A machine dog leg structure

Abstract

The utility model discloses a kind of machine dog leg structure, comprising: thigh mechanism, shank mechanism, driving mechanism and energy conversion mechanism, one end of energy conversion mechanism is movably connected with thigh arm, the other end of energy conversion mechanism is rotatably connected with shank connecting rod.The utility model of a kind of machine dog leg structure, in the process that machine dog leg structure executes stretching or contraction movement, part of mechanical energy is converted to elastic potential energy by energy conversion mechanism to be stored, the energy of this storage can provide auxiliary power for the reset movement of leg structure, and auxiliary driving mechanism pushes leg structure away from ground, to effectively reduce the peak torque and power consumption required to be output by driving mechanism;At the same time, energy conversion mechanism plays the role of buffering and energy consumption in the whole movement process, and then can significantly improve the stability and controllability of machine dog leg structure movement.

Description

Technical Field

[0001] This utility model relates to the field of robot dog technology, specifically to a robot dog leg structure. Background Technology

[0002] Bionic robot dogs are biomimetic robots designed based on the shape of a dog. They are characterized by their small size, light weight, and high adaptability to various terrains. They are not only significant for the development of robotics but also have broad application prospects in specialized fields such as military, rescue, and exploration. Current research on robotic dogs primarily focuses on their interaction capabilities with humans. In production and daily life, the scope of use of robotic dogs will continue to expand, and their carrying capacity is gradually becoming an important research direction.

[0003] In the leg structure of traditional robotic dogs, the lower legs and thighs bear relatively high pressure, especially during actions such as jumping and rolling. This can lead to wear and tear on the motors, affecting the robot's durability and performance. A drawback of current similar robotic dog leg designs is that the motors are subjected to excessive stress, making it difficult to support continuous jumping and other actions. This limits their use in complex terrains and restricts their application scenarios. Utility Model Content

[0004] The purpose of this invention is to provide a leg structure for a robotic dog to solve the problem of high motor wear in existing robotic dogs when performing actions such as jumping and rolling.

[0005] The technical solution of this utility model to solve the above-mentioned technical problems is as follows:

[0006] A robotic dog leg structure, comprising:

[0007] The thigh mechanism includes a thigh arm, a thigh link rotatably disposed on the inner wall of one end of the thigh arm, and a connecting rod rotatably disposed at the end of the thigh link away from the thigh arm, the end of the thigh link away from the thigh arm extending to the outside of the thigh arm.

[0008] The lower leg mechanism includes a lower leg link and a knee joint located at one end of the lower leg mechanism. The knee joint rotates with the end of the link away from the thigh link and the end of the thigh arm away from the thigh link, respectively.

[0009] The drive mechanism is located on the outside of the thigh arm, and the output shaft of the drive mechanism passes through the thigh arm and is connected to the thigh linkage.

[0010] And an energy conversion mechanism, one end of which is movably connected to the thigh arm, and the other end of which is rotatably connected to the lower leg connecting rod.

[0011] Furthermore, the aforementioned thigh arm includes two symmetrical and parallel connecting plates and several fixed rods connected between the two connecting plates. The ends of the two connecting plates away from the thigh link are both engaged with the rotation of the knee joint.

[0012] A rotating cavity is formed between the two connecting plates to facilitate the rotation of the thigh link. The end of the thigh link away from the connecting rod is rotatably engaged with the inner wall of one connecting plate. The drive mechanism is located on the outer side of the other connecting plate, and the output shaft of the drive mechanism passes through the corresponding connecting plate and is engaged with the thigh link.

[0013] Furthermore, the knee joint is located between two connecting plates, and each side of the knee joint is provided with a connecting shaft 1 that is rotatably connected to the connecting plates, and the end of the knee joint away from the lower leg connecting rod is provided with a connecting shaft 2 that is rotatably connected to the connecting rod.

