Lightweight joint rotation mechanism of a robot dog

Abstract

The utility model provides a kind of light joint rotating mechanism of robot dog, it is related to robot dog joint technical field, including shell, installation mechanism is arranged in the shell, gear mechanism is installed in the installation mechanism, the installation mechanism side is provided with several radiating fins, the installation mechanism side is rotatably connected with supporting leg, the shell side is provided with installation box, driving motor is fixedly installed in the installation box, gear mechanism both ends are connected with driving motor and supporting leg respectively, the shell, inner shell and other core components are made by carbon fiber aluminum alloy forging process in the application, overall quality is greatly reduced, gear mechanism is designed with more teeth and less module, increase the number of teeth, reduce module, while ensuring transmission intensity, simplify structure, make joint more light and compact, adapt to the demand of robot dog to light weight, the gear mechanism of more teeth and less module engages more smoothly, cooperate with the accurate positioning of clamping block and clamping groove, reduce transmission gap, improve rotation accuracy.

Description

Technical Field

[0001] This utility model relates to the field of robot dog joint technology, and more specifically, to a lightweight joint rotation mechanism for robot dogs. Background Technology

[0002] As a type of robot with complex movement capabilities, the joint rotation mechanism of a robot dog is the core component that enables flexible limb movement, directly affecting the robot dog's load capacity, movement accuracy, and endurance.

[0003] In the prior art, patent CN209934069U discloses a mechanical structure for the leg movement of a robotic dog, including a body and legs. The body has fixed seats on its four sides, and the legs are fixed to these seats and rotate relative to each other. The leg's movable joint has three transmission gears and a return buffer spring. The transmission gears are connected to and mesh with the fixed seats and the lower end of the upper leg, and are driven to rotate by the first transmission gear. This novel leg design features movable joints between the upper and lower legs, which utilize gears and drive motors to achieve various movements. The movement can be controlled with precision, and the return buffer springs record the degree of leg bending, allowing the leg to recover as the driving force is gradually released, gradually achieving a standing position with natural movement. Furthermore, multiple motors on each of the four sides enable a wider range of movements.

[0004] Existing robot dog joint rotation mechanisms typically use traditional metal materials for the outer shell and transmission components, resulting in a large overall mass of the joint, increased drive energy consumption, and limited robot dog's endurance. At the same time, traditional joint gear mechanisms often use a large module and few teeth design, which has problems such as large transmission clearance and poor meshing smoothness, which can easily lead to insufficient joint rotation accuracy and affect the robot dog's motion control accuracy. Utility Model Content

[0005] The main objective of this invention is to provide a lightweight joint rotation mechanism for a robot dog, which can effectively solve the problems mentioned in the background art.

[0006] To achieve the above objectives, the technical solution adopted by this utility model is as follows:

[0007] A lightweight joint rotation mechanism for a robotic dog includes a housing, an installation mechanism inside the housing, a gear mechanism installed inside the installation mechanism, several heat dissipation fins on one side of the installation mechanism, a support leg rotatably connected to one side of the installation mechanism, an installation box on one side of the housing, a drive motor fixedly installed inside the installation box, and the two ends of the gear mechanism being connected to the drive motor and the support leg, respectively.

[0008] Furthermore, a mounting flange is provided on one side of the housing, and the housing is mounted to the robot dog via the mounting flange.

[0009] Furthermore, the installation mechanism includes an inner shell, with a plurality of locking blocks equidistantly arranged on the outer circumferential surface of the inner shell, and a plurality of locking slots equidistantly arranged on the inner sidewall of the outer shell, wherein the locking blocks are correspondingly inserted into the locking slots, and one side of the locking block is fixedly installed at the end of the outer shell.

[0010] Furthermore, a side plate is fixedly connected to one side of the inner shell, and several heat dissipation fins are circumferentially installed inside the side plate, with one end extending to the outside of the side plate.

