Transmission structure for quadruped robot

Abstract

The utility model discloses a transmission structure for a quadruped robot, which comprises a first PCB (printed circuit board) connected with a hip joint unit; the first transmission wire is respectively connected with the first PCB and the hip joint unit; the second PCB is connected with the knee joint unit; the second transmission lead is respectively connected with the second PCB and the knee joint unit; the contact terminal is arranged between the first PCB and the second PCB and is used for forming contact conduction between the first PCB and the second PCB; a power output shaft of the hip joint unit is connected with the knee joint unit to drive at least part of the knee joint unit to rotate, the second PCB is linked with the knee joint unit, and the first transmission wire, the first PCB, the contact terminal, the second PCB and the second transmission wire form a signal transmission path between the hip joint unit and the knee joint unit. Signal transmission between the hip joint unit and the knee joint unit is achieved through the first PCB, the contact terminals and the second PCB, a long wire does not need to be arranged, and the problems of wire abrasion and winding cannot occur.

Description

TECHNICAL FIELD

[0001] The utility model belongs to four -legged robot technical field especially is related to a transmission structure for four -legged robot. BACKGROUND

[0002] The existing four -legged robot has connecting wire between hip joint and knee joint, in order to realize the activity of certain degree of freedom between hip joint and knee joint, at least part of the connecting wire is exposed in the connecting place, and the connecting wire is easy to wear when the four -legged robot turns, moves up and down. In view of the above problem, Chinese patent CN216830987U discloses "a storage device for robot joint wire", which forms a cavity between the first shell and the second shell, and the cavity is used to store the joint wire. The joint wire will still wear each other in the cavity, and the cavity occupies a certain space volume, and the structure becomes complex. SUMMARY

[0003] In order to overcome the defects of the prior art, the utility model provides a transmission structure for four -legged robot, which utilizes the cooperation of the first PCB board and the second PCB board and the contact terminal, omits the wire connection between the hip joint unit and the knee joint unit, and prevents wire winding and wear.

[0004] The utility model solves the technical scheme that the utility model adopts: a transmission structure for four -legged robot, comprising:

[0005] The first PCB board is connected with the hip joint unit of the four -legged robot;

[0006] The first transmission wire is connected with the first PCB board and the hip joint unit respectively;

[0007] The second PCB board is connected with the knee joint unit of the four -legged robot;

[0008] The second transmission wire is connected with the second PCB board and the knee joint unit respectively;

[0009] The contact terminal is arranged between the first PCB board and the second PCB board, and is used to form the contact conduction of the first PCB board and the second PCB board;

[0010] The power output shaft of the hip joint unit is connected with the knee joint unit to drive at least part of the rotation of the knee joint unit, the second PCB board is connected with the knee joint unit, and the first transmission wire, the first PCB board, the contact terminal, the second PCB board and the second transmission wire form the signal transmission path between the hip joint unit and the knee joint unit.

[0011] The utility model discloses a first PCB board, contact terminal and second PCB board realize the signal transmission between hip joint unit and knee joint unit, and the first PCB board and second PCB board form the conduction by contact terminal, need not set up longer conducting wire between hip joint unit and knee joint unit, and then will not occur conducting wire abrasion and entanglement problem, and the first PCB board is connected with hip joint unit, and the second PCB board is connected with knee joint unit, and the structure is simple, and the interval between the first PCB board and second PCB board is determined, and the transmission structure keeps stable.

[0012] Further, the first PCB board is assembled and connected with the hip-knee connecting piece of the hip joint unit, the hip-knee connecting piece is assembled and connected with the first fixing piece of the hip joint unit. The first PCB board is connected with the hip-knee connecting piece, without changing the original structure of the hip joint unit too much, reducing the processing cost.

[0013] Further, the hip-knee connecting piece includes an inner cylinder part and an outer cylinder part, the first PCB board is clamped between the inner cylinder part and the outer cylinder part, a first support step that can abut against the first PCB board is formed on the outer wall of the inner cylinder part, and a second support step that can abut against the first PCB board is formed on the inner wall of the outer cylinder part. The first support step and the second support step cooperate to form stable support and limiting action for the inner circle and the outer circle of the first PCB board respectively, thereby ensuring stable signal transmission between the first PCB board and the second PCB board through the contact terminal.

[0014] Further, the number of the second support steps is multiple, the second support steps are distributed at intervals along the inner wall of the outer cylinder part, the second support steps include support parts and limiting parts, and the outer circle of the first PCB board forms first recesses that can cooperate with the limiting parts to stop rotation. The support parts are used for supporting the first PCB board, and the limiting parts prevent the first PCB board from rotating relatively, so that the structure is simple and effective, the circumferential deflection of the first PCB board is avoided, and the stability of signal transmission is ensured.

[0015] Further, the first support step continuously extends along the outer periphery of the inner cylinder part, and multiple mounting holes are distributed at intervals in the circumferential direction, the mounting holes are used for fixing and assembling the first PCB board. The radial width of the first support step is small, and only the radial width of the first support step is increased at the positions of the mounting holes, which will not affect the effective contact and conduction area of the first PCB board, and the first support step plays a good supporting role in the stable assembly of the first PCB board.

