Leg auxiliary supporting structure and quadruped robot

Abstract

The invention relates to the technical field of quadruped robots, and discloses a leg auxiliary supporting structure and a quadruped robot, and the leg auxiliary supporting structure comprises a robot body and two leg structures connected to the two sides of the robot body. Through the arrangement of the supporting rods and the moving wheels, after the robot body loses a power source or breaks down, the supporting rods and the moving wheels are used for supporting; through the arrangement of the supporting plate, the supporting plate can be used for supporting, the robot body is turned over with the supporting plate as a rotating point, the robot body is moved in a draw-bar box mode in cooperation with holding of the holding rod assembly, and the problems that the robot body cannot move and is inconvenient to move after a power source is lost or a fault occurs are solved; and through the arrangement of the supporting plate, the supporting rods, the moving wheels and the supporting plate form a supporting frame, the robot body can be vertically placed, and the robot body can be conveniently suspended in the midway.

Description

Technical Field

[0001] The present invention relates to the technical field of quadruped robots, in particular to a leg auxiliary support structure and a quadruped robot. Background Art

[0002] A quadruped robot is a robot designed to imitate the way animals walk, usually with four legs to move. The design is inspired by quadrupeds in nature such as dogs, cats or other mammals, and can adapt to a variety of terrains, including uneven or complex ground environments.

[0003] As in the prior art, the patent with the patent authorization announcement number CN113184078A discloses an intelligent quadruped robot, including a trunk, a hip joint, a hip joint, four legs, a first motor, a second motor and a third motor, and the four legs are symmetrically arranged along the left and right sides of the trunk; two third motors are respectively installed at both ends of the trunk, and each third motor is connected to one end of a hip joint; the output end of each second motor is connected to a leg; the third motor can drive the four legs to swing to both sides through the hip joint, and the second motor can drive the four legs to swing forward and backward through the hip joint; the trunk is provided with an environmental perception device. The robot is equipped with a laser radar and multiple depth cameras, which are used for mapping and navigation. The SLAM technology and machine vision technology are applied to the quadruped robot, enriching its application scenarios, and can be used in complex scenarios such as obstacle avoidance and blind guidance.

[0004] Although the above patents solve the problems of obstacle avoidance and blind guidance, they still have certain defects when used:

[0005] When a quadruped robot encounters insufficient power supply or failure during the execution of a task, causing it to be unable to continue walking, the quadruped robot will lie down and wait for maintenance by the staff; in general, the robot should be moved to a safe location or sent back to the maintenance station for comprehensive inspection and repair. However, since the robot's legs have lost their function and the foot end of the quadruped robot's leg structure cannot walk, direct transportation becomes extremely difficult; manual transportation is a difficult task for engineers because the robot is large and heavy. Although the use of a specially designed mobile cart can effectively solve this problem, it requires carrying this auxiliary tool additionally, which increases the inconvenience of operation. Summary of the invention

[0006] In view of the deficiencies in the prior art, the present invention provides a leg auxiliary support structure and a quadruped robot to solve the problems raised by the background technology, so as to provide auxiliary support for the robot and realize the movement of the robot when the robot's own leg structure cannot move.

[0007] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a leg auxiliary support structure and a quadruped robot, comprising a robot body and two groups of leg structures connected on both sides of the robot body, the two sides of the robot body are provided with embedded grooves, support rods are rotatably connected in the two embedded grooves, the ends of the support rods are fixedly installed with rod end fixing cylinders, the rod end fixing cylinders are penetrated with rod end bolts threadedly connected to the embedded grooves, moving wheels are fixedly installed at the ends of the support rods, a support plate is slidably connected in the embedded grooves, the ends of the support plates are arc-shaped, a cushion layer is fixedly connected to the outer side of the support plate, a support linkage assembly is connected between the support plate and the support rod, a grip rod assembly is also rotatably connected in the embedded grooves, and protective plates are fixedly installed on the outer sides of the two embedded grooves.