[0014] Furthermore, the aforementioned drive mechanism includes a drive joint motor and a rotary joint motor that is connected to the output shaft of the drive joint motor. The housing of the rotary joint motor is disposed on the outside of the corresponding connecting plate, and the rotary joint motor passes through the corresponding connecting plate and is connected to the thigh linkage.

[0015] Furthermore, the aforementioned energy conversion mechanism includes a connecting cylinder, a piston rod movably inserted within the connecting cylinder, an end cap threaded to the top of the connecting cylinder and located on the outer wall of the piston rod, a first spring connected between the top inner wall of the connecting cylinder and the piston of the piston rod, and a second spring disposed between the bottom of the piston rod and the bottom inner wall of the connecting cylinder. The end of the connecting cylinder away from the piston rod is threadedly connected to a fixed seat that rotatably engages with the lower leg connecting rod, and the end of the piston rod away from the connecting cylinder is movably connected between two connecting plates.

[0016] Furthermore, the outer wall of the middle part of the aforementioned lower leg connecting rod is provided with a hinge seat that is hinged to the fixed seat.

[0017] Furthermore, a connecting rod is connected between the inner walls of the two connecting plates, and a locking hook is movably connected to the outer wall of the connecting rod. Two sets of limiting sleeves are symmetrically arranged on the outer wall of the connecting rod, and the two sets of limiting sleeves are located on both sides of the locking hook. A hook ring is provided at the end of the piston rod and is movably connected to the locking hook.

[0018] Furthermore, the aforementioned first spring is located on the outer wall of the piston rod.

[0019] This utility model has the following beneficial effects:

[0020] This invention relates to a robotic dog leg structure. During the extension or retraction movement of the robotic dog's leg structure, an energy conversion mechanism converts a portion of the mechanical energy into elastic potential energy for storage. This stored energy provides auxiliary power for the repositioning movement of the leg structure and assists the drive mechanism in pushing the leg structure off the ground, thereby effectively reducing the peak torque and power consumption required by the drive mechanism. At the same time, the energy conversion mechanism plays a buffering and energy dissipation role throughout the movement, thus significantly improving the stability and controllability of the robotic dog's leg structure movement. Attached Figure Description

[0021] Figure 1 A schematic diagram of the overall structure of the robot dog's legs;

[0022] Figure 2 A schematic diagram of the thigh and lower leg mechanisms;

[0023] Figure 3 This is a schematic diagram of the thigh mechanism;

[0024] Figure 4 This is a schematic diagram of the lower leg mechanism;

[0025] Figure 5 This is a schematic diagram of the energy conversion mechanism;

[0026] Figure 6 This is a cross-sectional schematic diagram of the energy conversion mechanism;

[0027] Figure 7 for Figure 1 A magnified structural diagram at point A;

[0028] Figure 8 This is a schematic diagram of the locking hook structure.

[0029] In the diagram: 1. Thigh mechanism; 11. Thigh arm; 111. Connecting plate; 112. Fixed rod; 12. Thigh connecting rod; 13. Linking rod; 2. Lower leg mechanism; 21. Lower leg connecting rod; 211. Hinge seat; 22. Knee joint; 23. Connecting shaft one; 24. Connecting shaft two; 3. Drive mechanism; 31. Drive joint motor; 32. Rotation joint motor; 4. Energy conversion mechanism; 41. Connecting cylinder; 42. Piston rod; 43. End cap; 44. First spring; 45. Second spring; 46. Fixed seat; 5. Connecting rod; 6. Locking hook. Detailed Implementation

[0030] The principles and features of this utility model are described below with reference to the accompanying drawings. The examples given are only for explaining this utility model and are not intended to limit the scope of this utility model.

[0031] like Figures 1 to 4As shown, an embodiment of this utility model provides a robotic dog leg structure, comprising:

[0032] Thigh mechanism 1 includes thigh arm 11, thigh connecting rod 12 rotatably disposed on the inner wall of one end of thigh arm 11, and connecting rod 13 rotatably disposed at the end of thigh connecting rod 12 away from thigh arm 11. Thigh connecting rod 12 and connecting rod 13 are rotated through shaft hole cooperation. The end of thigh connecting rod 12 away from thigh arm 11 extends to the outside of thigh arm 11.

