CN115056883A - Leg structure and quadruped robot - Google Patents
Leg structure and quadruped robot Download PDFInfo
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- CN115056883A CN115056883A CN202210485774.2A CN202210485774A CN115056883A CN 115056883 A CN115056883 A CN 115056883A CN 202210485774 A CN202210485774 A CN 202210485774A CN 115056883 A CN115056883 A CN 115056883A
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- 210000000689 upper leg Anatomy 0.000 claims abstract description 160
- 210000002414 leg Anatomy 0.000 claims abstract description 99
- 210000001364 upper extremity Anatomy 0.000 claims abstract description 12
- 210000004394 hip joint Anatomy 0.000 claims description 18
- 210000000629 knee joint Anatomy 0.000 claims description 16
- 230000005540 biological transmission Effects 0.000 abstract description 8
- 230000007246 mechanism Effects 0.000 abstract description 7
- 230000002146 bilateral effect Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 241001455214 Acinonyx jubatus Species 0.000 description 1
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- 235000001968 nicotinic acid Nutrition 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The invention relates to the technical field of robots, in particular to a leg structure and a quadruped robot. The leg structure comprises a front leg structure, a rear leg structure and at least one connecting rod, the front leg structure comprises a front fixed support, a first leg structure and a second leg structure, the rear leg structure comprises a rear fixed support, a third leg structure and a fourth leg structure, one end of each connecting rod is connected with the front fixed support, the other end of each connecting rod is connected with the rear fixed support, the third leg structure and the fourth leg structure are hinged with the rear fixed support, and the first leg structure and the second leg structure are hinged with the front fixed support; the output end of the first linear motor is hinged with the upper end of the first joint plate, the output end of the second linear motor is hinged with the upper end of the first thigh rod, the output end of the third linear motor is hinged with the upper end of the shank connecting rod, the transmission structure is a swing guide rod mechanism, the structure is simple and reliable, the efficiency is high, and the problem that the structure of the quadruped robot is complex in the prior art is solved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a leg structure and a quadruped robot.
Background
With the continuous development of the robot technology, the development of the quadruped robot is very rapid, and the quadruped robot is used as the advanced development stage of the robot technology, is a leading-edge technical field integrating multiple subjects such as mechanism kinematics, dynamics, materials science, computer technology, modern control theory, bionics and the like, and is widely applied. Nowadays, various four-legged robots, such as BigDog and Spot of Boston power, Cheetah of MIT, Laikago of Yutre technology, etc., have been successfully developed at home and abroad.
Most present four-footed robots all adopt high performance's torque motor or hydraulic transmission system as the drive scheme in order to can realize steady gait walking and even run the jump action to the inside transmission structure such as hold-in range, gear in addition of robot, this must make robot structure complicated, the quality is heavy, with high costs, and still can reduce the motion stability and the reliability of robot, more be unfavorable for the miniaturized development of robot.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a leg structure and a quadruped robot, and aims to solve the problem that the quadruped robot in the prior art is complex in structure.
The technical scheme provided by the invention is as follows:
a leg structure comprises a front leg structure, a rear leg structure and at least one connecting rod, wherein the front leg structure comprises a front fixed support, a first leg structure and a second leg structure, the rear leg structure comprises a rear fixed support, a third leg structure and a fourth leg structure, one end of each connecting rod is connected with the front fixed support, the other end of each connecting rod is connected with the rear fixed support, the third leg structure and the fourth leg structure are hinged with the rear fixed support, and the first leg structure and the second leg structure are hinged with the front fixed support;
the first leg structure comprises a hip joint and a knee joint, the hip joint comprises a first linear motor, a first joint plate, a second linear motor and a first thigh rod, the fixed end of the first linear motor is hinged with the front fixed support, the output end of the first linear motor is hinged with the upper end of the first joint plate, the front fixed support is hinged with the first joint plate, the lower end of the first joint plate is connected with the second joint plate, the fixed end of the second linear motor is hinged with the second joint plate, the output end of the second linear motor is hinged with the upper end of the first thigh rod, and the second joint plate is hinged with the first thigh rod;
the knee joint comprises a third linear motor, a thigh second rod and a shank connecting rod, the upper end of the thigh second rod is connected with the lower end of the thigh first rod, the fixed end of the third linear motor is hinged with the thigh second rod, the output end of the third linear motor is hinged with the upper end of the shank connecting rod, and the thigh second rod is hinged with the shank connecting rod.
