Four-legged walking movement mechanism with left and right head swinging linkage

Abstract

The utility model relates to robot technical field, and disclose a four -legged walking movement core with left and right head swing linkage mechanism, including shell, the shell includes drive assembly, four limbs movement subassembly, head swing linkage subassembly and tail movement subassembly in, through the hinge connection activity connection of a plurality of components such as right front leg swing lever, left front leg swing lever, head swing lever middle part rotation fulcrum is fixed with the movement core frame, can stably transfer the movement force of four limbs swing lever in the working process, ensure that the head swing amplitude, frequency and four limbs movement accurate match, will not appear the problem of movement disjunction or amplitude attenuation because of long -term use, and need not complex transmission structure, rely on the original power transmission path of four limbs movement subassembly, and realize power distribution and motion conversion, reduce the cost of parts procurement and assembly, avoid the problem of size increase brought by independent drive, can directly adapt the installation space of traditional shell, be convenient for the batch production and upgrading of product.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, specifically a quadruped motor core with a left and right head swing linkage mechanism. Background Technology

[0002] In various fields such as toy manufacturing, small service robots, and biomimetic models, quadrupedal walking mechanisms serve as the core power transmission components that enable autonomous movement of equipment. Their performance and motion characteristics directly determine the product's market competitiveness. As the consumer market continues to demand higher levels of interactivity, aesthetics, and biomimetic qualities from products, the technological limitations of traditional quadrupedal walking mechanisms are becoming increasingly apparent, making it difficult to meet the diverse application needs of today.

[0003] From the perspective of current technological development, most mainstream quadruped walking mechanisms on the market adopt a simplified structural design of "single drive to four-limb linkage". These mechanisms typically only have one basic drive unit, which transmits power to the limbs through mechanical structures such as cams, linkages, or rockers to achieve the cyclical movement of "lifting the leg, stepping, and landing". However, limited by cost control and structural simplification design goals, the movement trajectory of these mechanisms is mostly a fixed mechanical cycle. The limb movements can only meet basic movement needs, and the overall movements are stiff, highly repetitive, and lack the natural coordination and dynamic beauty of walking like a bionic animal. For example, the common walking mechanism of children's plush toys has limb movements that are simply alternating up and down swings, without obvious changes in forward and backward step angles, and the head is completely fixed, resulting in the toy exhibiting a "mechanical puppet-like" movement effect, greatly reducing the interactive fun. Even some mid-to-high-end bionic model mechanisms, although their limb movement trajectories have been optimized, still require the head to rely on an external support for fixation, and cannot form a linkage with the limb movements, greatly limiting the bionic simulation effect.

[0004] Therefore, we proposed a four-legged motor core with a left and right swing linkage mechanism to solve the above problems. Summary of the Invention

[0005] (I) Technical problem to be solved: In view of the shortcomings of the prior art, this utility model provides a four-legged motor core with a left and right swing linkage mechanism to solve the problems mentioned in the background art.

[0006] (II) Technical Solution: To achieve the above objectives, this utility model provides the following technical solution: a four-legged walking motor core with a left and right head swing linkage mechanism, including a shell, and the shell includes a drive component, a limb movement component, a head swing linkage component and a tail movement component; The drive assembly includes a drive gearbox, and the limb movement assembly includes a right hind foot body, a right front foot body, a right front foot swing arm, a right foot eccentric wheel, a left foot eccentric wheel, a left front foot swing arm, a left hind foot body, a left front foot body, a right hind foot swing arm, a right hind foot pull rod, a left hind foot pull rod, and a left hind foot swing arm. The head-swing linkage component includes a head shell and a head-swing arm; The tail motion assembly includes a moving tail eccentric wheel, a tail lever, and a tail swing arm.

[0007] Preferably, the drive gearbox has multiple power output ends, which are respectively connected to the right hind foot swing rod, right hind foot pull rod, left hind foot pull rod, and left hind foot swing rod in the limb movement assembly and the moving tail eccentric wheel in the tail movement assembly. The right hind foot swing rod and right hind foot pull rod are connected to the right front foot swing rod, and the left hind foot pull rod and left hind foot swing rod are connected to the left front foot swing rod.

