CN214776232U

CN214776232U - Mechanical supporting structure

Info

Publication number: CN214776232U
Application number: CN202022549275.4U
Authority: CN
Inventors: 郭建; 钟俊昊; 叶家聪; 吕聪
Original assignee: Guangzhou College of South China University of Technology
Current assignee: Guangzhou College of South China University of Technology
Priority date: 2020-11-06
Filing date: 2020-11-06
Publication date: 2021-11-19
Anticipated expiration: 2030-11-06

Abstract

The utility model provides a mechanical supporting structure, which comprises mechanical legs; the mechanical leg comprises a shock absorbing device, a connecting assembly and a supporting device; the connecting assembly is connected with the supporting device; the shock absorbing device is arranged between the connecting component and the supporting device and is connected with the connecting component and the supporting device; when the mechanical leg is in contact with the ground; the ground counteracts a part of the reaction force of the mechanical legs and is counteracted by the shock absorbing device; the other part of the reaction force is transmitted to the upper bracket through the lower bracket; then the vibration is transmitted to the shock absorbing device by the upper bracket to be offset; thus, the reaction force of the ground to the mechanical leg can be fully counteracted; the acting force is prevented from being transmitted to the machine body bracket; the damping effect is good; when the fuselage cradle carries a load; the mechanical legs need to bear larger pressure; buffering is carried out through setting up shock absorber, reduces the pressure that the mechanical leg needs to bear, and then has the unstable condition of swing to take place when avoiding moving.

Description

Mechanical supporting structure

Technical Field

The utility model relates to a robot field, concretely relates to mechanical support structure.

Background

Quadruped robots have been a research focus in the field of robots. The quadruped robot has the advantages of strong bearing capacity, high qualitative performance, simple structure and high reliability, and can be better adapted to various complex terrains. Based on the basic idea of bionics, the body shape and the motion shape of quadruped organisms (mammals) are deeply researched, and the bionic robot which can realize the basic performance of the quadruped robot, for example, the bionic robot can realize smooth gait walking, keep walking stability, have certain bearing capacity and the like and has the characteristic of low cost is researched. The rapid development of the bionic technology is generating greater and greater influence on the aspects of human life, and the robot is required to have higher action flexibility and adaptability to various complex environments.

In chinese application No. 201710067849.4; a four-footed bionic robot is disclosed in patent document with publication number 2019.4.12; the robot comprises a control system and a mechanical system, wherein the mechanical system comprises two trunks and waist adjusting motors arranged between the two trunks and used for adjusting the swinging of the two trunks, the two trunks are connected with two leg mechanisms, each leg mechanism comprises a multi-degree-of-freedom parallel mechanism and a driving motor for driving the parallel mechanism to swing, the swing axis of the parallel mechanism is parallel to the swing axis of the two trunks, and the control system coordinately controls the waist adjusting motors and the driving motors to realize the continuous swinging of the two trunks and the four leg mechanisms so as to realize jumping motion.

But the buffer mechanism of the bionic robot is arranged at the tail end of the third connecting rod; the third connecting rod is contacted with the ground through a buffer mechanism; when the robot lands; the third connecting rod is in flexible contact with the ground; thus, the stability of the third link is poor; the third connecting rod has poor supporting effect on the robot; the robot has the risk of side turning when moving; thus, potential safety hazards exist during use; meanwhile, when the leg structure of the robot continuously swings and moves rapidly; the risk of rollover may be amplified; meanwhile, when the robot bears a load; when the leg structure is lifted, certain pressure is generated; the buffer mechanism of the bionic robot is only connected with the third connecting rod; the buffer mechanism can only play a role in buffering when the robot falls to the ground; the cushioning mechanism cannot cushion the pressure generated by the lifting of the leg structure. The bionic robot has poor shock-proof effect; the service life is short.

Disclosure of Invention

The utility model provides a mechanical supporting structure that supporting effect is good, safe in utilization.