[0008] Furthermore, the supporting linkage assembly includes a sleeve arranged on a rod end fixing cylinder, the outer side of the rod end fixing cylinder is fixedly sleeved with a rod end pulley, a third gear and a second gear are rotatably connected in the embedded groove, a three-tooth fixing cylinder is fixedly connected to the inner side of the third gear axis, the three-tooth fixing cylinder is rotatably connected to the embedded groove, and a first three-tooth pulley is sleeved on the outer side of the three-tooth fixing cylinder, the outer side of the first three-tooth pulley is transmission-connected to the outer side of the rod end pulley by a short transmission belt, a second rack plate is meshedly connected to the side of the second gear away from the third gear, the second rack plate is slidably connected to the body of the robot body, and the support plate is fixedly connected to the end of the second rack plate.

[0009] Furthermore, the gripping rod assembly comprises two L-shaped rods, the ends of the two L-shaped rods are fixedly connected to end rods, the outer sides of the end rods are slidably connected to sliding sleeves, the end of the L-shaped rod away from the end rods is connected to a gripping rod linkage assembly, and the two L-shaped rods are connected to limiting members.

[0010] Furthermore, the grip linkage assembly includes a first rack plate and a first gear, the first rack plate is slidably connected to the embedded groove, a toothed fixed cylinder is fixedly connected to the inner side of the axis of the first gear, a toothed fixed cylinder is fixedly sleeved on the outer side with a toothed pulley, a second three-toothed pulley is fixedly sleeved on the outer side of the three-tooth fixed cylinder, a long transmission belt is sleeved on the outer sides of the second three-toothed pulley and the one-toothed pulley, the first gear is meshed with the first rack plate, and the end of the first rack plate is fixedly connected to the bottom of the L-shaped rod.

[0011] Furthermore, the limiting member includes an insert block, and two slots are provided on both sides of the robot body. An L-shaped rod is passed through one end of the insert block and is plugged into the slot. An arc piece is fixedly connected to one end of the insert block away from the slot.

[0012] Furthermore, a fixed plate is fixedly connected in the embedded groove, a fixed slider is fixedly connected to the outer wall of the fixed plate, a fixed slide groove corresponding to the position of the fixed slider is opened on the first rack plate, and the fixed slider and the fixed slide groove are detachably arranged, and a movable groove is opened on the inner side of the second rack plate, a bottom slider fixedly connected to the bottom of the robot body is slidably connected in the movable groove, and the bottom slider and the movable groove are detachably connected.

[0013] Furthermore, a three-tooth bolt, a two-tooth bolt and a one-tooth bolt are respectively threadedly connected to the outer side of the embedding groove, the three-tooth bolt passes through a three-tooth fixing cylinder and is threadedly connected to the embedding groove, the three-tooth fixing cylinder is rotatably connected to the three-tooth bolt, the two-tooth bolt passes through a second gear and is threadedly connected to the embedding groove, the second gear is rotatably connected to the two-tooth bolt, the one-tooth bolt passes through a one-tooth fixing cylinder and is threadedly connected to the embedding groove, and the one-tooth fixing cylinder is rotatably connected to the one-tooth bolt.

[0014] Furthermore, a bevel groove connected to the embedding groove is opened on the side of the robot body, the top surface of the bevel groove abuts against the side of the support rod, a support block is fixedly connected in the embedding groove, and the top surface of the support block abuts against the outer wall of the support rod.

[0015] Furthermore, a clamping piece is connected to the outer side of the bottom of the second rack plate, and the clamping piece includes two groups of symmetrically arranged U-shaped blocks and two connecting rods. The sides of the two U-shaped blocks are fixedly connected with L-shaped plates, and the two groups of L-shaped plates are respectively fixedly connected to the two ends of the connecting rod. The connecting rod is fixedly connected to the second rack plate, and the inner side of the U-shaped block is fixedly connected with a U-shaped pad.