[0016] Further, the knee joint unit has a second fixing piece, the second PCB board is assembled and connected with the second fixing piece, and at least part of the second fixing piece extends into the hip-knee connecting piece. Part of the second fixing piece extends into the hip-knee connecting piece, so that the first PCB board and the second PCB board are both in the cavity surrounded by the hip-knee connecting piece, which not only ensures the structural stability of the PCB board, but also reasonably arranges the space, without increasing the volume of the joint part of the quadruped robot.

[0017] Furthermore, the signals include electrical signals and control signals. The first transmission wire, the first PCB board, the contact terminal, the second PCB board, and the second transmission wire not only provide power to the hip joint unit and the knee joint unit, but also form the motion control for the two joints, resulting in high signal transmission efficiency.

[0018] The beneficial effects of this utility model are as follows: Signal transmission between the hip joint unit and the knee joint unit is realized by using the first PCB board, contact terminals and the second PCB board. The first PCB board and the second PCB board are connected by the contact terminals, eliminating the need for long wires between the hip joint unit and the knee joint unit, thus avoiding the problems of wire wear and tangling, and the structure is simple. The first support step and the second support step cooperate to form a stable support and limit effect on the inner and outer rings of the first PCB board, respectively, thereby ensuring stable signal transmission between the first PCB board and the second PCB board through the contact terminals. Attached Figure Description

[0019] Figure 1 A perspective view of the transmission structure provided by this utility model.

[0020] Figure 2 Cross-sectional view of the transmission structure provided by this utility model Figure 1 .

[0021] Figure 3 Cross-sectional view of the transmission structure provided by this utility model Figure 2 .

[0022] Figure 4 Partial three-dimensional view of the transmission structure provided by this utility model Figure 1 .

[0023] Figure 2 Partial three-dimensional view of the transmission structure provided by this utility model Figure 6 .

[0024] Figure 5 for Figure 7 Enlarged view of the structure at point A in the image.

[0025] Figure 8 A perspective view of the hip and knee connector provided by this utility model.

[0026] Figure 9 A partial perspective view of the second PCB board, power output shaft and knee joint unit provided by this utility model.

[0027] Figures 1-4 A simplified diagram of the transmission path of the transmission structure provided by this utility model.

[0028] Wherein, 1-first PCB board, 11-first recess, 12-assembly hole, 2-second PCB board, 21-second recess, 3-contact terminal, 4-hip joint unit, 41-hip-knee connector, 411-inner cylinder, 412-outer cylinder, 413-first support step, 414-second support step, 415-support part, 416-limiting part, 417-mounting hole, 42-first fixing member, 43-power output shaft, 5-knee joint unit, 51-second fixing member, 511-positioning protrusion, 512-step surface. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort should fall within the scope of protection of the present invention.

[0030] like Figure 9 , Figures 5-7 As shown, a transmission structure for a quadruped robot includes a first PCB board 1, a first transmission wire (not shown in the figure), a second PCB board 2, a second transmission wire (not shown in the figure), and a contact terminal 3.

[0031] The first PCB board 1 is connected to the hip joint unit 4 of the quadruped robot. A first transmission wire is connected to both the first PCB board 1 and the hip joint unit 4 for signal transmission between them. The second PCB board 2 is connected to the knee joint unit 5 of the quadruped robot. A second transmission wire is connected to both the second PCB board 2 and the knee joint unit 5 for signal transmission between them. A contact terminal 3 is located between the first PCB board 1 and the second PCB board 2 to establish contact between them.

[0032] The power output shaft 43 of the hip joint unit 4 is connected to the knee joint unit 5, thereby driving at least part of the knee joint unit 5 to rotate. The second PCB board 2 is linked with the knee joint unit 5, that is, the second PCB board 2 rotates together with the knee joint unit 5. At this time, the first PCB board 1 is assembled and connected to the hip and knee connector 41 of the hip joint unit 4, and they remain relatively stationary.

[0033] The first transmission wire, the first PCB board 1, the contact terminal 3, the second PCB board 2, and the second transmission wire form a signal transmission path between the hip joint unit 4 and the knee joint unit 5. That is, the hip joint unit 4 transmits the signal to the first PCB board 1 through the first transmission wire, the first PCB board 1 transmits the signal to the second PCB board 2 through the contact terminal 3, and the second PCB board 2 transmits the signal to the knee joint unit 5 through the second transmission wire, thereby realizing the signal transmission between the hip joint unit 4 and the knee joint unit 5. This signal includes electrical signals for power supply and control signals for controlling mechanical movements.

[0034] Specifically, the hip-knee connector 41 is assembled and connected to the first fixing member 42 of the hip joint unit 4. The first fixing member 42 is in turn assembled and connected to the power output shaft 43 of the hip joint unit 4. The power output shaft 43 passes through the hip-knee connector 41 and is then assembled and connected to the knee joint unit 5. The knee joint unit 5 has a second fixing member 51, and the second PCB board 2 is assembled and connected to the second fixing member 51. The power output shaft 43 passes through the hip-knee connector 41 and is then assembled and connected to the second fixing member 51, thereby driving the second fixing member 51 and the second PCB board 2 to rotate together.