Further, the front fixing bracket comprises a first fixing rod and a second fixing rod, and a fixing end of the first linear motor is located between the first fixing rod and the second fixing rod and is hinged to the first fixing rod and the second fixing rod respectively;
the output end of the first linear motor is provided with a first connecting seat, the first joint plate comprises a third fixing plate and a fourth fixing plate, and the first connecting seat is positioned between the third fixing plate and the fourth fixing plate and is hinged with the upper end of the third fixing plate and the upper end of the fourth fixing plate respectively;
the third fixing plate and the fourth fixing plate are both located between the first fixing rod and the second fixing rod, the third fixing plate is hinged to the first fixing rod, and the fourth fixing plate is hinged to the second fixing rod.
Further, the second joint plate comprises a fifth fixing plate and a sixth fixing plate, the second linear motor is located between the fifth fixing plate and the sixth fixing plate, the fixed end of the second linear motor is hinged to the fifth fixing plate and the sixth fixing plate respectively, the output end of the second linear motor is provided with a second connecting seat, the thigh first rod comprises a thigh first connecting rod and a thigh second connecting rod, and the second connecting seat is located between the thigh first connecting rod and the thigh second connecting rod and is hinged to the upper end of the thigh first connecting rod and the upper end of the thigh second connecting rod respectively;
the first thigh connecting rod and the second thigh connecting rod are both located between the fifth fixing plate and the sixth fixing plate, the fifth fixing plate is hinged to the first thigh connecting rod, and the sixth fixing plate is hinged to the second thigh connecting rod.
Further, the second thigh rod comprises a third thigh connecting rod and a fourth thigh connecting rod, the upper end of the third thigh connecting rod and the upper end of the fourth thigh connecting rod are respectively connected with the lower end of the first thigh rod, and the fixed end of the third linear motor is located between the third thigh connecting rod and the fourth thigh connecting rod and is respectively hinged with the third thigh connecting rod and the fourth thigh connecting rod;
the output end of the third linear motor is provided with a third connecting seat, the shank connecting rod comprises a shank first connecting rod and a shank second connecting rod, and the third connecting seat is positioned between the shank first connecting rod and the shank second connecting rod and is respectively hinged with the upper end of the shank first connecting rod and the upper end of the shank second connecting rod;
the first shank connecting rod and the second shank connecting rod are both positioned between the third thigh connecting rod and the fourth thigh connecting rod, the first shank connecting rod is hinged with the third thigh connecting rod, and the second shank connecting rod is hinged with the fourth thigh connecting rod.
Furthermore, the lower end of the shank connecting rod is provided with a foot end rubber ball.
Further, the leg structure comprises a first hinge shaft, the front fixing support and the first joint plate are respectively provided with a first hinge hole, and the first hinge shaft penetrates through the first hinge holes of the front fixing support and the first joint plate to form a hinge connection.
Further, the leg structure comprises a second hinge shaft, the second joint plate and the thigh first rod are both provided with a second hinge hole, and the second hinge shaft penetrates through the second joint plate to form a hinge connection with the second hinge hole of the thigh first rod.
Further, the first hinge axis and the second hinge axis are perpendicular to each other.
Further, the first leg structure and the second leg structure are in a bilateral symmetry structure.
The invention also provides a quadruped robot which comprises the leg structure.
According to the technical scheme, the invention has the beneficial effects that: the output end of the first linear motor is hinged with the upper end of the first joint plate, the output end of the second linear motor is hinged with the upper end of the first thigh rod, the output end of the third linear motor is hinged with the upper end of the shank connecting rod, the transmission structure is a swing guide rod mechanism, the structure is simple and reliable, the efficiency is high, and the problem that the structure of the quadruped robot is complex in the prior art is solved.