In order to achieve the above purpose, the technical scheme of the utility model is that: a mechanical support structure comprising a mechanical leg; the mechanical leg comprises a driving device, a shock absorbing device, a connecting assembly and a supporting device; the driving device is rotationally connected with the transmission piece; the transmission part is rotationally connected with the connecting component, and the connecting component is rotationally connected with the supporting device; the shock absorbing device is arranged between the connecting component and the supporting device and is rotationally connected with the connecting component and the supporting device;

the connecting assembly comprises an upper bracket and a lower bracket; the upper bracket and the lower bracket are rotationally connected through a fixing piece; an included angle is formed between the upper bracket and the lower bracket;

the upper bracket comprises a first bracket, a second bracket, a connecting seat and an upper end support piece; the first bracket and the second bracket are arranged in parallel; one end of the first bracket is rotatably connected with the fixing piece; the other end of the first bracket is rotationally connected with the driving device; the connecting seat and the upper end support piece are both arranged on the first bracket and are positioned between the driving device and the fixing piece; the upper end support piece is positioned above the connecting seat; one end of the second bracket is rotatably connected with the fixing piece; the other end of the second bracket penetrates through the connecting seat to be rotatably connected with the upper end support piece;

the fixing piece comprises a first fixing end plate, a second fixing end plate and a third fixing end plate; the first fixed end plate is arranged on one side of the third fixed end plate; the second fixed end plate is arranged on the other side of the third fixed end plate; the first fixed end plate is obliquely arranged towards the second fixed end plate; the lower support is connected with the first fixed end plate and the second fixed end plate;

the shock absorbing device comprises a shock absorbing upper part, a shock absorbing lower part and a shock absorbing support; the shock-absorbing upper part and the shock-absorbing lower part are both arranged on the shock-absorbing support; the shock-absorbing upper part is connected with the connecting seat; the lower shock-absorbing component is rotatably connected with the supporting device.

According to the arrangement, the driving device and the supporting device are connected through the connecting assembly; the driving device drives the supporting device to move; by arranging the shock absorbing device; therefore, the mechanical legs are firstly buffered when contacting the ground; the connecting component and the supporting component are connected with the shock absorbing device; when the mechanical leg is in contact with the ground; the ground counteracts a part of the reaction force of the mechanical legs and is counteracted by the shock absorbing device; the other part of the reaction force is transmitted to the upper bracket through the lower bracket; then the vibration is transmitted to the shock absorbing device by the upper bracket to be offset; thus, the reaction force of the ground to the mechanical leg can be fully counteracted; the acting force is prevented from being transmitted to the machine body bracket; the damping effect is good; when the fuselage cradle carries a load; the mechanical legs need to bear larger pressure; buffering is carried out through setting up shock absorber, reduces the pressure that the mechanical leg needs to bear, and then has the unstable condition of swing to take place when avoiding moving. Meanwhile, the pressure of the upper bracket on the lower bracket when the mechanical leg is lifted can be reduced; the service life is effectively prolonged; meanwhile, the shock absorbing device is arranged between the connecting component and the supporting device; the shock absorbing device is not in direct contact with the ground; so that the mechanical legs are in rigid contact with the ground; the stability is good.

The device is characterized in that a driving device and a transmission piece, the transmission piece and a connecting assembly, the connecting assembly and a supporting device which are connected in a rotating manner are arranged; the driving device, the transmission part, the connecting component and the supporting device can move relatively; when the driving device drives the transmission part to move, the transmission part can drive the connecting component to move, and the connecting component can drive the supporting device to move; this achieves the movement of the mechanical legs. The mechanical leg has good flexibility.

The first fixed end plate is arranged and inclines towards the second fixed end plate; such that the end of the first fixed end plate is inclined towards the second fixed end plate; the third bracket of the first fixed end plate can incline towards the fourth bracket; one end of the third bracket and one end of the fourth bracket are close to each other; the fixing piece and the lower end bracket form a triangular structure, so that the stability of the lower bracket can be improved; thereby improving the stability of the whole device.

Further, the lower bracket comprises a lower end support piece, a third bracket and a fourth bracket; one end of the third bracket and one end of the fourth bracket are respectively connected with the fixing piece; the other ends of the third bracket and the fourth bracket are respectively connected with the lower end support piece; the lower end support piece is rotationally connected with the supporting device; the first bracket and the third bracket form a first included angle; the second bracket and the fourth bracket form a second included angle; the angle of the second included angle is larger than that of the first included angle; the third support is connected with the first fixed end plate, and the fourth support is connected with the second fixed end plate.

