A quadruped robot device based on competition teaching

Abstract

A four-legged robot device based on competition teaching comprises a front and a rear robot trunk, the front and the rear robot trunk are connected by a robot steering mechanism, the front and the rear robot trunk are connected with a robot leg mechanism with a front and rear phase angle difference of 180°, and the robot leg mechanism is connected to a robot driving mechanism; the robot trunk is equipped with a power source, an electric control system and a visual navigation system, the power source drives the robot driving mechanism to rotate and then transmits the power to the robot leg mechanism; the electric control system is a control system for controlling the motor and the robot driving mechanism 3; the visual navigation system monitors the obstacle situation ahead in real time, plans the walking route, and provides the robot with environmental perception and target guidance; the present invention has high control and motion stability, flexible movement, can be applied to a variety of scenes, can walk across obstacles, and has the advantages of simple structure and low cost.

Description

Technical Field

[0001] The invention relates to the technical field of foot-type robots, and in particular to a quadruped robot device based on competition teaching. Background Art

[0002] Legged robots imitate the movements of quadrupeds such as horses through bionic design, and can achieve basic functions such as obstacle crossing and walking. At the same time, legged robots have better adaptability to various complex terrains, wastelands, and muddy swamps than ordinary wheeled robots. my country continues to strengthen and deepen the reform of new engineering courses, emphasizing the strengthening of mechatronics learning. At the same time, the curriculum reform of robots can cultivate students' interdisciplinary ability and preliminary understanding of the forefront of technology. Quadruped robots are a new direction for the development of the robotics industry in recent years, so designing quadruped robots suitable for large-scale teaching and training is very meaningful for undergraduates' mechanical innovation ability and electrical control ability.

[0003] The driving methods used by multi-legged walking robots include motor drive, hydraulic drive and cylinder drive. Since cylinders require air pressure as a power source and the output is uncontrollable, the current popular driving methods are motor drive and hydraulic drive. However, motor drive is easier to control than hydraulic drive, and has stable output, easy layout, low cost, and is suitable for small walking quadruped robots.

[0004] A Chinese patent (publication number CN207311654U) discloses a quadruped educational robot, including a frame, a gear transmission mechanism, a transmission shaft, a connecting rod mechanism, a triangular connecting frame, an intermediate connecting rod, two front legs, and two rear legs. The quadruped educational robot also includes a motor and a control system. The robot is a single-point foot robot, and the steering is differential steering, which is not flexible enough, the leg design is complex, cannot be adjusted, and is not easy to assemble, and is not easy to promote.

[0005] A Chinese patent (publication number CN109664310A) discloses a bipedal walking educational robot combined with a wheeled mobile mechanism, including a robot body and a support frame for each joint of the robot. The degrees of freedom of each joint are controlled by a steering gear to achieve various movements of the robot; each foot is controlled by a mobile mechanism. This invention combines a wheeled robot with a footed robot, but it still belongs to the category of wheeled robots, and the robot's movements are relatively simple, making it difficult to complete complex tasks, and has great limitations.

[0006] In summary, existing legged robots have the disadvantages of poor control and motion stability, inflexible movement, and high cost. Summary of the invention

[0007] In order to overcome the shortcomings of the above-mentioned prior art, the purpose of the present invention is to provide a quadruped robot device based on competition teaching, which has high control and motion stability, flexible movement, can be applied to a variety of scenarios, can walk and cross obstacles, and has the advantages of simple structure and low cost.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is:

[0009] A four-legged robot device based on competition teaching comprises a front and rear robot trunk 1, the front and rear robot trunks 1 are connected through a robot steering mechanism 4, the front and rear robot trunks 1 are connected with robot leg mechanisms 2 with a front and rear phase angle difference of 180°, and the robot leg mechanisms 2 are connected to a robot driving mechanism 3; the robot trunk 1 is equipped with a power source, an electric control system and a visual navigation system, the power source drives the robot driving mechanism 3 to rotate and then transmits the power to the robot leg mechanism 2; the electric control system is a control system for controlling the motor and the robot driving mechanism 3; the visual navigation system monitors the obstacle situation ahead in real time, plans the walking route, and provides environmental perception and target guidance for the robot.

[0010] The robot trunk 1 comprises a trunk square aluminum frame 12 , and a trunk support plate 11 is connected inside the trunk square aluminum frame 12 .

[0011] The trunk square aluminum frame 12 is made of square aluminum by welding.