[0016] The present invention also provides a quadruped robot, comprising a robot body, wherein the robot body comprises the above-mentioned leg auxiliary support structure.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. This leg auxiliary support structure and quadruped robot can be supported by the support rods and moving wheels after the robot body loses power or fails, through the arrangement of the support rods and moving wheels;

[0019] 2. This leg auxiliary support structure and quadruped robot, through the setting of the support plate, can facilitate people to use the support plate for support and use it as a rotation point to flip the robot body, and with the grip of the grip rod assembly, the robot body can be moved in a "trolley case" manner, solving the problem that the robot body cannot be moved or is inconvenient to move after losing power or malfunctioning;

[0020] 3. This leg auxiliary support structure and quadruped robot, through the setting of the support plate, when the robot body needs to pause during movement, the support rod, the moving wheel and the support plate form a support frame, which can place the robot body vertically, and the bottom of the support plate as a plate body can increase the friction with the ground, which can not only improve the smoothness and convenience of the flipping process, but also increase the friction during support;

[0021] 4. This leg auxiliary support structure and quadruped robot can realize the linkage sliding out of the support plate and the grip assembly by rotating the support rod, achieving three functions in one action, which greatly improves the convenience during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional structural schematic diagram of the overall state of the present invention;

[0023] Figure 2 It is a schematic diagram of the three-dimensional structure of the robot body of the present invention in a lying state;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the robot body of the present invention in a lifted and moving state;

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the robot body of the present invention;

[0026] Figure 5 It is a schematic diagram of the three-dimensional structure of the auxiliary support wheel of the present invention;

[0027] Figure 6 It is a schematic diagram of the three-dimensional structure of the local state of the present invention;

[0028] Figure 7 It is a schematic diagram of the three-dimensional structure of the present invention in a partially unfolded state;

[0029] Figure 8 It is a schematic diagram of the three-dimensional structure of the second rack plate and the support plate of the present invention;

[0030] Fig. 9 It is a schematic diagram of the three-dimensional structure of the first rack plate and the fixing plate of the present invention;

[0031] Fig.10 It is a three-dimensional structural schematic diagram of the L-shaped plate and the U-shaped block of the present invention;

[0032] Fig.11 It is a three-dimensional structural schematic diagram of the L-shaped rod and the insert block of the present invention;

[0033] Fig.12 It is a three-dimensional structural schematic diagram of the L-shaped rod, end rod and sliding sleeve of the present invention.

[0034] In the figure: 1, robot body; 2, leg structure; 3, protective plate; 4, support rod; 5, moving wheel; 6, L-shaped rod; 7, sliding sleeve; 8, connecting rod; 9, L-shaped plate; 10, support block; 11, embedded groove; 12, long transmission belt; 13, first gear; 14, first rack plate; 15, end rod; 16, U-shaped block; 17, second rack plate; 18, support plate; 19, cushion layer; 20, U-shaped cushion; 21, bevel groove; 22, second gear; 23, fixed plate; 2 4. Short transmission belt; 25. Third gear; 26. Rod end fixed cylinder; 27. Rod end pulley; 28. Fixed slide groove; 29. ​​Rod end bolt; 30. Three-tooth bolt; 31. Two-tooth bolt; 32. One-tooth bolt; 33. Insert block; 34. Slot; 35. Fixed slider; 36. Bottom slider; 37. One-tooth fixed cylinder; 38. One-tooth pulley; 39. Three-tooth fixed cylinder; 40. First three-tooth pulley; 41. Moving groove; 42. Arc sheet; 43. Second three-tooth pulley. DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0036] See also Figure 1-Figure 12 A leg auxiliary support structure and a quadruped robot include a robot body 1 and two groups of leg structures 2 connected on both sides of the robot body 1, embedding grooves 11 are opened on both sides of the robot body 1, support rods 4 are rotatably connected in the two embedding grooves 11, and rod end fixing cylinders 26 are fixedly installed at the ends of the support rods 4. Rod end bolts 29 threadedly connected to the embedding grooves 11 are passed through the rod end fixing cylinders 26, and moving wheels 5 are fixedly installed at the ends of the support rods 4. A support plate 18 is slidably connected in the embedding grooves 11, and the ends of the support plates 18 are arc-shaped. A cushion layer 19 is fixedly connected to the outer side of the support plate 18, a support linkage assembly is connected between the support plate 18 and the support rod 4, a grip assembly is also rotatably connected in the embedding grooves 11, and protective plates 3 are fixedly installed on the outer sides of the two embedding grooves 11.

