A metamorphic variable stiffness quadruped robot

Abstract

This invention discloses a variable-stiffness quadruped robot, belonging to the field of robotics technology. It includes a quadruped robot body, a head, two variable-stiffness front legs, and two rigid hind legs. An internal connection to a camera is installed within the body to control the camera. The front legs and body form a variable-stiffness structure. A central control module is located within the quadruped robot body, including a communication module, a language interaction module, a vision module, and a navigation and positioning module. The advantages of this invention are: This invention achieves multi-functionality through a variable-stiffness structure design, enabling applications in mining exploration, transportation, rescue and disaster relief, and as a guide robot.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to a variable-cell, variable-stiffness quadruped robot. Background Technology

[0002] Quadruped robots, a type of canine-like biomimetic robot, are currently a hot topic in robotics research. Compared to wheeled, bipedal, and tracked mobile robots, they possess higher environmental adaptability and mobility, showing great promise for replacing manual labor in hazardous operations under harsh conditions, such as mine exploration, material handling, and rescue and disaster relief. However, most currently used quadruped robots employ rigid leg structures, resulting in low efficiency and poor maneuverability when handling ore due to the irregularity of the rocks; furthermore, existing quadruped robots have limited functionality and have not yet achieved widespread application. This invention utilizes a variable-stiffness, variable-cell structure design to achieve multi-functionality, effectively solving this problem. Summary of the Invention

[0003] To address the aforementioned problems, this invention provides a variable-cell, variable-stiffness quadruped robot. This invention is achieved through the following technical solution.

[0004] A variable-cell, variable-stiffness quadruped robot;

[0005] The quadruped robot includes a body, a head structure, two variable stiffness front legs, and two rigid hind legs.

[0006] The upper part of the body is provided with a top cover, and the controller and battery are located inside the body and below the top cover;

[0007] The head structure is located on the front side of the upper part of the fuselage, and the head structure is equipped with a binocular camera, a lidar and a GPS positioning system.

[0008] The foreleg includes a variable stiffness leg structure, a rubber ball at the foot, a rope drive device, a servo arm, a servo motor, and an airbag. The rubber ball at the foot is connected to the bottom of the variable stiffness leg structure. A left hip joint structure is connected to the upper part of the left variable stiffness leg structure, and the left hip joint structure is connected to a drive motor via a coupling. A right hip joint structure is connected to the upper part of the right variable stiffness leg structure. The rope drive device is located on the upper part of the right hip joint structure. The rope drive device includes rope drive motors on both sides and rope drive slide rails staggered inside the rope drive motors on both sides. The joints of the rope drive device and the variable stiffness leg structure move via rope drive. The servo motor is driven connected to the servo arm, and the servo arm is connected to the right hip joint structure via a right hip joint connecting plate. The airbag covers the outside of the variable stiffness leg structure.

[0009] The hind leg includes a hinged hind thigh structure and a hind lower leg structure, as well as an upper hind leg connector and a lower hind leg connector. The upper inner side of the hind thigh structure is provided with a hind thigh hip joint and a thigh drive motor, and the hind lower leg structure is provided with a lower leg drive motor.

[0010] The quadruped robot is equipped with a central control module, which includes a communication module, a language interaction module, a vision module, and a navigation and positioning module. The language interaction module is used to recognize the user's voice, the vision module is used for image recognition and obstacle recognition, and the navigation and positioning module is used to retrieve location information from APIs and perform SLAM localization and map building.

[0011] Furthermore, the airbag is inflated via a pneumatic device.

[0012] Furthermore, the variable stiffness leg structure is provided with interlocking keyways and spring keys, as well as rope drive holes and leg joint connection holes.

[0013] Furthermore, the quadruped robot's variable-cell structure design is controlled by a Raspberry Pi 4B, enabling it to achieve multiple states and corresponding working modes under different operating conditions.

[0014] Furthermore, the quadruped robot's head-mounted binocular camera uses neural network visual image recognition to identify objects. The system controls the quadruped robot's autonomous movement via a Raspberry Pi 4B, enabling obstacle avoidance and human-computer interaction.

[0015] The beneficial effects of this invention are that the variable-cell, variable-stiffness structure design enables multi-functionality, which can be applied in scenarios such as mine exploration, transportation, rescue and disaster relief, and guide robot dogs, and is worthy of promotion and application. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of a variable-cell, variable-stiffness quadruped robot according to the present invention;

[0017] Figure 2 This is a top view structural diagram of a variable-cell, variable-stiffness quadruped robot according to the present invention;

[0018] Figure 3 This is a schematic diagram (a) of the variable stiffness leg structure of the present invention;

[0019] Figure 4 This is a schematic diagram (II) of the variable stiffness leg structure of the present invention;

[0020] Figure 5 This is a schematic diagram (III) of the variable stiffness leg structure of the present invention;

[0021] Figure 6 This is a schematic diagram of the rope drive device of the present invention;

[0022] Figure 7 This is a schematic diagram of the airbag device of the present invention;

[0023] Figure 8 This is a schematic diagram of the tetrapod-tripod structure of the present invention;

[0024] Figure 9 For the present invention Figure 1 A schematic diagram of the coupling at the left hip joint. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0026] In the description of the embodiments of the present invention, it should be noted that if terms such as "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use, they are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, terms such as "first," "second," and "third" are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] Furthermore, the use of terms such as "horizontal," "vertical," and "sag" does not imply that the component must be absolutely horizontal or suspended, but rather that it can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal relative to "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0028] In the description of the embodiments of the present invention, "multiple" means at least two.