[0012] The robot leg mechanism 2 includes a robot shank 27, the bottom of which is connected to a robot support foot 28; the upper part of the robot shank 27 is connected to a guide rail 23 through a rail guide linear bearing 210, and the other end of the guide rail 23 is connected to a rail rear rotation support seat 22, which is fixed to a connecting hole on the front end of the robot trunk 1; the top of the robot shank 27 is connected to one side of the robot thigh 24 through a leg fastening bolt 26, and the leg fastening bolt 26 passes through the leg inner flange bearing 25 installed on the robot thigh 24, and the leg outer flange bearing 211 installed on the robot shank 27; the other side of the robot thigh 24 is connected to the robot driving mechanism 3; the robot leg mechanism 2 constitutes a crank slider mechanism, and the crank, i.e., the rotation of the robot thigh 24, is converted into the reciprocating motion of the slider, i.e., the rail guide linear bearing 210, driving the robot shank 27 to achieve bionic walking.

[0013] The robot driving mechanism 3 includes a driving motor 220, which is fixed at the connecting hole in the middle of the robot trunk 1. A driving pinion 218 is connected to the output shaft of the driving motor 220, and the driving pinion 218 is meshed with the driving shaft transmission gear plate 216. The driving shaft transmission gear plate 216 is fixed on the driving shaft 215. Both ends of the driving shaft 215 are fixed on the driving shaft support seat 214. The end of the driving shaft 215 is connected to the robot thighs 24 on both sides of the trunk through the leg shaft connection support seat 213; the driving motor 220 rotates, and transmits power to the robot thighs 24 through the driving pinion 218 and the driving shaft transmission gear plate 216, thereby driving the robot calf 27 to achieve bionic walking.

[0014] The robot steering structure 4 includes a steering motor 31, which is fixed on a steering motor fixed gasket 32. The steering motor fixed gasket 32 ​​is connected to a rotating structure upper clamping plate 34 through a rotating pad aluminum 33. The rotating structure upper clamping plate 34 tightens a rotating connection gasket 36 through a rotating structure tightening square aluminum 38 and a rotating structure lower clamping plate 37. The rotating connection gasket 36 is mounted on the robot trunk 1; a rotating pinion 35 is connected to the output shaft of the steering motor 31, and the rotating pinion 35 is meshed with a rotating large gear 39; the steering motor 31 rotates, and the rotating large gear 39 is driven by the rotating pinion 35, so that the robot trunk generates a phase angle. Due to the different forward directions of the front and rear feet, the steering of the robot is completed through speed synthesis.

[0015] Compared with the prior art, the present invention has the following advantages:

[0016] a. Easy to control, stable gait, high movement accuracy, compact structure and light body.

[0017] b. Configure an independent visual navigation system. With the help of the genetic optimization algorithm of the visual navigation system, the robot's travel path can be better designed, more complex instructions can be issued, and the quadruped robot can be more flexible.

[0018] c. The front and rear legs are independently controlled, which enhances the driving ability and the robot's ability to move and overcome obstacles, allowing it to continue to complete its work in complex situations.

[0019] d. The robot leg mechanism 2 adopts a crank slider mechanism, which can adjust the robot's gait in real time, control the obstacle crossing ability, and adjust to different terrain working conditions, so that the robot's work efficiency and work ability are greatly improved.

[0020] e. The robot steering structure 4 can complete the steering of the robot, and has high maneuverability and flexible posture.

[0021] f. The two front legs (or hind legs) are controlled by the same driving motor 220, which can ensure the stability of the gait, and fixing the phase difference at 180° can effectively control the stability of the center of gravity and achieve the effect of bionic walking.

[0022] g. The process used in the processing of quadruped robots based on competition teaching is a simple processing technology with low cost and easy implementation. It is also very helpful for cultivating the hands-on ability of college students and the control method is simple. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic structural diagram of an embodiment of the present invention.

[0024] Figure 2 Schematic diagram of the structure of the robot trunk 1 according to an embodiment of the present invention.

[0025] Figure 3 Schematic diagram of the structure of the robot leg mechanism 2 according to an embodiment of the present invention.

[0026] Figure 4 Schematic diagram of the structure of the robot driving mechanism 3 according to an embodiment of the present invention.

