A robot leg structure and a quadruped robot

Abstract

This utility model discloses a robot leg structure and a quadruped robot. The robot leg structure includes a thigh, a lower leg, a thigh drive component, a lower leg drive component, a first hinge shaft, and a transmission mechanism. The output shaft of the thigh drive component is connected to the thigh. The thigh has a receiving hole penetrating the thigh and a first hinge hole communicating with the receiving hole. Part of the lower leg is accommodated in the receiving hole. One end of the lower leg has several second hinge holes. The first hinge shaft connects the first hinge holes and one of the second hinge holes, allowing the lower leg to be rotatably connected to the thigh. The lower leg is rotatably connected to the transmission mechanism, which is connected to the output shaft of the lower leg drive component. The quadruped robot includes a body and four robot leg structures mounted on the body. The robot leg structure and quadruped robot of this utility model allow adjustment of the length of the working part of the lower leg, thereby adjusting the stride of the robot leg structure at the same swing angle, improving the applicability of the robot leg structure and quadruped robot.

Description

Technical Field

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

[0002] In recent years, with the continuous development of society, technology, and industrialization, robots have been widely used in machining, automobile manufacturing, and cargo handling, and have also gained widespread attention in aerospace, biotechnology, and advanced manufacturing technologies. The widespread application and increasing importance of robots in various fields is mainly due to their unparalleled advantages. Firstly, operators can control robots to complete tasks, thereby replacing some or even all of the manual labor, reducing labor intensity, freeing up manpower, and facilitating industrialized and rhythmic production. Secondly, operators can control robots to operate under high-temperature, high-pressure, polluting, and radioactive working conditions. Human control of robots not only improves production efficiency and reduces production costs but also accelerates the process of industrial automation.

[0003] Rapid industrialization accelerated the development of programmable logic controller (PLC) technology. Along with the continuous advancements in electrical and electronic technologies and automatic control technologies, PLC technology has made progress in areas such as software editing, hardware configuration, analog control, and communication networking through computer technology. The application of PLCs in robot control systems not only offers flexible calculations and good versatility but also reduces wiring work and saves time.

[0004] Currently, robots, especially those with leg structures and quadruped robots, typically have a fixed connection point at the leg joint. This connection point is not adjustable, resulting in limited adjustability of the leg stride (stride length) at the same swing angle, making it difficult to meet the demands of large-amplitude leg movements. Furthermore, their applicability to various applications is limited. For example, in aquatic applications, the legs are often too short to extend beyond the water's surface. Because the connection point is not adjustable, the leg structure must be redesigned and manufactured to meet these requirements. Consequently, the applicability of robot leg structures and quadruped robots is limited. Summary of the Invention

[0005] The main objective of this invention is to provide a robot leg structure to solve the technical problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model proposes a robot leg structure, including a thigh, a lower leg, a thigh drive component, a lower leg drive component, a first hinge shaft, and a transmission mechanism.

[0007] The output shaft of the thigh drive is connected to the thigh. The thigh has a receiving hole that passes through the thigh and a first hinge hole that communicates with the receiving hole. A portion of the lower leg is received in the receiving hole.

[0008] The lower leg has several second hinge holes at one end. The first hinge shaft connects the first hinge hole and a second hinge hole so that the lower leg is rotatably connected to the thigh. The lower leg is rotatably connected to the transmission mechanism, and the transmission mechanism is connected to the output shaft of the lower leg drive.

[0009] In an optional embodiment, the thigh has a communicating hole that extends through the thigh and communicates with the receiving hole, the calf drive is installed in the communicating hole, and the output shaft of the calf drive is received in the receiving hole.

[0010] In an optional embodiment, the transmission mechanism includes a transmission wheel, a transmission rod, and a second hinge shaft. The transmission wheel is mounted on the output shaft of the lower leg drive component. One end of the transmission rod is movably connected to the transmission wheel, and the other end has a third hinge hole. The second hinge shaft connects the third hinge hole and another second hinge hole, so that the lower leg is rotatably connected to the transmission rod.

[0011] In an optional embodiment, the thigh is further provided with a connecting hole, and the output shaft of the thigh drive is received in the connecting hole so that the output shaft of the thigh drive is fixedly connected to the thigh.