[0011] Furthermore, a limit ring is fixedly connected to one side of the side plate, and a sealing ring is provided inside the limit ring. The sealing ring is rotatably installed on one side of the support leg.

[0012] Furthermore, the gear mechanism includes a gear ring, which is fixedly installed inside the inner housing. A plurality of planetary gears are meshed inside the gear ring, and a sun gear is meshed inside the planetary gears. The sun gear is fixedly connected to the output end of the drive motor.

[0013] Furthermore, several of the planetary gears are rotatably mounted on a planetary carrier, an output shaft is fixedly connected to the middle of the planetary carrier, the output shaft is rotatably mounted to the middle of a side plate, and one side of the output shaft is fixedly connected to a support leg.

[0014] Furthermore, both the planetary gear and the sun gear have several through holes.

[0015] Compared with the prior art, the present invention has the following beneficial effects:

[0016] (1) The core components such as the outer shell and inner shell are made by carbon fiber aluminum alloy forging process, which greatly reduces the overall weight. The gear mechanism adopts a multi-tooth and few-module design, which increases the number of teeth and reduces the module. While ensuring the transmission strength, the structure is simplified, making the joints lighter and more compact, which meets the robot dog's demand for lightweighting. The multi-tooth and few-module gear mechanism meshes more smoothly. With the precise positioning of the card block and card slot, the transmission gap is reduced and the rotation accuracy is improved.

[0017] (2) The high strength of carbon fiber aluminum alloy material, combined with the sealing protection of the sealing ring and the efficient heat dissipation of the heat dissipation fins, effectively reduces the wear and thermal aging of parts and significantly extends the service life of the joint. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a partial front view schematic diagram of the structure in this utility model;

[0020] Figure 3 This utility model Figure 2 3D schematic diagram of the cross-sectional structure of the middle AA section;

[0021] Figure 4 This is a three-dimensional schematic diagram of a partial cross-sectional structure of the present invention;

[0022] Figure 5 This is an exploded view of a portion of the structure of this utility model.

[0023] In the diagram: 1. Outer shell; 11. Mounting flange; 12. Mounting box; 13. Slot; 2. Gear mechanism; 21. Gear ring; 22. Planetary gear; 23. Sun gear; 24. Planetary carrier; 25. Output shaft; 26. Through hole; 3. Mounting mechanism; 31. Inner shell; 32. Side plate; 33. Limiting ring; 34. Locking block; 4. Heat dissipation fins; 5. Support leg; 6. Sealing ring; 7. Drive motor. Detailed Implementation

[0024] The technical solutions of this utility model will be clearly and completely described below with reference to the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this utility model.

[0025] like Figure 1 , Figure 3 As shown in the figure, this utility model embodiment proposes a lightweight joint rotation mechanism for a robot dog, including a shell 1, an installation mechanism 3 is provided inside the shell 1, a gear mechanism 2 is installed inside the installation mechanism 3, a plurality of heat dissipation fins 4 are provided on one side of the installation mechanism 3, a support leg 5 is rotatably connected to one side of the installation mechanism 3, an installation box 12 is provided on one side of the shell 1, a drive motor 7 is fixedly installed inside the installation box 12, and the two ends of the gear mechanism 2 are respectively connected to the drive motor 7 and the support leg 5.

[0026] like Figure 1 , Figure 2 As shown, a mounting flange 11 is provided on one side of the outer casing 1, and the outer casing 1 is mounted to the robot dog through the mounting flange 11.

[0027] The outer shell 1 is connected to the joint of the robot dog via the mounting flange 11. The mounting mechanism 3, gear mechanism 2 and drive motor 7 are integrated into the outer shell 1, with a compact layout that meets the lightweight requirements of the robot dog.