According to the arrangement, the two ends of the third bracket and the fourth bracket are respectively connected with the fixing piece and the lower end support piece; and the fixing piece, the third support, the fourth support and the lower end support piece form a triangular structure, so that the connection is stable. Setting a second included angle with the angle larger than the first included angle; the first bracket and the third bracket, and the second bracket and the fourth bracket are rotationally connected; a movable range exists between the first bracket and the third bracket and between the second bracket and the fourth bracket; when the mechanical leg moves forward; the mechanical legs can perform actions similar to the knee bending of the human body; therefore, the first bracket and the third bracket, and the second bracket and the fourth bracket are close to each other; the second included angle is positioned at the rear end of the first included angle; the movable ranges between the first bracket and the third bracket and between the second bracket and the fourth bracket are limited by the second included angle; meanwhile, the included angle with a large angle has a larger moving range than the included angle with a small angle; setting the angle of the second included angle to be larger than that of the first included angle; therefore, the approaching amplitude between the first bracket and the third bracket and between the second bracket and the fourth bracket is larger; the mechanical legs have good flexibility; simultaneously because be fixed connection between third support and fourth support and the mounting to make the angle difference between second contained angle and the first contained angle more stable, can not influence upper portion support and lower part support and all rotate for the mounting, thereby lead to unable difference of guaranteeing between second contained angle and the first contained angle, the reliability is high.

Furthermore, two upper end supporting pieces are arranged, and the two upper end supporting pieces are symmetrically arranged relative to the first support; the first bracket and the second bracket are connected between the two upper end supporting pieces; the two fixing pieces are symmetrically arranged relative to the first support; the first support and the second support are connected between the two third fixed end plates; the third bracket is connected between the two first fixed end plates; the fourth bracket is connected between the two second fixed end plates; the two lower end supporting pieces are symmetrically arranged around the third bracket; the third support and the fourth support are connected between the two lower end support pieces.

The arrangement is realized through symmetrically arranged upper end supporting pieces and fixing pieces; therefore, the clamping effect on the first support and the second support is good; through symmetrically arranged lower end support members; therefore, the clamping effect on the third support and the fourth support is good; this enables stable connection.

Further, the supporting device comprises a supporting piece; the shock-absorbing lower part is connected with a shock-absorbing connecting piece, and the shock-absorbing connecting piece is movably connected with the supporting piece; the number of the supporting pieces is two; the two supporting pieces are symmetrically arranged relative to the lower bracket; the supporting part comprises a first supporting part, a second supporting part and a third supporting part; one end of the first support part is connected with one end of the second support part and is obliquely arranged; the other end of the second supporting part is connected with one end of the third supporting part and is obliquely arranged. The above arrangement, by means of symmetrically arranged support members; a first supporting connecting shaft and a second supporting connecting shaft are arranged between the two supporting pieces; therefore, the structural stability of the supporting device is good; the first support part, the second support part and the third support part are obliquely arranged to form a shape similar to the foot of a human body, so that the contact area between the support part and the ground is large while the stability is ensured; the movement is stable.

Further, the connecting seat comprises a connecting support plate and a connecting piece; the two connecting support plates are symmetrically arranged relative to the connecting piece and are connected with the connecting piece and the first bracket; the shock-absorbing upper part is connected with the connecting piece.

The connecting support plate is arranged; the acting force of the first bracket is transmitted to the connecting piece through the connecting support plate; and then transferred to the suspension upper member. Furthermore, a reinforcing part is connected between the two connecting support plates.

Furthermore, a reinforcing part is connected between the two lower end supporting parts.

In the arrangement, the reinforcing piece is arranged; further improving the structural stability of the mechanical leg.

Furthermore, a reinforcing part is connected between the two supporting parts.

Furthermore, an infrared module is arranged on the supporting piece.

Above setting, through setting up the infrared module, can prevent that the mechanical leg from stepping on spaciously, avoid when the robot is in the eminence operation, step on spaciously because of unable discernment edge, fall from the eminence and lead to danger.

Further, the mechanical leg further comprises a first bearing device and a second bearing device; first bearing devices are connected between the first support and the fixing piece, between the second support and the upper end support piece, between the upper end support piece and the transmission piece, and between the shock absorption connecting piece and the supporting piece; and second bearing devices are connected between the first bracket and the driving support, between the first bracket and the upper end support piece, between the first bracket and the connecting support plate and between the lower end support piece and the support piece. The rotation is realized by arranging the bearing device, so that the rotation effect is good.

