A new type of simulation walking linkage mechanism

Abstract

The utility model provides a kind of novel simulation walking linkage mechanism, it includes: main end driving arm, bionic leg main end, bionic leg joint and joint driving arm, main end driving arm bottom and bionic leg main end bottom rotation connection, bionic leg main end bottom and bionic leg joint rotation connection, joint driving arm and bionic leg joint top rotation connection, and bionic leg joint bottom is equipped with foot end driving element, equipment rack bottom is fixedly connected with connecting portion, ball screw two ends are respectively with equipment rack top and connecting portion rotation connection.The utility model drives leg whole to move back and forth using linear drive unit, can freely switch large stride, small broken step walking mode, adapts to flat, slope, step and multiple scenes, and the ability of topography adaptation is stronger, and perfectly reproduces biological natural walking posture, realizes limb multi-angle compound motion, bionic simulation effect is significantly improved, and can reduce heating and mechanical wear, prolong the continuous working life of equipment.

Description

Technical Field

[0001] This utility model relates to a novel simulated walking linkage mechanism, belonging to the field of bionic mechanical transmission technology. Background Technology

[0002] Currently, most mainstream simulated walking mechanisms on the market use a single joint motor series drive scheme, relying solely on the rotation of the joint motor itself to complete leg flexion and extension movements; a few products are equipped with small electric push rods to assist in adjusting stride length, and the whole relies solely on a single rotational dimension to drive limb movement, without a linear displacement and joint rotation linkage structure.

[0003] Existing single-joint motor drive solutions have several drawbacks: ① Leg movement is limited by the maximum swing angle of the motor, resulting in a narrow stride adjustment range and an inability to achieve a wide range of limb extension; ② Only a single rotational motion dimension is available, lacking linear displacement adjustment, leading to stiff limb movements during turning and obstacle crossing, and low biomimetic accuracy; ③ All walking loads are concentrated on the joint motor, which is prone to overheating and wear during long-term continuous operation, resulting in a high equipment failure rate; ④ Without a layered dual-drive linkage structure, it is impossible to achieve multi-angle composite movements, and can only simulate a single gait. Utility Model Content

[0004] This invention provides a novel simulated walking linkage mechanism to solve the technical problem of the transmission structure for multi-degree-of-freedom, multi-angle simulated walking of bionic limbs.

[0005] This utility model solves the above-mentioned technical problems through the following technical solutions: This utility model provides a novel simulated walking linkage mechanism, including a main end drive arm, a bionic leg main end, a bionic leg joint, and a joint drive arm. The bottom end of the main end drive arm is rotatably connected to the bottom of the bionic leg main end, the bottom end of the bionic leg main end is rotatably connected to the bionic leg joint, and the joint drive arm is rotatably connected to the top end of the bionic leg joint. A foot end drive component is installed at the bottom of the bionic leg joint. The main end drive arm includes a device frame, a ball screw, and a connecting part. The connecting part is fixedly connected to the bottom end of the device frame. The two ends of the ball screw are rotatably connected to the top end of the device frame and the connecting part, respectively. A screw slider is slidably connected inside the device frame, and the screw slider is threadedly connected to the surface of the ball screw.

[0006] In this technical solution, the main end drive arm and the joint drive arm have the same structure, and both the main end drive arm and the main end of the bionic leg are rotatably mounted on the main body of the device.

[0007] In this technical solution, a frame mounting end is fixedly installed on the top of the equipment frame. The equipment frame is rotatably connected to the main body of the equipment through the frame mounting end. A mounting sleeve is fixedly connected inside the frame mounting end. The mounting sleeve is connected to the positioning shaft through a ball bearing. The positioning shaft is fixedly connected to the top of the ball screw.

[0008] In this technical solution, a drive assembly located below the mounting end of the frame is fixedly installed on the top of the equipment frame. The drive assembly includes a motor mounting base and a reducer. The motor mounting base is fixedly connected to the top of the equipment frame through the reducer. A servo motor is installed on the motor mounting base. The output end of the servo motor is connected to the output shaft of the reducer, and the input shaft of the reducer is fixedly connected to a first bevel gear. A second bevel gear is fixedly installed on the top of the ball screw, and the second bevel gear meshes with the first bevel gear.

[0009] In this technical solution, the lead screw and slider are disposed inside the equipment frame. Both sides of the lead screw and slider are fixedly connected to U-shaped sliding sleeves. The inner wall of the equipment frame is fixedly installed with a slide rail, and the sliding sleeves are slidably connected to the surface of the slide rail. The opposite sides of the lead screw and slider are connected to the sliding sleeves. The other two sides of the lead screw and slider are fixedly connected to the guide shaft, and the guide shaft is slidably connected to both sides of the connecting part.

