CN215848274U

CN215848274U - Four-legged robot adopting coaxial parallel five-connecting-rod joint structure

Info

Publication number: CN215848274U
Application number: CN202120759713.1U
Authority: CN
Inventors: 郭彩梅
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-04-14
Filing date: 2021-04-14
Publication date: 2022-02-18
Anticipated expiration: 2031-04-14

Abstract

The utility model discloses a quadruped robot adopting a coaxial parallel five-connecting-rod joint structure, which comprises a shell, a coaxial mechanism, a parallel five-connecting-rod mechanism, a driving device and a speed reducing device, wherein the coaxial mechanism is positioned in the shell, the driving device is connected with the speed reducing device, the driving device and the speed reducing device are both positioned in the shell, the shell is composed of a plurality of side plates, the coaxial mechanism comprises a first gear, a second gear, a first bearing, a second bearing and a supporting seat, and the first gear and the second gear are both integrally formed by a gear and a shaft. According to the utility model, through the matching use of the first gear, the second gear, the first bearing, the second bearing, the supporting seat, the side plate, the third bearing, the first connecting rod and the second bearing retaining ring, and the adoption of the coaxial parallel five-connecting-rod joint structure, the accurate control of the leg part of the quadruped robot is realized, the control precision is increased, the space is saved by the coaxial mechanism, the optimization of the appearance size of the robot is facilitated, and the robot cost is greatly reduced.

Description

Four-legged robot adopting coaxial parallel five-connecting-rod joint structure

Technical Field

The utility model relates to the technical field of robots, in particular to a quadruped robot adopting a coaxial parallel five-connecting-rod joint structure.

Background

The legs of the quadruped robot have two modes of a serial joint structure and a parallel joint structure. Most quadruped robots adopt a cascade joint structure, such as a Boston power dog abroad and a Leika dog in Yu Tree technology at home, and the structure has high requirements on output torque of a driving motor, the motor is expensive, the control difficulty is high, and high-mobility actions such as jumping and the like are not easy to realize. Compare cascade joint structure, the holding power of four-footed robot shank can be promoted to parallelly connected joint structure, reduces the requirement to driving motor, greatly reduced four-footed robot's cost realizes the motion of high mobility such as jump and sprint simultaneously.

The existing motor does not adopt a speed reducer, the output torque of the motor is small, the coaxiality of two motors on one supporting leg is realized by positioning a motor mounting bracket, the coaxiality error is large, the leg control precision is poor, and the impact resistance is poor, so that the four-foot robot adopting the coaxial parallel five-connecting-rod joint structure is provided.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the problems in the prior art and provides a quadruped robot adopting a coaxial parallel five-connecting-rod joint structure.

In order to achieve the purpose, the utility model adopts the following technical scheme:

a quadruped robot adopting a coaxial parallel five-bar joint structure comprises a shell, a coaxial mechanism, a parallel five-bar joint mechanism, a driving device and a speed reducing device, wherein the coaxial mechanism is positioned in the shell;

the coaxial mechanism comprises a first gear, a second gear, a first bearing, a second bearing and a supporting seat, wherein the first gear and the second gear are gears and integrally formed, the first bearing and the second bearing are respectively positioned at two ends of the second gear, the shaft of the first gear is positioned in the first bearing and the second bearing, the outer side wall of the first gear is provided with a boss, the boss is contacted with the second gear, the supporting seat is connected on a side plate, the third bearing and the fourth bearing are installed at two ends inside the supporting seat, the shaft of the second gear is positioned in the third bearing and the fourth bearing, and a first bearing retainer ring is connected between the supporting seat and the second gear.

Preferably, the shaft of the second gear is mounted in a third bearing and a fourth bearing.

Preferably, the supporting seat is connected with the side plate through four threads.

Preferably, five link mechanism in parallel connection include first connecting rod, second connecting rod, third connecting rod and fourth connecting rod, one side of first connecting rod is installed on the axle of second gear, be connected with the second bearing between first connecting rod and the fourth bearing and keep off the ring, the one end of second connecting rod is installed on the axle of first gear, be equipped with the third bearing between second connecting rod and the second bearing and keep off the ring, the second connecting rod is connected with the fourth connecting rod, the fourth connecting rod is connected with the third connecting rod.

Preferably, the driving device includes a first driving motor and a second driving motor, the driving device is located on two sides of the housing, the driving device is symmetrically arranged about a central axis of the housing, the first driving motor corresponds to the second driving motor, the first driving motor and the second driving motor are connected to the side plate, an output end of the first driving motor is fixedly connected to the first fixing plate, and an output end of the second driving motor is fixedly connected to the second fixing plate.

Preferably, the reduction gear comprises a third gear and a fourth gear, the outer side wall of the third gear 18 is fixedly connected with the outer side wall of the first fixing plate (17), the outer side wall of the fourth gear (22) is fixedly connected with the outer side wall of the second fixing plate (21), the third gear is connected with the first gear through a first synchronous belt, and the fourth gear is connected with the second gear through a second synchronous belt.