[0027] Figure 5 It is a structural schematic diagram of a robot steering structure 4 according to an embodiment of the present invention. DETAILED DESCRIPTION

[0028] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0029] like Figure 1 As shown, a quadruped robot device based on competition teaching includes a front and rear robot trunk 1, the front and rear robot trunks 1 are connected through a robot steering mechanism 4, the front and rear robot trunks 1 are connected with a robot leg mechanism 2 with a front and rear phase angle difference of 180°, and the robot leg mechanism 2 is connected to a robot driving mechanism 3;

[0030] The robot torso 1 is equipped with a power source, a heat dissipation system, an electronic control system and a visual navigation system. The power source is a motor and a battery. The power source drives the robot drive mechanism 3 to rotate and then transmits power to the robot leg mechanism 2; the electronic control system includes electrical hardware and software, and is a control system for controlling the motor and the robot drive mechanism 3; the heat dissipation system is an electrical heat dissipation system, which provides temperature environment protection for the normal operation of the motor, electrical hardware and visual navigation system; the visual navigation system monitors the obstacles ahead in real time, plans the walking route, and provides environmental perception and target guidance for the robot.

[0031] like Figure 2As shown, the robot trunk 1 includes a trunk square aluminum frame 12, which is made of square aluminum by welding. A trunk support plate 11 is connected to the inside of the trunk square aluminum frame 12. The trunk support plate 11 enhances the stability of the robot trunk 1 and also ensures the flatness of the robot trunk 1.

[0032] like Figure 3 and Figure 4 As shown, the robot leg mechanism 2 includes a robot shank 27, the bottom of which is connected to a robot support foot 28 via a foot fastener 29; the upper part of the robot shank 27 is connected to a guide rail 23 via a rail guide linear bearing 210, and the other end of the guide rail 23 is connected to a rail rear rotation support seat 22 via a rail fastener 21, and the rail rear rotation support seat 22 is fixed to a connection hole on the front end of the robot trunk 1; the top of the robot shank 27 is connected to one side of the robot thigh 24 via a leg fastening bolt 26. The leg fastening bolt 26 passes through the inner flange bearing 25 of the leg installed on the robot thigh 24 and the outer flange bearing 211 of the leg installed on the robot shank 27; the other side of the robot thigh 24 is connected to the robot driving mechanism 3 through the leg shaft connecting support seat 213; the robot leg mechanism 2 constitutes a crank slider mechanism, the crank, i.e. the rotation of the robot thigh 24, is converted into the reciprocating motion of the slider, i.e. the slide rail guiding linear bearing 210, driving the robot shank 27 to realize bionic walking.

[0033] like Figure 4 As shown, the robot driving mechanism 3 includes a driving motor 220, which is connected to a driving motor support seat 219 and fixed at a connecting hole in the middle of the robot trunk 1. A driving pinion 218 is connected to the output shaft of the driving motor 220, and the driving pinion 218 is meshed with a driving shaft transmission gear plate 216. The driving shaft transmission gear plate 216 is fixed to the driving shaft 215 through a driving shaft flange 217. Both ends of the driving shaft 215 are fixed to the driving shaft support seat 214, and the end of the driving shaft 215 is connected to the robot thighs 24 on both sides of the trunk through the leg shaft connection support seat 213; the driving motor 220 rotates, and transmits power to the robot thigh 24 through the driving pinion 218 and the driving shaft transmission gear plate 216, thereby driving the robot calf 27 to achieve bionic walking.

[0034] like Figure 5As shown, the robot steering structure 4 includes a steering motor 31, which is fixed on a steering motor fixing gasket 32, which is connected to a rotating structure upper clamping piece 34 through a rotating pad aluminum 33, and the rotating structure upper clamping piece 34 tightens a rotating connection gasket 36 through a rotating structure tightening square aluminum 38 and a rotating structure lower clamping piece 37, and the rotating connection gasket 36 is mounted on the robot trunk 1; a rotating pinion 35 is connected to the output shaft of the steering motor 31, and the rotating pinion 35 is meshed with a rotating large gear 39;

[0035] The steering motor 31 rotates, and drives the large gear 39 to rotate by rotating the small gear 35, so that the robot trunk generates a phase angle. Since the front and rear legs move in different directions, the steering of the robot is completed through speed synthesis.

[0036] The working principle of the present invention is:

[0037] When walking, the driving motor 220 drives the two robot leg mechanisms 2 of the front and rear trunks to cross the ground, ensuring that there are always two cross-ground points with the ground during the walking process. When walking, the robot leg mechanisms 2 cross-rotate to control the robot's forward direction. During the forward process, the driving motor 220 drives the driving shaft 215 to rotate, thereby driving the crank rocker mechanism to move, realizing a circular reciprocating motion trajectory, thereby driving the robot calf 27 to move. Through the alternating movement of the front and rear legs, the center of gravity of the quadruped robot can be kept stable. At the same time, the bionic walking method also makes the quadruped robot more stable and the gait is elegant. When turning is required, the rotating motor 31 rotates, so that the front and rear robot trunks 1 produce a phase angle, change the forward direction, and complete the robot's steering through speed synthesis. The robot steering structure 4 can enable the quadruped robot to complete a large-scale steering in a smaller adjustment space, greatly enhancing the flexibility of the robot.