[0012] In an optional embodiment, the thigh is further provided with a plurality of threaded holes, the calf drive is provided with a plurality of mounting holes, and a plurality of fasteners are respectively connected to the plurality of mounting holes and the plurality of threaded holes, so that the calf drive is fixedly mounted on the thigh.

[0013] In an alternative embodiment, the thigh drive and the calf drive are motors.

[0014] In an alternative embodiment, the robotic leg structure further includes a foot located at the end of the lower leg away from the thigh.

[0015] In an optional embodiment, the thigh and the lower leg are made of one of aluminum alloy, steel, magnesium alloy, titanium alloy, or carbon fiber.

[0016] Compared with the prior art, the present invention has the following technical effects:

[0017] 1. The lower leg and upper leg of this utility model are rotatably connected through different second hinge holes, which can adjust the length of the working part of the lower leg, thereby adjusting the stride of the robot leg structure at the same swing angle and improving the applicability of the robot leg structure.

[0018] 2. The lower leg of the robot leg structure of this utility model is designed with several second hinge holes. These second hinge holes can be used to connect the lower leg to the upper leg, and also to connect the lower leg to the transmission mechanism, without the need for additional connection components between the lower leg and the transmission mechanism. The overall structure of the robot leg is simple and easy to implement.

[0019] This utility model also provides a quadruped robot to solve the technical problems mentioned in the background art.

[0020] A quadruped robot includes a body and four support components mounted on the body, each support component being a leg structure of the robot.

[0021] In an alternative embodiment, the quadruped robot further includes four mounting bases mounted on the body, each mounting base having one of the robot's leg structures installed.

[0022] Compared with the prior art, the present invention has the following technical effects:

[0023] 1. The lower leg and upper leg of this utility model are rotatably connected through different second hinge holes, which can adjust the length of the working part of the lower leg, thereby adjusting the stride of the robot's leg structure at the same swing angle and improving the robot's applicability; it can also adjust the robot's body to suit different scenarios.

[0024] 2. The lower leg of the quadruped robot of this utility model is designed with several second hinge holes. These second hinge holes can be used to connect the lower leg to the upper leg, and also to connect the lower leg to the transmission mechanism, without the need for an additional connection component between the lower leg and the transmission mechanism. The overall structure of the robot's leg is simple and easy to implement. Attached Figure Description

[0025] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0026] Figure 1 This is a schematic diagram of the structure of a robot leg according to the present invention;

[0027] Figure 2 This is an exploded view of the robot leg structure according to the present invention;

[0028] Figure 3 This is a structural schematic diagram of a quadruped robot according to the present invention.

[0029] Explanation of icon numbers:

[0030] label name label name 100 Robot leg structure 3 Thigh drive component 1 thigh 4 Lower leg drive component 101 Accommodation hole 401 Mounting holes 102 First hinge hole 5 First hinge axis 103 Connecting hole 6 Transmission mechanism 1031 Countersunk hole 601 Drive wheel 1032 Via 602 Transmission rod 104 Connection hole 6021 Third hinge hole 105 Threaded hole 603 Second hinge axis 2 calves 7 feet 201 Second hinge hole 500 quadruped robot 202 Main cadres 200 body 203 Adjustment Department 300 Mounting base

[0031] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0033] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0034] Furthermore, the use of terms such as "first" and "second" in this utility model is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this utility model. Example 1

[0035] Reference Figures 1-2 The first embodiment of this utility model provides a robot leg structure 100.

[0036] In this embodiment of the utility model, the robot leg structure 100 includes a thigh 1, a lower leg 2, a thigh drive 3, a lower leg drive 4, a first hinge shaft 5, and a transmission mechanism 6. The output shaft of the thigh drive 3 is connected to the thigh 1. The thigh 1 has a receiving hole 101 that passes through the thigh 1 and a first hinge hole 102 that connects to the receiving hole 101. A portion of the lower leg 2 is housed in the receiving hole 101. One end of the lower leg 2 has a plurality of second hinge holes 201, which are arranged along the length of the lower leg 2. The first hinge shaft 5 connects the first hinge hole 102 and a second hinge hole 201 so that the lower leg 2 is rotatably connected to the thigh 1. The lower leg 2 is rotatably connected to the transmission mechanism 6, and the transmission mechanism 6 is connected to the output shaft of the lower leg drive 4.