Drawings
FIG. 1 is a schematic structural view of a leg structure provided by an embodiment of the present invention;
FIG. 2 is a schematic structural view of a first leg structure provided by an embodiment of the present invention;
FIG. 3 is a schematic structural view of a hip joint provided by an embodiment of the present invention;
FIG. 4 is a schematic view of another orientation of a hip joint provided by an embodiment of the present invention;
FIG. 5 is a schematic view of a knee joint constructed according to an embodiment of the present invention;
fig. 6 is another schematic structural view of a knee joint provided by an embodiment of the invention.
Reference numerals: 1. a first leg structure; 11. a hip joint; 111. a first linear motor; 1111. a first connecting seat; 112. a first joint plate; 1121. a third fixing plate; 1122. a fourth fixing plate; 113. a second joint plate; 1131. a fifth fixing plate; 1132. a sixth fixing plate; 114. a second linear motor; 1141. a second connecting seat; 115. a thigh first bar; 1151. a thigh first link; 1152. a thigh second link; 1153. a thigh link portion; 12. a knee joint; 121. a third linear motor; 1211. a third connecting seat; 122. a thigh second bar; 1221. a thigh third link; 1222. a thigh fourth link; 123. a shank link; 1231. a shank first link; 1232. a second shank link; 1233. a foot end rubber ball; 1234. a shank connecting portion; 2. a second leg structure; 3. a third leg structure; 4. a fourth leg structure; 5. a front fixed bracket; 51. a first fixing lever; 52. a second fixing bar; 6. a rear fixed bracket; 7. a connecting rod; 81. a first hinge axis; 82. a second hinge axis; 83. a third hinge axis.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 6, an embodiment of the present invention provides a leg structure, which includes a front leg structure, a rear leg structure, and at least one connecting rod 7, where the front leg structure includes a front fixing support 5, a first leg structure 1, and a second leg structure 2, the rear leg structure includes a rear fixing support 6, a third leg structure 3, and a fourth leg structure 4, one end of each connecting rod 7 is connected to the front fixing support 5, and the other end is connected to the rear fixing support 6, the third leg structure 3 and the fourth leg structure 4 are both hinged to the rear fixing support 6, the second leg structure 2 is hinged to the front fixing support 5, and the first leg structure 1 is hinged to the front fixing support 5.
In the present embodiment, the front leg structure is the same as the rear leg structure, and both are two-leg structures having the same structure. The front leg structure and the rear leg structure are placed at two ends of the connecting rod 7 in tandem.
In the present embodiment, the number of the connecting rods 7 is three. Specifically, the three connecting rods 7 are fixedly connected with the front fixing support 5 and the rear fixing support 6 through screws.
In the present embodiment, the first leg structure 1 is a single-leg structure.
In this embodiment, the first leg structure 1 comprises a hip joint 11 and a knee joint 12, the hip joint 11 and the knee joint 12 being connected together by screws.
In this embodiment, the hip joint 11 comprises a first linear motor 111, a first joint plate 112, a second joint plate 113, a second linear motor 114 and a thigh first lever 115, the first linear motor 111 has a fixed end and an output end, the fixed end of the first linear motor 111 is hinged with the front fixing bracket 5, the output end of the first linear motor 111 is hinged with the upper end of the first joint plate 112, the front fixing bracket 5 is hinged with the first joint plate 112, the lower end of the first joint plate 112 is connected with the second joint plate 113, the second linear motor 114 has a fixed end and an output end, the fixed end of the second linear motor 114 is hinged with the second joint plate 113, the output end of the second linear motor 114 is hinged to the upper end of the first thigh lever 115, and the second joint plate 113 is hinged to the first thigh lever 115.
The first linear motor 111 is disposed obliquely upward, wherein a horizontal height of an output end of the first linear motor 111 is higher than a fixed end of the first linear motor 111.
The second linear motor 114 is disposed obliquely downward, wherein the horizontal height of the output end of the second linear motor 114 is lower than the fixed end of the second linear motor 114.
Since the first linear motor 111 is hinged with the front fixing bracket 5 and the first joint plate 112 respectively, the front fixing bracket 5 is hinged with the first joint plate 112, and the second linear motor 114 is hinged with the second joint plate 113 and the first thigh rod 115 respectively, and the second joint plate 113 is hinged with the first thigh rod 115, the hip joint 11 has two degrees of freedom of lateral swing and pitching.