[0033] The lower leg mechanism 2 includes a lower leg connecting rod 21 and a knee joint 22 disposed at one end of the lower leg mechanism 2. The knee joint 22 is rotatably engaged with the end of the connecting rod 13 away from the thigh connecting rod 12 and the end of the thigh arm 11 away from the thigh connecting rod 12.

[0034] The drive mechanism 3 is located on the outside of the thigh arm 11, and the output shaft of the drive mechanism 3 passes through the thigh arm 11 and is connected to the thigh link 12. The output shaft of the drive mechanism 3 drives the thigh link 12 to rotate clockwise or counterclockwise, thereby pushing the linkage 13 to rotate around the knee joint 2, and realizing the flexion and extension movements of the entire leg structure.

[0035] The system also includes an energy conversion mechanism 4, one end of which is movably connected to the thigh arm 11, and the other end of which is rotatably connected to the lower leg link 21. During the extension or retraction of the robot dog's leg structure, the energy conversion mechanism 4 converts a portion of the mechanical energy into elastic potential energy for storage. This stored energy provides auxiliary power for the leg structure's repositioning movement and assists the drive mechanism 3 in pushing the leg structure off the ground, thereby effectively reducing the peak torque and power consumption required by the drive mechanism 3. Simultaneously, the energy conversion mechanism 4 acts as a buffer and energy dissipator throughout the movement, significantly improving the stability and controllability of the robot dog's leg structure's movement.

[0036] like Figure 3As shown, the thigh arm 11 includes two symmetrical and parallel connecting plates 111 and several fixing rods 112 connected between the two connecting plates 111. The fixing rods 112 are used to fix the two connecting plates 111, but the position and number of fixing rods 112 are not limited, and are mainly designed not to affect the movement of the thigh link 12 and the energy conversion mechanism 4. The ends of the two connecting plates 111 away from the thigh link 12 are rotatably engaged with the knee joint 22. In this embodiment, the knee joint 22 is located between the two connecting plates 111, and the sides of the knee joint 22 are respectively provided with connecting plates 111. A first connecting shaft 23 is rotatably connected to the connecting plate 111, and a corresponding shaft hole is provided on the connecting plate 111. A bearing seat rotatably connected to the first connecting shaft 23 is installed in the shaft hole, thereby realizing rotation. In other embodiments of this utility model, the knee joint 22 can also be located on the outside of the two connecting plates 111 and realize rotation through the shaft hole. A second connecting shaft 24 is provided at the end of the knee joint 22 away from the lower leg connecting rod 21, which is rotatably connected to the connecting rod 13. The second connecting shaft 24 is fixed to the end of the knee joint 22 by two support plates. The connecting rod 13 and the second connecting shaft 24 realize rotation through the shaft hole.

[0037] A rotating cavity is formed between the two connecting plates 111 to facilitate the rotation of the thigh connecting rod 12. The end of the thigh connecting rod 12 away from the connecting rod 13 is rotatably engaged with the inner wall of one connecting plate 111. The inner wall of the connecting plate 111 is provided with a mounting hole, in which a bearing seat is installed. A fixed shaft (not shown) is provided on one outer wall of the thigh connecting rod 12 and is rotatably connected to the bearing seat in the mounting hole. The drive mechanism 3 is located on the outside of the other connecting plate 111, and the output shaft of the drive mechanism 3 passes through the corresponding connecting plate 111 and is engaged with the thigh connecting rod 12.

[0038] Specifically, such as Figure 1 As shown, the drive mechanism 3 includes a drive joint motor 31 and a rotary joint motor 32 that is connected to the output shaft of the drive joint motor 31. The housing of the rotary joint motor 32 is disposed on the outside of the corresponding connecting plate 111, and the rotary joint motor 32 passes through the corresponding connecting plate 111 and is connected to the thigh link 12. A through hole is provided on the connecting plate 111 corresponding to the rotary joint motor 32 to facilitate the passage of its output shaft. The output shaft of the rotary joint motor 32 passes through the through hole and is connected to the other side of the thigh link 12.

