A bionic micro quadrupedal crawling robot

Abstract

A biomimetic miniature quadrupedal crawling robot includes a forebody, a hindbody, a front linked leg mechanism, a rear linked leg mechanism, a quadrupedal coupling drive mechanism, and a steering actuator. The quadrupedal coupling drive mechanism is located between the front and rear linked leg mechanisms, and the steering actuator is located between the forebody and hindbody. The robot's overall motion is achieved by only two motors: one motor for walking and the other for steering. Compared to traditional legged robots, this significantly reduces the number of motors used, effectively lowering the robot's control complexity and energy consumption. It can further reduce the robot's size and weight, and improve its ability to navigate narrow terrain. Compared to legged robots that use servo motors as joint actuators, the quadrupedal coupling reduces control complexity while avoiding gait errors in the fore and hind legs, reducing the weight and size of the quadrupeds, effectively improving motion stability and load-bearing capacity, and thus enhancing its adaptability to confined spaces.

Description

Technical Field

[0001] This invention belongs to the field of mobile robot technology, and in particular relates to a biomimetic miniature quadrupedal crawling robot. Background Technology

[0002] Currently, most mobile robots adopt wheeled or tracked locomotion structures, which can have good maneuverability in relatively flat terrain environments. However, in certain special road environments, such as irregular terrain, narrow spaces, and environments where obstacles need to be overcome, the movement of traditional wheeled or tracked mobile robots will be limited.

[0003] To overcome the limited mobility of traditional wheeled or tracked mobile robots in special road environments, legged robots are often used to complete tasks. However, although legged robots can cope well with various special terrains such as rugged ground, traditional legged robots have the problems of large size and heavy weight, and are less adaptable to confined spaces.

[0004] Furthermore, traditional legged robots mostly use servo motors as actuators for their joints, leading to problems such as high overall control difficulty, high energy consumption, and inflexible steering. Some micro-legged robots also suffer from unstable movement and weak load-bearing capacity. Summary of the Invention

[0005] To address the problems existing in the prior art, this invention provides a biomimetic micro quadrupedal crawling robot. The overall motion is achieved by only two motors: one motor for walking and the other for turning. Compared with traditional legged robots, this significantly reduces the number of motors used, effectively lowering the robot's control difficulty and energy consumption. It can further reduce the robot's size and weight, and improve its ability to traverse narrow terrain. Compared with legged robots that use servo motors as joint actuators, the four legs are coupled and linked, reducing control difficulty while avoiding gait errors in the fore and hind legs. This reduces the weight and size of the four legs, effectively improving motion stability and load-bearing capacity, thereby enhancing adaptability to confined spaces.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a biomimetic micro quadrupedal crawling robot, comprising a front body, a rear body, a front linkage foot mechanism, a rear linkage foot mechanism, a quadrupedal coupling drive mechanism, and a steering actuator; the front linkage foot mechanism is disposed on the front body; the rear linkage foot mechanism is disposed on the rear body; the quadrupedal coupling drive mechanism is disposed between the front linkage foot mechanism and the rear linkage foot mechanism; and the steering actuator is disposed between the front body and the rear body.

[0007] Both the front and rear bodies adopt an integrated frame structure, and the front and rear bodies are hinged together by a steering connection shaft.

[0008] The forward linkage mechanism includes a left forefoot support rod, a right forefoot support rod, a forefoot horizontal swing transmission rocker arm, a left forefoot pitch swing transmission link, a left forefoot pitch swing transmission adapter block, a right forefoot pitch swing transmission link, a right forefoot pitch swing transmission adapter block, and a forward foot linkage stepping transmission assembly; the center of the forefoot horizontal swing transmission rocker arm is hinged to the forebody, and the left end of the forefoot horizontal swing transmission rocker arm is hinged to the middle of the left forefoot support rod, with the hinge hole in the middle of the left forefoot support rod being an oblong hole; the right end of the forefoot horizontal swing transmission rocker arm is hinged to the middle of the right forefoot support rod, and the right forefoot... The hinge hole in the middle of the support rod is a waist-shaped hole; the upper end of the left forefoot support rod is hinged to one end of the left forefoot pitch and swing transmission adapter block, and the other end of the left forefoot pitch and swing transmission adapter block is hinged to one end of the left forefoot pitch and swing transmission connecting rod; the upper end of the right forefoot support rod is hinged to one end of the right forefoot pitch and swing transmission adapter block, and the other end of the right forefoot pitch and swing transmission adapter block is hinged to one end of the right forefoot pitch and swing transmission connecting rod; the other end of the left forefoot pitch and swing transmission connecting rod and the other end of the right forefoot pitch and swing transmission connecting rod are connected to the forefoot horizontal swing transmission rocker arm through the forefoot linkage stepping transmission assembly.