In this embodiment, the knee joint 12 includes a third linear motor 121, a thigh second rod 122 and a shank link 123, an upper end of the thigh second rod 122 is connected to a lower end of the thigh first rod 115, a fixed end of the third linear motor 121 is hinged to the thigh second rod 122, an output end of the third linear motor 121 is hinged to an upper end of the shank link 123, and the thigh second rod 122 is hinged to the shank link 123.
The third linear motor 121 is respectively hinged to the thigh second rod 122 and the shank link 123, and the thigh second rod 122 is hinged to the shank link 123, so that the knee joint 12 has only one degree of freedom in pitch.
The output end of the first linear motor 111 is hinged with the upper end of the first joint plate 112, the output end of the second linear motor 114 is hinged with the upper end of the thigh first rod 115, the output end of the third linear motor 121 is hinged with the upper end of the shank connecting rod 123, the transmission structures are all swing guide rod mechanisms, the structure is simple and reliable, the efficiency is high, and the problem that the quadruped robot in the prior art is complex in structure is solved.
In this embodiment, the front fixing bracket 5 includes a first fixing rod 51 and a second fixing rod 52, and the fixing end of the first linear motor 111 is located between the first fixing rod 51 and the second fixing rod 52 and is hinged to the first fixing rod 51 and the second fixing rod 52 respectively.
The output end of the first linear motor 111 is provided with a first connection seat 1111, the first joint plate 112 includes a third fixing plate 1121 and a fourth fixing plate 1122, and the first connection seat 1111 is located between the third fixing plate 1121 and the fourth fixing plate 1122 and is hinged to the upper end of the third fixing plate 1121 and the upper end of the fourth fixing plate 1122, respectively.
The third fixing plate 1121 and the fourth fixing plate 1122 are both located between the first fixing rod 51 and the second fixing rod 52, the third fixing plate 1121 is hinged to the first fixing rod 51, and the fourth fixing plate 1122 is hinged to the second fixing rod 52.
Specifically, the first fixing rod 51 and the second fixing rod 52 are shared by two groups of bilaterally symmetrical single-leg structures, and are assembly bases of double-leg structures; the two sides of the tail ends of the first linear motor 111 and the second linear motor 114 are provided with assembly bosses, the two sides of the first connecting seat 1111 and the second connecting seat 1141 are provided with assembly bosses, the first fixing rod 51, the second fixing rod 52, the fifth fixing plate 1131 and the sixth fixing plate 1132 are provided with motor assembly holes and hinge holes, and the third fixing plate 1121, the fourth fixing plate 1122, the first thigh connecting rod 1151 and the second thigh connecting rod 1152 are provided with connecting seat assembly holes and hinge holes. The output end of a push rod of the first linear motor 111 is fixedly connected with the first connecting seat 1111 through a screw, assembling bosses on two sides of the tail end of the first linear motor 111 and motor assembling holes of the first fixing rod 51 and the second fixing rod 52 respectively to form hinge connection, the first fixing rod 51 and the second fixing rod 52 are connected through a screw, the first linear motor 111 is arranged between the two rods, meanwhile, hinge holes of the first fixing rod 51 and the second fixing rod 52 are aligned, assembling bosses on two sides of the first connecting seat 1111 and connecting seat assembling holes of the third fixing plate 1121 and the fourth fixing plate 1122 respectively to form hinge connection, the third fixing plate 1121 and the fourth fixing plate 1122 are connected through a screw, and the bosses and the holes are in clearance fit; rotating the first connection seat 1111 to place the third fixing plate 1121 and the fourth fixing plate 1122 on the inner sides of the first fixing rod 51 and the second fixing rod 52 and align with the hinge holes, the first hinge shaft 81 sequentially passes through the hinge holes of the second fixing rod 52, the fourth fixing plate 1122, the third fixing plate 1121 and the first fixing rod 51 to form a hinge connection, screwing the screw to axially position the first hinge shaft 81, and the shaft holes are in clearance fit; the above components are the side-sway structure of the hip joint 11.