[0039] like Figures 5 to 8As shown, the energy conversion mechanism 4 includes a connecting cylinder 41, a piston rod 42 movably passing through the connecting cylinder 41, an end cap 43 threadedly connected to the top of the connecting cylinder 41 and located on the outer wall of the piston rod 42, the end cap 43 having a through hole matching the rod portion of the piston rod 42; a first spring 44 connected between the top inner wall of the connecting cylinder 41 and the piston of the piston rod 42, the first spring 44 being located on the outer wall of the piston rod 42; and a second spring 45 disposed between the bottom of the piston rod 42 and the bottom inner wall of the connecting cylinder 41. A fixed seat 46, rotatably engaging with the lower leg connecting rod 21, is threadedly connected to the end of the connecting cylinder 41 away from the piston rod 42. The end of the piston rod 42 away from the connecting cylinder 41 is movably connected between two connecting plates 111. In this embodiment, a hinge seat 211, hinged to the fixed seat 46, is provided on the middle outer wall of the lower leg connecting rod 21, thereby enabling rotation between the connecting cylinder 41 and the lower leg connecting rod 21.

[0040] Specifically, a connecting rod 5 is connected between the inner walls of the two connecting plates 111, and a locking hook 6 is movably connected to the outer wall of the connecting rod 5. The locking hook 6 adopts the existing safety self-locking hook. Two sets of limiting sleeves are symmetrically arranged on the outer wall of the connecting rod 5, and the two sets of limiting sleeves are located on both sides of the locking hook 6. The two sets of limiting sleeves restrict the locking hook 6 at the center of the connecting rod 5 and prevent the locking hook 6 from moving along the axial direction of the connecting rod 5. A hook ring is provided at the end of the piston rod 42, which is movably connected to the locking hook 6.

[0041] By hooking the hook 6 onto the hook ring and utilizing the self-locking property of the hook 6, it is prevented from opening during use; the hook 6 is connected to the hook ring, and the locking part of the hook 6 can be pressed inward by external force, at which point the hook 6 and the hook ring can be disassembled, and the fixing seat 46 is threadedly connected to the connecting cylinder 41. This arrangement facilitates the disassembly and assembly of the energy conversion mechanism 4 when necessary.

[0042] In this invention, a robotic dog leg structure is described. When the robotic dog's leg structure performs a jumping motion, the lower leg link 21 on the leg structure contacts the ground first upon landing and is subjected to an upward impact force. This impact force forces the lower leg link 21 to rotate in the direction of the thigh arm 11 (i.e., clockwise). The impact force is then transmitted to the energy conversion mechanism 4, compressing the second spring 45 in the energy conversion mechanism 4. The impact kinetic energy is converted into the elastic potential energy of the second spring 45 and stored, thus achieving buffering. At the same time, the first spring 44 on the piston rod 42 is stretched to absorb high-frequency vibrations and excess energy, making the movement smoother and preventing the second spring 45 from oscillating excessively.

[0043] After the buffering is completed, the robot dog enters the push-off phase and forcefully leaves the ground. At this time, the compressed second spring 45 quickly releases its stored elastic potential energy, while the stretched first spring 44 generates a pulling force in the same direction as the second spring 45, thereby pushing the lower leg linkage 21 to rotate in the opposite direction, thus applying an additional downward force to the ground and assisting the drive motor 31 in pushing the robot dog's body off the ground. This achieves the recovery of the landing impact energy and reuse during take-off, effectively reducing the peak torque and power consumption required by the motor.

