Walking structure of ostrich-shaped robot

Abstract

The utility model discloses a walking structure of an ostrich-shaped robot, and relates to the technical field of ostrich-shaped robots. The robot comprises a robot body, fixing frames are fixedly connected to the two sides of the robot body correspondingly, first connecting legs are hinged to the interiors of the two fixing frames correspondingly, first servo motors are fixedly connected to one sides of the two fixing frames correspondingly, and the output ends of the two first servo motors are fixedly connected with one ends of the two first connecting legs correspondingly. According to the robot, the buffering assembly is arranged, in the rotating process of the second connecting leg and the third connecting leg, the inertia and impact force between the second connecting leg and the third connecting leg can be effectively and greatly buffered through the arranged buffering assembly, and therefore damage to the second connecting leg, the third connecting leg and the joints of the robot is reduced; and the movement stability and durability of the robot are effectively improved.

Description

Technical Field

[0001] This application relates to the field of ostrich-shaped robot technology, and in particular to a walking structure for an ostrich-shaped robot. Background Technology

[0002] Ostrich-shaped robots are a type of biomimetic robot. Their design is inspired by the ostrich, the fastest bipedal animal in nature. The ostrich's efficiency and speed make it an ideal biomimetic model. Ostrich-shaped robots typically adopt a bipedal structure and can achieve efficient walking and running in complex terrain by mimicking the ostrich's leg movements and gait.

[0003] Existing ostrich-shaped robots typically employ a three-segment leg structure, including the femur, tibia, and metatarsal bones. Each leg is driven by a linkage mechanism and a motor, mimicking the walking and running gait of an ostrich. Its leg structure includes hip, knee, and ankle joint motion mechanisms, which achieve movement through motors and crank-rocker mechanisms.

[0004] Although the legs of existing ostrich-shaped robots are generally composed of three segments, the lack of cushioning between the legs during long-term walking or running makes the robot prone to damage to the legs and joints after being subjected to inertia and impact forces. Therefore, this application provides a walking structure for an ostrich-shaped robot. Utility Model Content

[0005] The purpose of this application is to provide a walking structure for an ostrich-shaped robot, which addresses the problem that robots are prone to leg and joint damage due to the lack of cushioning between the legs when subjected to inertia and impact forces.

[0006] To achieve the above objectives, this application specifically adopts the following technical solution:

[0007] An ostrich-shaped robot's walking structure includes a body, with fixed frames fixedly connected to both sides of the body. Connecting legs (first leg) are hinged inside each of the two fixed frames. A servo motor (first motor) is fixedly connected to one side of each of the two fixed frames. The output ends of the two servo motors (first motor) are fixedly connected to one end of each connecting leg (first leg). A connecting leg (second leg) is hinged to the end of each connecting leg (second leg) away from the fixed frames. A connecting leg (third leg) is hinged to the end of each connecting leg (second leg) away from the connecting leg (first leg). A foot is fixedly connected to the end of each connecting leg (third leg) away from the connecting leg (second leg). A cushioning component is installed on the connecting leg (second leg). An auxiliary component is installed inside the foot. A servo motor (third motor) is fixedly connected to one side of each connecting leg (first leg) and connecting leg (third leg). The output end of one servo motor (third motor) is fixedly connected to one end of each connecting leg (second leg), and the output end of the other servo motor (third motor) is fixedly connected to the other end of each connecting leg (second leg).

[0008] By adopting the above technical solution, during the operation of the robot, servo motor one and servo motor three need to drive connecting leg one, connecting leg two and connecting leg three to rotate frequently, which will cause connecting leg two and connecting leg three to be subjected to a certain impact force and inertia. Therefore, the buffer component can effectively buffer the inertia and impact force between connecting leg two and connecting leg three, thereby reducing the damage to connecting leg two and connecting leg three and the robot joints. In addition, when the robot moves on some flat roads or in environments with low obstacles, the auxiliary component inside the foot can be extended to move quickly through the auxiliary component, thereby reducing the burden on the leg joints.

[0009] Furthermore, the buffer assembly includes a fixed plate 1 fixedly connected to one side of the connecting leg 2, a fixed plate 2 fixedly connected to one side of the connecting leg 3, a rotating block 1 hinged to one side of the fixed plate 1, a rotating block 2 hinged to one side of the fixed plate 2, a fixed column fixedly connected to the top of the rotating block 2, a sliding column fixedly connected to the bottom of the rotating block 1, the sliding column being slidably connected inside the fixed column, and a hydraulic chamber being provided inside the fixed column.