Compared with the prior art, the utility model has the following advantages:

1. according to the utility model, through the matching use of the first gear, the second gear, the first bearing, the second bearing, the supporting seat, the side plate, the third bearing, the fourth bearing, the first bearing retaining ring, the first connecting rod and the second bearing retaining ring, a coaxial parallel five-connecting-rod joint structure is adopted, the accurate control of the leg part of the four-legged robot is realized, the control precision is increased, the coaxial mechanism saves space, the optimization of the appearance size of the robot is facilitated, and the robot cost is greatly reduced.

2. According to the utility model, through the matching use of the second connecting rod, the third bearing baffle ring, the third connecting rod, the fourth connecting rod, the first driving motor, the first fixing plate, the third gear, the first synchronous belt, the second driving motor, the second fixing plate, the fourth gear and the second synchronous belt, the supporting force of the leg part of the four-legged robot is improved, the jumping performance is superior, the impact resistance is strong, the requirement on the driving motor is reduced, the output torque is large, the coaxiality precision is high, and high-mobility actions such as jumping, jogging and the like can be realized.

Drawings

FIG. 1 is a schematic structural diagram of a quadruped robot adopting a coaxial parallel five-bar linkage joint structure according to the present invention;

FIG. 2 is a top view of a quadruped robot with a coaxial parallel five-bar linkage joint structure according to the present invention;

FIG. 3 is a schematic structural connection diagram of a four-legged robot speed reduction mechanism adopting a coaxial parallel five-bar joint structure according to the present invention;

fig. 4 is a structural connection schematic diagram of a coaxial mechanism of a quadruped robot adopting a coaxial parallel five-bar joint structure according to the utility model.

In the figure: 1. a first gear; 2. a second gear; 3. a first bearing; 4. a second bearing; 5. a supporting seat; 6. a side plate; 7. a third bearing; 8. a fourth bearing; 9. a first bearing retainer ring; 10. a first link; 11. a second bearing retainer ring; 12. a second link; 13. a third bearing retainer ring; 14. a third link; 15. a fourth link; 16. a first drive motor; 17. a first fixing sheet; 18. a third gear; 19. a first synchronization belt; 20. a second drive motor; 21. a second fixing sheet; 22. a fourth gear; 23. a second timing belt.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

Referring to fig. 1-4, a quadruped robot adopting a coaxial parallel five-bar joint structure comprises a shell, a coaxial mechanism, a parallel five-bar mechanism, a driving device and a speed reduction device, wherein the coaxial mechanism is positioned in the shell, the driving device is connected with the speed reduction device, the driving device and the speed reduction device are both positioned in the shell, and the shell is composed of a plurality of side plates 6;

the coaxial mechanism comprises a first gear 1, a second gear 2 and a first bearing 3, the bearing comprises a second bearing 4 and a supporting seat 5, wherein the first gear 1 and the second gear 2 are both formed by integrating gears and shafts, the shaft of the second gear 2 is hollow, the first bearing 3 and the second bearing 4 are respectively positioned at two ends of the second gear 2, the shaft of the first gear 1 is positioned in the first bearing 3 and the second bearing 4, the shaft of the first gear 1 is connected with the second bearing 4 and the second gear 2 through the first bearing 3, the outer side wall of the first gear 1 is provided with a boss which is contacted with the second gear 2, the supporting seat 5 is connected on a side plate 6, the supporting seat 5 is connected with the side plate 6 through four screws, a third bearing 7 and a fourth bearing 8 are arranged at two ends inside the supporting seat 5, the shaft of the second gear 2 is positioned in the third bearing 7 and the fourth bearing 8, and a first bearing retaining ring 9 is connected between the supporting seat 5 and the second gear 2;

wherein the shaft of the second gear wheel 2 is mounted in a third bearing 7 and a fourth bearing 8.

Wherein, the supporting seat 5 is connected with the side plate 6 through four threads.

The parallel five-link mechanism comprises a first connecting rod 10, a second connecting rod 12, a third connecting rod 14 and a fourth connecting rod 15, one side of the first connecting rod 10 is installed on a shaft of the second gear 2, a second bearing retaining ring 11 is connected between the first connecting rod 10 and the fourth bearing 8, one end of the second connecting rod 12 is installed on the shaft of the first gear 1, the second connecting rod 12 is connected with the first gear 1 through two locking screws, a third bearing retaining ring 13 is arranged between the second connecting rod 12 and the second bearing 4, the second connecting rod 12 is connected with the fourth connecting rod 15, the fourth connecting rod 15 is connected with the third connecting rod 14, the second connecting rod 12 is connected with the fourth connecting rod 15 through a hinge, and the fourth connecting rod 15 is connected with the third connecting rod 14 through a hinge, so that the first connecting rod 10, the second connecting rod 12, the third connecting rod 14 and the fourth connecting rod 15 form a five-link structure.

The driving device comprises a first driving motor 16 and a second driving motor 20, the driving device is located on two sides of the shell, the four-legged robot is provided with four legs, each leg is provided with the driving device, the driving devices are symmetrically arranged about the middle axis of the shell, a left rear leg is taken as an example, the first driving motor 16 corresponds to the second driving motor 20, the first driving motor 16 and the second driving motor 20 are connected onto the side plate 6, the output end of the first driving motor 16 is fixedly connected with a first fixing plate 17, and the output end of the second driving motor 20 is fixedly connected with a second fixing plate 21.