[0010] In this technical solution, the two opposite sides of the lead screw slider are connected to the sliding sleeve, and the other two sides of the lead screw slider are fixedly connected to the guide shaft.

[0011] In this technical solution, the guide shaft is slidably connected to both sides of the connecting part, and buffer limit blocks are fixedly installed on the top of the equipment frame and the connecting part. The buffer limit blocks are respectively distributed at the upper and lower ends of the lead screw slider.

[0012] In this technical solution, a dust cover is fixedly installed on the outer wall of the equipment frame. The dust cover is located on one side of the guide shaft. The guide shaft is connected to the side wall of the lead screw slider by bolts. An avoidance groove is opened on the inner wall of the dust cover, and the avoidance groove is distributed correspondingly to the bolts.

[0013] In this technical solution, the two ends of the main end of the bionic leg are fixedly connected to the lower connecting rod and the upper connecting rod, respectively. The upper connecting rod is rotatably connected to the top of the joint drive arm, and the lower connecting rod is rotatably connected to the bottom end of the guide shaft.

[0014] In this technical solution, the foot-end drive component includes a drive motor and a bionic leg foot end. The drive motor is fixedly installed at the bottom of the bionic leg joint, and the output end of the drive motor is fixedly connected to the bionic leg foot end.

[0015] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of this utility model.

[0016] The positive and progressive effects of this utility model are as follows: The novel simulated walking linkage mechanism proposed above uses a linear drive unit to drive the entire leg to move back and forth, breaking through the swing angle limitation of the joint motor. It can freely switch between large stride and small shuffling walking modes, adapting to various scenarios such as flat ground, slopes, and steps, significantly widening the leg stride adjustment range and enhancing terrain adaptability. The lead screw controls the basic displacement of the limb, while the joint motor independently completes multi-angle movements of foot flexion, extension, lateral swing, and rotation. The two sets of drives are synchronously coupled to output a composite gait, perfectly replicating the natural walking posture of organisms and realizing multi-angle composite movements of the limbs, significantly improving the biomimetic simulation effect. The overall walking load is split between the servo lead screw module and the joint motor, with the lead screw bearing the overall pushing and pulling load of the leg, reducing heat generation and mechanical wear, increasing continuous working time by more than double, lowering maintenance costs, and distributing the load to reduce joint motor wear and extend the continuous working life of the equipment. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall three-dimensional structure of this utility model.

[0018] Figure 2 This is a front view structural diagram of the present utility model.

[0019] Figure 3 This is a three-dimensional structural diagram of the present invention in another walking state.

[0020] Figure 4 This is a schematic diagram of the half-section structure of this utility model.

[0021] Figure 5 This utility model Figure 4 A magnified schematic diagram of the structure at point A in the middle.

[0022] Figure 6 This is a three-dimensional structural diagram of the lead screw slider of this utility model.

[0023] Figure 7 This is a three-dimensional structural diagram of the dust cover in another embodiment of the present invention.

[0024] Figure 8 This is a partial three-dimensional structural diagram of the guide shaft of this utility model.

[0025] Explanation of reference numerals in the attached figures: 11. Equipment frame; 111. Motor mounting base; 112. Reducer; 113. First bevel gear; 114. Frame mounting end; 115. Mounting sleeve; 116. Ball bearing; 117. Positioning shaft; 118. Slide rail; 12. Ball screw; 121. Second bevel gear; 122. Screw slider; 123. Sliding sleeve; 124. Guide shaft; 13. Connecting part; 131. Roller; 132. Buffer limit block; 14. Dustproof cover; 141. Clearance groove; 21. Bionic leg main end; 211. Lower connecting rod; 212. Upper connecting rod; 31. Bionic leg joint; 41. Joint drive arm; 51. Drive motor; 511. Bionic leg foot end. Detailed Implementation

[0026] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0027] like Figure 1-8 As shown, the novel simulated walking linkage mechanism includes a main end drive arm, a bionic leg main end 21, a bionic leg joint 31, and a joint drive arm 41. The bottom end of the main end drive arm is rotatably connected to the bottom of the bionic leg main end 21, the bottom end of the bionic leg main end 21 is rotatably connected to the bionic leg joint 31, the joint drive arm 41 is rotatably connected to the top end of the bionic leg joint 31, and a foot end drive component is installed at the bottom of the bionic leg joint 31.

