CN220324055U - Multi-freedom-degree leg structure and mechanical dog model - Google Patents

Abstract

The utility model provides a multi freedom leg structure and mechanical dog model, relates to mechanical dog model technical field, and wherein multi freedom leg structure includes thigh mount, thigh and shank, the thigh passes through main joint and thigh mount to be articulated, the shank passes through vice joint and thigh to be articulated, main joint includes first steering wheel and second steering wheel that fixed mounting is in the same place, the output shaft orientation of first steering wheel is space perpendicular with the output shaft orientation of second steering wheel, the output shaft and the thigh mount fixed connection of first steering wheel, the output shaft and the upper end fixed connection of thigh of second steering wheel, vice joint includes the third steering wheel of fixed connection in the shank, the output shaft and the bottom fixed connection of thigh of third steering wheel. The utility model has simple structure and can reduce the cost, thereby being more suitable for laboratory demonstration research.

Description

Multi-freedom-degree leg structure and mechanical dog model

Technical Field

The utility model relates to the technical field of mechanical dog models, in particular to a multi-degree-of-freedom leg structure and a mechanical dog model.

Background

The mechanical dog is an electromechanical integrated bionic robot which is manufactured by imitating the shape and the movement mode of the dog. The movement of the mechanical dog is mainly completed by virtue of four legs of the mechanical dog, so that the mechanical dog has great significance for the design and optimization of leg structures. The existing mechanical dog model needs to use a complicated leg structure, consumes a great deal of time and energy when being displayed and researched in a laboratory, has a plurality of linkage patterns in the existing leg structure, is difficult to realize simple control, and simultaneously causes the problems of higher production cost and the like.

Disclosure of Invention

The utility model aims to provide a leg structure with simpler structure and multiple degrees of freedom, which is used for reducing the cost and is more suitable for laboratory demonstration research.

In order to solve the technical problems, the utility model adopts the following technical scheme: the utility model provides a multi freedom leg structure, includes thigh mount, thigh and shank, the thigh passes through main joint and thigh mount is articulated, the shank passes through the auxiliary joint and articulates with the thigh, main joint includes first steering wheel and the second steering wheel that fixed mounting is in the same place, the output shaft orientation of first steering wheel is the space perpendicular with the output shaft orientation of second steering wheel, the output shaft and the thigh mount fixed connection of first steering wheel, the output shaft and the upper end fixed connection of thigh of second steering wheel, the auxiliary joint includes the third steering wheel of fixed connection in the shank, the output shaft and the bottom fixed connection of thigh of third steering wheel.

Preferably, the first steering wheel is in the same place through crotch bone support connection with the second steering wheel, crotch bone support includes the roof, perpendicular connection in the connecting rod at roof border, perpendicular connection in the first riser and the second riser of roof, the connecting rod can be dismantled with first steering wheel and second steering wheel and be connected, the outer wall of first riser is equipped with first back shaft and thigh mount rotatable coupling, the coaxial setting of output shaft of first back shaft and first steering wheel, the outer wall of second riser is equipped with the upper end rotatable coupling of second back shaft and thigh, the coaxial setting of output shaft of second back shaft and second steering wheel, first steering wheel still can dismantle with the second riser and be connected, the second steering wheel still can dismantle with first riser and be connected.

More preferably, the thigh comprises two bar-shaped thighs arranged in parallel and a connecting beam connected between the two thighs.

More preferably, the connecting beam is fixedly connected to one of the femur and is detachably connected to the other femur.

More preferably, one end of shank is opened there is the through-hole with third steering wheel assorted, one side of shank is equipped with the spacing pin of U type, the terminal surface that the output shaft was kept away from to the third steering wheel passes the through-hole and supports in spacing pin, the outer wall surface of spacing pin is equipped with the third back shaft, the coaxial setting of output shaft of third back shaft and third steering wheel and third back shaft and thigh rotatable coupling.

More preferably, the thigh fixing frame comprises two fixing plates arranged in parallel and a plurality of cross beams connected between the two fixing plates.

In addition, the utility model also provides a mechanical dog model which comprises a body, wherein the front end and the rear end of the body are respectively provided with the multi-degree-of-freedom leg structure, and the left end and the right end of the thigh fixing frame are respectively provided with a structure consisting of a group of thighs, shanks, main joints and auxiliary joints.

The main joint is formed by the two steering engines, so that the structure is simple, meanwhile, the thigh can obtain a plurality of degrees of freedom, in addition, the auxiliary joint is directly formed by one steering engine to drive the movement of the calf, and the structure is very simple; the linkage mode of the whole leg structure is simplified, and the cost is reduced, so that the structure is more suitable for a mechanical dog model for laboratory demonstration and research.