Further, the first bearing device comprises a first fixed part, a first bearing and a first rotating shaft; two first fixing pieces are arranged; more than one first bearing is arranged; a first fixing member fixed to one end of the first rotating shaft; the first bearing is arranged between the two first fixing pieces;

the second bearing device comprises a second fixed piece, a second bearing and a second rotating shaft; two second bearings are arranged; more than one second fixing piece is arranged; a second bearing is mounted on one end of the second rotating shaft; the second fixing piece is fixed between the two second bearings. For the connection between the two connecting pieces, when the end part of one connecting piece is connected with the middle position of the other connecting piece, the second bearing device is adopted for convenient connection, so that different parts of the mechanical leg can be connected by selecting proper bearing devices; is convenient to use.

Drawings

Fig. 1 is a schematic perspective view of the present invention.

Fig. 2 is a schematic perspective view of another perspective of the present invention.

Fig. 3 is a schematic perspective view of the middle supporting device of the present invention.

Fig. 4 is a side view of the support member of the present invention.

Fig. 5 is a schematic view of a three-dimensional structure of the middle connection seat of the present invention.

Fig. 6 is an exploded view of the shock absorbing device of the present invention.

Fig. 7 is a schematic perspective view of the first bracket of the present invention.

Fig. 8 is a schematic perspective view of a second bracket according to the present invention.

Fig. 9 is a side view of the middle fixing member of the present invention.

Fig. 10 is an enlarged view of a in fig. 1.

Fig. 11 is an enlarged view of b in fig. 1.

Fig. 12 is an enlarged view of c in fig. 1.

Fig. 13 is an enlarged view of d in fig. 2.

Fig. 14 is an enlarged view of e in fig. 2.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1-14; a mechanical support structure comprising a mechanical leg; the mechanical leg comprises a driving device, a shock absorbing device, a connecting component and a supporting device 14; the driving device is connected with the connecting assembly through a transmission piece 15, and the connecting assembly is connected with the supporting device 14; the suspension device is disposed between the connecting assembly and the support device 14 and is connected to the connecting assembly and the support device 14. The driving device and the transmission member 15, the transmission member 15 and the connecting assembly, the connecting assembly and the supporting device 14, the shock absorbing device and the supporting device 14, and the shock absorbing device and the connecting assembly are rotatably connected.

Two driving devices are arranged; the two driving devices are symmetrically arranged around the connecting component; each drive means comprises a drive support 111 and a drive motor 112. The driving motor 112 is mounted on the driving support 111; in the present embodiment, two transmission members 15 are provided, and the two transmission members 15 are symmetrically arranged about the connecting assembly; a transmission part is connected with a driving motor; the two driving motors 12 drive the transmission members to synchronously rotate.

The connecting assembly comprises an upper bracket and a lower bracket; the upper bracket is rotatably connected with the fixing piece 16; the fixing piece 16 is connected with the lower bracket; an included angle is formed between the upper support and the lower support. The upper bracket includes a first bracket 131, a second bracket 132, a connecting seat 133, and an upper end leg 134; the first bracket 131 and the second bracket 132 are arranged in parallel; one end of the first bracket 131 is connected to the fixing member 16; the other end of the first bracket 131 is connected with the driving support 111; the connecting seat 133 and the upper end support 134 are both mounted on the first bracket 131 between the driving device and the fixing member 16; upper leg 134 is located above connecting seat 133; one end of the second bracket 132 is connected to the fixing member 16; the other end of the second bracket 132 is rotatably connected to the upper end support 134 through the connecting seat 133.