[0037] The leg auxiliary support structure and the quadruped robot of the present invention, when the robot body 1 runs out of power, the robot body 1 lies down first, and then the engineer will perform maintenance on the robot body 1. When moving, the support rod 4 can be rotated to make the support rod 4 rotate above the fuselage, so that the support rod 4 is tilted, and in the process of rotation of the support rod 4, the support plate 18 is driven to slide out through the support linkage assembly, and the grip rod assembly is brought out at the same time. At this time, the engineer can hold the grip rod assembly and use the support plate 18 as a fulcrum to flip the robot body 1, so that the robot body 1 is flipped with the support plate 18 as the axis. The flipped robot body 1 can be moved by the moving wheels 5 at the bottom of the support rod 4, and the robot body 1 can be moved in the form of a "trolley case" by holding the grip rod assembly, which solves the problem that the robot body 1 cannot move after losing power or malfunctioning.

[0038] By setting the support rod 4 and the moving wheel 5, the robot body 1 can be supported by the support rod 4 and the moving wheel 5 after losing power or malfunctioning. By setting the support plate 18, people can use the support plate 18 for support and use it as a rotation point to flip the robot body 1, and with the grip of the grip rod assembly, the robot body 1 can be moved in a "trolley case" manner, solving the problem that the robot body 1 cannot be moved or is inconvenient to move after losing power or malfunctioning. At the same time, with the setting of the support plate 18, when the robot body 1 needs to pause during movement, the support rod 4, the moving wheel 5 and the support plate 18 form a support frame, which can place the robot body 1 vertically, and the bottom of the support plate 18 serves as a plate body, which can increase the friction with the ground, which can not only improve the smoothness and convenience of flipping during the flipping process, but also increase the friction during support.

[0039] At the same time, by utilizing the rotation of the support rod 4, the support plate 18 and the grip assembly can slide out in conjunction, achieving three functions in one action, which greatly improves the convenience during operation.

[0040] The function of the protection plate 3 is to protect the various components in the embedded groove 11, and the protection plate 3 is L-shaped and will not hinder the sliding display and use of the various components.

[0041] The moving wheels 5 should be universal wheels to improve the convenience during movement.

[0042] The provision of the cushion layer 19 can reduce the friction of the support plate 18 .

[0043] As a preferred technical solution of the present invention, the supporting linkage assembly includes a sleeve on the rod end fixing cylinder 26, the outer side of the rod end fixing cylinder 26 is fixedly sleeved with a rod end pulley 27, the third gear 25 and the second gear 22 are rotatably connected in the embedded groove 11, the inner side of the axis of the third gear 25 is fixedly connected with a three-tooth fixing cylinder 39, the three-tooth fixing cylinder 39 is rotatably connected to the embedded groove 11, and the outer side of the three-tooth fixing cylinder 39 is sleeved with a first three-tooth pulley 40, the outer side of the first three-tooth pulley 40 is transmission-connected to the outer side of the rod end pulley 27 with a short transmission belt 24, the second gear 22 is meshed with a second rack plate 17 on the side away from the third gear 25, the second rack plate 17 is slidably connected to the body of the robot body 1, and the support plate 18 is fixedly connected to the end of the second rack plate 17.