[0008] Preferably, one end of the right front foot swing arm is fixedly connected to the right front foot body, and the other end is movably connected to the right rear foot swing arm via the right rear foot pull rod. The end of the right rear foot swing arm away from the right rear foot pull rod is fixedly connected to the right rear foot body. The connection method of the left front foot swing arm with the left rear foot pull rod and the left rear foot swing arm is the same as the connection method of the right front foot swing arm with the right rear foot swing arm and the right rear foot pull rod.

[0009] Preferably, the two ends of the swing arm are movably connected to the right front foot swing arm and the left front foot swing arm, respectively, and the middle part is fixedly connected to the head shell. The middle part of the swing arm is provided with a rotation fulcrum, and the rotation fulcrum in the middle part of the swing arm is detachably connected to the outer shell.

[0010] Preferably, the moving tail eccentric wheel is fixedly connected to one of the power output ends of the drive gearbox, one end of the tail lever is movably connected to the moving tail eccentric wheel, and the other end is fixedly connected to the tail swing arm.

[0011] Preferably, both the right front foot swing arm and the left front foot swing arm are provided with connecting holes for connecting the swing head swing arm, and the position of the connecting holes is adapted to the movement trajectory of the swing head swing arm.

[0012] Preferably, the connection between the right rear foot lever and the right front foot lever, and the connection between the left rear foot lever and the left rear foot lever and the left front foot lever are all hinged.

[0013] Preferably, the drive gearbox is a reduction gearbox.

[0014] Preferably, the outer shell and head shell are made of lightweight plastic material, and the bottom of the right hind foot, right front foot, left hind foot, and left front foot are all provided with anti-slip textures. Beneficial effects

[0015] Compared with the prior art, this utility model provides a four-legged walking mechanism with a left and right head swing linkage mechanism, which has the following beneficial effects: 1. This utility model, through its design, brings the following benefits to the overall operation: Based on the existing four-limb walking structure, by adding components such as four-limb movement components, the synchronous movement of the head and four limbs is achieved; during operation, the drive gearbox drives the right front foot swing arm and the left front foot swing arm to move the four limbs while directly pulling them to swing left and right around the pivot point, thereby driving the head shell to move synchronously. Moreover, the direction of head swing and the direction of limb stepping form a fixed coordination relationship, completely avoiding disordered movements, allowing the movement to present a natural posture similar to that of an animal walking with its four limbs stepping in conjunction with the head following, completely changing the monotonous feeling of traditional movements with only mechanical movement of the four limbs, and making the overall movement more vivid and more biomimetic and coordinated.

[0016] 2. This utility model, through its design, brings the following benefits to the overall operation: By using hinged connections for multiple components such as the right front foot swing arm and the left front foot swing arm, and fixing the central rotation fulcrum of the head swing arm to the mechanism frame, the movement force of the limb swing arms can be stably transmitted during operation, ensuring precise matching of the head swing amplitude and frequency with the limb movements, preventing issues such as movement disconnection or amplitude attenuation due to long-term use. Compared to traditional spring-driven head-shaking solutions, this structure has higher transmission efficiency and stronger motion consistency, maintaining a vivid effect of limb-linked head movement over a long period, extending product lifespan and user experience. Furthermore, it eliminates the need for complex transmission structures, relying on the existing power transmission path of the limb movement components to achieve power diversion and motion conversion, reducing parts procurement and assembly costs, avoiding the increased size caused by independent drive, and directly adapting to the installation space of traditional housings, facilitating mass production and upgrades. Attached Figure Description

[0017] Figure 1 This is a structural diagram of the present invention; Figure 2 This is an internal structural view of the outer shell of this utility model; Figure 3 This is a disassembled structural diagram of the present invention; Figure 4 This is a partial structural diagram of the present invention.

[0018] In the diagram: 1. Outer shell; 101. Right hind leg body; 2. Right front leg body; 3. Drive gearbox; 4. Right front leg swing arm; 5. Right leg eccentric wheel; 6. Moving tail eccentric wheel; 7. Left leg eccentric wheel; 8. Left front leg swing arm; 9. Left hind leg body; 10. Left front leg body; 11. Head shell; 12. Head swing arm; 13. Right hind leg swing arm; 14. Right hind leg lever; 15. Tail lever; 16. Tail swing arm; 17. Left hind leg lever; 18. Left hind leg swing arm. Detailed Implementation

[0019] 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.