The lower bracket includes a lower end leg 135, a third bracket 136, and a fourth bracket 137; one ends of the third bracket 136 and the fourth bracket 137 are respectively connected with the fixing member 16; the other ends of the third bracket 136 and the fourth bracket 137 are connected to the lower end leg 135, respectively; the lower end support member 135 is rotatably connected with the support device 14; the first bracket 131 and the third bracket 136 form a first included angle; the second bracket 132 and the fourth bracket 137 form a second included angle; the angle of the second included angle is greater than the angle of the first included angle. Because the first bracket 131 is rotatably connected with the third bracket 136 and the second bracket 132 is rotatably connected with the fourth bracket 137; a movable range exists between the first bracket 131 and the third bracket 136, and between the second bracket 132 and the fourth bracket 137; when the mechanical leg moves forward; the mechanical legs can perform actions similar to the knee bending of the human body; so that the first bracket 131 and the third bracket 136, and the second bracket 132 and the fourth bracket 137 approach each other; the second included angle is positioned at the rear end of the first included angle; the movable ranges between the first bracket 131 and the third bracket 136 and between the second bracket 132 and the fourth bracket 137 are limited by the second included angle; meanwhile, the included angle with a large angle has a larger moving range than the included angle with a small angle; setting the angle of the second included angle to be larger than that of the first included angle; so that the approach between the first bracket 131 and the third bracket 136, and between the second bracket 132 and the fourth bracket 137 is larger; the mechanical leg has good flexibility. The fixing piece 16 and the lower end support piece 135 are respectively connected with the two ends of the third bracket 136 and the fourth bracket 137; the connection is thus stable.

The number of the fixing pieces 16 is two; the two fixing members are symmetrically disposed about the first bracket 131; the first bracket 131, the second bracket 132, the third bracket 136 and the fourth bracket 137 are connected between the two fixing members 16; one of the fixing members is rotatably connected to one side of the first bracket 131, the second bracket 132, the third bracket 136 and the fourth bracket 137; the other fixing member is rotatably coupled to the other sides of the first, second, third and

fourth brackets

131, 132, 136 and 137.

One fixture 16 includes a first fixture endplate 161, a second fixture endplate 162, and a third fixture endplate 163; the first fixed end plate 161 is disposed at one side of the third fixed end plate 163; the second fixed end plate 162 is disposed at the other side of the third fixed end plate 163; the first fixed end plate 161 is disposed obliquely to the second fixed end plate 162; the third bracket 136 is connected to the first fixed end plate 161, and the fourth bracket 137 is connected to the second fixed end plate 162. The first fixed end plate is arranged and inclines towards the second fixed end plate; such that the end of the first fixed end plate is inclined towards the second fixed end plate; the third bracket of the first fixed end plate can incline towards the fourth bracket; thus, the ends of the third bracket and the fourth bracket close to the lower end support piece are close to each other; therefore, the fixing piece, the third bracket, the fourth bracket and the lower end support piece form a triangular structure, so that the stability of the lower bracket can be improved; thereby improving the stability of the whole device.

The end of the upper leg 134 remote from the first leg 131 is rotatably connected to the transmission member 15. In this implementation; two upper end support members 134 are provided, the two upper end support members are symmetrically arranged about the connecting assembly, and the first support 131 and the second support 132 are connected between the two upper end support members 134. One upper end support piece is rotatably connected with one side of the first support and one side of the second support; the other upper end support piece is rotatably connected with the other side of the first bracket and the other side of the second bracket.

Two lower end support members 135 are provided; the two lower end supports are symmetrically arranged about the third bracket 136; the third bracket 136 and the fourth bracket 137 are connected between the lower end supports 135.

Through the symmetrically arranged upper end support 134 and the fixing piece 16; thus, the clamping effect on the first bracket 131 and the second bracket 132 is good; by symmetrically disposed lower end supports 135; thus, the clamping effect on the third bracket 136 and the fourth bracket 137 is good; this enables stable connection.

The shock absorbing device comprises a shock absorbing upper part 121, a shock absorbing lower part 122 and a shock absorbing support 123; the upper shock absorbing part 121 and the lower shock absorbing part 122 are both mounted on the shock absorbing mount 123; the shock absorbing upper part 121 is connected with the connecting seat 133; the suspension lower part 122 is connected to the support device 14. An upper accommodating cavity (not shown) and a lower accommodating cavity (not shown) are arranged in the shock absorbing support 123; the suspension upper member 121 includes a first suspension link 1211 and a first suspension member 1212; the lower suspension member 122 includes a second suspension link 1221 and a second suspension 1222; the first shock absorbing element 1212 is disposed in the upper receiving cavity and abuts against the first shock absorbing rod; the first shock attachment rod 1211 is connected to the connection member 1332; the second shock absorbing member 1222 is disposed in the lower receiving cavity and abuts against the second shock absorbing connecting rod 1221; the second shock connecting rod 1221 is connected to the supporting device 14. In the present embodiment; the shock absorbing support 123 is a sleeve; the first 1212 and second 1222 shock absorbing members are steel springs.

