Mechanical dog leg driven by single motor

Abstract

The utility model belongs to the technical field of mechanical dogs, and discloses a mechanical dog leg driven by a single motor, a motor shaft of a driving motor is provided with a driving disc, the upper end of a mechanical dog thigh is rotatably connected with the driving disc through a first rotating shaft, and the first rotating shaft is parallel to the motor shaft of the driving motor; the shank connecting piece is arranged on the rear side of the mechanical dog thigh in parallel, the lower end of the shank connecting piece is rotationally connected with the upper end of the mechanical dog shank, and the lower end of the mechanical dog thigh is rotationally connected with the middle of the mechanical dog shank; the thigh connecting piece is arranged above the mechanical dog shank in parallel, the front end of the thigh connecting piece is rotationally connected with the middle of the mechanical dog thigh, the middle of the thigh connecting piece is rotationally connected with the upper end of the shank connecting piece, and the rear end of the thigh connecting piece is rotationally connected with the mechanical dog body. The mechanical dog leg can be driven by only one motor to stably act, so that the cost is effectively reduced.

Description

Technical Field

[0001] This utility model belongs to the field of mechanical dog technology, specifically relating to a single-motor driven mechanical dog leg. Background Technology

[0002] A robotic dog is a robot that mimics the appearance, movements, and some functions of a real dog. It has wide applications and unique advantages in many fields. The body of a robotic dog is usually composed of multiple joints. These joints include the robot's body and its four leg joints. Each leg joint is equipped with a high-precision motor, which provides power to drive the joint movement. Through the alternating and coordinated movements of the four leg joints, the robotic dog can walk and run.

[0003] Existing robotic dogs typically use two motors to drive their legs, with the two motors driving the swing of the thigh and calf of the robotic dog respectively. This driving method involves many control points and is relatively expensive. Utility Model Content

[0004] The purpose of this invention is to provide a single-motor driven mechanical dog leg to solve the aforementioned problems in the prior art.

[0005] To achieve the above objectives, the present invention adopts the following technical solution:

[0006] A single-motor driven mechanical dog leg includes a mechanical dog thigh and a mechanical dog lower leg, as well as a thigh connector, a lower leg connector, and a drive motor mounted on the mechanical dog's body. A drive disk is mounted on the motor shaft of the drive motor. The upper end of the mechanical dog thigh is rotatably connected to the drive disk via a first rotating shaft, which is parallel to the motor shaft of the drive motor. The lower leg connector is parallel to the rear side of the mechanical dog thigh, and its lower end is rotatably connected to the upper end of the mechanical dog lower leg, while the lower end of the mechanical dog thigh is rotatably connected to the middle part of the mechanical dog lower leg. The thigh connector is parallel to the upper part of the mechanical dog lower leg, and its front end is rotatably connected to the middle part of the mechanical dog thigh, its middle part is rotatably connected to the upper end of the lower leg connector, and its rear end is rotatably connected to the mechanical dog's body.

[0007] As a preferred technical solution of this utility model, a connecting rod bracket is fixed on the housing of the drive motor, and the rear end of the thigh connector is rotatably connected to the connecting rod bracket.

[0008] As a preferred technical solution of this utility model, the connecting rod bracket includes a first connecting plate and a second connecting plate that are vertically connected. The first connecting plate is connected to the housing of the drive motor, and the second connecting plate is parallel to the thigh connector, with the rear end of the thigh connector rotatably connected to the second connecting plate.

[0009] As a preferred technical solution of this utility model, a U-shaped connecting plate is vertically connected to the middle of the first connecting plate. The slot of the U-shaped connecting plate is sleeved on the outside of the housing of the drive motor, and the two sides of the U-shaped connecting plate are connected to the housing of the drive motor by bolts.

[0010] As a preferred technical solution of this utility model, the mechanical dog's thigh, lower leg, thigh connector, and lower leg connector are all long strip plate structures.

[0011] In a preferred embodiment of this invention, the drive disk is a circular plate, the drive motor and the first rotating shaft are located on opposite sides of the drive disk, the motor shaft of the drive motor is coaxially connected to the drive disk, and the first rotating shaft is perpendicularly connected to the edge of the drive disk.

[0012] Beneficial effects: In this utility model, the mechanical dog's thigh, thigh connector, lower leg connector, and lower leg are still rotatably connected, and the lower leg connector is parallel to the mechanical dog's thigh, and the thigh connector is parallel to the mechanical dog's lower leg. This allows the mechanical dog's thigh, thigh connector, lower leg connector, and lower leg to form a parallelogram frame, ensuring the stability of the parallelogram frame during movement. The drive motor is mounted on the mechanical dog's body, and the upper end of the mechanical dog's thigh rotates eccentrically on the drive disk driven by the drive motor. The rear end of the thigh connector is rotatably connected to the mechanical dog's body, ensuring the overall stability and flexibility of the mechanical dog's body. In actual operation, after the drive motor starts, it can drive the upper end of the mechanical dog's thigh to rotate around a ring, and then drive the mechanical dog's lower leg to move stably up and down, realizing the walking and running movements of the mechanical dog's legs. It is stable and practical, and the entire structure only uses one motor, which is simple to control and effectively reduces the cost of the mechanical dog's legs. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of one state of the present invention;

[0014] Figure 2 This is a schematic diagram of another state of the present invention.