[0009] The forefoot linkage stepping transmission assembly includes a forefoot stepping power input shaft, a forefoot stepping drive gear, a forefoot horizontal swing driven gear, a forefoot horizontal swing transmission shaft, a forefoot horizontal swing transmission crank, a forefoot horizontal swing transmission connecting rod, a forefoot pitch swing driven gear, a forefoot pitch swing transmission shaft, and a forefoot pitch swing transmission crank; the forefoot stepping power input shaft is vertically mounted on the forebody via bearings, and the forefoot stepping drive gear is coaxially fixed to the upper end of the forefoot stepping power input shaft; the forefoot horizontal swing transmission shaft is vertically mounted on the forebody via bearings, and the forefoot horizontal swing driven gear is coaxially fixed to the upper end of the forefoot horizontal swing transmission shaft, with the forefoot horizontal swing driven gear meshing with the forefoot stepping drive gear; the forefoot water... One end of the horizontal swing transmission crank is fixedly connected to the lower end of the front foot horizontal swing transmission shaft, and the other end of the front foot horizontal swing transmission crank is hinged to one end of the front foot horizontal swing transmission connecting rod. The other end of the front foot horizontal swing transmission connecting rod is hinged to the rod body of the front foot horizontal swing transmission rocker arm. The front foot pitch swing transmission shaft is vertically mounted on the front body through bearings. The front foot pitch swing driven gear is coaxially fixed on the front foot pitch swing transmission shaft and meshes with the front foot stepping drive gear. One end of the front foot pitch swing transmission crank is fixedly connected to the front foot pitch swing transmission shaft, and the other end of the front foot pitch swing transmission crank is coaxially hinged to the other end of the left front foot pitch swing transmission connecting rod and the other end of the right front foot pitch swing transmission connecting rod.

[0010] The rear foot linkage mechanism includes a left rear foot support rod, a right rear foot support rod, a rear foot horizontal swing transmission rocker, a left rear foot pitch swing transmission link, a left rear foot pitch swing transmission adapter block, a right rear foot pitch swing transmission link, a right rear foot pitch swing transmission adapter block, and a rear foot linkage stepping transmission assembly; the center of the rear foot horizontal swing transmission rocker is hinged to the rear body, and the left end of the rear foot horizontal swing transmission rocker is hinged to the middle of the left rear foot support rod, with the hinge hole in the middle of the left rear foot support rod being an oblong hole; the right end of the rear foot horizontal swing transmission rocker is hinged to the middle of the right rear foot support rod, and the right rear foot... The hinge hole in the middle of the support rod is a waist-shaped hole; the upper end of the left rear foot support rod is hinged to one end of the left rear foot pitch and swing transmission adapter block, and the other end of the left rear foot pitch and swing transmission adapter block is hinged to one end of the left rear foot pitch and swing transmission connecting rod; the upper end of the right rear foot support rod is hinged to one end of the right rear foot pitch and swing transmission adapter block, and the other end of the right rear foot pitch and swing transmission adapter block is hinged to one end of the right rear foot pitch and swing transmission connecting rod; the other ends of the left rear foot pitch and swing transmission connecting rod and the other ends of the right rear foot pitch and swing transmission connecting rod are connected to the rear foot horizontal swing transmission rocker arm through the rear foot linkage stepping transmission assembly.

[0011] The rear foot linkage stepping transmission assembly includes a rear foot stepping power input shaft, a rear foot stepping drive gear, a rear foot horizontal swing driven gear, a rear foot horizontal swing transmission shaft, a rear foot horizontal swing transmission crank, a rear foot horizontal swing transmission connecting rod, a rear foot pitch swing driven gear, a rear foot pitch swing transmission shaft, and a rear foot pitch swing transmission crank. The rear foot stepping power input shaft is vertically mounted on the rear body via bearings, and the rear foot stepping drive gear is coaxially fixed to the upper end of the rear foot stepping power input shaft. The rear foot horizontal swing transmission shaft is vertically mounted on the rear body via bearings, and the rear foot horizontal swing driven gear is coaxially fixed to the upper end of the rear foot horizontal swing transmission shaft, with the rear foot horizontal swing driven gear meshing with the rear foot stepping drive gear. One end of the rear foot horizontal swing transmission crank is fixedly connected to the lower end of the rear foot horizontal swing transmission shaft, and the other end of the rear foot horizontal swing transmission crank is hinged to one end of the rear foot horizontal swing transmission connecting rod. The other end of the rear foot horizontal swing transmission connecting rod is hinged to the rod body of the rear foot horizontal swing transmission rocker arm. The rear foot pitch swing transmission shaft is vertically mounted on the rear body through bearings. The rear foot pitch swing driven gear is coaxially fixed on the rear foot pitch swing transmission shaft and meshes with the rear foot stepping drive gear. One end of the crank is connected to the rear foot pitch swing transmission shaft, and the other end of the rear foot pitch swing transmission crank is coaxially hinged to the other end of the left rear foot pitch swing transmission connecting rod and the other end of the right rear foot pitch swing transmission connecting rod.

[0012] The four-legged coupling drive mechanism includes a four-legged coupling drive motor, a four-legged coupling drive gear, a four-legged coupling driven gear, a front leg drive worm gear, a front leg drive worm wheel, a rear leg drive worm gear, and a universal coupling. The four-legged coupling drive motor is horizontally fixed to the rear body, and the four-legged coupling drive gear is coaxially fixed to the motor shaft of the four-legged coupling drive motor. The rear leg drive worm gear is horizontally mounted to the rear body via bearings, and is distributed parallel to the four-legged coupling drive motor. The four-legged coupling driven gear... The gear is coaxially fixed on the rear foot drive worm, and the driven gear of the four-leg coupling meshes with the driving gear of the four-leg coupling; the rear foot drive worm wheel is coaxially fixed on the lower end of the rear foot stepping power input shaft, and the rear foot drive worm wheel meshes with the rear foot drive worm; the front foot drive worm is horizontally mounted on the front body through bearings; the front foot drive worm wheel is coaxially fixed on the lower end of the front foot stepping power input shaft, and the front foot drive worm wheel meshes with the front foot drive worm; the rear end of the front foot drive worm and the front end of the rear foot drive worm are connected by a universal coupling.