[0044] Specifically, when the support rod 4 rotates, the rod end fixing cylinder 26 inside the support rod 4 is driven to rotate, and the rod end fixing cylinder 26 drives the rod end pulley 27 to rotate. The short transmission belt 24 outside the rod end pulley 27 drives the first three-tooth pulley 40, and then drives the three-tooth fixing cylinder 39 to rotate. The three-tooth fixing cylinder 39 will drive the third gear 25 to rotate, and the third gear 25 meshes and rotates with the second gear 22, so that the second gear 22 rotates, and the second gear 22 meshes and transmits with the second rack plate 17, driving the second rack plate 17 to transmit, and the second rack plate 17 drives the support plate 18 to slide out so that it can be supported.

[0045] As a preferred technical solution of the present invention, the grip rod assembly includes two L-shaped rods 6, the ends of the two L-shaped rods 6 are fixedly connected to the end rods 15, the outer side of the end rods 15 is slidably connected to the sliding sleeve 7, the end of the L-shaped rod 6 away from the end rod 15 is connected to the grip rod linkage assembly, and the two L-shaped rods 6 are connected to limit members.

[0046] Specifically, when the support rod 4 is rotated out, the L-shaped rod 6 will slide out a certain distance on the side of the robot body 1 through the grip rod linkage assembly. At this time, people can slide out the L-shaped rods 6 on both sides, and slide the sliding sleeve 7 on the outside of one of the end rods 15 to the outside of the other end rod 15, so that the sliding sleeve 7 can connect the two end rods 15 into a whole. The sliding sleeve 7 can be held by hand to pull the end rods 15 of the two L-shaped rods 6 at the moving ends, thereby realizing the movement of the robot body 1.

[0047] When the L-shaped rod 6 needs to be retracted, it is only necessary to slide the sliding sleeve 7 onto one of the end rods 15 so that the other end rod 15 loses the restriction of the sliding sleeve 7 and the L-shaped rod 6 can be moved and recovered.

[0048] As a preferred technical solution of the present invention, the grip linkage assembly includes a first rack plate 14 and a first gear 13. The first rack plate 14 is slidably connected to the embedded groove 11. A toothed fixed cylinder 37 is fixedly connected to the inner side of the axis of the first gear 13. A toothed pulley 38 is fixedly sleeved on the outer side of the toothed fixed cylinder 37. A second three-toothed pulley 43 is fixedly sleeved on the outer side of the three-toothed fixed cylinder 39. The outer sides of the second three-toothed pulley 43 and the toothed pulley 38 are sleeved with a long transmission belt 12. The first gear 13 is meshed with the first rack plate 14, and the end of the first rack plate 14 is fixedly connected to the bottom of the L-shaped rod 6.

[0049] Specifically, when the support rod 4 rotates, it drives the three-tooth fixed cylinder 39 to rotate, and at the same time drives the second three-tooth pulley 43. The long transmission belt 12 outside the second three-tooth pulley 43 will drive the one-tooth pulley 38, and then drive the one-tooth fixed cylinder 37 to rotate, and further drive the first gear 13 fixed on the outside of the one-tooth fixed cylinder 37 to rotate, so that the first gear 13 and the first rack plate 14 are meshed and transmitted, driving the first rack plate 14 to move outside the embedded groove 11, so as to realize the sliding out of the L-shaped rod 6 and the end rod 15.

[0050] As a preferred technical solution of the present invention, the limiting member includes an insert block 33, two slots 34 are provided on both sides of the body of the robot body 1, an L-shaped rod 6 is passed through one end of the insert block 33 and is plugged into the slot 34, and an arc-shaped piece 42 is fixedly connected to the end of the insert block 33 away from the slot 34.

[0051] Specifically, before the support rod 4 needs to be rotated, the plug blocks 33 on both sides are separated from the slots 34. When separating, the plug blocks 33 can be pulled apart from the slots 34 by pulling the arc-shaped piece 42. After separation, the support rod 4 is rotated to make the L-shaped rod 6 slide out. After sliding out, the plug block 33 can be plugged into another slot 34, so that the position of the L-shaped rod 6 after sliding out is fixed, and the L-shaped rod 6 is fixed, and the first rack plate 14 and the first gear 13 are further fixed, thereby ensuring the third gear 25, and further ensuring that the support rod 4 and the support plate 18 are stably supported and will not rotate and recover.

