hip joint module 40, the thigh structure 50, the shank structure 60 and the transmission shaft 70 to rotate; at the same time, when the thigh structure 50 moves, the thigh structure is directly driven by the hip joint module 40 to rotate, and when the shank structure 60 moves, the transmission member 31 is first driven by the knee joint module 31 to rotate, and through the cooperation of the first transmission rod 72, the driven member 71 is driven to rotate, thereby driving the transmission shaft 70 to rotate. Then, the second transmission rod 61 is driven by the output end of the transmission shaft 70 to rotate, and the shank structure 60 is driven to rotate around the free end of the thigh structure 50 through the cooperation of the second transmission rod 61 and the third transmission rod 62, and the whole robot dog is driven to move through the cooperation of the setting of the foot end structure 63.

[0044] The design focus of the utility model lies in: through the knee joint module and the hip joint module being arranged side by side on the frame and rotating back and forth with the frame, and the output end of the knee joint module and the input end of the hip joint module being located on the same side, the hip joint module and the knee joint module are all reduction motors, so that the driving mode of direct connection of the existing motor plus speed reducer is replaced by the reduction motor, the whole structure is more simple, the side-by-side arrangement mode makes the whole structure more compact, and simultaneously, since the output end diameter of the reduction motor is greater than the input end diameter, the output end of the knee joint module and the input end of the hip joint module are located on the same side, so that the horizontal distance between the knee joint module and the hip joint module is closer, the compactness of space is ensured, and simultaneously, the separated arrangement of the load ends of the knee joint module and the hip joint module can make the transmission process more stable.

[0045] The above is only a preferred embodiment of the utility model, and does not limit the technical range of the utility model, so any slight modification, equivalent change and modification made according to the technical essence of the utility model to the above embodiment still belongs to the range of the technical scheme of the utility model.

Claims

1. A robotic dog leg structure based on a joint module, characterized in that: The application relates to a robot dog body structure, which comprises a shoulder joint module, a frame, a knee joint module, a hip joint module, a thigh structure, a shank structure and a transmission shaft; the shoulder joint module is arranged on the outer robot dog body; the frame is arranged on the output end of the shoulder joint module and is driven by the shoulder joint module to rotate back and forth; the knee joint module and the hip joint module are arranged side by side on the frame and rotate back and forth with the frame; the output end of the knee joint module and the input end of the hip joint module are located on the same side; the hip joint module and the knee joint module are both reduction motors; one end of the thigh structure is arranged on the output end side of the hip joint module and is driven by the hip joint module to rotate back and forth; one end of the shank structure is arranged on the other end of the thigh structure and is rotatably arranged around the other end of the thigh structure; one end of the transmission shaft is arranged on the output end side of the knee joint module and is driven by the knee joint module to rotate back and forth; the other end of the transmission shaft extends out of the side of the hip joint module and drives the shank structure to rotate back and forth.

2. The joint module-based robot dog leg structure according to claim 1, characterized in that: The frame comprises a mounting plate, a support plate and a support rod; the mounting plate is arranged on the output end of the shoulder joint module and is driven by the shoulder joint module to rotate back and forth; the support plate is arranged in two; the two support plates are arranged on the mounting plate in parallel; the two ends of the knee joint module and the hip joint module are arranged on the corresponding two support plates respectively; the support rod is arranged in multiple; the multiple support rods are arranged in parallel between the two support plates.

3. The joint module-based robot dog leg structure according to claim 1, characterized in that: A through groove is arranged in the hip joint module; the transmission shaft is arranged in the through groove; the two ends of the transmission shaft extend out of the through groove respectively; the input end of the transmission shaft extends out of the input end side of the hip joint module; the output end of the transmission shaft extends out of the output end side of the hip joint module.

4. The joint module based robot dog leg structure according to claim 3, characterized in that: The output end of the knee joint module is provided with a transmission piece; the transmission piece is driven by the knee joint module to rotate back and forth; the output end of the transmission shaft is provided with a driven piece; the driven piece is located on the outside of the input end of the hip joint module and is driven by the transmission piece to rotate back and forth.

5. The joint module based robot dog leg structure according to claim 4, wherein: The driven piece and the transmission piece are connected through a first transmission rod; the first transmission rod is arranged in two in up and down directions; the two ends of each first transmission rod are hingedly connected with the corresponding driven piece and transmission piece respectively.

6. The joint module based robot dog leg structure according to claim 1, wherein: A second transmission rod and a third transmission rod are arranged on the shank structure; one end of the second transmission rod is connected with the output end of the transmission shaft and is driven by the transmission shaft to rotate back and forth; one end of the third transmission rod is hingedly connected with the free end of the second transmission rod; the other end of the third transmission rod is hingedly connected with the shank structure.

7. The joint module based robot dog leg structure according to claim 6, characterized in that: A protective cover is arranged on the outside of the thigh structure; the second transmission rod and the third transmission rod are covered by the protective cover.

8. The joint module based robot dog leg structure according to claim 1, wherein: The end of the shank structure away from the thigh structure is provided with a detachable foot end structure.

9. The joint module based robot dog leg structure according to claim 8, wherein: The foot end structure is a rubber wheel, a small wheel or a roller type foot end driven by electricity.

10. The joint module based robot dog leg structure according to claim 1, wherein: The shoulder joint module is a reduction motor.

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