[0013] The gear models of the front foot stepping drive gear, the front foot horizontal swing driven gear, the front foot pitch swing driven gear, the rear foot stepping drive gear, the rear foot horizontal swing driven gear, and the rear foot pitch swing driven gear are all identical; the transmission ratios of the front foot stepping drive gear and the front foot horizontal swing driven gear, the front foot stepping drive gear and the front foot pitch swing driven gear, the rear foot stepping drive gear and the rear foot horizontal swing driven gear, and the rear foot stepping drive gear and the rear foot pitch swing driven gear are all 1:1.

[0014] The phase angles of the forefoot pitch and sway transmission crank and the rear foot pitch and sway transmission crank, and the phase angles of the forefoot horizontal sway transmission crank and the rear foot horizontal sway transmission crank, differ by 180 degrees at any given time.

[0015] The steering actuator includes a linear motor, a push-pull transmission block, and a push-pull transmission rod; the linear motor is horizontally fixed on the front body, the push-pull transmission block is fixedly installed on the motor shaft of the linear motor, the front end of the push-pull transmission rod is hinged to the push-pull transmission block, and the rear end of the push-pull transmission rod is hinged to the rear body.

[0016] The beneficial effects of this invention are:

[0017] The biomimetic micro quadrupedal crawling robot of this invention uses only two motors for overall motion execution: one motor for walking and the other for turning. Compared with traditional legged robots, this significantly reduces the number of motors used, effectively lowering the robot's control difficulty and energy consumption. It can further reduce the robot's size and weight, and improve its ability to pass through narrow terrain. Compared with legged robots that use servo motors as joint actuators, the four legs are coupled and linked, reducing control difficulty and avoiding gait errors in the fore and hind legs. This reduces the weight and size of the four legs, effectively improving motion stability and load-bearing capacity, thereby enhancing adaptability to confined spaces. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of a biomimetic miniature quadrupedal crawling robot (overall) according to the present invention (viewpoint 1);

[0019] Figure 2 This is a schematic diagram (perspective 2) of the structure of a biomimetic miniature quadrupedal crawling robot (overall) according to the present invention;

[0020] Figure 3 This is a partial structural diagram (view 1) of a biomimetic miniature quadrupedal crawling robot according to the present invention;

[0021] Figure 4 This is a partial structural diagram (view 3) of a biomimetic miniature quadrupedal crawling robot according to the present invention;

[0022] In the diagram, 1—forequarters, 2—rear body, 3—steering connecting shaft, 4—left forefoot support rod, 5—right forefoot support rod, 6—forefoot horizontal swing transmission rocker arm, 7—left forefoot pitch swing transmission connecting rod, 8—left forefoot pitch swing transmission adapter block, 9—right forefoot pitch swing transmission connecting rod, 10—right forefoot pitch swing transmission adapter block, 11—forefoot stepping power input shaft, 12—forefoot stepping drive gear, 13—forefoot horizontal swing driven gear, 14—forefoot horizontal swing transmission shaft, 15—forefoot horizontal swing transmission crank, 16—forefoot horizontal swing transmission connecting rod, 17—forefoot pitch swing driven gear, 18—forefoot pitch swing transmission shaft, 19—forefoot pitch swing transmission crank, 20—left rear foot support rod, 21—right rear foot support rod, 22—rear foot horizontal swing... 23—Left rear foot pitch and swing transmission link, 24—Left rear foot pitch and swing transmission adapter block, 25—Right rear foot pitch and swing transmission link, 26—Right rear foot pitch and swing transmission adapter block, 27—Rear foot stepping power input shaft, 28—Rear foot stepping drive gear, 29—Rear foot horizontal swing driven gear, 30—Rear foot horizontal swing transmission shaft, 31—Rear foot pitch and swing driven gear, 32—Rear foot pitch and swing transmission shaft, 33—Four-leg coupling drive motor, 34—Four-leg coupling drive gear, 35—Four-leg coupling driven gear, 36—Front foot transmission worm gear, 37—Front foot transmission worm wheel, 38—Rear foot transmission worm gear, 39—Rear foot transmission worm wheel, 40—Universal coupling, 41—Linear motor, 42—Push-pull transmission block, 43—Push-pull transmission rod. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0024] like Figures 1-4 As shown, a biomimetic miniature quadrupedal crawling robot includes a front body 1, a rear body 2, a front linked foot mechanism, a rear linked foot mechanism, a quadrupedal coupling drive mechanism, and a steering actuator. The front linked foot mechanism is disposed on the front body 1; the rear linked foot mechanism is disposed on the rear body 2; the quadrupedal coupling drive mechanism is disposed between the front linked foot mechanism and the rear linked foot mechanism; and the steering actuator is disposed between the front body 1 and the rear body 2.

[0025] Both the front body 1 and the rear body 2 adopt an integrated frame structure, and the front body 1 and the rear body 2 are hinged together by a steering connecting shaft 3.

