A leg folding and unfolding mechanism of a multi-legged robot

Abstract

The utility model relates to the technical field of multi-legged robot, concretely is a kind of multi-legged robot's leg folding and unfolding mechanism, including base, the surface of base is hinged with driven link, the outside of driven link is hinged with end foot;The inside of end foot bottom is respectively hinged with driving link and auxiliary link, the surface of base is equipped with drive steering gear.The utility model can realize the leg folding and unfolding of multi-legged robot, and four-link structure formed by driving link, auxiliary link, driven link and end foot plays the role of driving end foot rotation and movement, while the utility model reduces the use quantity of driving unit relative to prior art, compresses volume, substantially improves folding and storage effect, while the utility model is used in installation, and the angle adjustment of driving link is realized by the cooperation of four fixing holes and eight adjusting screw holes in any position according to requirement.

Description

Technical Field

[0001] This utility model relates to the field of multi-legged robot technology, specifically to a leg folding, storage, and unfolding mechanism for a multi-legged robot. Background Technology

[0002] In the current technology, the leg structure of multi-legged robots is mostly designed with simple rotary joints to achieve a limited range of motion, which usually cannot achieve large-scale retraction or folding. Although some can achieve this, it requires the addition of more separate drive units to realize the retraction or folding function, which increases the cost and consumes more power. It is also difficult to achieve the expected effect in terms of appearance. In addition, the addition of drive units requires additional volume, and it is also difficult to achieve the ideal effect in terms of folding function. Utility Model Content

[0003] The purpose of this invention is to provide a leg folding and unfolding mechanism for a multi-legged robot, in order to solve the problem mentioned in the background art that the existing technology cannot achieve a large degree of shrinkage or folding, or requires the addition of more separate drive units.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a leg folding, storage, and unfolding mechanism for a multi-legged robot, comprising a base, a driven link hinged to the surface of the base, and an end foot hinged to the outer side of the driven link; an active link and an auxiliary link are respectively hinged to the inner side of the bottom of the end foot; a drive servo motor is mounted on the surface of the base, and a servo motor disk is fixed to the output end of the drive servo motor, and the servo motor disk and the active link are fitted and fixed together.

[0005] Preferably, the surface of the base is provided with multiple mounting holes, which facilitate the installation and fixing of the base.

[0006] Preferably, the surface of the active connecting rod has four fixing holes, and the included angle between adjacent fixing holes is ninety degrees.

[0007] Preferably, a connecting post is fixed to the surface of the drive servo motor, and one end of the connecting post passes through the end foot and is rotatably connected to the auxiliary connecting rod.

[0008] Preferably, the surface of the servo rudder disk has eight adjusting screw holes, and the included angle between adjacent adjusting screw holes is forty-five degrees.

[0009] Preferably, when the active linkage is installed with the servo rotor, it is inserted through four fixing holes by bolts and fixedly connected to four of the adjusting screw holes.

[0010] Compared with existing technologies, the beneficial effects of this invention are as follows: The leg folding and unfolding mechanism of this multi-legged robot is driven by a servo motor to rotate the servo motor disk. When the servo motor disk rotates, it drives the active linkage to move. The active linkage receives power and rotates, causing the end leg to rotate and move left and right in the direction of the auxiliary linkage and the driven linkage, thus realizing the folding and unfolding of the mechanism. This invention can realize the folding and unfolding of the legs of a multi-legged robot. The four-bar linkage structure formed by the active linkage, auxiliary linkage, driven linkage, and end leg plays the role of driving the rotation and movement of the end leg. At the same time, compared with existing technologies, this invention reduces the number of drive units used, compresses the volume, and greatly improves the folding and unfolding effect. In addition, during installation, the angle of the active linkage can be adjusted by using the four fixing holes and eight adjusting screw holes in any position as needed. Attached Figure Description

[0011] Figure 1 This is a three-dimensional front view structural diagram of the present invention;

[0012] Figure 2 This is a three-dimensional rear view structural schematic diagram of the present invention;

[0013] Figure 3 This is a schematic diagram of the exploded structure from the right side view of this utility model;

[0014] Figure 4 This is a schematic diagram of the exploded structure from the left side of this utility model;

[0015] Figure 5 This is a schematic diagram of the unfolded structure of this utility model;

[0016] Figure 6 This is a schematic diagram of the folded state of this utility model;

[0017] Figure 7 This is a schematic diagram of the folded state two-dimensional structure of this utility model;

[0018] Figure 8 This is a schematic diagram of the storage structure of this utility model.