[0035] like Figure 8 As shown, the hip-knee connector 41 includes an annular inner cylinder portion 411 and an annular outer cylinder portion 412 concentrically arranged with the inner cylinder portion 411. The first PCB board 1 is fitted between the inner cylinder portion 411 and the outer cylinder portion 412. The outer wall of the inner cylinder portion 411 forms a first support step 413 that can abut against the first PCB board 1, and the inner wall of the outer cylinder portion 412 forms a second support step 414 that can abut against the first PCB board 1. That is, the inner ring of the first PCB board 1 is supported by the first support step 413, and the outer ring of the first PCB board 1 is supported by the second support step 414.

[0036] The first support step 413 extends continuously along the outer periphery of the inner cylinder portion 411 and has multiple mounting holes 417 spaced out circumferentially. The outer diameter of the first support step 413 is increased in the portion where the mounting holes 417 are located. The mounting holes 417 are used to fix and assemble the first PCB board 1. Specifically, mounting holes 12 are formed in the inner circle of the first PCB board 1. Fasteners pass through the mounting holes 12 and connect to the mounting holes 417 to achieve the fixed assembly of the first PCB board 1 and the hip and knee connector 41.

[0037] Multiple second support steps 414 are distributed at intervals along the inner wall of the outer cylinder portion 412. Each second support step 414 includes a support portion 415 and a limiting portion 416. The support portion 415 surrounds the limiting portion 416, and the limiting portion 416 protrudes axially from the surface of the support portion 415. The outer ring of the first PCB board 1 forms a first recess 11. When the outer ring of the first PCB board 1 is placed on the surface of the support portion 415, the limiting portion 416 falls into the first recess 11, thereby achieving an anti-rotation fit between the first PCB board 1 and the limiting portion 416.

[0038] like ​ As shown, the second PCB board 2 is fixedly assembled with the second fixing member 51. The inner ring of the second PCB board 2 is connected to the second fixing member 51 using fasteners. A second recess 21 is formed on the outer ring of the second PCB board 2, which engages with the positioning protrusion 511 on the second fixing member 51 to prevent rotation. At least a portion of the second fixing member 51 extends into the hip-knee connector 41, and the end face of the hip-knee connector 41 abuts against the stepped surface 512 of the outer ring of the second fixing member 51.

[0039] The above specific embodiments are used to explain and illustrate the present utility model, and are not intended to limit the present utility model. Any modifications and changes made to the present utility model within the spirit and scope of the claims shall fall within the protection scope of the present utility model.

Claims

1. A transmission structure for a quadruped robot, characterized in that, include: The first PCB board is connected to the hip joint unit of the quadruped robot; The first transmission wire is connected to the first PCB board and the hip joint unit respectively; The second PCB board is connected to the knee joint unit of the quadruped robot; The second transmission wire is connected to the second PCB board and the knee joint unit respectively; Contact terminals are disposed between the first PCB board and the second PCB board to form a contact connection between the first PCB board and the second PCB board; The power output shaft of the hip joint unit is connected to the knee joint unit to drive at least part of the knee joint unit to rotate. The second PCB board is linked with the knee joint unit. The first transmission wire, the first PCB board, the contact terminal, the second PCB board, and the second transmission wire form a signal transmission path between the hip joint unit and the knee joint unit.

2. The transmission structure for a quadruped robot according to claim 1, characterized in that: The first PCB board is assembled and connected to the hip and knee connector of the hip joint unit, and the hip and knee connector is assembled and connected to the first fixation component of the hip joint unit.

3. The transmission structure for a quadruped robot according to claim 2, characterized in that: The hip and knee connector includes an inner cylinder and an outer cylinder. The first PCB board is positioned between the inner cylinder and the outer cylinder. The outer wall of the inner cylinder forms a first support step that abuts against the first PCB board, and the inner wall of the outer cylinder forms a second support step that abuts against the first PCB board.

4. The transmission structure for a quadruped robot according to claim 3, characterized in that: The second support step is multiple and is distributed at intervals along the inner wall of the outer cylinder. The second support step includes a support part and a limiting part. The outer ring of the first PCB board forms a first recess that can cooperate with the limiting part to prevent rotation.

5. The transmission structure for a quadruped robot according to claim 3, characterized in that: The first support step extends continuously along the outer periphery of the inner cylinder and has multiple mounting holes spaced apart in the circumferential direction. These mounting holes are used to fix and assemble the first PCB board.

6. The transmission structure for a quadruped robot according to claim 2, characterized in that: The knee joint unit has a second fixation member, and the second PCB board is assembled and connected to the second fixation member, with at least a portion of the second fixation member extending into the hip-knee connector.

7. The transmission structure for a quadruped robot according to claim 1, characterized in that: The signals include electrical signals and control signals.

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