In this embodiment, the second joint plate 113 includes a fifth fixing plate 1131 and a sixth fixing plate 1132, the second linear motor 114 is located between the fifth fixing plate 1131 and the sixth fixing plate 1132, fixed ends of the second linear motor 114 are respectively hinged to the fifth fixing plate 1131 and the sixth fixing plate 1132, an output end of the second linear motor 114 is provided with a second connecting seat 1141, the thigh first rod 115 includes a thigh first link 1151 and a thigh second link 1152, and the second connecting seat 1141 is located between the thigh first link 1151 and the thigh second link 1152 and is respectively hinged to an upper end of the thigh first link 1151 and an upper end of the thigh second link 1152.
The thigh first link 1151 and the thigh second link 1152 are both located between the fifth fixing plate 1131 and the sixth fixing plate 1132, the fifth fixing plate 1131 is hinged to the thigh first link 1151, and the sixth fixing plate 1132 is hinged to the thigh second link 1152.
The output end of the push rod of the second linear motor 114 is fixedly connected with the second connecting seat 1141 through a screw, assembling bosses at two sides of the tail end of the second linear motor 114 are respectively assembled with motor assembling holes of a fifth fixing plate 1131 and a sixth fixing plate 1132 to form hinge connection, the fifth fixing plate 1131 and the sixth fixing plate 1132 are connected through screws and the second linear motor 114 is arranged between the two plates, meanwhile, hinge holes of the fifth fixing plate 1131 and the sixth fixing plate 1132 are aligned, assembling bosses at two sides of the second connecting seat 1141 are respectively assembled with connecting seat assembling holes of a thigh first connecting rod 1151 and a thigh second connecting rod 1152 to form hinge connection, the thigh first connecting rod 1151 and the thigh second connecting rod 1152 are connected through screws and enable the hinge holes to be aligned, and the bosses and the holes are in clearance fit; rotating the second connecting seat 1141 so that the first thigh link 1151 and the second thigh link 1152 are placed at the inner sides of the fifth fixing plate 1131 and the sixth fixing plate 1132 and aligned with the hinge holes, the second hinge shaft 82 sequentially passes through the hinge holes of the sixth fixing plate 1132, the second thigh link 1152, the first thigh link 1151 and the fifth fixing plate 1131 to form a hinge connection, screwing on the screw so as to axially position the second hinge shaft 82, and the shaft holes are in clearance fit; the above-mentioned part is the pitch structure of hip joint 11, fix this part together with the structure of side pendulum through the screw, make up hip joint 11, hip joint 11 has two degrees of freedom of side pendulum and pitch, are driven by two miniature linear motors respectively.
In this embodiment, the thigh second lever 122 includes a thigh third link 1221 and a thigh fourth link 1222, an upper end of the thigh third link 1221 and an upper end of the thigh fourth link 1222 are respectively connected to a lower end of the thigh first lever 115, and a fixed end of the third linear motor 121 is located between the thigh third link 1221 and the thigh fourth link 1222 and is respectively hinged to the thigh third link 1221 and the thigh fourth link 1222.
The output end of the third linear motor 121 is provided with a third connecting seat 1211, the shank connecting rod 123 includes a shank first connecting rod 1231 and a shank second connecting rod 1232, and the third connecting seat 1211 is located between the shank first connecting rod 1231 and the shank second connecting rod 1232 and is hinged to the upper end of the shank first connecting rod 1231 and the upper end of the shank second connecting rod 1232, respectively.
The first shank link 1231 and the second shank link 1232 are both located between the third thigh link 1221 and the fourth thigh link 1222, the first shank link 1231 is hinged to the third thigh link 1221, and the second shank link 1232 is hinged to the fourth thigh link 1222.