[0044] The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A robot dog leg structure, characterized in that, include: Thigh mechanism (1), the thigh mechanism (1) includes a thigh arm (11), a thigh connecting rod (12) rotatably disposed on the inner wall of one end of the thigh arm (11), and a connecting rod (13) rotatably disposed at the end of the thigh connecting rod (12) away from the thigh arm (11), the end of the thigh connecting rod (12) away from the thigh arm (11) extending to the outside of the thigh arm (11); The lower leg mechanism (2) includes a lower leg link (21) and a knee joint (22) disposed at one end of the lower leg mechanism (2). The knee joint (22) is rotatably engaged with the end of the connecting rod (13) away from the thigh link (12) and the end of the thigh arm (11) away from the thigh link (12). The drive mechanism (3) is located on the outside of the thigh arm (11), and the output shaft of the drive mechanism (3) passes through the thigh arm (11) and is connected to the thigh connecting rod (12). And an energy conversion mechanism (4), one end of which is movably connected to the thigh arm (11), and the other end of which is rotatably connected to the calf connecting rod (21).

2. The robot dog leg structure according to claim 1, characterized in that, The thigh arm (11) includes two symmetrical and parallel connecting plates (111) and a plurality of fixed rods (112) connected between the two connecting plates (111). The ends of the two connecting plates (111) away from the thigh connecting rod (12) are rotatably engaged with the knee joint (22). A rotating cavity is formed between the two connecting plates (111) to facilitate the rotation of the thigh link (12). The end of the thigh link (12) away from the connecting rod (13) is rotatably engaged with the inner wall of one of the connecting plates (111). The driving mechanism (3) is located on the outside of the other connecting plate (111), and the output shaft of the driving mechanism (3) passes through the corresponding connecting plate (111) and is engaged with the thigh link (12).

3. The robot dog leg structure according to claim 2, characterized in that, The knee joint (22) is located between the two connecting plates (111), and the two sides of the knee joint (22) are respectively provided with a connecting shaft one (23) that is rotatably connected to the connecting plate (111), and the end of the knee joint (22) away from the lower leg connecting rod (21) is provided with a connecting shaft two (24) that is rotatably connected to the connecting rod (13).

4. The robot dog leg structure according to claim 2, characterized in that, The drive mechanism (3) includes a drive joint motor (31) and a rotary joint motor (32) connected to the output shaft of the drive joint motor (31). The housing of the rotary joint motor (32) is disposed on the outside of the corresponding connecting plate (111), and the rotary joint motor (32) passes through the corresponding connecting plate (111) and is connected to the thigh link (12).

5. The robot dog leg structure according to any one of claims 2 to 4, characterized in that, The energy conversion mechanism (4) includes a connecting cylinder (41), a piston rod (42) movably inserted inside the connecting cylinder (41), an end cap (43) threadedly connected to the top of the connecting cylinder (41) and located on the outer wall of the piston rod (42), a first spring (44) connected between the top inner wall of the connecting cylinder (41) and the piston of the piston rod (42), and a second spring (45) disposed between the bottom of the piston of the piston rod (42) and the bottom inner wall of the connecting cylinder (41). The end of the connecting cylinder (41) away from the piston rod (42) is threadedly connected to a fixed seat (46) that rotatably engages with the lower leg connecting rod (21). The end of the piston rod (42) away from the connecting cylinder (41) is movably connected between the two connecting plates (111).

6. The robot dog leg structure according to claim 5, characterized in that, The lower leg connecting rod (21) has a hinge seat (211) on its middle outer wall that is hinged to the fixed seat (46).

7. The robot dog leg structure according to claim 5, characterized in that, A connecting rod (5) is connected between the inner walls of the two connecting plates (111). A locking hook (6) is movably connected to the outer wall of the connecting rod (5). Two sets of limiting sleeves are symmetrically arranged on the outer wall of the connecting rod (5). The two sets of limiting sleeves are located on both sides of the locking hook (6). A hook ring is provided at the end of the piston rod (42) and is movably connected to the locking hook (6).

8. The robot dog leg structure according to claim 5, characterized in that, The first spring (44) is located on the outer wall of the piston rod (42).

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