[0010] By adopting the above technical solution, during the rotation of connecting leg two and connecting leg three, the fixing plate one and fixing plate two on one side will be squeezed respectively. This will cause the sliding column to slide slightly inside the fixing column. The hydraulic cavity inside the fixing column can be squeezed by the sliding column to initially buffer the inertia between connecting leg two and connecting leg three.

[0011] Furthermore, a damping spring is fixedly connected to the top of the rotating block 2, and the other end of the damping spring is fixedly connected to the bottom of the rotating block 1. Both the fixed column and the sliding column are located inside the damping spring.

[0012] By adopting the above technical solution, during the sliding process of the sliding column, rotating block one and rotating block two will also compress and buffer the damping spring one.

[0013] Furthermore, a second damping spring is fixedly connected inside the hydraulic cavity. One end of the second damping spring is fixedly connected to the bottom surface inside the fixed column, and the other end of the second damping spring is fixedly connected to one end of the sliding column. A damper is fixedly connected inside the fixed column.

[0014] By adopting the above technical solution, when the sliding column slides, it will also squeeze the damping spring and damper inside the fixed column. The damping spring and damper can effectively buffer the inertia and impact force between the connecting leg and the connecting leg.

[0015] Furthermore, the second and third connecting legs form a triangle with the second rotating block and the fixed column.

[0016] By adopting the above technical solution, since the triangle has stability, the rotating block two and the fixed column can better support and buffer the connecting leg two and the connecting leg three.

[0017] Furthermore, the auxiliary component includes sliders symmetrically slidably connected to both sides of the foot, with a connecting shaft rotatably connected through the two sliders, and electric wheels fixedly connected to both ends of the connecting shaft. Slide grooves are provided on both sides of the foot, and the two connecting shafts are slidably connected within the slide grooves. An adjustment component is provided inside the foot.

[0018] By adopting the above technical solution, the two sliders will gradually descend inside the chute through the guidance of the chute. The mutual rotation of the two electric wheels can drive the robot to move quickly and smoothly, thereby enabling the robot to switch from running to translation.

[0019] Furthermore, the adjusting component includes a lead screw rotatably connected inside the foot, a second servo motor fixedly connected to the top surface inside the foot, the output end of the second servo motor fixedly connected to one end of the lead screw, and a connecting plate fixedly connected to one side of one of the sliders, the connecting plate being threaded onto the lead screw.

[0020] By adopting the above technical solution, the connecting plate will be driven to descend as the lead screw rotates.

[0021] Furthermore, servo motors are fixedly connected to both sides of the foot, and the two electric wheels are located inside the servo motors.

[0022] By adopting the above technical solution, the servo motor can effectively protect the electric wheel and reduce damage to the electric wheel caused by external factors.

[0023] In summary, this application includes at least one of the following beneficial effects:

[0024] 1. This application includes a buffer component. During the rotation of connecting leg two and connecting leg three, the buffer component can effectively buffer the inertia and impact force between connecting leg two and connecting leg three, thereby reducing the damage to connecting leg two and connecting leg three and the robot joints, and effectively improving the robot's motion stability and durability.

[0025] 2. In this application, an auxiliary component is provided. When the robot moves on flat surfaces or in environments with low obstacles, in order to reduce wear and tear on the legs and joints, the auxiliary component inside the foot can be extended to enable rapid movement, thereby reducing the burden on the leg joints and improving the robot's durability and stability. Attached Figure Description

[0026] Figure 1 This is a three-dimensional structural diagram of the main body of the device in this application.

[0027] Figure 2 This is a three-dimensional structural diagram of the buffer component in this application.

[0028] Figure 3 This is a three-dimensional structural diagram of the auxiliary component in this application.

[0029] Figure 4 This is a schematic diagram of the internal structure of the foot in this application.