Connecting seat 133 includes a connecting piece 1332 and two connecting support plates 1331; the two connecting support plates 1331 are symmetrically arranged around the connecting piece 1332 and connected with the connecting piece 1332 and the first bracket 131; the suspension upper 121 is connected to the connection piece 1332. By providing a connecting strip 1331; the acting force of the first bracket 131 is transmitted to the connecting piece 1332 through the connecting support plate 1331; and then to the suspension upper 121.

The supporting device 14 includes a support 141; the number of the supporters 141 is two; the two supporting pieces are symmetrically arranged relative to the lower bracket; both the lower end support member 135 and the shock attachment member 147 are movably connected to the support member. The support 141 comprises a first support part 144, a second support part 145 and a third support part 146; one end of the first support part 144 is connected with one end of the second support part 145 and is obliquely arranged; the other end of the second support part 145 is connected with one end of the third support part 146 and is obliquely arranged; the second supporting part 145 is provided with a first supporting hole 1451; the third supporting portion 146 is provided with a second supporting hole 1461. By symmetrically arranged supports 141; thus, the structural stability of the supporting device 14 is good; meanwhile, the contact area of the support member 141 and the ground is large; the movement is stable.

The support means 14 comprise an infrared module (not shown in the figures) for obstacle avoidance. The infrared module is installed on the wall surface of the supporting piece. In this embodiment, the infrared module is an infrared sensor. Through setting up the infrared module, can prevent that the mechanical leg from stepping on spaciously, avoid using the robot of this mechanical leg when the eminence operation, step on spaciously because of can't discern the edge, fall from the eminence and lead to danger.

In the present embodiment; reinforcing members 17 are connected between two connecting brackets 1331, two lower end supports 135 and two support members 141. By providing a reinforcement 17; further improving the structural stability of the mechanical leg.

The first bracket 131 and the fixed member 16, the second bracket 132 and the upper end support 134, the upper end support 134 and the transmission member 15, and the suspension link 147 and the support member 141 are connected by connecting first bearing means.

The first bracket 131 and the driving support 111, the first bracket 131 and the upper end support 134, the first bracket 131 and the connecting support 1331, and the lower end support 135 and the support 141 are connected by a connecting second bearing device.

The first bearing means includes a first fixing member 181, a first bearing 182, and a first rotating shaft 183; two first fixing members 181 are provided; the first bearing 182 is provided with more than one; a first fixing member is fixed to one end of the first rotating shaft 183; the first bearing 182 is installed between the first fixing members.

Where the first bracket 131 is connected to the mount 16; the first bearing 182 is provided with one; the first bracket 131 and the fixing member 16 are both mounted on the first rotating shaft 183; the first bracket 131 is connected with the first bearing 182; a fixing member 16 is connected to a first fixing member 181 and disposed between the first bracket 131 and the first fixing member 181.

Where the second bracket 132 is connected to the mount 16; the first bearing 182 is provided with one; the second bracket 132 and the fixing member 16 are both mounted on the first rotating shaft 183; the second bracket 132 is connected with the first bearing 182; a fixing member 16 is connected to a first fixing member 181 and disposed between the second bracket 132 and the first fixing member 181.

Where second bracket 132 joins upper leg 134; the first bearing 182 is provided with one; the second bracket 132 and the upper end support 134 are both mounted on the first rotating shaft 183; the second bracket 132 is connected with the first bearing 182; an upper end support 134 is connected to a first fixing member 181 and disposed between the second bracket 132 and the first fixing member 181.

Where the suspension links 147 are connected to the support member 141; the first bearing 182 is provided with one; the first rotating shaft 183 penetrates through the second support hole 1461; the suspension link 147 and the support member 141 are both mounted on the first rotating shaft 183; the shock-absorbing connecting member 147 is connected to the first bearing 182; a supporting member 141 is connected with a first fixing member 181; the first fixing member 181 is disposed between the support member 141 and the suspension link 147.

At the connection of the upper end support 134 with the transmission member 15; two first bearings 182 are provided; the two first bearings are arranged between the two first fixing pieces; the transmission member 15 and the upper end support 134 are both mounted on the first rotating shaft 183; an upper support 134 is connected to a first bearing 182; a transmission member 15 is connected to a first fixing member 181; the upper end leg 134 is disposed between the first bearing 182 and the first fixing member 181.