[0015] In the diagram: 1-Mechanical dog's thigh; 2-Mechanical dog's lower leg; 3-Thigh connector; 4-Lower leg connector; 5-Drive motor; 6-Drive disc; 7-Linkage bracket. Detailed Implementation

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the present utility model will be briefly introduced below in conjunction with the accompanying drawings and descriptions of the embodiments or the prior art. Obviously, the following description of the structure of the accompanying drawings is only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. It should be noted that the description of these embodiments is used to help understand this utility model, but does not constitute a limitation on this utility model.

[0017] Example:

[0018] like Figure 1 and Figure 2 As shown, this embodiment provides a single-motor driven mechanical dog leg, including a mechanical dog thigh 1 and a mechanical dog lower leg 2. The lower end of the mechanical dog lower leg 2 has an arc structure, which can make a smoother contact with the ground, thereby ensuring a more flexible support effect. It also includes a thigh connector 3, a lower leg connector 4, and a drive motor 5 installed on the mechanical dog body to ensure the stability of the drive motor 5. A drive disk 6 is installed on the motor shaft of the drive motor 5, and the drive motor 5 can drive the drive disk 6 to rotate. The upper end of the mechanical dog thigh 1 is rotatably connected to the drive disk 6 through a first rotating shaft. The first rotating shaft is arranged parallel to the motor shaft of the drive motor 5, that is, the mechanical dog thigh 1... Leg 1 is eccentrically positioned with drive motor 5, so that after drive motor 5 starts, it drives drive disk 6 to rotate. Drive disk 6 drives first rotating shaft to rotate around a ring, thereby allowing the upper end of the mechanical dog's thigh 1 to rotate around a ring, realizing the lifting and lowering adjustment of the mechanical dog's thigh 1, and thus enabling the mechanical dog's legs to walk and run through linkage. The lower leg connector 4 is arranged parallel to the rear side of the mechanical dog's thigh 1. It should be noted that the front and rear in this text are relative to the mechanical dog; the side closer to the front of the mechanical dog is the front side, and the side closer to the rear of the mechanical dog is the rear side. The lower end of the lower leg connector 4 is rotatably connected to the upper end of the mechanical dog's lower leg 2. Figure 1As shown, the lower end of the mechanical dog's thigh 1 is rotatably connected to the middle of the mechanical dog's lower leg 2; the thigh connector 3 is parallel to the upper part of the mechanical dog's lower leg 2, and the front end of the thigh connector 3 is rotatably connected to the middle of the mechanical dog's thigh 1, the middle part of the thigh connector 3 is rotatably connected to the upper end of the lower leg connector 4, and the rear end of the thigh connector 3 is rotatably connected to the mechanical dog's body to ensure the stability of the thigh connector 3. Here, the thigh connector 3 can be directly rotatably connected to the mechanical dog's body, or it can be rotatably connected to the mechanical dog's body with the help of other components. There is no specific restriction here. This makes the mechanical dog's thigh 1, mechanical dog's lower leg 2, thigh connector 3, and lower leg connector 4 connected to form a parallelogram structure. Then, the mechanical dog's thigh 1 is the active component. Through the movement of the mechanical dog's thigh 1, the mechanical dog's lower leg 2 is driven to move up and down. The mechanical dog's lower leg 2 moves down, and the inclination gradually increases, supporting the ground. The mechanical dog's lower leg 2 moves up, and the inclination gradually decreases, lifting off the ground. Through the alternating movement of the mechanical dog's lower leg 2, the mechanical dog's legs can walk and run.

[0019] In this invention, the mechanical dog's thigh 1, thigh connector 3, lower leg connector 4, and lower leg 2 are still rotatably connected. The lower leg connector 4 is parallel to the mechanical dog's thigh 1, and the thigh connector 3 is parallel to the mechanical dog's lower leg 2. This allows the mechanical dog's thigh 1, thigh connector 3, lower leg connector 4, and lower leg 2 to form a parallelogram frame, ensuring the stability of the parallelogram frame during movement. The drive motor 5 is mounted on the mechanical dog's body. The upper end of the mechanical dog's thigh 1 rotates eccentrically on the drive disk 6 driven by the drive motor 5. The rear end of the thigh connector 3 is rotatably connected to the mechanical dog's body, ensuring the overall stability and flexibility of the mechanical dog's body. In actual operation, after the drive motor 5 starts, it can drive the upper end of the mechanical dog's thigh 1 to rotate around a ring, and then drive the mechanical dog's lower leg 2 to move stably up and down, realizing the walking and running movements of the mechanical dog's legs. It is stable and practical. Moreover, the entire structure uses only one motor, making control simple and effectively reducing the cost of the mechanical dog's legs.