[0052] When the support rod 4, the support plate 18 and the L-shaped rod 6 need to be retracted, it is only necessary to first separate the plug block 33 from the first slot 34, rotate the support rod 4 to restore it, drive the support plate 18 and the L-shaped rod 6 to restore their positions, and plug the plug block 33 into the other slot 34 to complete the overall fixation. The use of one limit member to achieve the three fixations makes the fixing method simpler and more convenient.

[0053] As a preferred technical solution of the present invention, a fixed plate 23 is fixedly connected in the embedded groove 11, a fixed slider 35 is fixedly connected to the outer wall of the fixed plate 23, a fixed slide groove 28 corresponding to the position of the fixed slider 35 is opened on the first rack plate 14, the fixed slider 35 and the fixed slide groove 28 are detachably arranged, and a movable groove 41 is opened on the inner side of the second rack plate 17, a bottom slider 36 fixedly connected to the bottom of the robot body 1 is slidably connected in the movable groove 41, and the bottom slider 36 and the movable groove 41 are detachably connected.

[0054] Specifically, when the first rack plate 14 slides, the fixed groove 28 on the inner side of the first rack plate 14 will slide with the fixed slider 35 on the outer side of the fixed plate 23. This arrangement can ensure the sliding stability of the first rack plate 14, and the fixed slider 35 is arranged to be detachably connected to the fixed groove 28, which can facilitate the disassembly and separation of the first rack plate 14.

[0055] Specifically, when the second rack plate 17 moves, the moving groove 41 in the second rack plate 17 will be slidably connected to the outer side of the bottom slider 36, thereby ensuring the stable movement of the second rack plate 17, and the bottom slider 36 is configured to be detachable from the moving groove 41, which can facilitate the disassembly and separation of the second rack plate 17.

[0056] As a preferred technical solution of the present invention, a three-tooth bolt 30, a two-tooth bolt 31 and a one-tooth bolt 32 are respectively threadedly connected to the outer side of the embedding groove 11, the three-tooth bolt 30 passes through a three-tooth fixing tube 39 and is threadedly connected to the embedding groove 11, the three-tooth fixing tube 39 is rotatably connected to the three-tooth bolt 30, the two-tooth bolt 31 passes through the second gear 22 and is threadedly connected to the embedding groove 11, the second gear 22 is rotatably connected to the two-tooth bolt 31, the one-tooth bolt 32 passes through a one-tooth fixing tube 37 and is threadedly connected to the embedding groove 11, and the one-tooth fixing tube 37 is rotatably connected to the one-tooth bolt 32.

[0057] Specifically, by using the three-tooth bolt 30, the three-tooth fixing cylinder 39 can be easily rotated outside the three-tooth bolt 30, and it is also convenient to install and remove it;

[0058] The two-tooth bolt 31 can be used to facilitate the second gear 22 to rotate around the axis of the two-tooth bolt 31, and at the same time facilitate the disassembly and installation of the second gear 22;

[0059] The one-tooth bolt 32 can be used to facilitate the one-tooth fixing cylinder 37 to rotate around its axis, and it is also convenient to disassemble and install the one-tooth fixing cylinder 37.

[0060] As a preferred technical solution of the present invention, a bevel groove 21 connected to the embedding groove 11 is opened on the side of the robot body 1, and the top surface of the bevel groove 21 is against the side of the support rod 4. A support block 10 is fixedly connected in the embedding groove 11, and the top surface of the support block 10 is against the outer wall of the support rod 4.

[0061] Specifically, when the support rod 4 is rotated and unfolded, the side of the support rod 4 will just abut against the bevel groove 21. This setting can make way for the support rod 4, and the bevel setting can make the abutment more stable. At the same time, the setting of the support block 10 can support the support rod 4 and improve the stability of the support rod 4 when it is in a horizontal state.