[0028] The main end drive arm and the joint drive arm 41 have the same structure. The main end drive arm and the main end of the bionic leg 21 are rotatably mounted on the main body of the equipment. Expandably, the main end drive arm and the main end of the bionic leg 21 are in multiple sets and are respectively arranged on both sides of the main body of the equipment to realize simulated walking.

[0029] In one embodiment: The main drive arm includes a frame 11, a ball screw 12 and a connecting part 13. The bottom end of the frame 11 is fixedly connected to the connecting part 13. The two ends of the ball screw 12 are rotatably connected to the top end of the frame 11 and the connecting part 13, respectively. A screw slider 122 is slidably connected inside the frame 11. The screw slider 122 is threadedly connected to the surface of the ball screw 12. A frame mounting end 114 is fixedly installed on the top of the equipment frame 11. The equipment frame 11 is rotatably connected to the main body of the equipment through the frame mounting end 114. A mounting sleeve 115 is fixedly connected inside the frame mounting end 114. The mounting sleeve 115 is connected to the positioning shaft 117 through a ball bearing 116. Specifically, the mounting sleeve 115 is fixedly connected to the outer ring of the ball bearing 116, and the positioning shaft 117 is fixedly connected to the inner ring of the ball bearing 116, so that the positioning shaft 117 can rotate stably inside the mounting sleeve 115.

[0030] The positioning shaft 117 is fixedly connected to the top end of the ball screw 12. The positioning shaft 117 enables the stable rotation of the ball screw 12. It works in conjunction with the ball bearing 116 to ensure the stability of the ball screw 12 during rotation, while reducing the frictional resistance of the ball screw 12.

[0031] The top of the equipment frame 11 is fixedly mounted with a drive assembly located below the frame mounting end 114. The drive assembly includes a motor mounting base 111 and a reducer 112. The motor mounting base 111 is fixedly connected to the top of the equipment frame 11 through the reducer 112. A servo motor is mounted on the motor mounting base 111. The output end of the servo motor is connected to the output shaft of the reducer 112, and the input shaft of the reducer 112 is fixedly connected to the first bevel gear 113.

[0032] Preferably, the reducer 112 is a planetary reducer, the output end of the servo motor is connected to the input end of the planetary reducer, and the output end of the planetary reducer is connected to the first bevel gear 113.

[0033] A second bevel gear 121 is fixedly installed at the top of the ball screw 12, and the second bevel gear 121 is meshed with the first bevel gear 113.

[0034] Specifically, when the servo motor is working, the speed reduction of the reducer 112 causes the first bevel gear 113 to rotate. The first bevel gear 113 drives the second bevel gear 121 and the ball screw 12 to rotate synchronously. The ball screw 12 achieves stable rotation through the positioning shaft 117, causing the ball screw 12 to drive the screw slider 122 to slide within the equipment frame 11.

[0035] The lead screw slider 122 is disposed inside the equipment frame 11. Both sides of the lead screw slider 122 are fixedly connected with U-shaped sliding sleeves 123. The inner wall of the equipment frame 11 is fixedly installed with a slide rail 118, and the sliding sleeves 123 are slidably connected to the surface of the slide rail 118.

[0036] The two opposite sides of the lead screw slider 122 are connected to the sliding sleeve 123, and the other two sides of the lead screw slider 122 are fixedly connected to the guide shaft 124. The guide shaft 124 is slidably connected to both sides of the connecting part 13.

[0037] When the lead screw slider 122 moves, the sliding sleeve 123 and the slide rail 118 cooperate to achieve stable movement of the lead screw slider 122, which in turn drives the guide shaft 124 to move synchronously, so that the guide shaft 124 moves on the connecting part 13, and completes the relative extension and retraction between the equipment frame 11 and the guide shaft 124.

[0038] The lead screw slider 122 is disposed inside the equipment frame 11. Both sides of the lead screw slider 122 are fixedly connected with U-shaped sliding sleeves 123. The inner wall of the equipment frame 11 is fixedly installed with a slide rail 118, and the sliding sleeves 123 are slidably connected to the surface of the slide rail 118.

[0039] The two opposite sides of the lead screw slider 122 are connected to the sliding sleeve 123, and the other two sides of the lead screw slider 122 are fixedly connected to the guide shaft 124. The guide shaft 124 is slidably connected to the two sides of the connecting part 13. Thus, when the guide shaft 124 moves, the guide shaft 124 achieves stable sliding through the roller 131, and at the same time plays a positioning role to ensure the stable movement of the guide shaft 124.