Assembly bosses are arranged on two sides of the tail end of the third linear motor 121, assembly bosses are arranged on two sides of the third connecting seat 1211, motor assembly holes and hinge holes are arranged on the third thigh connecting rod 1221 and the fourth thigh connecting rod 1222, and connecting seat assembly holes and hinge holes are arranged on the first shank connecting rod 1231 and the second shank connecting rod 1232; the output end of a push rod of the third linear motor 121 is fixedly connected with a third connecting seat 1211 through a screw, assembling bosses on two sides of the tail end of the third linear motor 121 are respectively assembled with motor assembling holes of a thigh third connecting rod 1221 and a thigh fourth connecting rod 1222 to form hinge connection, the thigh third connecting rod 1221 and the thigh fourth connecting rod 1222 are connected through a screw, the third linear motor 121 is arranged between the thigh third connecting rod 1221 and the thigh fourth connecting rod 1222, meanwhile, hinge holes of the thigh third connecting rod 1221 and the thigh fourth connecting rod 1222 are aligned, assembling bosses on two sides of the third connecting seat 1211 are respectively assembled with connecting seat assembling holes of a shank first connecting rod 1231 and a shank second connecting rod 1232 to form hinge connection, the shank first connecting rod 1231 and the shank second connecting rod 1232 are connected through screws, the hinge holes are aligned, and the bosses and the holes are in clearance fit; the third connecting seat 1211 is rotated, so that the first shank connecting rod 1231 and the second shank connecting rod 1232 are placed on the inner sides of the third thigh connecting rod 1221 and the fourth thigh connecting rod 1222 and aligned with the hinge holes, the third hinge shaft 83 sequentially penetrates through the hinge holes of the fourth thigh connecting rod 1222, the second shank connecting rod 1232, the first shank connecting rod 1231 and the third thigh connecting rod 1221 to form hinge connection, the third hinge shaft 83 is axially positioned by screwing a screw, and the shaft holes are in clearance fit; the foot end rubber ball 1233 is then fixed to the end of the lower leg second link 1232 by screws or adhesive to form the knee joint 12, and the knee joint 12 has only one degree of freedom in pitch. Finally, the knee joint 12 and the hip joint 11 are connected together through screws to form a single-leg structure.
In some embodiments, the lower ends of the first and second thigh links 1151 and 1152 are formed with thigh links 1153, and the thigh links 1153 are connected to the upper ends of the third and fourth thigh links 1221 and 1222, respectively.
In some embodiments, the lower ends of the first and second lower leg links 1231, 1232 are formed with a lower leg link 1234, and the lower leg link 1234 is connected to a foot end rubber ball 1233.
In some embodiments, the shank link 1234 and the thigh link 1153 are both round bar bodies.
The transmission structures with three degrees of freedom of the single-leg structure are all swing guide rod mechanisms, and the connecting rods are driven to rotate around the hinges by the extension and contraction of the linear motors, so that the shanks or the thighs are driven to move.
In this embodiment, assemble into complete two sets of both legs structures with two pairs of bilateral symmetry's single-legged structure, place two sets of both legs structures in tandem, link firmly through three connecting rods 7 through the screw, constitute complete quadruped robot, include 12 degrees of freedom altogether.
In this embodiment, a foot end rubber ball 1233 is provided at the lower end of the lower leg link 123. The foot end rubber ball 1233 has certain elasticity and has a buffering effect, so that the structure can be protected, and the impact can be reduced; the surface of the foot end rubber ball 1233 is provided with grains, so that the friction with the ground can be increased, and the anti-skidding effect is achieved.
In some embodiments, the leg structure comprises a first hinge shaft 81, the front fixing bracket 5 and the first joint plate 112 are provided with first hinge holes, and the first hinge shaft 81 passes through the first hinge holes of the front fixing bracket 5 and the first joint plate 112 to form a hinge connection.
In some embodiments, the leg structure comprises a second hinge shaft 82, the second joint plate 113 and the thigh first bar 115 are provided with second hinge holes, and the second hinge shaft 82 passes through the second joint plate 113 and forms a hinge connection with the second hinge hole of the thigh first bar 115.
In some embodiments, the leg structure comprises a third hinge shaft 83, the thigh second rod 122 and the shank link 123 are both provided with a third hinge hole, and the third hinge shaft 83 passes through the thigh second rod 122 and forms a hinge connection with the third hinge hole of the shank link 123.
In some embodiments, the first hinge axis 81 and the second hinge axis 82 are perpendicular to each other.
In some embodiments, the first leg structure 1 and the second leg structure 2 are in a bilateral symmetry structure.
In this embodiment, the first linear motor 111, the second linear motor 114, and the third linear motor 121 all have a self-locking function.
In some embodiments, the first linear motor 111, the second linear motor 114, and the third linear motor 121 are all micro linear motors.
In the present embodiment, the first, second and third hinge shafts 81, 82 and 83 are provided with screw holes for axial positioning by screwing in screws.