The second bearing device comprises a second fixing member 191, a second bearing 182 and a second rotating shaft 193; the second bearings 192 are provided in two; more than one second fixing piece 191 is arranged; a second bearing is installed at one end of the second rotating shaft 193; the second fixing member 191 is fixed between the two second bearings. In the present embodiment; the first bracket 131 is provided with a first mounting through groove 1311, a second mounting through groove 1312, and a third mounting through groove 1313.

Where the first bracket 131 is connected to the drive mount 111; one second fixing member 191 is provided; the first bracket 131 and the driving bracket 111 are both mounted on the second rotating shaft 193; the second fixing piece 191 is installed in the first installation through groove 1311; a drive support 111 is connected to a second bearing 192; the second bearing 192 is disposed between the driving bearing 111 and the first bracket 131.

Where first bracket 131 joins upper leg 134; one second fixing member 191 is provided; the first bracket 131 and the upper end support 134 are both mounted on the second rotating shaft 193; the second fixing piece 191 is mounted in the second mounting through groove 1312; the first bracket 131 is connected with the second fixing member 191; an upper leg 134 is connected to a second bearing 192; the upper end support 134 is disposed between the second bearing 192 and the first bracket 131.

Where the first bracket 131 is connected with the connecting strip 1331; one second fixing member 191 is provided; the first bracket 131 and the connecting plate 1331 are both mounted on the second rotating shaft 193; the second fixing piece 191 is mounted in the third mounting through groove 1313; the first bracket 131 is connected with the second fixing member 191; a connecting strap 1331 connected to a second bearing 192; second bearing 192 is disposed between connection 1331 and first bracket 131.

At the junction of the lower leg 135 and the support 141; two second fixing pieces 191 are provided; the second rotating shaft 193 penetrates through the first support hole 1451; the lower end support 135 and the support 141 are both mounted on the second rotating shaft 193; a lower end support 135 is connected to a second fixing member 191; a support 141 is connected with a second bearing 192; the two second fixing pieces 191 are arranged between the two lower end supporting pieces 135; the second bearing 192 is disposed between the support member 141 and the lower end leg 135.

By providing a first bearing means and a second bearing means; friction can be reduced; meanwhile, the first bracket 131 and the driving support 111, the first bracket 131 and the upper end support 134, the first bracket 131 and the connecting support plate 1331, and the lower end support 135 and the support 141 are connected by using second bearing devices; therefore, different parts of the mechanical leg can be connected by selecting proper bearing devices; is convenient to use.

The driving device and the supporting device 14 are connected through a connecting assembly; the driving motor 112 drives the transmission member 15 to rotate around the driving motor 112; the transmission member 15 drives the upper end support 134 to swing; the upper end support 134 drives the first bracket 131 and the second bracket 132 to swing respectively; the first bracket 131 and the second bracket 132 rotate with respect to the fixed member 16; the fixing piece 16 drives the third bracket 136 and the fourth bracket 137 to move; the third bracket 136 and the fourth bracket 137 drive the supporting device 14 to swing; thereby realizing the bending and the unfolding of the mechanical legs. When the mechanical legs move, the supporting devices of the rear legs rotate upwards, the front legs are kept still, then the rear legs are kept still, the supporting devices of the front legs rotate upwards, and therefore the supporting devices of the front legs have intervals before moving, and therefore the robot moves.

By arranging the shock absorbing device; therefore, the mechanical legs are firstly buffered when contacting the ground; the connecting component and the supporting component are connected with the shock absorbing device; when the mechanical leg is in contact with the ground; a part of the reaction force of the ground to the mechanical leg is counteracted by the shock absorbing device; the other part of the reaction force is transmitted to the upper bracket through the lower bracket; then the vibration is transmitted to the shock absorbing device by the upper bracket to be offset;

thus, the reaction force of the ground to the mechanical leg can be fully counteracted; the transmission of the force to the fuselage cradle 2 is avoided; the damping effect is good; when the fuselage cradle carries a load; the mechanical legs need to bear larger pressure; the shock absorption device is arranged for buffering, so that the pressure to be borne by the mechanical legs is reduced, and the situation that the swinging is unstable during movement is avoided; meanwhile, the pressure of the upper bracket on the lower bracket when the mechanical leg is lifted can be reduced; the service life is effectively prolonged; while the shock absorbing device is disposed between the connecting assembly and the support device 14; the shock absorbing device is not in direct contact with the ground; so that the mechanical legs are in rigid contact with the ground; the stability is good. The upper bracket and the lower bracket which form an included angle are arranged; the structure of the connecting component is stable; the bearing effect is good; thereby improving the loading capacity of the mechanical leg.