[0026] The forward linkage mechanism includes a left forefoot support rod 4, a right forefoot support rod 5, a forefoot horizontal swing transmission rocker arm 6, a left forefoot pitch swing transmission link 7, a left forefoot pitch swing transmission adapter block 8, a right forefoot pitch swing transmission link 9, a right forefoot pitch swing transmission adapter block 10, and a forward foot linkage stepping transmission assembly; the center of the forefoot horizontal swing transmission rocker arm 6 is hinged to the forebody 1, and the left end of the forefoot horizontal swing transmission rocker arm 6 is hinged to the middle of the left forefoot support rod 4, with the hinge hole in the middle of the left forefoot support rod 4 being an oblong hole; the right end of the forefoot horizontal swing transmission rocker arm 6 is hinged to the middle of the right forefoot support rod 5, and the right forefoot... The hinge hole in the middle of the foot support rod 5 is a waist-shaped hole; the upper end of the left forefoot support rod 4 is hinged to one end of the left forefoot pitch and swing transmission transition block 8, and the other end of the left forefoot pitch and swing transmission transition block 8 is hinged to one end of the left forefoot pitch and swing transmission connecting rod 7; the upper end of the right forefoot support rod 5 is hinged to one end of the right forefoot pitch and swing transmission transition block 10, and the other end of the right forefoot pitch and swing transmission transition block 10 is hinged to one end of the right forefoot pitch and swing transmission connecting rod 9; the other end of the left forefoot pitch and swing transmission connecting rod 7 and the other end of the right forefoot pitch and swing transmission connecting rod 9 are connected to the forefoot horizontal swing transmission rocker arm 6 through the forefoot linkage stepping transmission assembly.

[0027] The forefoot linkage stepping transmission assembly includes a forefoot stepping power input shaft 11, a forefoot stepping drive gear 12, a forefoot horizontal swing driven gear 13, a forefoot horizontal swing transmission shaft 14, a forefoot horizontal swing transmission crank 15, a forefoot horizontal swing transmission connecting rod 16, a forefoot pitch swing driven gear 17, a forefoot pitch swing transmission shaft 18, and a forefoot pitch swing transmission crank 19; the forefoot stepping power input shaft 11 is vertically mounted on the forebody 1 via bearings, and the forefoot stepping drive gear 12 is coaxially fixed to the upper end of the forefoot stepping power input shaft 11; the forefoot horizontal swing transmission shaft 14 is vertically mounted on the forebody 1 via bearings, and the forefoot horizontal swing driven gear 13 is coaxially fixed to the upper end of the forefoot horizontal swing transmission shaft 14, with the forefoot horizontal swing driven gear 13 meshing with the forefoot stepping drive gear 12; One end of the forefoot horizontal swing transmission crank 15 is fixedly connected to the lower end of the forefoot horizontal swing transmission shaft 14, and the other end of the forefoot horizontal swing transmission crank 15 is hinged to one end of the forefoot horizontal swing transmission connecting rod 16. The other end of the forefoot horizontal swing transmission connecting rod 16 is hinged to the rod body of the forefoot horizontal swing transmission rocker arm 6. The forefoot pitch swing transmission shaft 18 is vertically mounted on the forebody 1 through bearings. The forefoot pitch swing driven gear 17 is coaxially fixed on the forefoot pitch swing transmission shaft 18 and meshes with the forefoot stepping drive gear 12. One end of the forefoot pitch swing transmission crank 19 is fixedly connected to the forefoot pitch swing transmission shaft 18, and the other end of the forefoot pitch swing transmission crank 19 is coaxially hinged to the other end of the left forefoot pitch swing transmission connecting rod 7 and the other end of the right forefoot pitch swing transmission connecting rod 9.

[0028] The rear foot linkage mechanism includes a left hind foot support rod 20, a right hind foot support rod 21, a hind foot horizontal swing transmission rocker 22, a left hind foot pitch swing transmission link 23, a left hind foot pitch swing transmission adapter block 24, a right hind foot pitch swing transmission link 25, a right hind foot pitch swing transmission adapter block 26, and a rear foot linkage stepping transmission assembly; the center of the hind foot horizontal swing transmission rocker 22 is hinged to the rear body 2, and the left end of the hind foot horizontal swing transmission rocker 22 is hinged to the middle of the left hind foot support rod 20, with the hinge hole in the middle of the left hind foot support rod 20 being an oblong hole; the right end of the hind foot horizontal swing transmission rocker 22 is hinged to the middle of the right hind foot support rod 21, and the right... The hinge hole in the middle of the hind foot support rod 21 is a waist-shaped hole; the upper end of the left hind foot support rod 20 is hinged to one end of the left hind foot pitch and swing transmission transition block 24, and the other end of the left hind foot pitch and swing transmission transition block 24 is hinged to one end of the left hind foot pitch and swing transmission connecting rod 23; the upper end of the right hind foot support rod 21 is hinged to one end of the right hind foot pitch and swing transmission transition block 26, and the other end of the right hind foot pitch and swing transmission transition block 26 is hinged to one end of the right hind foot pitch and swing transmission connecting rod 25; the other end of the left hind foot pitch and swing transmission connecting rod 23 and the other end of the right hind foot pitch and swing transmission connecting rod 25 are connected to the hind foot horizontal swing transmission rocker arm 22 through the hind foot linkage stepping transmission assembly.