[0062] As a preferred technical solution of the present invention, a clamping piece is connected to the outer side of the bottom of the second rack plate 17, and the clamping piece includes two groups of symmetrically arranged U-shaped blocks 16 and two connecting rods 8. The sides of the two U-shaped blocks 16 are fixedly connected with L-shaped plates 9, and the two groups of L-shaped plates 9 are respectively fixedly connected to the two ends of the connecting rod 8. The connecting rod 8 is fixedly connected to the second rack plate 17, and the inner side of the U-shaped block 16 is fixedly connected with a U-shaped pad 20.

[0063] Specifically, when the leg structure 2 of the robot body 1 is damaged or out of power, the robot body 1 will lie down. At this time, the staff can first lift one side of the robot body 1 and rotate the support rod 4 to move the second rack plate 17. When the second rack plate 17 moves, it will also drive the connecting rod 8 to move, and make the U-shaped blocks 16 on the sides of the two L-shaped plates 9 connect with the leg structure 2 in the folded state. This arrangement can prevent the robot body 1 from shaking at the hinge of the leg structure 2 during movement, thereby aggravating its damage.

[0064] Follow the above steps for the other side.

[0065] The present invention also provides a quadruped robot, comprising a robot body 1, wherein the robot body 1 comprises the above-mentioned leg auxiliary support structure.

[0066] Specifically, since the robot body 1 according to the embodiment of the present invention has the above-mentioned technical effects, the robot body 1 according to the embodiment of the present invention should also have corresponding technical effects, that is, the robot of the present invention adopts the leg auxiliary structure to assist in supporting and moving the robot body 1 after the robot body 1 loses power or has a leg failure, thereby solving the problem of being unable to move or being inconvenient to move.

[0067] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A leg auxiliary support structure, comprising a robot body (1) and two sets of leg structures (2) connected to both sides of the robot body (1), characterized in that: The robot body (1) is provided with embedding grooves (11) on both sides, and support rods (4) are rotatably connected in the two embedding grooves (11), and the ends of the support rods (4) are fixedly installed with rod end fixing tubes (26), and rod end bolts (29) threadedly connected to the embedding grooves (11) are passed through the rod end fixing tubes (26), and moving wheels (5) are fixedly installed at the ends of the support rods (4), and a support plate (18) is slidably connected in the embedding grooves (11), and the ends of the support plates (18) are arc-shaped, and a cushion layer (19) is fixedly connected to the outer side of the support plate (18), and a support linkage assembly is connected between the support plate (18) and the support rod (4), and a gripping rod assembly is also rotatably connected in the embedding grooves (11), and a protective plate (3) is fixedly installed on the outer sides of the two embedding grooves (11).

2. A leg auxiliary support structure according to claim 1, characterized in that: The supporting linkage assembly comprises a sleeve mounted on a rod end fixing cylinder (26), the outer side of the rod end fixing cylinder (26) is fixedly sleeved with a rod end pulley (27), a third gear (25) and a second gear (22) are rotatably connected in the embedded groove (11), a three-tooth fixing cylinder (39) is fixedly connected to the inner side of the axis of the third gear (25), the three-tooth fixing cylinder (39) is rotatably connected to the embedded groove (11), and a first three-tooth pulley (40) is sleeved on the outer side of the three-tooth fixing cylinder (39), the outer side of the first three-tooth pulley (40) is transmission-connected to the outer side of the rod end pulley (27) by a short transmission belt (24), a second rack plate (17) is meshedly connected to a side of the second gear (22) away from the third gear (25), the second rack plate (17) is slidably connected to the body of the robot body (1), and the supporting plate (18) is fixedly connected to the end of the second rack plate (17).

3. A leg auxiliary support structure according to claim 1 or 2, characterized in that: The gripping rod assembly comprises two L-shaped rods (6), the ends of the two L-shaped rods (6) are fixedly connected to end rods (15), the outer sides of the end rods (15) are slidably connected to sliding sleeves (7), one end of the L-shaped rod (6) away from the end rod (15) is connected to a gripping rod linkage assembly, and the two L-shaped rods (6) are connected to limiting members.