Claims

1. A mechanical support structure, characterized by: comprises a mechanical leg; the mechanical leg comprises a driving device, a shock absorption device, a connecting assembly and a supporting device; the driving device is rotationally connected with the transmission piece; the transmission part is rotationally connected with the connecting component, and the connecting component is rotationally connected with the supporting device; the shock absorbing device is arranged between the connecting component and the supporting device and is rotationally connected with the connecting component and the supporting device;

2. A mechanical support structure according to claim 1, wherein: the lower bracket comprises a lower end support piece, a third bracket and a fourth bracket; one end of the third bracket and one end of the fourth bracket are respectively connected with the fixing piece; the other ends of the third bracket and the fourth bracket are respectively connected with the lower end support piece; the lower end support piece is rotationally connected with the supporting device; the first bracket and the third bracket form a first included angle; the second bracket and the fourth bracket form a second included angle; the angle of the second included angle is larger than that of the first included angle; the third support is connected with the first fixed end plate, and the fourth support is connected with the second fixed end plate.

3. A mechanical support structure as claimed in claim 2, wherein: the two upper end supporting pieces are symmetrically arranged around the first support; the first bracket and the second bracket are connected between the two upper end supporting pieces; the two fixing pieces are symmetrically arranged relative to the first support; the first support and the second support are connected between the two third fixed end plates; the third bracket is connected between the two first fixed end plates; the fourth bracket is connected between the two second fixed end plates; the two lower end supporting pieces are symmetrically arranged around the third bracket; the third support and the fourth support are connected between the two lower end support pieces.

4. A mechanical support structure as claimed in claim 3, wherein: the supporting device comprises a supporting piece; the shock-absorbing lower part is connected with a shock-absorbing connecting piece, and the shock-absorbing connecting piece is movably connected with the supporting piece; the number of the supporting pieces is two; the two supporting pieces are symmetrically arranged relative to the lower bracket; the supporting part comprises a first supporting part, a second supporting part and a third supporting part; one end of the first support part is connected with one end of the second support part and is obliquely arranged; the other end of the second supporting part is connected with one end of the third supporting part and is obliquely arranged.

5. A mechanical support structure according to claim 4, wherein: the connecting seat comprises a connecting support plate and a connecting piece; the two connecting support plates are symmetrically arranged relative to the connecting piece and are connected with the connecting piece and the first bracket; the shock-absorbing upper part is connected with the connecting piece.

6. A mechanical support structure as claimed in claim 2, wherein: a reinforcing part is connected between the two lower end supporting parts.

7. A mechanical support structure according to claim 4, wherein: a reinforcing part is connected between the two supporting parts.

8. A mechanical support structure according to claim 6, wherein: the support member is provided with an infrared module.

9. A mechanical support structure according to claim 4, wherein: the mechanical leg further comprises a first bearing device and a second bearing device; first bearing devices are connected between the first support and the fixing piece, between the second support and the upper end support piece, between the upper end support piece and the transmission piece, and between the shock absorption connecting piece and the supporting piece; and second bearing devices are connected between the first bracket and the driving support, between the first bracket and the upper end support piece, between the first bracket and the connecting support plate and between the lower end support piece and the support piece.

10. A mechanical support structure as claimed in claim 9, wherein: the first bearing device comprises a first fixed part, a first bearing and a first rotating shaft; two first fixing pieces are arranged; more than one first bearing is arranged; a first fixing member fixed to one end of the first rotating shaft; the first bearing is arranged between the two first fixing pieces;

the second bearing device comprises a second fixed piece, a second bearing and a second rotating shaft; two second bearings are arranged; more than one second fixing piece is arranged; a second bearing is mounted on one end of the second rotating shaft; the second fixing piece is fixed between the two second bearings.