Drawings

FIG. 1 is a schematic diagram of the overall structure of an embodiment of the present utility model;

FIG. 2 is a schematic illustration of the body mounted structure of the present utility model;

FIG. 3 is a schematic view showing an assembly structure of a crotch bracket, a first steering engine and a second steering engine in the embodiment;

fig. 4 is a schematic diagram of an assembly structure of a lower leg and a third steering engine in an embodiment.

In the figure:

1-thigh fixing frame 1 a-fixing plate 1 b-crossbeam

2-thigh 2 a-thigh bone 2 b-connecting beam

3-shank 4-first steering engine 5-second steering engine

6-third steering engine 7-crotch bone support 7 a-roof

7 b-first riser 7 c-second riser 7 d-first support shaft

7 e-second support shaft 7 f-connecting rod 8-limit stop lever

9-a third supporting shaft 10-a body.

Detailed Description

The utility model will be further described with reference to examples and drawings, to which reference is made, but which are not intended to limit the scope of the utility model.

It should be noted that, in the present utility model, unless explicitly stated and limited otherwise, terms such as "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, in the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" on a second feature may include both the first and second features being in direct contact, or may include both the first and second features not being in direct contact but being in contact through additional features therebetween.

As shown in fig. 1 to 4, the multi-degree-of-freedom leg structure comprises a thigh fixing frame 1, a thigh 2 and a shank 3, wherein the thigh 2 is hinged with the thigh fixing frame 1 through a main joint, the shank 3 is hinged with the thigh 2 through an auxiliary joint, the main joint comprises a first steering engine 4 and a second steering engine 5 which are fixedly installed together, the output shaft of the first steering engine 4 faces to the output shaft of the second steering engine 5 and is vertical to the output shaft of the second steering engine 5 in space, the output shaft of the first steering engine 4 is fixedly connected with the thigh fixing frame 1, the output shaft of the second steering engine 5 is fixedly connected with the upper end of the thigh 2, the auxiliary joint comprises a third steering engine 6 fixedly connected with the shank 3, and the output shaft of the third steering engine 6 is fixedly connected with the bottom end of the thigh 2.

It should be noted that, as those skilled in the art should know, the first steering engine 4, the second steering engine 5, and the third steering engine 6 are all conventional servo motors in practice, and based on simple requirements of the laboratory, small-sized servo motors can be purchased in the market.

In the above structure, the first steering engine 4 is connected with the second steering engine 5 through the crotch support 7, the crotch support 7 includes roof 7a, the connecting rod 7f of perpendicular connection in roof 7a border, the first riser 7b and the second riser 7c of perpendicular connection in roof 7a, connecting rod 7f can dismantle with first steering engine 4 and second steering engine 5 and be connected, the outer wall surface of first riser 7b is equipped with first back shaft 7d and thigh mount 1 rotatable coupling, first back shaft 7d and the coaxial setting of output shaft of first steering engine 4, the outer wall surface of second riser 7c is equipped with second back shaft 7e and the rotatable coupling of upper end of second back shaft 7e and thigh 2, second back shaft 7e and the coaxial setting of output shaft of second steering engine 5, first steering engine 4 still can dismantle with second riser 7c and second steering engine 5 still can dismantle with first riser 7b and be connected. In the assembly process, the first steering engine 4 can be firstly installed in the crotch support 7 from bottom to top and is propped against the top plate 7a of the crotch support 7, then the second steering engine 5 is installed in the crotch support 7 from bottom to top and is propped against the first steering engine 4, and then both steering engines are in threaded connection with the crotch support 7.

The structure of thigh 2 then includes two bar femur 2a of parallel arrangement and connects the tie-beam 2b between two femur 2a to, in order to be convenient for improve dismouting efficiency, tie-beam 2b and one of them femur 2a fixed connection, and can dismantle with another femur 2a and be connected, another femur 2 a's middle part can set up the connecting hole, and the one end of tie-beam 2b corresponds and sets up the screw hole and can realize threaded connection.

For improving the assembly stability between shank 3 and third steering wheel 6, open in the one end of shank 3 have with third steering wheel 6 assorted through-hole, one side of shank 3 is equipped with the spacing pin 8 of U type, and the terminal surface that the output shaft was kept away from to third steering wheel 6 passes the through-hole and supports and lean on in spacing pin 8, and the outer wall of spacing pin 8 is equipped with third back shaft 9, and third back shaft 9 and the coaxial setting of the output shaft of third steering wheel 6 and third back shaft 9 and thigh 2 rotatable coupling. Therefore, when the steering wheel is assembled, the third steering wheel 6 can directly penetrate through the through hole until the steering wheel is abutted against the stop lever 8, the steering wheel 6 and the lower leg 3 are fastened and connected in a threaded connection mode, and after the connection is completed, the output shaft of the steering wheel 6 and the third support shaft 9 arranged on the outer wall surface of the stop lever 8 are automatically in an axis alignment state.