[0030] Explanation of reference numerals in the attached figures:

[0031] 1. Body; 2. Mounting frame; 3. Connecting leg one; 4. Servo motor one; 5. Connecting leg two; 6. Connecting leg three; 7. Foot; 8. Mounting plate one; 9. Mounting plate two; 10. Rotating block one; 11. Rotating block two; 12. Mounting column; 13. Sliding column; 14. Hydraulic chamber; 15. Vibration damping spring one; 16. Vibration damping spring two; 17. Damper; 18. Slider; 19. Connecting shaft; 20. Electric wheel; 21. Slide groove; 22. Lead screw; 23. Servo motor two; 24. Connecting plate; 25. Servo motor three. Detailed Implementation

[0032] The following is in conjunction with the appendix Figure 1-4 This application will be described in further detail.

[0033] This application discloses a walking structure for an ostrich-shaped robot.

[0034] Reference Figure 1 An ostrich-shaped robot walking structure includes a body 1, with fixed frames 2 fixedly connected to both sides of the body 1. Connecting legs 3 are hinged inside the two fixed frames 2. Servo motors 4 are fixedly connected to one side of the two fixed frames 2. The output ends of the two servo motors 4 are fixedly connected to one end of the two connecting legs 3. Connecting legs 5 are hinged to the ends of the two connecting legs 3 away from the fixed frames 2. Connecting legs 6 are hinged to the ends of the connecting legs 25 away from the connecting legs 3. A foot 7 is fixedly connected to the end of the connecting legs 36 away from the connecting legs 25. A cushioning component is installed on the connecting legs 25. An auxiliary component is installed inside the foot 7. Servo motors 25 are fixedly connected to one side of the connecting legs 13 and 36. The output end of one servo motor 25 is fixedly connected to one end of the connecting legs 25, and the output end of the other servo motor 25 is fixedly connected to the other end of the connecting legs 25.

[0035] In operation, servo motor 4 controls the two connecting legs 3 to rotate back and forth. Then, servo motors 25 control connecting legs 5 and 6 to move in coordination. This allows servo motors 4 and 25 to drive connecting legs 3, 5, and 6 together, mimicking the leg joint movements of an ostrich for walking and running. During operation, servo motors 4 and 25 need to drive connecting legs 3, 5, and 6 to rotate frequently. Because connecting legs 5 and 6 are tilted, this requires... Frequent rotation will subject connecting legs 2 (5) and 3 (6) to a certain impact and inertia. Therefore, during the rotation of connecting legs 2 (5) and 3 (6), the buffer components can effectively buffer the inertia and impact between connecting legs 2 (5) and 3 (6), thereby reducing damage to connecting legs 2 (5) and 3 (6) and the robot joints, and effectively improving the robot's motion stability and durability. In addition, when the robot moves on flat surfaces or in environments with low obstacles, in order to reduce wear and tear on the legs and joints, the auxiliary components inside the foot 7 can be extended to enable rapid movement, thereby reducing the burden on the leg joints and improving the robot's durability and stability.

[0036] Reference Figure 1 and Figure 2 The buffer assembly includes a fixed plate 8 fixedly connected to one side of connecting leg 2 5, a fixed plate 9 fixedly connected to one side of connecting leg 3 6, a rotating block 10 hinged to one side of fixed plate 8, a rotating block 2 11 hinged to one side of fixed plate 2 9, a fixed post 12 fixedly connected to the top of rotating block 2 11, a sliding post 13 fixedly connected to the bottom of rotating block 10, the sliding post 13 slidably connected inside the fixed post 12, a hydraulic chamber 14 provided inside the fixed post 12, and a damping spring fixedly connected to the top of rotating block 2 11. 15. The other end of the damping spring 15 is fixedly connected to the bottom of the rotating block 10. The fixed column 12 and the sliding column 13 are both located inside the damping spring 15. The damping spring 2 16 is fixedly connected inside the hydraulic chamber 14. One end of the damping spring 2 16 is fixedly connected to the bottom surface inside the fixed column 12. The other end of the damping spring 2 16 is fixedly connected to one end of the sliding column 13. The damper 17 is fixedly connected inside the fixed column 12. The connecting leg 2 5 and the connecting leg 3 6 form a triangle with the rotating block 2 11 and the fixed column 12.