[0028] like Figure 1 , Figures 3-5As shown, the installation mechanism 3 includes an inner shell 31. Several locking blocks 34 are equidistantly arranged on the outer circumferential surface of the inner shell 31. Several locking slots 13 are equidistantly arranged on the inner side wall of the outer shell 1. The locking blocks 34 are correspondingly inserted into the locking slots 13. One side of the locking block 34 is fixedly installed at the end of the outer shell 1.

[0029] The locking block 34 on the outer periphery of the inner shell 31 is inserted into the locking groove 13 on the inner side of the outer shell 1 to form circumferential positioning. With the end fixing, the relative movement of the inner shell 31 and the outer shell 1 is restricted, so as to achieve precise positioning of the inner shell 31 and the outer shell 1. This avoids meshing deviation caused by shell shaking during the transmission of the gear mechanism 2, improves transmission stability, eliminates the need for complex calibration during assembly, and improves assembly efficiency.

[0030] like Figure 1 , Figures 3-5 As shown, a side plate 32 is fixedly connected to one side of the inner shell 31, and several heat dissipation fins 4 are installed in a circular pattern inside the side plate 32, with one end extending to the outside of the side plate 32.

[0031] The heat generated during the operation of the gear mechanism 2 is transferred to the side plate 32 through the inner shell 31, and then diffused to the external environment by the circumferentially distributed heat dissipation fins 4. The heat dissipation fins 4 extend to the outside of the side plate 32 and can directly contact the air, thereby improving the heat exchange efficiency, effectively avoiding the failure of lubricating oil or thermal deformation of parts due to high temperature, and extending the service life of the joint. The circumferentially distributed heat dissipation fins 4 make the heat spread evenly and reduce local overheating.

[0032] like Figure 1 , Figure 3 , Figure 5 As shown, a limit ring 33 is fixedly connected to one side of the side plate 32, and a sealing ring 6 is provided inside the limit ring 33. The sealing ring 6 is rotatably installed on one side of the support leg 5.

[0033] The sealing ring 6 is fitted inside the limiting ring 33 to improve the sealing performance of the connection between the support leg 5 and the rotating mechanism, prevent external dust and moisture from entering the gear mechanism 2, protect the gear mechanism 2 from contaminant corrosion, and reduce the maintenance frequency.

[0034] like Figure 1 , Figures 3-5 As shown, the gear mechanism 2 includes a gear ring 21, which is fixedly installed inside the inner shell 31. Several planetary gears 22 are meshed inside the gear ring 21, and a sun gear 23 is meshed inside the planetary gears 22. The sun gear 23 is fixedly connected to the output end of the drive motor 7. Several planetary gears 22 are rotatably installed on the planet carrier 24. An output shaft 25 is fixedly connected to the middle of the planet carrier 24. The output shaft 25 is rotatably installed in the middle of the side plate 32. One side of the output shaft 25 is fixedly connected to the support leg 5. Several through holes 26 are provided on both the planetary gears 22 and the sun gear 23.

[0035] The system adopts a planetary gear 22 transmission structure, with the sun gear 23 inputting power. The planetary gear 22 simultaneously rotates on its own axis and revolves around the gear ring 21. After the planet carrier 24 reduces speed and increases torque, it drives the output shaft 25 and the support leg 5 to rotate, thus achieving precise control of the robot dog's joint rotation. The through holes 26 on the planetary gear 22 and the sun gear 23 can reduce the gear mass and allow airflow to assist in heat dissipation.

[0036] In the specific design, the outer shell 1 and inner shell 31 are made using carbon fiber aluminum alloy forging technology, which greatly reduces the overall weight. The gear mechanism 2 adopts a multi-tooth, low-module design, which increases the number of teeth and reduces the module. While ensuring transmission strength, it simplifies the structure and makes the joints lighter and more compact, which meets the robot dog's need for lightweight design.