[0019] In the diagram: 1. Base; 11. Mounting hole; 2. Active connecting rod; 20. Fixing hole; 21. Auxiliary connecting rod; 3. Driven connecting rod; 4. End foot; 5. Drive servo; 51. Connecting post; 6. Servo disc; 61. Adjustment screw hole. Detailed Implementation

[0020] 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, not all embodiments. In addition, the terms "first", "second", "third", "upper", "lower", "left", "right", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance. At the same time, in the description of the present utility model, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present utility model.

[0021] The present invention provides a structure for a leg-folding, storage, and unfolding mechanism for a multi-legged robot, as shown in the following figure. Figures 1 to 8 As shown, the device includes a base 1, with multiple mounting holes 11 on its surface to facilitate the installation and fixing of the base 1. A driven link 3 is hinged to the surface of the base 1, and an end foot 4 is hinged to the outer side of the driven link 3. An active link 2 and an auxiliary link 21 are respectively hinged to the inner side of the bottom of the end foot 4. A drive servo motor 5 is mounted on the surface of the base 1, and a servo motor disk 6 is fixed to the output end of the drive servo motor 5. The servo motor disk 6 and the active link 2 are fitted together and fixed. A connecting post 51 is fixed to the surface of the drive servo motor 5, and one end of the connecting post 51 passes through the end foot 4 and is rotatably connected to the auxiliary link 21.

[0022] In practice, the servo motor 5 drives the servo motor disk 6 to rotate. When the servo motor disk 6 rotates, it drives the active link 2 to move. The active link 2 receives power and rotates, causing the end foot 4 to rotate and move left and right under the auxiliary link 21 and the driven link 3, thereby realizing the folding and unfolding of the mechanism.

[0023] Furthermore, such as Figures 1 to 4 As shown, the surface of the active linkage 2 has four fixing holes 20, and the included angle between adjacent fixing holes 20 is 90 degrees. The surface of the servo disk 6 has eight adjusting screw holes 61, and the included angle between adjacent adjusting screw holes 61 is 45 degrees. When the active linkage 2 and the servo disk 6 are installed, they are inserted through the four fixing holes 20 by bolts and fixedly connected to each other by four of the adjusting screw holes 61.

[0024] During installation, this utility model allows for angle adjustment of the active connecting rod 2 by using the four fixing holes 20 and eight adjusting screw holes 61 in any position as needed.

[0025] Working principle: During operation, the servo motor 5 drives the servo motor disk 6 to rotate. When the servo motor disk 6 rotates, it drives the active linkage 2 to move. The active linkage 2 receives power and rotates, causing the end foot 4 to rotate and move left and right under the auxiliary linkage 21 and the driven linkage 3, thereby realizing the folding and unfolding of the mechanism.

[0026] This invention enables the folding and unfolding of the legs of a multi-legged robot. The four-bar linkage structure formed by the active link 2, the auxiliary link 21, the driven link 3, and the end foot 4 drives the end foot 4 to rotate and move. At the same time, compared with the prior art, this invention reduces the number of drive units used, compresses the volume, and greatly improves the folding and storage effect.

[0027] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A leg folding, storage, and unfolding mechanism for a multi-legged robot, comprising a base (1), characterized in that: The base (1) is hinged with a driven link (3), and the driven link (3) is hinged with an end foot (4) on its outer side; the end foot (4) is hinged with an active link (2) and an auxiliary link (21) on the inner side of its bottom. The base (1) is equipped with a drive servo motor (5), and the output end of the drive servo motor (5) is fixed with a servo motor disk (6). The servo motor disk (6) and the active link (2) are fitted together and fixed.

2. The leg folding, storage, and unfolding mechanism for a multi-legged robot according to claim 1, characterized in that: The base (1) has multiple mounting holes (11) on its surface, which facilitate the installation and fixing of the base (1).

3. The leg folding, storage, and unfolding mechanism for a multi-legged robot according to claim 1, characterized in that: The surface of the active connecting rod (2) is provided with four fixing holes (20), and the included angle between adjacent fixing holes (20) is ninety degrees.

4. The leg folding, storage, and unfolding mechanism for a multi-legged robot according to claim 1, characterized in that: The surface of the drive servo (5) is fixed with a connecting post (51), and one end of the connecting post (51) passes through the end foot (4) and is rotatably connected to the auxiliary connecting rod (21).

5. The leg folding, storage, and unfolding mechanism for a multi-legged robot according to claim 1, characterized in that: The surface of the servo rudder disk (6) is provided with eight adjustment screw holes (61), and the included angle between adjacent adjustment screw holes (61) is forty-five degrees.

6. The leg folding, storage, and unfolding mechanism for a multi-legged robot according to claim 1, characterized in that: When the active linkage (2) is installed with the servo disk (6), it is inserted through four fixing holes (20) by bolts and fixedly connected to four of the adjusting screw holes (61).

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