[0020] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0021] Example: Please refer to Figures 1 to 4 As shown: To address the problems mentioned in the technical solutions, this application provides a four-legged walking mechanism with a left and right head swing linkage mechanism, including a housing 1, and the housing 1 includes a drive component, a limb movement component, a head swing linkage component, and a tail movement component. The drive assembly includes a drive gearbox 3, and the limb movement assembly includes a right hind foot body 101, a right front foot body 2, a right front foot swing arm 4, a right foot eccentric wheel 5, a left foot eccentric wheel 7, a left front foot swing arm 8, a left hind foot body 9, a left front foot body 10, a right hind foot swing arm 13, a right hind foot pull rod 14, a left hind foot pull rod 17, and a left hind foot swing arm 18. The head-swing linkage assembly includes a head shell 11 and a head-swing arm 12; The tail motion assembly includes a moving tail eccentric wheel 6, a tail lever 15, and a tail swing arm 16.

[0022] The drive gearbox 3 has multiple power output ends, which are respectively connected to the right hind leg swing arm 13, right hind leg pull rod 14, left hind leg pull rod 17, left hind leg swing arm 18 in the limb movement assembly and the moving tail eccentric wheel 6 in the tail movement assembly to provide power. Among them, one power output end of the drive gearbox 3 drives the right foot eccentric wheel 5 to rotate, and the right foot eccentric wheel 5 drives the right front leg swing arm 4 to move up, down and left and right, thereby driving the right front leg body 2 to move synchronously. The right hind leg swing arm 13 and right hind leg pull rod 14 are connected to the right front leg swing arm 4, and the left hind leg pull rod 17 and left hind leg swing arm 18 are connected to the left front leg swing arm 8.

[0023] One end of the right front foot swing arm 4 is fixedly connected to the right front foot body 2, and the other end is movably connected to the right rear foot swing arm 13 via the right rear foot pull rod 14. The end of the right rear foot swing arm 13 away from the right rear foot pull rod 14 is fixedly connected to the right rear foot body 101. The connection method of the left front foot swing arm 8 to the left rear foot pull rod 17 and the left rear foot swing arm 18 is the same as the connection method of the right front foot swing arm 4 to the right rear foot swing arm 13 and the right rear foot pull rod 14. When the right front foot swing arm 4 moves... The right rear foot lever 14 pulls the right rear foot swing arm 13 to move. The right rear foot swing arm 13 drives the right rear foot body 101 to swing left and right. The movement principle of the right rear foot body 101 and the right front foot body 2 is the same as that of the left rear foot body 9 and the left front foot body 10. The other power output end of the drive gearbox 3 drives the left foot eccentric wheel 7 to rotate, which in turn drives the left rear foot body 9, the left front foot body 10 and the left front foot swing arm 8 to drive the movement, thus realizing the left and right swing of the left rear foot.

[0024] The two ends of the head swing arm 12 are movably connected to the right front foot swing arm 4 and the left front foot swing arm 8, respectively, and the middle part is fixedly connected to the head shell 11. The middle part of the head swing arm 12 is provided with a rotation fulcrum. The rotation fulcrum in the middle part of the head swing arm 12 is detachably connected to the outer shell 1. When the right front foot swing arm 4 and the left front foot swing arm 8 move up, down and left and right, they will drive the head swing arm 12 to swing left and right around the rotation fulcrum, thereby driving the head shell 11 to move left and right synchronously. The movement direction of the head shell 11 has a fixed positional relationship with the movement direction of the limb movement components to avoid disordered movements.

[0025] The moving tail eccentric wheel 6 is fixedly connected to one of the power output ends of the drive gearbox 3. When the moving tail eccentric wheel 6 rotates, it will drive the tail lever 15 to reciprocate. The tail lever 15 drives the tail swing arm 16 to swing, which improves the liveliness. One end of the tail lever 15 is movably connected to the moving tail eccentric wheel 6, and the other end is fixedly connected to the tail swing arm 16.

[0026] Both the right front foot swing arm 4 and the left front foot swing arm 8 are provided with connecting holes for connecting the swing head swing arm 12, and the position of the connecting holes is adapted to the movement trajectory of the swing head swing arm 12, so as to ensure that the up-down and left-right movements of the right front foot swing arm 4 and the left front foot swing arm 8 can be converted into the left-right swing of the swing head swing arm 12 around the rotation fulcrum.

