Buffered quadruped robot leg structure

Abstract

The application relates to the technical field of robots, and particularly discloses a buffer type four-legged robot dog leg structure which comprises an upper limb body, a lower limb body rotationally connected to the inner lower end of the upper limb body, and a support body embedded on the inner side of the lower end of the lower limb body; and a motor two and a motor one are respectively installed on the upper ends of the front and back sides of the upper limb body. The support body in the utility model integrates a mechanical spring and a hydraulic damping system, and constitutes a composite buffer mechanism; when the foot end is impacted, the spring two provides preliminary elastic buffering; when the impact force is further transmitted, the piston extrudes hydraulic oil, the U-shaped oil storage bin and a plurality of damping small holes are sequentially opened and closed, the controlled flow of the hydraulic oil between different chambers is realized; impact kinetic energy is converted into the internal energy dissipation of the hydraulic oil, multi-stage and adjustable damping characteristics are formed, and the stability of the robot dog body during movement on complex terrains is ensured.

Description

Technical Field

[0001] This application relates to the field of robotics, and more particularly to a cushioned quadruped robot dog leg structure. Background Technology

[0002] As a type of biomimetic robot, the mobility and terrain adaptability of a quadruped robot dog largely depend on the design of its leg structure. Existing quadruped robot dogs typically use motors to directly drive joint rotation, or supplemented by linkage mechanisms to achieve actions such as lifting the leg and taking steps. However, during walking or running, the contact between the feet and the ground generates severe impact forces and high-frequency vibrations.

[0003] Traditional cushioning solutions often employ simple springs or rubber pads. While these passive components are structurally simple, their damping characteristics are limited, resulting in limited cushioning and vibration absorption. They are ill-suited for effectively filtering multi-frequency, variable-intensity impacts from complex terrain. Excessive impact loads are directly transmitted to the robot body, affecting not only the stability of its attitude and the accuracy of sensor data but also potentially causing motor overload, structural component fatigue damage, and continuous oscillation compensation in the control system. This ultimately reduces the robot's overall motion performance, energy efficiency, and reliability.

[0004] For example, a Chinese patent discloses the leg structure of a quadruped robot dog (publication number CN219584351U). This patented technology connects the shoulder bracket to the main body of the robot dog, so that the leg structure can be directly disassembled during servo maintenance without any operation on the main body of the robot dog, making the maintenance of the servo more convenient; however, its buffering effect is not good and cannot effectively guarantee the stability of the robot dog. Utility Model Content

[0005] The purpose of this invention is to provide a cushioned quadruped robot dog leg structure to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] The cushioned quadruped robot dog leg structure includes an upper limb and a lower limb rotatably connected to the lower inner side of the upper limb. A support body is embedded in the inner side of the lower end of the lower limb. Motor 2 and Motor 1 are respectively installed on the upper front and rear sides of the upper limb. The output end of Motor 2 is fixedly connected to the upper limb. The output end of Motor 1 is located on the inner side of the upper limb and connected to a transmission gear. A sector gear is meshed with the outer side of the transmission gear. A connecting block is fixedly connected to the front side of the sector gear. A pull rod is rotatably connected to one side of the connecting block. The lower end of the pull rod is rotatably connected to the upper end of the lower limb.

[0008] As a further embodiment of this utility model: the sector gear is rotatably mounted on the inner side of the upper limb, and a through groove is provided on one side of the lower end of the upper limb. The pull rod passes through the through groove and is rotatably connected to the lower limb.

[0009] As a further embodiment of this utility model: the support body includes an outer shell, a piston rod is slidably embedded in the upper end of the inner side of the outer shell, and a spring is sleeved on the outer side of the outer shell. A piston is provided on the piston rod inside the outer shell, and a U-shaped oil storage tank is provided on the piston rod at the lower end of the piston.

[0010] As a further embodiment of this utility model: the interior of the outer shell forms an upper chamber at the upper end of the piston, and the interior of the outer shell forms a lower chamber at the lower end of the U-shaped oil reservoir.

[0011] As a further improvement of this utility model: a spring is sleeved on the piston rod at the upper end of the piston, and a sealing ring is installed at the junction of the piston rod and the outer shell.

[0012] As a further embodiment of this utility model: the piston is provided with a second damping hole that communicates with the U-shaped oil reservoir and the upper chamber; the piston and the U-shaped oil reservoir are both provided with a first damping hole that communicates with the upper chamber and the lower chamber near the second damping hole; and the U-shaped oil reservoir is provided with a third damping hole that communicates with the lower chamber at a location away from the second damping hole.