[0040] The top of the equipment frame 11 and the connecting part 13 are both fixedly installed with buffer limit blocks 132. The buffer limit blocks 132 are respectively distributed at the upper and lower ends of the lead screw slider 122. When the lead screw slider 122 moves, when the lead screw slider 122 moves to the top or bottom end, it can be buffered and limited by the buffer limit blocks 132, thereby playing a protective role for the lead screw slider 122.

[0041] In another embodiment: A dust cover 14 is fixedly installed on the outer wall of the equipment frame 11. The dust cover 14 is located on one side of the guide shaft 124. The guide shaft 124 is connected to the side wall of the lead screw slider 122 by bolts. An avoidance groove 141 is provided on the inner wall of the dust cover 14, and the avoidance groove 141 is distributed correspondingly to the bolts.

[0042] Specifically, dust covers 14 are installed on both sides of the equipment frame 11. The dust covers 14 can protect the equipment frame 11 from dust. When the lead screw slider 122 drives the guide shaft 124 to move, the guide shaft cover can move smoothly between the connecting part 13 and the dust cover 14. The clearance groove 141 can ensure the stable movement of the lead screw slider 122 and prevent dust from entering the ball screw 12. It is suitable for simulated walking in harsh outdoor environments.

[0043] The two ends of the bionic leg main end 21 are fixedly connected to the lower connecting rod 211 and the upper connecting rod 212 respectively. The upper connecting rod 212 is rotatably connected to the top of the joint drive arm 41, and the lower connecting rod 211 is rotatably connected to the bottom of the guide shaft 124. Thus, when the main end drive arm extends and retracts the guide shaft 124 through the cooperation of the ball screw 12 and the screw slider 122, the lower connecting rod 211 drives the bionic leg main end 21 to rotate. At this time, the bionic leg main end 21, the bionic leg joint 31 and the joint drive arm 41 are a whole, so that the main end drive arm drives the whole to rotate. At the same time, the extension and retraction of the joint drive arm 41 drives the bionic leg joint 31 to rotate around the bottom of the bionic leg main end 21. Thus, during the rotation of the bionic leg joint 31 around the top of the bionic leg main end 21, the bionic leg joint 31 also rotates around the bottom of the bionic leg main end 21.

[0044] The foot-end drive component includes a drive motor 51 and a bionic leg foot end 511. The drive motor 51 is fixedly installed at the bottom of the bionic leg joint 31. The output end of the drive motor 51 is fixedly connected to the bionic leg foot end 511. The bionic leg foot end 511 is driven by the drive motor 51 to achieve rotation and swing, thereby simulating walking.

[0045] Furthermore, this application can be applied to quadrupedal bionic robots: the linkage mechanism is symmetrically mounted on both sides of the bionic robot's body, with two sets of walking linkage mechanisms set on each side, front and rear, to uniformly adjust the robot's thigh extension stroke, achieving switching between large strides and small steps; the bionic leg joint 31 and bionic leg foot end 511 are independently controlled to bend and swing at multiple angles, and the servo speed and motor angle are synchronously adjusted by the controller, allowing the robot to move smoothly in straight lines, turn left and right, and climb over uneven surfaces. Compared with existing single-joint motor-driven robots: traditional mechanisms rely only on small joint rotations, resulting in a fixed stride and stiff turning and climbing movements; this solution features dual-drive linkage, providing more dimensions of motion and improving the realism of gait bionics by more than 60%.

[0046] This application can be used for the limb movements of simulated animals in amusement rides: the leg actuators of simulated animals in indoor and outdoor amusement rides adopt this solution, with ball screws adjusting the forward and backward extension distance of the legs to simulate the wide range of stride changes of animals running and pacing; driving the leg joints to bend and sway at multiple angles, replicating the natural limb postures of rabbits kicking and horses lifting their legs. The entire mechanism moves smoothly without jamming, can run continuously for a long time, and is suitable for simulated amusement equipment in scenic spots and shopping malls.

[0047] This application can be used as a teaching simulation demonstration platform for mechanical principles: as a practical training tool for mechanical transmission in universities, the multi-angle views allow for intuitive disassembly of the composite transmission structure of "servo screw linear transmission + articulated motor multi-degree-of-freedom rotation". It can independently control the servo motor to demonstrate linear motion, independently control the articulated motor to demonstrate multi-angle rotation, and can also synchronously display composite walking movements, used to explain knowledge points related to crank-slider and multi-degree-of-freedom bionic transmission.

[0048] This utility model is not limited to the above-described embodiments. Any changes in its shape or structure fall within the protection scope of this utility model. The protection scope of this utility model is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of this utility model, but all such changes and modifications fall within the protection scope of this utility model.