In the whole leg structure assembling process, the femur 2a with the connecting beam 2b can be respectively connected with the main joint and the auxiliary joint in a positioning way, at the moment, the second supporting shaft 7e in the main joint is in matched rotation connection with the upper end of the thigh 2, the third supporting shaft 9 in the auxiliary joint is in matched rotation connection with the lower end of the thigh 2, and then the other femur 2a is assembled, so that the upper end of the femur 2a is fixedly connected with the output shaft of the second steering engine 5, and the lower end of the femur is fixedly connected with the output shaft of the third steering engine 6.

In addition, in the present embodiment, the thigh mount 1 includes two fixing plates 1a arranged in parallel and a plurality of cross members 1b connected between the two fixing plates 1 a. In practical application, as shown in fig. 2, two ends of the fixing plate 1a may be bent downward at a certain angle, so that the installation position of the main joint can be slightly lower when the fixing plate is assembled on the mechanical dog model.

The multiple degree of freedom leg structure provided by the above embodiment, after being assembled to the torso, has the following motion principle: the output shaft of the first steering engine 3 is driven to rotate, and the output shaft is fixedly connected with the thigh fixing frame 1, so that the body of the first steering engine 3 rotates relative to the thigh fixing frame 1, and further drives the whole main joint to rotate, thereby adjusting the opening angle of the leg structure towards the outer side of the body 10; the second steering engine 5 drives the output shaft of the second steering engine to rotate, and the output shaft is fixedly connected with the thigh 2, so that the thigh 2 can be driven to swing in the front-back direction, and the main actions of advancing and retreating the mechanical dog model are realized; the output shaft of the third steering engine 6 drives the output shaft to rotate, and the bottom end of the lower leg 3 is in contact with the ground due to the fixed connection between the output shaft and the bottom end of the thigh 2, so that the angle between the lower leg 3 and the thigh 2 can be adjusted, and the body 10 can be lifted and lowered. Of course, in the specific motion process of the mechanical dog model, each steering engine can realize more complex motion through cooperative motion, and the steering engine can be adjusted according to requirements by a person skilled in the art.

The multi-degree-of-freedom leg structure provided in this embodiment is disposed at the front and rear ends of the body 10, and a set of structures consisting of the thigh 2, the calf 3, the main joint and the auxiliary joint are disposed at the left and right ends of the thigh fixing frame 1, respectively, so that a mechanical dog model can be formed. Then, by applying the leg structure to the mechanical dog model, multiple degrees of freedom of movement can be achieved, meanwhile, due to the fact that the structure is very simple, the linkage mode of the whole leg structure is simplified, each structural body part can be obtained quickly even by using a simple desktop 3D printing device, cost is reduced, and the structure is more suitable for the mechanical dog model for laboratory demonstration and research.

And for how to drive the motion of mechanical dog model, this embodiment can provide corresponding technical thinking, and at first the structure of body 10 can set up to have enough storage space's cavity formula structure in the inside, then alright corresponding control module and power module of installation in body 10, specifically speaking, adopt STM32F103 master control to add peripheral function module circuit to constitute, main function carries out IIC communication with the steering wheel control panel through STM32 master core board, advance its corresponding PWM ripples of output, just can obtain the corresponding PWM ripples output of steering wheel rotation angle through controlling the drive board, realize basic steering wheel control function. The rechargeable lithium battery is used for outputting 5V voltage through the voltage reduction module to supply power to the main control module and each module, so that the main control module and each module can obtain rated input voltage, and normal work can be performed. And an acceleration sensor can be further arranged, so that the acceleration sensor can transmit data of course angle, roll angle and pitch angle in real time to be communicated with the main control board, and the attitude calculation and self-stabilizing adjustment of the mechanical dog are facilitated.

Each steering engine in this embodiment can be selected as MG90S metal tooth steering engine, and its control principle is: the control signal enters a signal modulation chip from a channel of the receiver to obtain direct-current bias voltage. A reference circuit capable of generating signals with the period of 20ms and the width of 1.5ms is arranged in the steering engine, and the obtained direct-current bias voltage is compared with the voltage of the potentiometer to obtain voltage difference output. Then, positive and negative outputs of the voltage difference are output to the motor driving chip to determine forward and reverse rotation of the motor. The rotation angle of the steering engine is 180 degrees, the size of the steering engine is 23 x 12.5 x 29mm, the torque is 2.4kg/cm (4.8V), and the working voltage is as follows: 4.8-6V, and is very suitable for mechanical dog models of laboratory specifications. The steering engine driving plate can select 16 paths of steering engine control modules taking PCA9685 as a main control, and the modules are internally provided with PWM drivers and a clock, so that a CPU is not required to send signals to the modules at any time, and occupation of CPU resources is reduced.