[0029] The rear foot linkage stepping transmission assembly includes a rear foot stepping power input shaft 27, a rear foot stepping drive gear 28, a rear foot horizontal swing driven gear 29, a rear foot horizontal swing transmission shaft 30, a rear foot horizontal swing transmission crank, a rear foot horizontal swing transmission connecting rod, a rear foot pitch swing driven gear 31, a rear foot pitch swing transmission shaft 32, and a rear foot pitch swing transmission crank. The rear foot stepping power input shaft 27 is vertically mounted on the rear body 2 via bearings, and the rear foot stepping drive gear 28 is coaxially fixed to the upper end of the rear foot stepping power input shaft 27. The rear foot horizontal swing transmission shaft 30 is vertically mounted on the rear body 2 via bearings, and the rear foot horizontal swing driven gear 29 is coaxially fixed to the upper end of the rear foot horizontal swing transmission shaft 30. The rear foot horizontal swing driven gear 29 and the rear foot stepping drive gear 28 are connected. The rear foot horizontal swing transmission crank is fixedly connected to the lower end of the rear foot horizontal swing transmission shaft 30, and the other end of the rear foot horizontal swing transmission crank is hinged to one end of the rear foot horizontal swing transmission connecting rod. The other end of the rear foot horizontal swing transmission connecting rod is hinged to the rod body of the rear foot horizontal swing transmission rocker arm 22. The rear foot pitch swing transmission shaft 32 is vertically mounted on the rear body 2 through bearings. The rear foot pitch swing driven gear 31 is coaxially fixed on the rear foot pitch swing transmission shaft 32. The rear foot pitch swing driven gear 31 meshes with the rear foot stepping active gear 28. One end of the crank is connected to the rear foot pitch swing transmission shaft 32, and the other end of the rear foot pitch swing transmission crank is coaxially hinged to the other end of the left rear foot pitch swing transmission connecting rod 23 and the other end of the right rear foot pitch swing transmission connecting rod 25.

[0030] The four-legged coupling drive mechanism includes a four-legged coupling drive motor 33, a four-legged coupling drive gear 34, a four-legged coupling driven gear 35, a front leg drive worm gear 36, a front leg drive worm wheel 37, a rear leg drive worm gear 38, a rear leg drive worm wheel 39, and a universal coupling 40. The four-legged coupling drive motor 33 is horizontally fixed on the rear body 2, and the four-legged coupling drive gear 34 is coaxially fixed on the motor shaft of the four-legged coupling drive motor 33. The rear leg drive worm gear 38 is horizontally mounted on the rear body 2 via bearings, and the rear leg drive worm gear 38 is parallel to the four-legged coupling drive motor 33. The four-legged coupling driven gear... Wheel 35 is coaxially fixed on the rear foot drive worm 38, and the four-leg coupling driven gear 35 meshes with the four-leg coupling driving gear 34; the rear foot drive worm wheel 39 is coaxially fixed on the lower end of the rear foot stepping power input shaft 27, and meshes with the rear foot drive worm 38; the front foot drive worm 36 is horizontally mounted on the front body 1 via bearings; the front foot drive worm wheel 37 is coaxially fixed on the lower end of the front foot stepping power input shaft 11, and meshes with the front foot drive worm 36; the rear end of the front foot drive worm 36 is connected to the front end of the rear foot drive worm 38 via a universal coupling 40.

[0031] The gear models of the forefoot stepping drive gear 12, the forefoot horizontal swing driven gear 13, the forefoot pitch swing driven gear 17, the rear foot stepping drive gear 28, the rear foot horizontal swing driven gear 29, and the rear foot pitch swing driven gear 31 are all identical; the transmission ratios of the forefoot stepping drive gear 12 and the forefoot horizontal swing driven gear 13, the forefoot stepping drive gear 12 and the forefoot pitch swing driven gear 17, the rear foot stepping drive gear 28 and the rear foot horizontal swing driven gear 29, and the rear foot stepping drive gear 28 and the rear foot pitch swing driven gear 31 are all 1:1.

[0032] The phase angles between the forefoot pitch and swing transmission crank 19 and the rear foot pitch and swing transmission crank, and between the forefoot horizontal swing transmission crank 15 and the rear foot horizontal swing transmission crank, are 180 degrees apart at any given time.

[0033] The steering actuator includes a linear motor 41, a push-pull transmission block 42, and a push-pull transmission rod 43. The linear motor 41 is horizontally fixed on the front body 1, the push-pull transmission block 42 is fixedly installed on the motor shaft of the linear motor 41, the front end of the push-pull transmission rod 43 is hinged to the push-pull transmission block 42, and the rear end of the push-pull transmission rod 43 is hinged to the rear body 2.

[0034] The following describes a single use of the present invention with reference to the accompanying drawings:

[0035] When the robot needs to move, simply start the quadrupedal coupling drive motor 33. The quadrupedal coupling drive motor 33 first drives the quadrupedal coupling drive gear 34 to rotate, which in turn drives the quadrupedal coupling driven gear 35 meshing with it to rotate, further driving the rear leg transmission worm gear 38 to rotate, and finally driving the front leg transmission worm gear 36 to rotate synchronously through the universal coupling 40.

[0036] During the rotation of the forefoot drive worm 36, it will drive the forefoot drive worm wheel 37 that meshes with it to rotate. The forefoot drive worm wheel 37 will drive the forefoot stepping drive gear 12 to rotate synchronously through the forefoot stepping power input shaft 11. In turn, the forefoot stepping drive gear 12 will drive the forefoot horizontal swing driven gear 13 and the forefoot pitch swing driven gear 17 to rotate synchronously.