[0020] As a preferred embodiment of this invention, it should be further explained that a connecting rod bracket 7 is fixed on the housing of the drive motor 5, so that the connecting rod bracket 7 is connected to the body of the mechanical dog through the drive motor 5, ensuring the stability of the connecting rod bracket 7. The rear end of the thigh connector 3 is rotatably connected to the connecting rod bracket 7, thereby enabling the rear end of the thigh connector 3 to rotate relative to the body of the mechanical dog through the connecting rod bracket 7 and the drive motor 5, maintaining flexibility while ensuring the stability of the thigh connector 3.

[0021] As a preferred embodiment of this invention, it should be further explained that the connecting rod bracket 7 includes a first connecting plate and a second connecting plate that are vertically connected. The first connecting plate is connected to the housing of the drive motor 5 to ensure the stability of the first connecting plate and the second connecting plate. The second connecting plate is parallel to the thigh connector 3, and the rear end of the thigh connector 3 is rotatably connected to the second connecting plate. This makes it easier to rotatably connect the rear end of the thigh connector 3 to the second connecting plate.

[0022] As a preferred embodiment of this example, it should be further explained that a U-shaped connecting plate is vertically connected to the middle of the first connecting plate. The U-shaped connecting plate extends away from the second connecting plate. The slot of the U-shaped connecting plate is fitted onto the housing of the drive motor 5. The slot of the U-shaped connecting plate can be slightly larger than the housing of the drive motor 5. The two sides of the U-shaped connecting plate are connected to the housing of the drive motor 5 by bolts to ensure the stability of the U-shaped connecting plate. The connection is simple and stable.

[0023] As a preferred embodiment of this invention, it should be further noted that the mechanical dog thigh 1, mechanical dog lower leg 2, thigh connector 3 and lower leg connector 4 are all long strip plate structures. This makes the parallelogram structure formed by the mechanical dog thigh 1, mechanical dog lower leg 2, thigh connector 3 and lower leg connector 4 more stable, and makes it simpler to achieve rotational connection between adjacent parts.

[0024] As a preferred embodiment of this example, it should be further explained that the drive disk 6 is a circular plate, the drive motor 5 and the first rotating shaft are located on opposite sides of the drive disk 6, the motor shaft of the drive motor 5 is coaxially connected to the drive disk 6, and the first rotating shaft is perpendicularly connected to the edge of the drive disk 6. In this simple way, the upper end of the mechanical dog thigh 1 can achieve eccentric rotation relative to the drive motor 5, while also ensuring the stability of the structure.

[0025] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of protection of this utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of protection of this utility model.

Claims

1. A single-motor driven mechanical dog leg, comprising a mechanical dog thigh (1) and a mechanical dog lower leg (2), characterized in that, It also includes a thigh connector (3), a lower leg connector (4), and a drive motor (5) mounted on the body of the mechanical dog. A drive disk (6) is mounted on the motor shaft of the drive motor (5). The upper end of the mechanical dog's thigh (1) is rotatably connected to the drive disk (6) through a first rotating shaft, which is parallel to the motor shaft of the drive motor (5). The lower leg connector (4) is parallel to the rear side of the mechanical dog's thigh (1), and the lower end of the lower leg connector (4) is rotatably connected to the upper end of the mechanical dog's lower leg (2). The lower end of the mechanical dog's thigh (1) is rotatably connected to the middle part of the mechanical dog's lower leg (2). The thigh connector (3) is parallel to the upper part of the mechanical dog's lower leg (2), and the front end of the thigh connector (3) is rotatably connected to the middle part of the mechanical dog's thigh (1). The middle part of the thigh connector (3) is rotatably connected to the upper end of the lower leg connector (4), and the rear end of the thigh connector (3) is rotatably connected to the body of the mechanical dog.

2. The single-motor driven mechanical dog leg according to claim 1, characterized in that, A connecting rod bracket (7) is fixed on the housing of the drive motor (5), and the rear end of the thigh connector (3) is rotatably connected to the connecting rod bracket (7).

3. A single-motor driven mechanical dog leg according to claim 2, characterized in that, The connecting rod bracket (7) includes a first connecting plate and a second connecting plate that are vertically connected. The first connecting plate is connected to the housing of the drive motor (5), and the second connecting plate is parallel to the thigh connector (3). The rear end of the thigh connector (3) is rotatably connected to the second connecting plate.

4. A single-motor driven mechanical dog leg according to claim 3, characterized in that, A U-shaped connecting plate is vertically connected to the middle of the first connecting plate. The slot of the U-shaped connecting plate is fitted onto the outer casing of the drive motor (5). The two sides of the U-shaped connecting plate are connected to the casing of the drive motor (5) by bolts.

5. A single-motor driven mechanical dog leg according to any one of claims 1-4, characterized in that, The mechanical dog's thigh (1), lower leg (2), thigh connector (3), and lower leg connector (4) are all long strip plate structures.

6. A single-motor driven mechanical dog leg according to claim 1, characterized in that, The drive disk (6) is a circular plate. The drive motor (5) and the first rotating shaft are located on opposite sides of the drive disk (6). The motor shaft of the drive motor (5) is coaxially connected to the drive disk (6), and the first rotating shaft is perpendicularly connected to the edge of the drive disk (6).

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