Wherein, decelerator includes third gear 18 and fourth gear 22, the lateral wall of third gear 18 and the lateral wall fixed connection of first stationary blade 17, the lateral wall fixed connection of fourth gear 22 and the lateral wall of second stationary blade 21, third gear 18 is connected through the transmission of first hold-in range 19 with first gear 1, fourth gear 22 is connected through the transmission of second hold-in range 23 with second gear 2, the motor output passes through screw fixed connection together with the stationary blade, the stationary blade passes through the screw and is in the same place with gear fixed connection.

The specific working principle of the utility model is as follows:

in the initial state, taking the left rear leg as an example, the first driving motor 16 is energized and rotated to rotate the first fixing plate 17 and then rotate the third gear 18, the third gear 18 drives the first gear 1 to rotate through the first synchronous belt 19, and the first gear 1 drives the second connecting rod 12 to swing after rotating.

Similarly, second driving motor 20 rotates after the circular telegram, it rotates to drive second stationary blade 21, second stationary blade 21 drives fourth gear 22 and rotates, fourth gear 22 passes through second hold-in range 23 drive second gear 2 and rotates, second gear 2 rotates the back, drive first connecting rod 10 swing, first connecting rod 10 and second connecting rod 12 rotate, drive third connecting rod 14 and the swing of fourth connecting rod 15, the tie point of third connecting rod 14 and fourth connecting rod 15, the foot point that falls of left back leg promptly, therefore the foot point that falls of left back leg is in the uninterrupted motion, through the turned angle who changes first driving motor 16 and second driving motor 20, just can generate different left back leg foot points that fall.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and equivalent alternatives or modifications according to the technical solution of the present invention and the inventive concept thereof should be covered by the scope of the present invention.

Claims

1. A quadruped robot adopting a coaxial parallel five-bar joint structure is characterized by comprising a shell, a coaxial mechanism, a parallel five-bar joint structure, a driving device and a speed reducing device, wherein the coaxial mechanism is positioned in the shell, the driving device is connected with the speed reducing device, the driving device and the speed reducing device are both positioned in the shell, and the shell consists of a plurality of side plates (6);

the coaxial mechanism comprises a first gear (1), a second gear (2), a first bearing (3), a second bearing (4) and a supporting seat (5), the first gear (1) and the second gear (2) are both integrally formed by a gear and a shaft, the first bearing (3) and the second bearing (4) are respectively positioned at two ends of the second gear (2), the shaft of the first gear (1) is positioned in a first bearing (3) and a second bearing (4), the outer side wall of the first gear (1) is provided with a boss which is contacted with the second gear (2), the supporting seat (5) is connected on the side plate (6), a third bearing (7) and a fourth bearing (8) are arranged at two ends in the supporting seat (5), the shaft of the second gear (2) is located in a third bearing (7) and a fourth bearing (8), a first bearing retainer ring (9) is connected between the supporting seat (5) and the second gear (2).

2. The quadruped robot adopting the coaxial parallel five-bar joint structure according to claim 1, wherein the shaft of the second gear (2) is installed in a third bearing (7) and a fourth bearing (8).

3. The quadruped robot adopting the coaxial parallel five-bar joint structure according to claim 2, wherein the supporting seat (5) is connected with the side plate (6) through four threads.

4. The quadruped robot adopting the coaxial parallel five-bar joint structure is characterized in that the parallel five-bar mechanism comprises a first bar (10), a second bar (12), a third bar (14) and a fourth bar (15), one side of the first bar (10) is installed on the shaft of the second gear (2), a second bearing stop ring (11) is connected between the first bar (10) and the fourth bearing (8), one end of the second bar (12) is installed on the shaft of the first gear (1), a third bearing stop ring (13) is arranged between the second bar (12) and the second bearing (4), the second bar (12) is connected with the fourth bar (15), and the fourth bar (15) is connected with the third bar (14).

5. The quadruped robot adopting the coaxial parallel five-bar joint structure is characterized in that the driving device comprises a first driving motor (16) and a second driving motor (20), the driving device is positioned on two sides of the shell, the driving device is symmetrically arranged about the central axis of the shell, the first driving motor (16) corresponds to the second driving motor (20), the first driving motor (16) and the second driving motor (20) are connected to the side plate (6), the output end of the first driving motor (16) is fixedly connected with a first fixing plate (17), and the output end of the second driving motor (20) is fixedly connected with a second fixing plate (21).

6. The quadruped robot adopting the coaxial parallel five-bar joint structure is characterized in that the speed reduction device comprises a third gear (18) and a fourth gear (22), the outer side wall of the third gear (18) is fixedly connected with the outer side wall of the first fixing plate (17), the outer side wall of the fourth gear (22) is fixedly connected with the outer side wall of the second fixing plate (21), the third gear (18) is in transmission connection with the first gear (1) through a first synchronous belt (19), and the fourth gear (22) is in transmission connection with the second gear (2) through a second synchronous belt (23).