[0037] During the rotation of connecting leg 2 5 and connecting leg 3 6, they will respectively compress the fixed plate 1 8 and fixed plate 2 9 on one side. This will cause the sliding column 13 to slide slightly inside the fixed column 12. During the sliding of the sliding column 13, the rotating block 1 10 and rotating block 2 11 will also compress the damping spring 1 15 to contract. At this time, the sliding column 13 compresses the hydraulic cavity 14 inside the fixed column 12 and the damping spring 1 15 cooperates to initially buffer the inertia between connecting leg 2 5 and connecting leg 3 6. In addition, when the sliding column 13 slides, it will also compress the damping spring 2 16 and damper 17 inside the fixed column 12. The damping spring 2 16 and damper 17 can effectively buffer the inertia and impact force between connecting leg 2 5 and connecting leg 3 6, thereby reducing the damage to connecting leg 2 5 and connecting leg 3 6 and the robot joints, and effectively improving the robot's motion stability and durability.

[0038] Reference Figure 1 , Figure 3 and Figure 4 The auxiliary components include sliders 18 symmetrically slidably connected to both sides of the foot 7. A connecting shaft 19 is rotatably connected through the two sliders 18. Electric wheels 20 are fixedly connected to both ends of the connecting shaft 19. Slide grooves 21 are provided on both sides of the foot 7. The two connecting shafts 19 are slidably connected to the slide grooves 21. An adjustment component is provided inside the foot 7. The adjustment component includes a lead screw 22 rotatably connected inside the foot 7. A servo motor 23 is fixedly connected to the top surface inside the foot 7. The output end of the servo motor 23 is fixedly connected to one end of the lead screw 22. A connecting plate 24 is fixedly connected to one side of one of the sliders 18. The connecting plate 24 is threadedly connected to the lead screw 22.

[0039] In use, the servo motor 23 is first started to drive the lead screw 22 to rotate. As the lead screw 22 rotates, the connecting plate 24 will descend. At this time, guided by the slide groove 21, the two sliders 18 will gradually descend inside the slide groove 21, thereby driving the two electric wheels 20 to gradually contact the ground. Through the mutual rotation of the two electric wheels 20, the robot can move quickly and smoothly, thus enabling the robot to switch from running to translation, greatly reducing the burden on the leg joints and improving the robot's durability and stability.

[0040] Reference Figure 1 and Figure 3 Servo motors 25 are fixedly connected to both sides of the foot 7, and the two electric wheels 20 are located inside the servo motors 25.

[0041] During use, the servo motor 25 can effectively protect the electric wheel 20 and reduce damage to the electric wheel 20 caused by external factors.

[0042] The implementation principle of the walking structure of the ostrich-shaped robot in this embodiment is as follows: In use, servo motor 4 first controls the two connecting legs 3 to rotate back and forth. Then, servo motors 25 control connecting legs 2 and 6 to move in coordination. Thus, servo motors 4 and 25 drive connecting legs 3, 2, and 6 to move together. Therefore, through the coordination between connecting legs 3, 2, and 6, the robot can mimic the leg joint movements of an ostrich to walk and run. During robot operation, servo motors 4 and 25 need to drive the connecting legs... Connecting legs 1 (3), 2 (5), and 3 (6) rotate frequently. Because connecting legs 2 (5) and 3 (6) are tilted, they experience impact and inertia during this frequent rotation. Consequently, during their rotation, they press against one side of the fixing plate 1 (8) and the other side of the fixing plate 2 (9), causing the sliding column 13 to slide slightly inside the fixing column 12. During this sliding, rotating blocks 10 and 2 (11) also compress and contract the damping spring 15. At this time, the sliding column 13 compresses the hydraulic cavity 14 inside the fixing column 12 and the damping spring 15. The combined action of these components provides initial cushioning for the inertia between connecting leg 2 (5) and connecting leg 3 (6). Furthermore, when sliding column 13 slides, it also compresses the damping spring 2 (16) and damper 17 inside fixed column 12. These components further effectively cushion the inertia and impact forces between connecting leg 2 (5) and connecting leg 3 (6), thereby reducing damage to connecting leg 2 (5) and connecting leg 3 (6), as well as the robot's joints. This significantly improves the robot's motion stability and durability. Additionally, when the robot moves on flat surfaces or in environments with low obstacles, servo motors can be activated to reduce wear on the legs and joints. Servo motor 23 drives the lead screw 22 to rotate. As the lead screw 22 rotates, the connecting plate 24 descends along the lead screw 22. Guided by the slide groove 21, the two sliders 18 gradually descend inside the slide groove 21, thereby driving the two electric wheels 20 to gradually contact the ground. Through the mutual rotation of the two electric wheels 20, the robot can move quickly and smoothly, thus enabling the robot to switch from running to translation, greatly reducing the burden on the leg joints and improving the robot's durability and stability. The servo motor 25 effectively protects the electric wheels 20, reducing damage to the electric wheels 20 caused by external factors.