[0013] Compared with the prior art, the beneficial effects of this utility model are as follows:

[0014] The support body of this invention integrates a mechanical spring and a hydraulic damping system to form a composite buffer mechanism. When the foot is impacted, the second spring provides initial elastic buffering. As the impact force is further transmitted, the piston squeezes the hydraulic oil. Through the carefully designed U-shaped oil reservoir and the sequential opening and closing of multiple damping orifices, the hydraulic oil flows in a controlled manner between different chambers. This converts the impact kinetic energy into the internal energy dissipation of the hydraulic oil, forming a multi-level, adjustable damping characteristic that can effectively absorb and attenuate broadband vibration energy, significantly reducing the impact force transmitted to the body, thereby ensuring the stability of the robot dog when moving in complex terrain.

[0015] By cleverly integrating the drive mechanism and the cushioning mechanism inside the leg frame and at the connection points, the layout is reasonable; the support of the cushioning core is directly embedded in the lower end of the lower limb as a foot component, without taking up extra space, thus maintaining the compactness and lightweight characteristics of the leg structure. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the leg structure of a buffered quadruped robot dog.

[0017] Figure 2 This is a schematic diagram of the internal structure of the upper limb in the leg structure of a cushioned quadrupedal robotic dog.

[0018] Figure 3 This is a cross-sectional schematic diagram of the support structure in the leg structure of a buffered quadruped robot dog.

[0019] In the diagram: 1. Upper limb; 2. Motor 1; 3. Motor 2; 4. Tie rod; 5. Lower limb; 6. Support body; 61. Outer shell; 62. Damping orifice 1; 63. Damping orifice 2; 64. Spring 1; 65. Sealing ring; 66. Piston rod; 67. Spring 2; 68. Piston; 69. U-shaped oil reservoir; 60. Damping orifice 3; 7. Connecting block; 8. Sector gear; 9. Transmission gear. Detailed Implementation

[0020] Please see Figures 1-2 In this embodiment of the utility model, the cushioned quadruped robot dog leg structure includes an upper limb 1 and a lower limb 5 rotatably connected to the lower inner side of the upper limb 1. A support body 6 is embedded in the inner side of the lower end of the lower limb 5. A motor 2 and a motor 3 are respectively installed on the upper front and rear sides of the upper limb 1. The output end of the motor 2 is fixedly connected to the upper limb 1, and the outer shell of the motor 2 is fixedly installed on the body of the quadruped robot dog. The output end of the motor 2 is located inside the upper limb 1 and connected to a transmission gear 9. The outer shell of the motor 2 is fixedly installed on the upper limb 1. A sector gear 8 is meshed with the outer side of the transmission gear 9. A connecting block 7 is fixedly connected to the front side of the sector gear 8. A pull rod 4 is rotatably connected to one side of the connecting block 7. The lower end of the pull rod 4 is rotatably connected to the upper end of the lower limb 5. A sector gear 8 is rotatably installed on the inner side of the upper limb 1. A through groove is opened on one side of the lower end of the upper limb 1. The pull rod 4 passes through the through groove and is rotatably connected to the lower limb 5. The motor 2 can drive the upper limb 1 and the lower limb 5 to rotate together at a certain angle. The motor 1 drives the transmission gear 9 to rotate. The transmission gear 9 meshes with the sector gear 8. During the rotation of the sector gear 8, the connecting block 7 rotates together. The connecting block 7 pulls the lower limb 5 through the pull rod 4, so that the lower limb 5 rotates at a certain angle at the junction with the upper limb 1, thereby realizing the walking of the quadruped robot dog.