[0029] In the description of the embodiments of the present invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in the present invention according to the specific circumstances.

[0030] Example: A variable-cell, variable-stiffness quadruped robot;

[0031] The quadruped robot includes a body 8, a head structure 6, two variable stiffness front legs and two rigid hind legs;

[0032] The upper part of the body 8 is provided with a top cover 9, and the controller 16 and battery 17 are provided inside the body 8 and below the top cover 9.

[0033] The head structure 6 is located on the front side of the upper part of the fuselage 8. The head structure 6 is equipped with a binocular camera, a lidar and a GPS positioning system.

[0034] The front leg includes a variable stiffness leg structure 2, a foot rubber ball 1, a rope drive device 5, a servo arm 14, a servo motor 13, and an airbag 15; the foot rubber ball 1 is connected to the bottom of the variable stiffness leg structure 2; the upper part of the left variable stiffness leg structure is connected to a left hip joint structure 7, and the left hip joint structure 7 is connected to a drive motor 23 via a coupling 31; the upper part of the right variable stiffness leg structure is connected to a right hip joint structure 3, and the rope drive device 5 is located on the upper part of the right hip joint structure 3. The rope drive device 5 includes rope drive motors located on both sides. 29 and rope drive slide rails 28 are staggered inside the rope drive motors on both sides. The joint between the rope drive device 5 and the variable stiffness leg structure 2 is driven by the rope. The servo motor 13 is driven to connect with the servo arm 14. The servo arm 14 is connected to the right hip joint structure 3 through the right hip joint connecting plate 4, and also includes a plate connection hole 12. The airbag 15 is wrapped around the outside of the variable stiffness leg structure 2. The variable stiffness leg structure 2 is also provided with a keyway 24 and a spring key 27 that are interlocked with each other, as well as a rope drive hole 25, a rope drive hole 30 and a leg joint connection hole 26.

[0035] The rear leg includes a hinged rear thigh structure 10 and a rear lower leg structure 11, as well as an upper rear leg connector 18 and a lower rear leg connector 22. The upper inner side of the rear thigh structure 10 is provided with a rear thigh hip joint 19 and a thigh drive motor 20, and the rear lower leg structure 11 is provided with a lower leg drive motor 21.

[0036] The quadruped robot has a central control module, which includes a communication module, a language interaction module, a vision module, and a navigation and positioning module. The language interaction module is used to recognize the user's voice, the vision module is used for image recognition and obstacle recognition, and the navigation and positioning module is used to call APIs to obtain location information and for SLAM localization and map building.

[0037] Main functions and specific implementation methods:

[0038] (1) Variable stiffness - stiff-flexible switching: The forelegs are variable stiffness structures, including the rubber ball at the foot end 1, Figure 3 , 4The independent joints, cable drive device 5, servo arm 14, servo 13, airbag 15, and cable drive hole 25 shown in Figure 5 constitute a mechanism with both rigid and flexible states. In the rigid state, the leg structure serves as the supporting legs for the quadruped robot; in the flexible state, it can grasp objects, functioning similarly to an "elephant trunk." Specific implementation details are as follows: Figure 6 The rope-driven motor 29 drives the rope-driven slide rail to obtain torque, thereby pulling the rope and moving the independent joint, making it change from a rigid leg to a flexible leg. Then, the force driven by the rope can be used to pick up stones, irregular objects, etc. Figure 2 and Figure 7 As shown, Figure 2 The airbag 15 is wrapped around the outside of the variable stiffness leg, and its purpose is to inflate the airbag via a pneumatic device, such as... Figure 3 , 4 The keyway 24 and spring key 27 in the middle are stretched by the force of the airbag, and the spring key 27 will be locked in the keyway 24, which is the switching between the flexible leg and the rigid leg.

[0039] (2) Cellular variation - multi-functional and multi-purpose: The cellular variation of the right foreleg achieves the following: Figure 2 The servo motor 13 drives the servo arm 14, which is connected to the right hip joint connecting plate 4. This drives the right hip joint structure 3, which is fixed to the right hip joint connecting plate, to move. The right hip joint structure 3 is connected to the variable stiffness leg structure 2, which is connected to the rubber ball 1 at the foot end. The servo motor 13 drives the entire right leg to move. The variable stiffness of the left foreleg is achieved as follows: Figure 1 Its driving variable stiffness leg is similar to that of the right foreleg, the difference being that the hip joint 7 is driven by... Figure 9 coupling and Figure 2 The drive motor 23 in the middle can drive the transformation between the leg and the flexible robotic arm. For example... Figure 8 As shown, the robot transitions from a quadruped to a tripod, with the right front leg shifting to the center position, forming an isosceles triangle with the two rigid rear legs. This allows the robot to maintain greater stability and coordination during operation. The left front leg transforms into a flexible robotic arm for the quadruped robot. This transformation increases the robot's workspace, and the flexible structure avoids the unusual configurations of the rigid structure, significantly reducing malfunctions during operation. The flexible robotic arm can be driven by a rope to lift irregular objects.