[0038] During the movement, only two drive motors 220 are used to drive the movement in the forward direction, reducing the uncontrollable factors in the case of multiple degrees of freedom. At the same time, the robot leg mechanism 2 adopts a 180° cross design to ensure the consistency of the landing point and the length of each step, thereby ensuring the controllability and stability of the robot movement. The front and rear legs have independent drive motor 220 control, which can allow the robot to obtain stronger power and realize more functions. The robot steering structure 4 makes the robot more flexible during operation and realizes steering and some complex movements.

Claims

1. A quadruped robot device based on competition teaching, characterized in that: The robot comprises a front and rear robot trunk (1), the front and rear robot trunks (1) are connected via a robot steering mechanism (4), the front and rear robot trunks (1) are connected with robot leg mechanisms (2) with a front and rear phase angle difference of 180°, and the robot leg mechanisms (2) are connected to a robot driving mechanism (3); the robot trunk (1) is equipped with a power source, an electric control system and a visual navigation system, the power source drives the robot driving mechanism (3) to rotate and then transmits the power to the robot leg mechanism (2); the electric control system is a control system for controlling the motor and the robot driving mechanism (3); the visual navigation system monitors the obstacle situation ahead in real time, plans the walking route, and provides environmental perception and target guidance for the robot; The robot leg mechanism (2) comprises a robot shank (27), the bottom of which is connected to a robot support foot (28); the upper part of the robot shank (27) is connected to a guide rail (23) via a rail guide linear bearing (210), the other end of the guide rail (23) is connected to a rail rear rotation support seat (22), and the rail rear rotation support seat (22) is fixed to a connection hole on the front end of the robot trunk (1); the top of the robot shank (27) is connected to the robot thigh (28) via a leg fastening bolt (26). 24), the leg fastening bolt (26) passes through the leg inner flange bearing (25) installed on the robot thigh (24), and the leg outer flange bearing (211) installed on the robot shank (27); the other side of the robot thigh (24) is connected to the robot driving mechanism (3); the robot leg mechanism (2) constitutes a crank slider mechanism, the crank, i.e. the robot thigh (24), rotates, which is converted into the reciprocating motion of the slider, i.e. the slide rail guide linear bearing (210), driving the robot shank (27) to achieve bionic walking; The robot driving mechanism (3) comprises a driving motor (220), the driving motor (220) is fixed at a connecting hole in the middle of the robot trunk (1), a driving pinion (218) is connected to the output shaft of the driving motor (220), the driving pinion (218) is meshed with a driving shaft transmission gear plate (216), the driving shaft transmission gear plate (216) is fixed to a driving shaft (215), both ends of the driving shaft (215) are fixed to a driving shaft support seat (214), and the ends of the driving shaft (215) are connected to the robot thighs (24) on both sides of the trunk; the driving motor (220) rotates, and transmits power to the robot thighs (24) through the driving pinion (218) and the driving shaft transmission gear plate (216), thereby driving the robot shanks (27) to achieve bionic walking; The robot steering mechanism (4) comprises a steering motor (31), the steering motor (31) is fixed on a steering motor fixing gasket (32), the steering motor fixing gasket (32) is connected to a rotating structure upper clamping plate (34) through a rotating pad aluminum (33), the rotating structure upper clamping plate (34) tightens a rotating connection gasket (36) through a rotating structure tightening square aluminum (38) and a rotating structure lower clamping plate (37), and the rotating connection gasket (36) is mounted on the robot trunk (1); a rotating pinion (35) is connected to the output shaft of the steering motor (31), and the rotating pinion (35) is meshed with a rotating large gear (39); the steering motor (31) rotates, and the rotating large gear (39) is driven by the rotating pinion (35), so that the robot trunk generates a phase angle, and because the front and rear legs move in different directions, the robot is turned by speed synthesis.

2. A quadruped robot device based on competition teaching according to claim 1, characterized in that: The robot trunk (1) comprises a trunk square aluminum frame (12), and a trunk support plate (11) is connected inside the trunk square aluminum frame (12).

3. A quadruped robot device based on competition teaching according to claim 2, characterized in that: The trunk square aluminum frame (12) is made of square aluminum by welding.

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