4. The leg auxiliary support structure according to claim 3, characterized in that: The grip rod linkage assembly comprises a first rack plate (14) and a first gear (13); the first rack plate (14) is slidably connected to the embedded groove (11); a toothed fixed cylinder (37) is fixedly connected to the inner side of the axis of the first gear (13); a toothed belt pulley (38) is fixedly sleeved on the outer side of the toothed fixed cylinder (37); a second three-toothed belt pulley (43) is fixedly sleeved on the outer side of the three-toothed fixed cylinder (39); a long transmission belt (12) is sleeved on the outer sides of the second three-toothed belt pulley (43) and the toothed belt pulley (38); the first gear (13) is meshed with the first rack plate (14); and the end of the first rack plate (14) is fixedly connected to the bottom of the L-shaped rod (6).

5. The leg auxiliary support structure according to claim 3, characterized in that: The limiting member comprises an insert block (33), two slots (34) are provided on both sides of the robot body (1), an L-shaped rod (6) is passed through one end of the insert block (33) and is plugged into the slot (34), and an arc-shaped piece (42) is fixedly connected to one end of the insert block (33) away from the slot (34).

6. A leg auxiliary support structure according to claim 4 or 5, characterized in that: A fixed plate (23) is fixedly connected in the embedding groove (11), and a fixed slider (35) is fixedly connected to the outer wall of the fixed plate (23). A fixed slide groove (28) corresponding to the position of the fixed slider (35) is provided on the first rack plate (14), and the fixed slider (35) and the fixed slide groove (28) are detachably arranged. A movable groove (41) is provided on the inner side of the second rack plate (17), and a bottom slider (36) fixedly connected to the bottom of the robot body (1) is slidably connected in the movable groove (41), and the bottom slider (36) and the movable groove (41) are detachably connected.

7. A leg auxiliary support structure according to claim 1, 2, 4 or 5, characterized in that: The outer side of the embedding groove (11) is respectively threadedly connected with a three-tooth bolt (30), a two-tooth bolt (31) and a one-tooth bolt (32); the three-tooth bolt (30) passes through a three-tooth fixing cylinder (39) and is threadedly connected to the embedding groove (11); the three-tooth fixing cylinder (39) is rotatably connected to the three-tooth bolt (30); the two-tooth bolt (31) passes through a second gear (22) and is threadedly connected to the embedding groove (11); the second gear (22) is rotatably connected to the two-tooth bolt (31); the one-tooth bolt (32) passes through a one-tooth fixing cylinder (37) and is threadedly connected to the embedding groove (11); the one-tooth fixing cylinder (37) is rotatably connected to the one-tooth bolt (32).

8. A leg auxiliary support structure according to claim 1, 2, 4 or 5, characterized in that: The robot body (1) is provided with a bevel groove (21) on the side thereof and connected to the embedding groove (11); the top surface of the bevel groove (21) abuts against the side of the support rod (4); a support block (10) is fixedly connected inside the embedding groove (11); the top surface of the support block (10) abuts against the outer wall of the support rod (4).

9. The leg auxiliary support structure according to claim 2, characterized in that: The bottom outer side of the second rack plate (17) is connected with a clamping piece, and the clamping piece includes two groups of symmetrically arranged U-shaped blocks (16) and two connecting rods (8). The sides of the two U-shaped blocks (16) are fixedly connected with L-shaped plates (9). The two groups of L-shaped plates (9) are respectively fixedly connected to the two ends of the connecting rod (8). The connecting rod (8) is fixedly connected to the second rack plate (17). The inner side of the U-shaped block (16) is fixedly connected with a U-shaped pad (20).

10. A quadruped robot, comprising a robot body (1), characterized in that: The robot body (1) also includes a leg auxiliary support structure as described in any one of claims 1-9.

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