Claims

1. A novel simulated walking linkage mechanism, comprising a main end drive arm, a bionic leg main end (21), a bionic leg joint (31), and a joint drive arm (41), characterized in that, The bottom end of the main drive arm is rotatably connected to the bottom of the main end (21) of the bionic leg. The bottom end of the main end (21) of the bionic leg is rotatably connected to the bionic leg joint (31). The joint drive arm (41) is rotatably connected to the top end of the bionic leg joint (31). A foot drive component is installed at the bottom of the bionic leg joint (31). The main drive arm includes a device frame (11), a ball screw (12), and a connecting part (13). The bottom end of the device frame (11) is fixedly connected to the connecting part (13). The two ends of the ball screw (12) are rotatably connected to the top end of the device frame (11) and the connecting part (13) respectively. A screw slider (122) is slidably connected inside the device frame (11). The screw slider (122) is threadedly connected to the surface of the ball screw (12).

2. The novel simulation walking linkage mechanism as described in claim 1, characterized in that: The main end drive arm and the joint drive arm (41) have the same structure, and the main end drive arm and the main end of the bionic leg (21) are both rotatably mounted on the main body of the equipment.

3. The novel simulation walking linkage mechanism as described in claim 1, characterized in that: The top of the equipment frame (11) is fixedly installed with a frame mounting end (114). The equipment frame (11) is rotatably connected to the main body of the equipment through the frame mounting end (114). An mounting sleeve (115) is fixedly connected inside the frame mounting end (114). The mounting sleeve (115) is connected to the positioning shaft (117) through a ball bearing (116). The positioning shaft (117) is fixedly connected to the top of the ball screw (12).

4. The novel simulation walking linkage mechanism as described in claim 3, characterized in that: The top of the equipment frame (11) is fixedly mounted with a drive assembly located below the frame mounting end (114). The drive assembly includes a motor mounting base (111) and a reducer (112). The motor mounting base (111) is fixedly connected to the top of the equipment frame (11) through the reducer (112). A servo motor is mounted on the motor mounting base (111). The output end of the servo motor is connected to the output shaft of the reducer (112). The input shaft of the reducer (112) is fixedly connected to the first bevel gear (113). A second bevel gear (121) is fixedly mounted on the top of the ball screw (12). The second bevel gear (121) meshes with the first bevel gear (113).

5. The novel simulation walking linkage mechanism as described in claim 1, characterized in that: The lead screw slider (122) is located inside the equipment frame (11). Both sides of the lead screw slider (122) are fixedly connected to U-shaped sliding sleeves (123). The inner wall of the equipment frame (11) is fixedly installed with a slide rail (118), and the sliding sleeve (123) is slidably connected to the surface of the slide rail (118). The opposite sides of the lead screw slider (122) are connected to the sliding sleeves (123). The other two sides of the lead screw slider (122) are fixedly connected to the guide shaft (124). The guide shaft (124) is slidably connected to both sides of the connecting part (13).

6. The novel simulation walking linkage mechanism as described in claim 1, characterized in that: The two opposite sides of the lead screw slider (122) are connected to the sliding sleeve (123), and the other two sides of the lead screw slider (122) are fixedly connected to the guide shaft (124).

7. The novel simulation walking linkage mechanism as described in claim 6, characterized in that: The guide shaft (124) is slidably connected to both sides of the connecting part (13). The top of the equipment frame (11) and the connecting part (13) are both fixedly installed with buffer limit blocks (132). The buffer limit blocks (132) are respectively distributed at the upper and lower ends of the lead screw slider (122).

8. The novel simulation walking linkage mechanism as described in claim 1, characterized in that: A dust cover (14) is fixedly installed on the outer wall of the equipment frame (11). The dust cover (14) is located on one side of the guide shaft (124). The guide shaft (124) is connected to the side wall of the lead screw slider (122) by bolts. An avoidance groove (141) is opened on the inner wall of the dust cover (14), and the avoidance groove (141) is distributed correspondingly to the bolts.

9. The novel simulation walking linkage mechanism as described in claim 1, characterized in that: The two ends of the bionic leg main end (21) are fixedly connected to the lower connecting rod (211) and the upper connecting rod (212) respectively. The upper connecting rod (212) is rotatably connected to the top of the joint drive arm (41), and the lower connecting rod (211) is rotatably connected to the bottom of the guide shaft (124).

10. The novel simulation walking linkage mechanism as described in claim 1, characterized in that: The foot-end drive component includes a drive motor (51) and a bionic leg foot end (511). The drive motor (51) is fixedly installed at the bottom of the bionic leg joint (31), and the output end of the drive motor (51) is fixedly connected to the bionic leg foot end (511).

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