[0037] During the rotation of the driven gear 13 of the front foot horizontal swing, the front foot horizontal swing transmission crank 15 will be driven to rotate through the front foot horizontal swing transmission shaft 14, and then the front foot horizontal swing transmission rocker arm 6 will be driven to swing back and forth around its central hinge point through the front foot horizontal swing transmission connecting rod 16.

[0038] During the rotation of the driven gear 17 of the front foot pitch swing, the front foot pitch swing transmission crank 19 will be driven to rotate through the front foot pitch swing transmission shaft 18, which in turn will synchronously drive the left front foot pitch swing transmission link 7 and the right front foot pitch swing transmission link 9 to move. The left front foot pitch swing transmission link 7 will drive the left front foot pitch swing transmission adapter block 8 to move linearly, which in turn will drive the left front foot support rod 4 to perform pitch swing motion. At the same time, the right front foot pitch swing transmission link 9 will drive the right front foot pitch swing transmission adapter block 10 to move linearly, which in turn will drive the right front foot support rod 5 to perform pitch swing motion.

[0039] Since the transmission ratio of the front foot stepping drive gear 12 to the front foot horizontal swing driven gear 13 and the transmission ratio of the front foot stepping drive gear 12 to the front foot pitch swing driven gear 17 are both 1:1, the horizontal swing period of the left front foot support rod 4 can be made to be completely consistent with the pitch swing period, and the horizontal swing period of the right front foot support rod 5 can be made to be completely consistent with the pitch swing period.

[0040] Since the forefoot pitch and swing transmission crank 19 synchronously drives the left forefoot pitch and swing transmission link 7 and the right forefoot pitch and swing transmission link 9 to move, the movement phase of the left forefoot pitch and swing transmission link 7 and the right forefoot pitch and swing transmission link 9 can always be 180 degrees apart. In this state, while the left forefoot support rod 4 is lifted and moved forward, the right forefoot support rod 5 is lowered and moved backward, and while the right forefoot support rod 5 is lifted and moved forward, the left forefoot support rod 4 is lowered and moved backward, thus realizing the alternating stepping of the left forefoot support rod 4 and the right forefoot support rod 5.

[0041] During the rotation of the rear foot transmission worm 38, it will drive the rear foot transmission worm wheel 39 that meshes with it to rotate. The rear foot transmission worm wheel 39 will synchronously drive the rear foot stepping drive gear 28 to rotate through the rear foot stepping power input shaft 27, and then synchronously drive the rear foot horizontal swing driven gear 29 and the rear foot pitch swing driven gear 31 to rotate through the rear foot stepping drive gear 28.

[0042] During the rotation of the rear foot horizontal swing driven gear 29, the rear foot horizontal swing transmission crank will be driven to rotate through the rear foot horizontal swing transmission shaft 30, and then the rear foot horizontal swing transmission rocker arm 22 will be driven to swing back and forth around its central hinge point through the rear foot horizontal swing transmission connecting rod.

[0043] During the rotation of the rear foot pitch and swing driven gear 31, the rear foot pitch and swing transmission crank is driven to rotate through the rear foot pitch and swing transmission shaft 32, which in turn drives the rear foot pitch and swing transmission connecting rod 23 and the right rear foot pitch and swing transmission connecting rod 25 to move. The left rear foot pitch and swing transmission connecting rod 23 drives the left rear foot pitch and swing transmission transition block 24 to move linearly, which in turn drives the left rear foot support rod 20 to perform pitch and swing motion. At the same time, the right rear foot pitch and swing transmission connecting rod 25 drives the right rear foot pitch and swing transmission transition block 26 to move linearly, which in turn drives the right rear foot support rod 21 to perform pitch and swing motion.

[0044] Since the transmission ratio of the rear foot stepping drive gear 28 to the rear foot horizontal swing driven gear 29, and the transmission ratio of the rear foot stepping drive gear 28 to the rear foot pitch swing driven gear 31 are both 1:1, the horizontal swing period of the left rear foot support rod 20 and the pitch swing period can be made to be completely consistent, and the horizontal swing period of the right rear foot support rod 21 and the pitch swing period can be made to be completely consistent.

[0045] Since the rear foot pitch and swing transmission crank synchronously drives the rear foot pitch and swing transmission link 23 and the right rear foot pitch and swing transmission link 25 to move, the movement phase of the rear foot pitch and swing transmission link 23 and the right rear foot pitch and swing transmission link 25 can always be 180 degrees apart. In this state, while the left rear foot support link 20 is lifted and moved forward, the right rear foot support link 21 is lowered and moved backward, and while the right rear foot support link 21 is lifted and moved forward, the left rear foot support link 20 is lowered and moved backward, thus realizing the alternating stepping of the left rear foot support link 20 and the right rear foot support link 21.

[0046] Since the phase angles of the front foot pitch and swing transmission crank 19 and the rear foot pitch and swing transmission crank, and the phase angles of the front foot horizontal swing transmission crank 15 and the rear foot horizontal swing transmission crank are 180 degrees apart at any given time, the left front foot support rod 4 and the right rear foot support rod 21 can be moved forward or backward synchronously, and the right front foot support rod 5 and the left rear foot support rod 20 can be moved forward or backward synchronously. In this state, the robot can stably achieve walking movement.