[0037] Specifically, the thigh 1 has a connecting hole 103 that penetrates the thigh 1 and connects to the receiving hole 101. The calf drive 4 is installed in the connecting hole 103, and the output shaft of the calf drive 4 is received in the receiving hole 101. The connecting hole 103 is a countersunk hole, including a countersunk hole 1031 and a through hole 1032, wherein the through hole 1032 connects to the receiving hole 101, the calf drive 4 is installed in the countersunk hole 1031, and the output shaft of the calf drive 4 can extend through the through hole 1032 into the receiving hole 101.

[0038] The transmission mechanism 6 includes a transmission wheel 601, a transmission rod 602, and a second hinge shaft 603. The transmission wheel 601 is mounted on the output shaft of the lower leg drive component 4. One end of the transmission rod 602 is movably connected to the transmission wheel 601, and the other end has a third hinge hole 6021. The second hinge shaft 603 connects the third hinge hole 6021 to another second hinge hole 201, so that the lower leg 2 is rotatably connected to the transmission rod 602. The transmission rod 602 is also movably connected to the transmission wheel 601 via a hinge connection.

[0039] The thigh 1 is also provided with a connecting hole 104, and the output shaft of the thigh drive 3 is received in the connecting hole 104 so that the output shaft of the thigh drive 3 is fixedly connected to the thigh 1. The connecting hole 104 is opened on the opposite side of the communicating hole 103, that is, the thigh drive 3 and the calf drive 4 are arranged opposite to each other.

[0040] The thigh 1 is also provided with several threaded holes 105, which are formed on the countersunk shoulder surface. The calf drive component 4 is provided with several mounting holes 401, and several fasteners are respectively connected to the mounting holes 401 and the threaded holes 105, so that the calf drive component 4 is fixedly mounted on the thigh 1. The fasteners are specifically screws.

[0041] In one embodiment of this utility model, the thigh drive component 3 and the lower leg drive component 4 are motors, including but not limited to motors, servo motors, and servo motors. A robot leg structure 100 also includes a foot 7, which is located at the end of the lower leg 2 away from the thigh 1. The thigh 1 and lower leg 2 are made of aluminum alloy, steel, magnesium alloy, titanium alloy, or carbon fiber, but are not limited to these materials. Using high-strength materials can meet the force requirements of the robot leg mechanism during movement and improve the service life of the robot leg structure 100.

[0042] In one embodiment of this utility model, the lower leg 2 further includes a main body 202 and an adjustment part 203, with the adjustment part 203 connected to the end of the main body 202 near the thigh 1. By connecting the main body 202 or the adjustment part 203 to the thigh 1 respectively, the installation angle between the lower leg 2 and the thigh 1 can be adjusted. Two second hinge holes 201 are provided in the main body 202 of the lower leg 2, and seven second hinge holes 201 are provided in the adjustment part 203 of the lower leg 2. The second hinge holes 201 for connecting the lower leg 2 and the transmission mechanism 6 are adjacent to each other, allowing the transmission mechanism 6 to be accommodated within the receiving hole 101.

[0043] In a specific embodiment of this utility model, the actual working part of the lower leg is the connection between the lower leg and the thigh to the other end of the lower leg. The lower leg 2 and the thigh 1 are rotatably connected through different second hinge holes 201. The length of the working part of the lower leg 2 can be adjusted, thereby adjusting the stride of the robot leg structure 100 under the same swing angle and improving the applicability of the robot leg structure 100.

[0044] The output shaft of the thigh drive 3 rotates, driving the thigh 1 to swing, and the transmission mechanism 6 and the lower leg 2 follow the movement of the thigh 1; the output shaft of the lower leg drive 4 rotates, driving the transmission wheel 601 to rotate, and the transmission wheel 601 drives the transmission rod 602 to drive the lower leg 2 to swing around the first hinge shaft 5. Example 2

[0045] Reference Figures 1-3 The second embodiment of this utility model also proposes a quadruped robot 500, which includes a body and four support components for supporting the balance of the body. The four support components are installed on the body, and each support component is a robot leg structure 100. The specific structure of each robot leg structure 100 is as described in the above embodiments. Since the robot leg structure 100 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be described in detail here.