The power supply can adopt a mode of supplying power by a rechargeable battery, and can directly use a rechargeable lithium battery with the capacity of 800mah to be installed in the body. In addition, a voltage stabilizing module can be arranged, because the working voltage of the STM32F103 core plate, the 12-channel steering engine driving plate and other modules is 5V, and the rated voltage of a battery is 11V which is far higher than the working voltage of other modules, the DC-DC adjustable voltage reducing power supply module is introduced to convert the 11V input voltage into the 5V output voltage, and the voltage stabilizing module has the characteristics of high power, high efficiency and low ripple. As for the acceleration sensor in this embodiment, an MPU6050 acceleration sensor module is selected and has the characteristics of three-axis acceleration, three-axis gyroscope, self-contained DMP and self-contained temperature sensor. The chip uses a motion processing database provided by InvenSense company, and can realize gesture calculation, thereby reducing the load of motion processing operation on an operating system and reducing development difficulty.

In order to facilitate man-machine interaction control, a Bluetooth module and a simple voice control module can be correspondingly arranged, the motion of the robot dog can be controlled by voice transmission through the initialization and the setting of the voice module and the instruction of a part of the basis, the Bluetooth module can be communicated with the master control through the mobile terminal APP, various compiled modes can be selected by the mobile phone, the function of the corresponding instruction can be completed by the robot dog, and the robot dog can be adjusted according to actual requirements by a person skilled in the art.

In order to make it easier for a person skilled in the art to understand the improvements of the present utility model with respect to the prior art, some of the figures and descriptions of the present utility model have been simplified, and the above-described embodiments are preferred implementations of the present utility model, but in addition, the present utility model may be implemented in other ways, and any obvious substitution is within the scope of protection of the present utility model without departing from the concept of the present technical solution.

Claims (7)

1. The utility model provides a multi freedom leg structure, includes thigh mount (1), thigh (2) and shank (3), its characterized in that: thigh (2) are articulated with thigh mount (1) through the main joint, shank (3) are articulated with thigh (2) through the auxiliary joint, the main joint includes first steering wheel (4) and second steering wheel (5) that fixed mounting is in the same place, the output shaft orientation of first steering wheel (4) is space perpendicular with the output shaft orientation of second steering wheel (5), the output shaft of first steering wheel (4) and thigh mount (1) fixed connection, the output shaft of second steering wheel (5) and the upper end fixed connection of thigh (2), the auxiliary joint includes third steering wheel (6) of fixed connection in shank (3), the output shaft of third steering wheel (6) and the bottom fixed connection of thigh (2).

2. The multiple degree of freedom leg structure of claim 1 wherein: the utility model provides a crotch bone support (7) is in the same place through crotch bone support (7) to first steering wheel (4) and second steering wheel (5), crotch bone support (7) include roof (7 a), connect connecting rod (7 f) at roof (7 a) border perpendicularly, connect first riser (7 b) and second riser (7 c) at roof (7 a) perpendicularly, connecting rod (7 f) can dismantle with first steering wheel (4) and second steering wheel (5) and be connected, the outer wall of first riser (7 b) is equipped with first back shaft (7 d) and thigh mount (1) rotatable coupling, the outer wall of second riser (7 c) is equipped with second back shaft (7 e) and upper end rotatable coupling of thigh (2), second back shaft (7 e) and second output shaft (5) coaxial setting up first steering wheel (7 c) can dismantle with second riser (7 c).

3. The multiple degree of freedom leg structure of claim 2 wherein: the thigh (2) comprises two bar-shaped thighs (2 a) arranged in parallel and a connecting beam (2 b) connected between the two thighs (2 a).

4. A multiple degree of freedom leg structure according to claim 3, wherein: the connecting beam (2 b) is fixedly connected with one thigh bone (2 a) and is detachably connected with the other thigh bone (2 a).

5. The multiple degree of freedom leg structure of claim 4 wherein: one end of shank (3) is opened there is the through-hole with third steering wheel (6) assorted, one side of shank (3) is equipped with spacing pin (8) of U type, the terminal surface that the output shaft was kept away from to third steering wheel (6) passes the through-hole and supports in spacing pin (8), the outer wall of spacing pin (8) is equipped with third back shaft (9), third back shaft (9) and the coaxial setting of output shaft of third steering wheel (6) and third back shaft (9) and thigh (2) rotatable coupling.

6. The multiple degree of freedom leg structure of claim 5 wherein: the thigh fixing frame (1) comprises two fixing plates (1 a) which are arranged in parallel, and a plurality of cross beams (1 b) which are connected between the two fixing plates (1 a).

7. A mechanical dog model comprising a body (10), characterized in that: the multi-degree-of-freedom leg structure of claim 6 is respectively arranged at the front end and the rear end of the body (10), and a structure consisting of a group of thighs (2), calves (3), main joints and auxiliary joints is respectively arranged at the left end and the right end of the thigh fixing frame (1).