[0047] When the robot needs to turn during its movement, simply activate the linear motor 41. The motor shaft of the linear motor 41 drives the push-pull transmission block 42 to move linearly, which in turn outputs a push-pull force to the push-pull transmission rod 43. This adjusts the angle between the front body 1 and the rear body 2, causing them to rotate relative to each other around the steering connection shaft 3, thus adjusting the robot's direction. Once the steering adjustment is complete and linear movement needs to be resumed, simply reset the motor shaft of the linear motor 41, which in turn resets the push-pull transmission block 42 and the push-pull transmission rod 43, restoring the angle between the front body 1 and the rear body 2 to 180 degrees.

[0048] The solutions described in the embodiments are not intended to limit the scope of patent protection of this invention. All equivalent implementations or modifications that do not depart from the scope of this invention are included in the patent scope of this case.

Claims

1. A biomimetic miniature quadrupedal crawling robot, characterized in that: It includes a forequarter body, a rearquarter body, a front linkage foot mechanism, a rear linkage foot mechanism, a four-legged coupling drive mechanism, and a steering actuator; the front linkage foot mechanism is disposed on the forequarter body; the rear linkage foot mechanism is disposed on the rearquarter body; the four-legged coupling drive mechanism is disposed between the front linkage foot mechanism and the rear linkage foot mechanism; and the steering actuator is disposed between the forequarter body and the rearquarter body. The rear foot linkage mechanism includes a left rear foot support rod, a right rear foot support rod, a rear foot horizontal swing transmission rocker, a left rear foot pitch swing transmission link, a left rear foot pitch swing transmission adapter block, a right rear foot pitch swing transmission link, a right rear foot pitch swing transmission adapter block, and a rear foot linkage stepping transmission assembly; the center of the rear foot horizontal swing transmission rocker is hinged to the rear body, and the left end of the rear foot horizontal swing transmission rocker is hinged to the middle of the left rear foot support rod, with the hinge hole in the middle of the left rear foot support rod being an oblong hole; the right end of the rear foot horizontal swing transmission rocker is hinged to the middle of the right rear foot support rod, and the right rear foot... The hinge hole in the middle of the support rod is an oblong hole; the upper end of the left rear foot support rod is hinged to one end of the left rear foot pitch and swing transmission adapter block, and the other end of the left rear foot pitch and swing transmission adapter block is hinged to one end of the left rear foot pitch and swing transmission connecting rod; the upper end of the right rear foot support rod is hinged to one end of the right rear foot pitch and swing transmission adapter block, and the other end of the right rear foot pitch and swing transmission adapter block is hinged to one end of the right rear foot pitch and swing transmission connecting rod; the other ends of the left rear foot pitch and swing transmission connecting rod and the other ends of the right rear foot pitch and swing transmission connecting rod are connected to the rear foot horizontal swing transmission rocker arm through the rear foot linkage stepping transmission assembly. The four-legged coupling drive mechanism includes a four-legged coupling drive motor, a four-legged coupling drive gear, a four-legged coupling driven gear, a front leg drive worm gear, a front leg drive worm wheel, a rear leg drive worm gear, and a universal coupling. The four-legged coupling drive motor is horizontally fixed to the rear body, and the four-legged coupling drive gear is coaxially fixed to the motor shaft of the four-legged coupling drive motor. The rear leg drive worm gear is horizontally mounted to the rear body via bearings, and is distributed parallel to the four-legged coupling drive motor. The four-legged coupling driven gear... The gear is coaxially fixed on the rear foot drive worm, and the driven gear of the four-leg coupling meshes with the driving gear of the four-leg coupling; the rear foot drive worm wheel is coaxially fixed on the lower end of the rear foot stepping power input shaft, and the rear foot drive worm wheel meshes with the rear foot drive worm; the front foot drive worm is horizontally mounted on the front body through bearings; the front foot drive worm wheel is coaxially fixed on the lower end of the front foot stepping power input shaft, and the front foot drive worm wheel meshes with the front foot drive worm; the rear end of the front foot drive worm and the front end of the rear foot drive worm are connected by a universal coupling.

2. The biomimetic miniature quadrupedal crawling robot according to claim 1, characterized in that: Both the front and rear bodies adopt an integrated frame structure, and the front and rear bodies are hinged together by a steering connection shaft.

3. The biomimetic miniature quadrupedal crawling robot according to claim 1, characterized in that: The forward linkage mechanism includes a left forefoot support rod, a right forefoot support rod, a forefoot horizontal swing transmission rocker arm, a left forefoot pitch swing transmission link, a left forefoot pitch swing transmission adapter block, a right forefoot pitch swing transmission link, a right forefoot pitch swing transmission adapter block, and a forward foot linkage stepping transmission assembly; the center of the forefoot horizontal swing transmission rocker arm is hinged to the forebody, and the left end of the forefoot horizontal swing transmission rocker arm is hinged to the middle of the left forefoot support rod, with the hinge hole in the middle of the left forefoot support rod being an oblong hole; the right end of the forefoot horizontal swing transmission rocker arm is hinged to the middle of the right forefoot support rod, and the right forefoot... The hinge hole in the middle of the support rod is a waist-shaped hole; the upper end of the left forefoot support rod is hinged to one end of the left forefoot pitch and swing transmission adapter block, and the other end of the left forefoot pitch and swing transmission adapter block is hinged to one end of the left forefoot pitch and swing transmission connecting rod; the upper end of the right forefoot support rod is hinged to one end of the right forefoot pitch and swing transmission adapter block, and the other end of the right forefoot pitch and swing transmission adapter block is hinged to one end of the right forefoot pitch and swing transmission connecting rod; the other end of the left forefoot pitch and swing transmission connecting rod and the other end of the right forefoot pitch and swing transmission connecting rod are connected to the forefoot horizontal swing transmission rocker arm through the forefoot linkage stepping transmission assembly.