[0046] The body 200 includes a first side and a second side, which are arranged opposite to each other. Two robot leg structures 100 are respectively installed on the first side and the second side.

[0047] A quadruped robot 500 also includes four mounting bases 300 mounted on the body 200. Each mounting base 300 is equipped with a robot leg structure 100. Specifically, two mounting bases 300 are mounted on the first side and the second side respectively. Each mounting base 300 is fixedly connected to the thigh drive component 3 of a robot leg structure 100. That is, each robot leg structure 100 is mounted on the body 200 through a mounting base 300.

[0048] In a specific embodiment of this utility model, the lower leg 2 and the thigh 1 are rotatably connected through different second hinge holes 201, which can adjust the length of the working part of the lower leg 2, thereby adjusting the stride of the robot leg structure 100 at the same swing angle and improving the applicability of the robot; it can also adjust the robot body 200 to suit different scenarios.

[0049] The output shaft of the thigh drive 3 rotates, driving the thigh 1 to swing, and the transmission mechanism 6 and the lower leg 2 follow the movement of the thigh 1; the output shaft of the lower leg drive 4 rotates, driving the transmission wheel 601 to rotate, and the transmission wheel 601 drives the transmission rod 602 to drive the lower leg 2 to swing around the first hinge shaft 5.

[0050] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. All equivalent structural transformations made under the inventive concept of the present utility model using the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A robot leg structure, characterized in that, include: Thigh, calf, thigh drive component, calf drive component, first hinge shaft, and transmission mechanism; The output shaft of the thigh drive is connected to the thigh. The thigh has a receiving hole that passes through the thigh and a first hinge hole that communicates with the receiving hole. A portion of the lower leg is received in the receiving hole. The lower leg has several second hinge holes at one end. The first hinge shaft connects the first hinge hole and a second hinge hole so that the lower leg is rotatably connected to the thigh. The lower leg is rotatably connected to the transmission mechanism, and the transmission mechanism is connected to the output shaft of the lower leg drive.

2. The robot leg structure as described in claim 1, characterized in that, The thigh has a connecting hole that passes through the thigh and connects to the receiving hole. The calf drive is installed in the connecting hole, and the output shaft of the calf drive is housed in the receiving hole.

3. The robot leg structure as described in claim 2, characterized in that, The transmission mechanism includes a transmission wheel, a transmission rod, and a second hinge shaft. The transmission wheel is mounted on the output shaft of the lower leg drive component. One end of the transmission rod is movably connected to the transmission wheel, and the other end has a third hinge hole. The second hinge shaft connects the third hinge hole and another second hinge hole so that the lower leg is rotatably connected to the transmission rod.

4. The robot leg structure as described in claim 3, characterized in that, The thigh is also provided with a connecting hole, and the output shaft of the thigh drive is housed in the connecting hole so that the output shaft of the thigh drive is fixedly connected to the thigh.

5. A robot leg structure as described in claim 4, characterized in that, The thigh is provided with several threaded holes, the calf drive is provided with several mounting holes, and several fasteners are respectively connected to the mounting holes and the threaded holes so that the calf drive is fixedly installed on the thigh.

6. The robot leg structure as described in claim 5, characterized in that, The thigh drive component and the calf drive component are motors.

7. A robot leg structure as described in claim 6, characterized in that, The robot leg structure also includes a foot, which is located at the end of the lower leg away from the thigh.

8. A robot leg structure as described in claim 7, characterized in that, The thigh and the lower leg are made of one of the following materials: aluminum alloy, steel, magnesium alloy, titanium alloy, and carbon fiber.

9. A quadruped robot, comprising a body and four support components mounted on the body, characterized in that: Each support component is a robot leg structure as described in any one of claims 1-8.

10. A quadruped robot as described in claim 9, characterized in that, The quadruped robot also includes four mounting bases installed on the body, each mounting base having a leg structure of the robot installed on it.

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