[0040] (3) Intelligent recognition: The quadruped robot is equipped with a binocular camera on its head. It uses neural network visual image recognition to identify objects. The entire system controls the robot to move autonomously through a Raspberry Pi 4B to achieve obstacle avoidance.

[0041] When the variable-stiffness robot is powered on, the user conveys information to the robot via voice. The robot recognizes the information through voice and uploads it to the central controller. After receiving the information, the central controller activates the LiDAR and fuses it using SLAM technology. The quadruped robot collects point cloud images of the surrounding environment and builds a map using this data. Based on the constructed map, combined with the visual recognition function of the binocular camera and the instructions given by the user, a path planning algorithm is used for route navigation.

[0042] In the application of guide dog robots: a leash is installed on the tail of the quadruped robot to provide a sense of security for the blind. The robot's central controller is connected to the Gaode API, enabling local navigation. The blind person tells the robot the destination through the voice recognition module, and the robot can better navigate to the destination by calling the connected API, as well as LiDAR and vision modules. Through its own positioning, it can monitor in real time whether it has deviated from the course.

[0043] When entering a new environment, blind people are unfamiliar with their surroundings. Since shopping malls and high-rise buildings are now equipped with elevators, blind people can use voice commands to communicate elevator numbers to a robot. The robot then recognizes the numbers through visual images and uses a central controller to drive a motor, which in turn drives a flexible robotic arm to press the elevator button. The robot can also open doors for blind people, greatly facilitating their daily lives.

[0044] This invention achieves multi-functionality through a variable-cell, variable-stiffness structure design, and can be applied in scenarios such as mine exploration, transportation, rescue and disaster relief, and guide robot dogs for the blind. It is worthy of promotion and application.

[0045] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the spirit of the invention, such designs should fall within the protection scope of the present invention.

Claims

1. A metamorphic variable stiffness quadruped robot, characterized in that: the quadruped robot comprises a body, a head structure, two variable stiffness forelegs and two rigid hind legs; the upper part of the body is provided with a body cover, and the controller and the battery are arranged in the body below the body cover; the head structure is located on the front side of the upper part of the body, and the head structure is provided with a binocular camera, a laser radar and a GPS positioning device; the foreleg comprises a variable stiffness leg structure, a foot end rubber ball, a rope driving device, a rudder arm, a rudder and an air bag; the foot end rubber ball is connected to the bottom of the variable stiffness leg structure; the upper part of the left variable stiffness leg structure is connected with a left hip joint structure, and the left hip joint structure is connected with a driving motor through a shaft coupling; the upper part of the right variable stiffness leg structure is connected with a right hip joint structure, and the rope driving device is arranged on the upper part of the right hip joint structure; the rope driving device comprises rope driving motors arranged on both sides and rope driving rails arranged on the inner sides of the rope driving motors on both sides; the rope driving device is driven by the rope driving motion; the rudder is drivingly connected with the rudder arm, and the rudder arm is connected with the right hip joint structure through a right hip joint connecting plate; the air bag is wrapped outside the variable stiffness leg structure; the hind leg comprises a hingedly arranged rear thigh structure and a rear shank structure, a rear leg upper connector and a rear leg lower connector; the upper inner side of the rear thigh structure is provided with a rear thigh hip joint and a thigh driving motor; the rear shank structure is provided with a shank driving motor; the quadruped robot is provided with a central control module, which comprises a communication module, a language interaction module, a vision module and a navigation positioning module; the language interaction module is used for recognizing user voice; the vision module is used for image recognition and obstacle recognition; the navigation positioning module is used for calling API to obtain position information and SLAM positioning and map construction.

2. The metamorphic variable stiffness quadruped robot of claim 1, wherein: The air bag is inflated by a pneumatic device.

3. The metamorphic variable stiffness quadruped robot of claim 1, wherein: The variable stiffness leg structure is provided with a key groove and a spring key which are mutually clamped, and a rope driving hole and a leg joint connecting hole.

4. The metamorphic variable stiffness quadruped robot of claim 1, wherein: The structure design of the metamorphic variable stiffness quadruped robot is controlled by Raspberry Pi 4B, realizes the function of one machine with multiple states, and achieves corresponding working modes under different working conditions.

5. The metamorphic variable stiffness quadruped robot of claim 1, wherein: The binocular camera of the head of the quadruped robot identifies and processes objects through neural network vision image recognition; the system controls the autonomous movement of the quadruped robot through Raspberry Pi 4B, realizes the obstacle avoidance function and the man-machine interaction function.

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