Therefore, the transmission structure of the quadruped robot is a swing guide rod mechanism, the structure is simple and reliable, the efficiency is high, the overall structure is small in size, light in weight and low in cost, parts are easy to process, and the maintenance of the overall structure is facilitated.
The quadruped robot adopts the miniature linear motor to directly drive, 12 motors are integrally arranged, only 3 motors are controlled by a single leg, the control is simple and reliable, the linear motor has a self-locking function, and the robot can keep the posture even if the motor is broken, so that the robot is prevented from falling down or even being damaged.
This four-footed robot's foot end rubber ball 1233 has certain elasticity, plays the buffering guard action to four-footed robot's motion to can adapt to uneven ground, reduce the control degree of difficulty.
The embodiment of the invention also provides a quadruped robot, which comprises a leg structure, wherein the leg structure comprises a front leg structure, a rear leg structure and at least one connecting rod 7, the front leg structure comprises a front fixed support 5, a first leg structure 1 and a second leg structure 2, the rear leg structure comprises a rear fixed support 6, a third leg structure 3 and a fourth leg structure 4, one end of each connecting rod 7 is connected with the front fixed support 5, the other end of each connecting rod is connected with the rear fixed support 6, the third leg structure 3 and the fourth leg structure 4 are both hinged with the rear fixed support 6, and the first leg structure 1 and the second leg structure 2 are both hinged with the front fixed support 5;
the first leg structure 1 includes a hip joint 11 and a knee joint 12, the hip joint 11 includes a first linear motor 111, a first joint plate 112, a second joint plate 113, a second linear motor 114, and a first thigh rod 115, a fixed end of the first linear motor 111 is hinged to the front fixed bracket 5, an output end of the first linear motor 111 is hinged to an upper end of the first joint plate 112, the front fixed bracket 5 is hinged to the first joint plate 112, a lower end of the first joint plate 112 is connected to the second joint plate 113, a fixed end of the second linear motor 114 is hinged to the second joint plate 113, an output end of the second linear motor 114 is hinged to an upper end of the first thigh rod 115, and the second joint plate 113 is hinged to the first thigh rod 115.
The knee joint 12 comprises a third linear motor 121, a thigh second rod 122 and a shank connecting rod 123, the upper end of the thigh second rod 122 is connected with the lower end of the thigh first rod 115, the fixed end of the third linear motor 121 is hinged to the thigh second rod 122, the output end of the third linear motor 121 is hinged to the upper end of the shank connecting rod 123, and the thigh second rod 122 is hinged to the shank connecting rod 123.
The output end of the first linear motor 111 is hinged with the upper end of the first joint plate 112, the output end of the second linear motor 114 is hinged with the upper end of the thigh first rod 115, the output end of the third linear motor 121 is hinged with the upper end of the shank connecting rod 123, the transmission structures are all swing guide rod mechanisms, the structure is simple and reliable, the efficiency is high, and the problem that the quadruped robot in the prior art is complex in structure is solved.
The above description is intended to be illustrative of the preferred embodiment of the present invention and should not be taken as limiting the invention, but rather, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (10)
1. A leg structure is characterized by comprising a front leg structure, a rear leg structure and at least one connecting rod, wherein the front leg structure comprises a front fixed support, a first leg structure and a second leg structure, the rear leg structure comprises a rear fixed support, a third leg structure and a fourth leg structure, one end of each connecting rod is connected with the front fixed support, the other end of each connecting rod is connected with the rear fixed support, the third leg structure and the fourth leg structure are hinged with the rear fixed support, and the first leg structure and the second leg structure are hinged with the front fixed support;
the first leg structure comprises a hip joint and a knee joint, the hip joint comprises a first linear motor, a first joint plate, a second linear motor and a first thigh rod, the fixed end of the first linear motor is hinged with the front fixed support, the output end of the first linear motor is hinged with the upper end of the first joint plate, the front fixed support is hinged with the first joint plate, the lower end of the first joint plate is connected with the second joint plate, the fixed end of the second linear motor is hinged with the second joint plate, the output end of the second linear motor is hinged with the upper end of the first thigh rod, and the second joint plate is hinged with the first thigh rod;
the knee joint comprises a third linear motor, a thigh second rod and a shank connecting rod, the upper end of the thigh second rod is connected with the lower end of the thigh first rod, the fixed end of the third linear motor is hinged with the thigh second rod, the output end of the third linear motor is hinged with the upper end of the shank connecting rod, and the thigh second rod is hinged with the shank connecting rod.