[0027] The connection between the right rear foot lever 14 and the right front foot swing arm 4 and the right rear foot swing arm 13 is hinged. The connection between the left rear foot lever 17 and the left rear foot swing arm 18 and the left front foot swing arm 8 is also hinged to ensure flexibility during transmission.

[0028] The drive gearbox 3 is a reduction gearbox, which is equipped with a gear transmission group inside. It can convert the input high-speed power into low-speed, high-torque power output to meet the power needs of the limbs, head and tail movement.

[0029] Both the outer shell 1 and the head shell 11 are made of lightweight plastic material, and their shapes can be customized according to actual product needs. The bottom of the right rear foot body 101, right front foot body 2, left rear foot body 9, and left front foot body 10 are all provided with anti-slip texture to increase friction with the ground and prevent slipping during exercise.

[0030] Working principle: When in use, the external power source inputs power to the drive gearbox 3, and the drive gearbox 3 transmits power to the right front foot swing arm 4, right foot eccentric wheel 5, left foot eccentric wheel 7, left front foot swing arm 8 and the moving tail eccentric wheel 6 of the tail movement component through three power output terminals respectively. One of the power output ends of the drive gearbox 3 drives the right foot eccentric wheel 5 to rotate. During the rotation of the right foot eccentric wheel 5, its eccentric structure will generate periodic push and pull forces on the right front foot swing arm 4, causing the right front foot swing arm 4 to make a compound up-down and left-right motion around its connection point with the outer shell 1, thereby driving the right front foot body 2, which is fixedly connected to the right front foot swing arm 4, to move up-down and left-right in sync, simulating the stepping action of the animal's right foot. At the same time, when the right front foot swing arm 4 is moving, it will pull the right rear foot swing arm 13 to rotate around its own connection end through the right rear foot pull rod 14, which is movably connected to it. The right rear foot swing arm 13 then drives the right rear foot body 101, which is fixedly connected to it, to swing, realizing the coordinated movement of the right rear foot body 101 and the right front foot body 2. The other power output end of the drive gearbox 3 drives the left foot eccentric wheel 7 to rotate, thereby controlling multiple components to control the movement of the left rear foot body 9 and the left front foot body 10, and there is an alternating movement with the right rear foot body 101 and the right front foot body 2, ensuring that the outer shell 1 can move forward stably; During the combined up-down and left-right movements of the right front foot swing arm 4 and the left front foot swing arm 8, since the two ends of the head swing arm 12 are movably connected to the right front foot swing arm 4 and the left front foot swing arm 8 respectively, and a fixed rotation fulcrum is set in the middle of the head swing arm 12, the motion force of the right front foot swing arm 4 and the left front foot swing arm 8 will be transmitted to the head swing arm 12, causing the head swing arm 12 to swing left and right around the rotation fulcrum. Since the head shell 11 is fixedly connected to the middle of the head swing arm 12, the left and right swing of the head swing arm 12 will synchronously drive the head shell 11 to swing left and right. Furthermore, since the movements of the right front foot swing arm 4 and the left front foot swing arm 8 are regular, the swing direction of the head shell 11 forms a fixed coordination relationship with the movement direction of the limbs. The last drive of the gearbox 3 drives the tail eccentric wheel 6 to rotate, which in turn causes the tail lever 15 to reciprocate back and forth. The tail lever 15 drives the tail swing arm 16 to swing back and forth, which, in coordination with the limbs and head movements, enhances the overall dynamic appearance of the outer shell 1.

[0031] Based on the existing four-limb walking structure, by adding components such as four-limb movement components, the synchronous movement of the head and limbs is achieved. During operation, the drive gearbox 3 drives the right front foot swing arm 4 and the left front foot swing arm 8 to move the limbs while directly pulling them to swing left and right around the pivot point, thereby driving the head shell 11 to move synchronously. Moreover, the direction of head swing and the direction of limb stepping form a fixed coordination relationship, completely avoiding disordered movements. This makes the movement present a natural posture similar to that of an animal walking with its limbs stepping in conjunction with the head moving. This completely changes the monotonous feeling of traditional movements with only mechanical movement of the limbs, and the overall movement is more vivid and more biomimetic and coordinated.