4. The biomimetic miniature quadrupedal crawling robot according to claim 3, characterized in that: The forefoot linkage stepping transmission assembly includes a forefoot stepping power input shaft, a forefoot stepping drive gear, a forefoot horizontal swing driven gear, a forefoot horizontal swing transmission shaft, a forefoot horizontal swing transmission crank, a forefoot horizontal swing transmission connecting rod, a forefoot pitch swing driven gear, a forefoot pitch swing transmission shaft, and a forefoot pitch swing transmission crank; the forefoot stepping power input shaft is vertically mounted on the forebody via bearings, and the forefoot stepping drive gear is coaxially fixed to the upper end of the forefoot stepping power input shaft; the forefoot horizontal swing transmission shaft is vertically mounted on the forebody via bearings, and the forefoot horizontal swing driven gear is coaxially fixed to the upper end of the forefoot horizontal swing transmission shaft, with the forefoot horizontal swing driven gear meshing with the forefoot stepping drive gear; the forefoot water... One end of the horizontal swing transmission crank is fixedly connected to the lower end of the front foot horizontal swing transmission shaft, and the other end of the front foot horizontal swing transmission crank is hinged to one end of the front foot horizontal swing transmission connecting rod. The other end of the front foot horizontal swing transmission connecting rod is hinged to the rod body of the front foot horizontal swing transmission rocker arm. The front foot pitch swing transmission shaft is vertically mounted on the front body through bearings. The front foot pitch swing driven gear is coaxially fixed on the front foot pitch swing transmission shaft and meshes with the front foot stepping drive gear. One end of the front foot pitch swing transmission crank is fixedly connected to the front foot pitch swing transmission shaft, and the other end of the front foot pitch swing transmission crank is coaxially hinged to the other end of the left front foot pitch swing transmission connecting rod and the other end of the right front foot pitch swing transmission connecting rod.

5. A biomimetic miniature quadrupedal crawling robot according to claim 4, characterized in that: The rear foot linkage stepping transmission assembly includes a rear foot stepping power input shaft, a rear foot stepping drive gear, a rear foot horizontal swing driven gear, a rear foot horizontal swing transmission shaft, a rear foot horizontal swing transmission crank, a rear foot horizontal swing transmission connecting rod, a rear foot pitch swing driven gear, a rear foot pitch swing transmission shaft, and a rear foot pitch swing transmission crank. The rear foot stepping power input shaft is vertically mounted on the rear body via bearings, and the rear foot stepping drive gear is coaxially fixed to the upper end of the rear foot stepping power input shaft. The rear foot horizontal swing transmission shaft is vertically mounted on the rear body via bearings, and the rear foot horizontal swing driven gear is coaxially fixed to the upper end of the rear foot horizontal swing transmission shaft, with the rear foot horizontal swing driven gear meshing with the rear foot stepping drive gear. One end of the rear foot horizontal swing transmission crank is fixedly connected to the lower end of the rear foot horizontal swing transmission shaft, and the other end of the rear foot horizontal swing transmission crank is hinged to one end of the rear foot horizontal swing transmission connecting rod. The other end of the rear foot horizontal swing transmission connecting rod is hinged to the rod body of the rear foot horizontal swing transmission rocker arm. The rear foot pitch swing transmission shaft is vertically mounted on the rear body through bearings. The rear foot pitch swing driven gear is coaxially fixed on the rear foot pitch swing transmission shaft and meshes with the rear foot stepping drive gear. One end of the crank is connected to the rear foot pitch swing transmission shaft, and the other end of the rear foot pitch swing transmission crank is coaxially hinged to the other end of the left rear foot pitch swing transmission connecting rod and the other end of the right rear foot pitch swing transmission connecting rod.

6. A biomimetic miniature quadrupedal crawling robot according to claim 5, characterized in that: The gear models of the front foot stepping drive gear, the front foot horizontal swing driven gear, the front foot pitch swing driven gear, the rear foot stepping drive gear, the rear foot horizontal swing driven gear, and the rear foot pitch swing driven gear are all identical; the transmission ratios of the front foot stepping drive gear and the front foot horizontal swing driven gear, the front foot stepping drive gear and the front foot pitch swing driven gear, the rear foot stepping drive gear and the rear foot horizontal swing driven gear, and the rear foot stepping drive gear and the rear foot pitch swing driven gear are all 1:

1.

7. A biomimetic miniature quadrupedal crawling robot according to claim 5, characterized in that: The phase angles of the forefoot pitch and sway transmission crank and the rear foot pitch and sway transmission crank, and the phase angles of the forefoot horizontal sway transmission crank and the rear foot horizontal sway transmission crank, differ by 180 degrees at any given time.

8. The biomimetic miniature quadrupedal crawling robot according to claim 1, characterized in that: The steering actuator includes a linear motor, a push-pull transmission block, and a push-pull transmission rod; the linear motor is horizontally fixed on the front body, the push-pull transmission block is fixedly installed on the motor shaft of the linear motor, the front end of the push-pull transmission rod is hinged to the push-pull transmission block, and the rear end of the push-pull transmission rod is hinged to the rear body.

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