Claims

1. A walking structure for an ostrich-shaped robot, comprising a body (1), characterized in that: The body (1) is fixedly connected to two sides of a mounting bracket (2). The inside of each mounting bracket (2) is hinged to a connecting leg (3). A servo motor (4) is fixedly connected to one side of each mounting bracket (2). The output ends of each servo motor (4) are fixedly connected to one end of each connecting leg (3). A connecting leg (5) is hinged to the end of each connecting leg (3) away from the mounting bracket (2). A connecting leg (6) is hinged to the end of each connecting leg (5) away from the connecting leg (3). The foot (7) is fixedly connected to the end of the connecting leg three (6) away from the connecting leg two (5). A buffer component is installed on the connecting leg two (5). An auxiliary component is installed inside the foot (7). A servo motor three (25) is fixedly connected to one side of both the connecting leg one (3) and the connecting leg three (6). The output end of one of the servo motor three (25) is fixedly connected to one end of the connecting leg two (5), and the output end of the other servo motor three (25) is fixedly connected to the other end of the connecting leg two (5).

2. The walking structure of an ostrich-shaped robot according to claim 1, characterized in that: The buffer assembly includes a fixed plate 1 (8) fixedly connected to one side of the connecting leg 2 (5), a fixed plate 2 (9) fixedly connected to one side of the connecting leg 3 (6), a rotating block 1 (10) hinged to one side of the fixed plate 1 (8), a rotating block 2 (11) hinged to one side of the fixed plate 2 (9), a fixed column (12) fixedly connected to the top of the rotating block 2 (11), a sliding column (13) fixedly connected to the bottom of the rotating block 1 (10), the sliding column (13) being slidably connected inside the fixed column (12), and a hydraulic chamber (14) being provided inside the fixed column (12).

3. The walking structure of an ostrich-shaped robot according to claim 2, characterized in that: The top of the rotating block 2 (11) is fixedly connected to the damping spring 1 (15), and the other end of the damping spring 1 (15) is fixedly connected to the bottom of the rotating block 1 (10). The fixed column (12) and the sliding column (13) are both located inside the damping spring 1 (15).

4. The walking structure of an ostrich-shaped robot according to claim 2, characterized in that: The hydraulic chamber (14) is fixedly connected to a second damping spring (16). One end of the second damping spring (16) is fixedly connected to the bottom surface inside the fixed column (12), and the other end of the second damping spring (16) is fixedly connected to one end of the sliding column (13). The fixed column (12) is fixedly connected to a damper (17).

5. The walking structure of an ostrich-shaped robot according to claim 2, characterized in that: The connecting leg two (5) and connecting leg three (6) form a triangle with the rotating block two (11) and the fixed column (12).

6. The walking structure of an ostrich-shaped robot according to claim 1, characterized in that: The auxiliary component includes sliders (18) symmetrically slidably connected to both sides of the foot (7), with a connecting shaft (19) rotatably connected through the two sliders (18), and electric wheels (20) fixedly connected to both ends of the connecting shaft (19). Slide grooves (21) are provided on both sides of the foot (7), and the two connecting shafts (19) are slidably connected in the slide grooves (21). An adjustment component is provided inside the foot (7).

7. The walking structure of an ostrich-shaped robot according to claim 6, characterized in that: The adjusting component includes a lead screw (22) rotatably connected inside the foot (7), a servo motor (23) is fixedly connected to the top surface inside the foot (7), the output end of the servo motor (23) is fixedly connected to one end of the lead screw (22), and a connecting plate (24) is fixedly connected to one side of one of the sliders (18), the connecting plate (24) is threadedly connected to the lead screw (22).

8. The walking structure of an ostrich-shaped robot according to claim 7, characterized in that: Both sides of the foot (7) are fixedly connected to servo motor three (25), and both electric wheels (20) are located inside servo motor three (25).

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