[0032] The right front foot swing arm 4, left front foot swing arm 8, and other components are connected by hinges. The central rotation fulcrum of the head swing arm 12 is fixed to the movement frame. During operation, this structure can stably transmit the motion force of the limb swing arms, ensuring that the amplitude and frequency of head swing are precisely matched with the movement of the limbs. It prevents issues such as disjointed movement or amplitude attenuation due to long-term use. Compared to traditional spring-driven head-shaking solutions, this structure has higher transmission efficiency and stronger motion consistency, maintaining a vivid effect of coordinated head movement across the limbs over a long period, thus extending product lifespan and user experience.

[0033] Please refer to the above work process. Figures 1 to 4 .

[0034] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0035] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A four-legged walking mechanism with a left-right swaying linkage mechanism, comprising a housing (1), characterized in that: The outer shell (1) includes a drive assembly, a limb movement assembly, a head-swinging linkage assembly, and a tail movement assembly; The drive assembly includes a drive gearbox (3), and the limb movement assembly includes a right hind foot body (101), a right front foot body (2), a right front foot swing arm (4), a right foot eccentric wheel (5), a left foot eccentric wheel (7), a left front foot swing arm (8), a left hind foot body (9), a left front foot body (10), a right hind foot swing arm (13), a right hind foot pull rod (14), a left hind foot pull rod (17), and a left hind foot swing arm (18). The head-swing linkage assembly includes a head shell (11) and a head-swing rod (12). The tail motion assembly includes a moving tail eccentric wheel (6), a tail lever (15), and a tail swing arm (16). The drive gearbox (3) has multiple power output ends, which are respectively connected to the right hind leg swing rod (13), right hind leg pull rod (14), left hind leg pull rod (17), left hind leg swing rod (18) in the limb movement assembly and the moving tail eccentric wheel (6) in the tail movement assembly. The right hind leg swing rod (13) and right hind leg pull rod (14) are connected to the right front leg swing rod (4), and the left hind leg pull rod (17) and left hind leg swing rod (18) are connected to the left front leg swing rod (8). One end of the right front foot swing arm (4) is fixedly connected to the right front foot body (2), and the other end is movably connected to the right rear foot swing arm (13) through the right rear foot pull rod (14). The end of the right rear foot swing arm (13) away from the right rear foot pull rod (14) is fixedly connected to the right rear foot body (101). The connection method of the left front foot swing arm (8) with the left rear foot pull rod (17) and the left rear foot swing arm (18) is the same as the connection method of the right front foot swing arm (4) with the right rear foot swing arm (13) and the right rear foot pull rod (14).

2. A four-legged motor core with a left-right swaying linkage mechanism according to claim 1, characterized in that: The two ends of the swing arm (12) are movably connected to the right front foot swing arm (4) and the left front foot swing arm (8) respectively, and the middle part is fixedly connected to the head shell (11). The middle part of the swing arm (12) is provided with a rotation fulcrum, and the rotation fulcrum in the middle part of the swing arm (12) is detachably connected to the outer shell (1).

3. A four-legged motor core with a left-right swaying linkage mechanism according to claim 1, characterized in that: The moving tail eccentric wheel (6) is fixedly connected to one of the power output ends of the drive gearbox (3). One end of the tail lever (15) is movably connected to the moving tail eccentric wheel (6), and the other end is fixedly connected to the tail swing arm (16).

4. A quadruped motor core with a left-right swaying linkage mechanism according to claim 1, characterized in that: Both the right front foot swing arm (4) and the left front foot swing arm (8) are provided with connecting holes for connecting the swing head swing arm (12), and the position of the connecting holes is adapted to the movement trajectory of the swing head swing arm (12).

5. A four-legged motor core with a left-right swaying linkage mechanism according to claim 1, characterized in that: The connection between the right rear foot lever (14) and the right front foot lever (4) and the right rear foot lever (13) is a hinged connection. The connection between the left rear foot lever (17), the left rear foot lever (18) and the left front foot lever (8) is also a hinged connection.

6. A four-legged motor core with a left-right swaying linkage mechanism according to claim 1, characterized in that: The drive gearbox (3) is a deceleration gearbox.

7. A four-legged motor core with a left-right swaying linkage mechanism according to claim 1, characterized in that: The outer shell (1) and head shell (11) are both made of lightweight plastic material. The bottom of the right rear foot body (101), right front foot body (2), left rear foot body (9), and left front foot body (10) are all provided with anti-slip texture.

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