[0037] The working principle of this lightweight joint rotation mechanism for a robotic dog:

[0038] The rotating mechanism is fixed to the corresponding joint of the robot dog by the mounting flange 11. The drive motor 7 outputs power to the sun gear 23 of the gear mechanism 2. Through the meshing transmission of the planetary gear 22 and the gear ring 21, the planetary carrier 24 drives the support leg 5 to achieve precise rotation through the output shaft 25. The use of carbon fiber aluminum alloy forging process and multi-tooth and few-die mechanism makes the robot dog joint lighter, simpler in structure, and longer in precision and life. The mounting mechanism 3 fixes the gear mechanism 2 through the cooperation of the locking block 34 and the locking slot 13 to ensure transmission stability. The heat dissipation fins 4 conduct internal heat out through the side plate 32. The limit ring 33 limits the rotation range of the support leg 5. The sealing ring 6 achieves sealing protection within the limit ring 33. The whole system forms an efficient and stable joint rotation system.

[0039] Obviously, the above embodiments of this utility model are merely examples for clearly illustrating this utility model, and are not intended to limit the implementation of this utility model. For those skilled in the art, other variations or modifications can be made based on the above description. It is impossible to exhaustively list all the implementation methods here. Any obvious variations or modifications derived from the technical solutions of this utility model are still within the protection scope of this utility model.

Claims

1. A lightweight joint rotation mechanism of a robot dog comprising a housing (1), characterized in that: An installation mechanism (3) is provided inside the outer shell (1). A gear mechanism (2) is installed inside the installation mechanism (3). Several heat dissipation fins (4) are provided on one side of the installation mechanism (3). A support leg (5) is rotatably connected to one side of the installation mechanism (3). An installation box (12) is provided on one side of the outer shell (1). A drive motor (7) is fixedly installed inside the installation box (12). The two ends of the gear mechanism (2) are respectively connected to the drive motor (7) and the support leg (5).

2. The light-weight joint rotation mechanism of the robot dog according to claim 1, characterized in that: A mounting flange (11) is provided on one side of the outer shell (1), and the outer shell (1) is mounted to the robot dog through the mounting flange (11).

3. The light-weight joint rotation mechanism of the robot dog according to claim 1, wherein: The installation mechanism (3) includes an inner shell (31), a plurality of locking blocks (34) are equidistantly arranged on the outer circumferential surface of the inner shell (31), a plurality of locking slots (13) are equidistantly arranged on the inner side wall of the outer shell (1), the locking blocks (34) are correspondingly inserted into the locking slots (13), and one side of the locking block (34) is fixedly installed at the end of the outer shell (1).

4. The light-weight joint rotation mechanism of the robot dog according to claim 3, wherein: The inner shell (31) is fixedly connected to a side plate (32) on one side, and several heat dissipation fins (4) are installed in the side plate (32) in a circular pattern, with one end extending to the outside of the side plate (32).

5. The light-weight joint rotation mechanism of the robot dog according to claim 4, wherein: A limiting ring (33) is fixedly connected to one side of the side plate (32), and a sealing ring (6) is provided inside the limiting ring (33). The sealing ring (6) is rotatably installed on one side of the support leg (5).

6. The light-weight joint rotation mechanism of the robot dog according to claim 3, wherein: The gear mechanism (2) includes a gear ring (21), which is fixedly installed inside the inner shell (31). A plurality of planetary gears (22) are meshed inside the gear ring (21), and a sun gear (23) is meshed inside the planetary gears (22). The sun gear (23) is fixedly connected to the output end of the drive motor (7).

7. The light-weight joint rotation mechanism of the robot dog according to claim 6, wherein: Several planetary gears (22) are rotatably mounted on a planetary carrier (24). An output shaft (25) is fixedly connected to the middle of the planetary carrier (24). The output shaft (25) is rotatably mounted on the middle of a side plate (32). One side of the output shaft (25) is fixedly connected to a support leg (5).

8. The light-weight joint rotation mechanism of the robot dog according to claim 6, wherein: Both the planetary gear (22) and the sun gear (23) have several through holes (26).

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