[0021] exist Figure 1 and Figure 3In this structure, the support body 6 includes an outer shell 61. A piston rod 66 is slidably embedded in the upper inner side of the outer shell 61, and a spring 67 is sleeved on the outer side of the outer shell 61. A piston 68 is disposed on the piston rod 66 inside the outer shell 61, and a U-shaped oil reservoir 69 is disposed on the piston rod 66 at the lower end of the piston 68. The upper end of the piston rod 66 is fixed inside the lower limb 5, the upper end of the spring 67 is pressed into the lower limb 5, and the lower end of the spring 67 is supported on the lower end of the outer side of the outer shell 61. When the lower limb 5 presses down on the outer shell 61, the spring 67 is compressed and deformed, thus buffering the lower limb 5. An upper chamber is formed inside the outer shell 61 at the upper end of the piston 68, and a lower chamber is formed inside the outer shell 61 at the lower end of the U-shaped oil reservoir 69. The upper chamber, the U-shaped oil reservoir 69, and the lower chamber are all filled with... The piston rod 66 is filled with hydraulic oil; a spring 64 is sleeved on the upper end of the piston 68 on the piston rod 66, and a sealing ring 65 is installed at the junction of the piston rod 66 and the outer shell 61. The sealing ring 65 can prevent leakage at the junction of the piston rod 66 and the outer shell 61; the piston 68 is provided with a damping hole 63 that communicates with the U-shaped oil reservoir 69 and the upper chamber, so that the hydraulic oil in the U-shaped oil reservoir 69 can flow into the upper chamber; the piston 68 and the U-shaped oil reservoir 69 are both provided with a damping hole 62 that communicates with the upper chamber and the lower chamber near the damping hole 63, so that the hydraulic oil in the upper chamber can flow into the lower chamber; the U-shaped oil reservoir 69 is provided with a damping hole 60 that communicates with the lower chamber away from the damping hole 63, so that the hydraulic oil in the lower chamber can flow into the U-shaped oil reservoir 69;

[0022] When the lower limb 5 is subjected to external vibration force that presses the piston rod 66 downward, the piston rod 66 drives the piston 68 and the U-shaped oil reservoir 69 to move downward together, compressing the lower chamber. At the same time, the spring 64 is compressed, further achieving a buffering effect. When the piston 68 descends to a certain height inside the outer shell 61, the damping orifice 3 60 opens, and the hydraulic oil in the lower chamber enters the U-shaped oil reservoir 69. After the U-shaped oil reservoir 69 is full, the oil pressure in the lower chamber increases, the damping orifice 2 63 opens, and a small amount of hydraulic oil in the U-shaped oil reservoir 69 flows into the upper chamber. When the external vibration force decreases, the damping orifice 1 62 opens, and the hydraulic oil in the upper chamber flows back into the lower chamber, completing one vibration absorption and damping process, thereby ensuring the stability of the quadruped robot dog's body.

[0023] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A cushioned quadruped robot dog leg structure, comprising an upper limb (1) and a lower limb (5) rotatably connected to the lower inner end of the upper limb (1), characterized in that, A support body (6) is embedded in the inner side of the lower end of the lower limb (5). A motor 2 (3) and a motor 1 (2) are respectively installed on the upper ends of the front and rear sides of the upper limb (1). The output end of the motor 2 (3) is fixedly connected to the upper limb (1). The output end of the motor 1 (2) is connected to a transmission gear (9) on the inner side of the upper limb (1). A sector gear (8) is meshed with the outer side of the transmission gear (9). A connecting block (7) is fixedly connected to the front side of the sector gear (8). A pull rod (4) is rotatably connected to one side of the connecting block (7). The lower end of the pull rod (4) is rotatably connected to the upper end of the lower limb (5).

2. The cushioned quadruped robot dog leg structure according to claim 1, characterized in that, The sector gear (8) is rotatably mounted on the inner side of the upper limb (1). A through groove is provided on one side of the lower end of the upper limb (1). The pull rod (4) passes through the through groove and is rotatably connected to the lower limb (5).

3. The cushioned quadruped robot dog leg structure according to claim 1, characterized in that, The support body (6) includes an outer shell (61), a piston rod (66) is slidably embedded in the upper end of the inner side of the outer shell (61), and a spring (67) is sleeved on the outer side of the outer shell (61). A piston (68) is provided on the piston rod (66) inside the outer shell (61), and a U-shaped oil storage tank (69) is provided on the piston rod (66) at the lower end of the piston (68).

4. The cushioned quadruped robot dog leg structure according to claim 3, characterized in that, The interior of the outer shell (61) forms an upper chamber at the upper end of the piston (68), and the interior of the outer shell (61) forms a lower chamber at the lower end of the U-shaped oil reservoir (69).

5. The cushioned quadruped robot dog leg structure according to claim 3, characterized in that, A spring (64) is sleeved on the piston rod (66) at the upper end of the piston (68), and a sealing ring (65) is installed at the junction of the piston rod (66) and the outer shell (61).

6. The cushioned quadruped robot dog leg structure according to claim 3, characterized in that, The piston (68) is provided with a second damping hole (63) that communicates with the U-shaped oil reservoir (69) and the upper chamber. The piston (68) and the U-shaped oil reservoir (69) are provided with a first damping hole (62) that communicates with the upper chamber and the lower chamber near the second damping hole (63). The U-shaped oil reservoir (69) is provided with a third damping hole (60) that communicates with the lower chamber at a distance away from the second damping hole (63).

Images