2. The leg structure according to claim 1, wherein the front fixing bracket comprises a first fixing bar and a second fixing bar, and the fixing end of the first linear motor is located between the first fixing bar and the second fixing bar and is hinged with the first fixing bar and the second fixing bar respectively;
the output end of the first linear motor is provided with a first connecting seat, the first joint plate comprises a third fixing plate and a fourth fixing plate, and the first connecting seat is positioned between the third fixing plate and the fourth fixing plate and is hinged to the upper end of the third fixing plate and the upper end of the fourth fixing plate respectively;
the third fixing plate and the fourth fixing plate are both located between the first fixing rod and the second fixing rod, the third fixing plate is hinged to the first fixing rod, and the fourth fixing plate is hinged to the second fixing rod.
3. The leg structure according to claim 1, wherein the second joint plate comprises a fifth fixing plate and a sixth fixing plate, the second linear motor is located between the fifth fixing plate and the sixth fixing plate, the fixed end of the second linear motor is hinged to the fifth fixing plate and the sixth fixing plate, the output end of the second linear motor is provided with a second connecting seat, the first thigh rod comprises a first thigh connecting rod and a second thigh connecting rod, and the second connecting seat is located between the first thigh connecting rod and the second thigh connecting rod and is hinged to the upper end of the first thigh connecting rod and the upper end of the second thigh connecting rod;
the first thigh connecting rod and the second thigh connecting rod are both located between the fifth fixing plate and the sixth fixing plate, the fifth fixing plate is hinged to the first thigh connecting rod, and the sixth fixing plate is hinged to the second thigh connecting rod.
4. The leg structure according to claim 1, wherein the second thigh link comprises a third thigh link and a fourth thigh link, an upper end of the third thigh link and an upper end of the fourth thigh link are respectively connected with a lower end of the first thigh link, and a fixed end of the third linear motor is located between the third thigh link and the fourth thigh link and is respectively hinged with the third thigh link and the fourth thigh link;
the output end of the third linear motor is provided with a third connecting seat, the shank connecting rod comprises a shank first connecting rod and a shank second connecting rod, and the third connecting seat is positioned between the shank first connecting rod and the shank second connecting rod and is respectively hinged with the upper end of the shank first connecting rod and the upper end of the shank second connecting rod;
the first shank connecting rod and the second shank connecting rod are both positioned between the third thigh connecting rod and the fourth thigh connecting rod, the first shank connecting rod is hinged with the third thigh connecting rod, and the second shank connecting rod is hinged with the fourth thigh connecting rod.
5. The leg structure according to claim 1, wherein the lower end of the shank link is provided with a foot end rubber ball.
6. The leg structure of claim 1, wherein the leg structure includes a first hinge axis, the front mounting bracket and the first joint plate each having a first hinge aperture, the first hinge axis forming a hinged connection through the front mounting bracket and the first hinge aperture of the first joint plate.
7. The leg structure according to claim 6, wherein the leg structure comprises a second hinge axis, wherein the second joint plate and the thigh first bar are each provided with a second hinge hole, and wherein the second hinge axis passes through the second joint plate and forms a hinged connection with the second hinge hole of the thigh first bar.
8. A leg structure as claimed in claim 7, wherein the first and second hinge axes are perpendicular to each other.
9. The leg structure of claim 1, wherein the first leg structure and the second leg structure are in a side-to-side symmetric configuration.
10. A quadruped robot comprising a leg structure as claimed in any one of claims 1 to 9.
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| CN202210485774.2A CN115056883A (en) | 2022-05-06 | 2022-05-06 | Leg structure and quadruped robot |
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| CN202210485774.2A CN115056883A (en) | 2022-05-06 | 2022-05-06 | Leg structure and quadruped robot |
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| CN115320744A (en) * | 2022-10-17 | 2022-11-11 | 成都理工大学 | Four-joint hydraulic foot type robot leg |
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