Body of quadruped robot and quadruped robot

Abstract

The invention provides a quadruped robot body and a quadruped robot, and belongs to the technical field of industrial robots, and the quadruped robot body comprises a body rotary sheet component, a side sliding frame component, a telescopic driving component, a middle position sliding support component, a lead screw oiling device, an arc-shaped insertion sheet component and a side connecting seat; the upper right rotary piece, the upper left rotary piece, the lower right rotary piece and the lower left rotary piece are sequentially connected in a rotary mode to form a closed-loop chain-shaped structure, the side sliding frame assemblies are located on the two sides of the machine body rotary piece component, the stability of the machine body rotary piece component in the changing process can be improved, and the machine body rotary piece component can be matched with the telescopic driving assembly to automatically adjust the shape. The middle-position sliding supporting component is located in the middle position of the machine body rotary piece component, the deformation precision of the machine body rotary piece component can be improved, and meanwhile the telescopic lead screw can be efficiently oiled and lubricated through cooperation with the lead screw oiling device. The arc-shaped insertion piece assemblies connected to the two ends of the opening of the machine body rotary piece component can play a role in enhancing protection.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robots, and in particular to a body of a quadruped robot and the quadruped robot. Background Art

[0002] The mechanical transmission part of a quadruped robot consists of a trunk and four leg structures, and its mechanical structure design is carried out around the legs and trunk. The trunk of a traditional quadruped robot is a rigid integral structure, so the design is mainly carried out around its legs. The leg structure of a quadruped robot needs at least 3 degrees of freedom to complete free swinging in space and form a more flexible walking action.

[0003] However, when using a rigid trunk, the trunk only serves as a load-bearing and mounting platform, and its contribution to the operability and environmental adaptability of the quadruped robot is extremely low. In addition, the movement ability of the rigid-torso quadruped robot is completely dependent on the movement performance of the legs. Summary of the invention

[0004] The purpose of the present invention is to provide a body of a quadruped robot, which can not only realize the deformation action of the body rotary vane component by utilizing the transmission of the telescopic drive assembly and the side slide assembly, but also synchronously lubricate the telescopic screw within a certain range through the middle sliding support assembly and the screw oiling device.

[0005] The object of the present invention is achieved through such a technical solution, a fuselage of a quadruped robot, including a fuselage vane component, a side sliding frame assembly, a telescopic drive assembly, a middle sliding support component and a screw oiling device, the fuselage vane component includes a right upper vane, a left upper vane, a right lower vane and a left lower vane, the side sliding frame assembly includes an inner slide bar and an outer slide bar, the telescopic drive assembly includes an outer cross frame, a telescopic screw and a screw slider, the middle sliding support component includes an outer slide tube and an inner insert tube, and the screw oiling device includes an oiling cylinder, a passive gear and a passive rack;

[0006] The upper right rotary piece, the upper left rotary piece, the lower right rotary piece and the lower left rotary piece are rotated in a chain shape, and the inner sliding rod and the outer sliding rod are distributed in pairs, one end of the inner sliding rod is rotated to the outer side of the top end of the lower right rotary piece, and one end of the outer sliding rod is rotated to the outer side of the bottom end of the upper left rotary piece, and the inner sliding rod and the outer sliding rod on the same side are slidably connected, the inner ends between the two groups of outer sliding rods are fixedly connected with an inner cross frame, and the outer cross frame is fixedly connected to the outer ends between the two groups of outer sliding rods, one end of the telescopic screw is rotated to the middle part of the inner cross frame, and the other end is rotated to the middle part of the outer cross frame, the inner ends of the two groups of inner sliding rods are fixedly connected with a moving cross frame, the screw slider is installed and fixed in the middle part of the moving cross frame, and is connected with the telescopic screw;

[0007] The outer sliding tubes are distributed in pairs, and the upper ends are screwed to the middle of the top end of the right upper rotating piece. The inner insert tubes are distributed in pairs, and the lower ends are screwed to the middle of the bottom end of the left lower rotating piece. The inner insert tubes on the same side are slidably inserted with the outer sliding tubes.

[0008] The inner end of the oiling cylinder is sleeved on the outside of the telescopic screw, and a group of outer sliding tubes have an inner side wall with a tube groove vertically opened. The passive rack is fixedly connected to the inner insert tube that slides with the group of outer sliding tubes. The passive gear is fixed to the middle part of the outside of the oiling cylinder and meshes with the passive rack while sliding with the tube groove.

[0009] The use process of the technical solution of the present invention is as follows:

[0010] The upper right rotary blade, the upper left rotary blade, the lower right rotary blade and the lower left rotary blade are sequentially rotated and matched to form the main structure of the fuselage, and the center distances of the rotary centers at both ends of the upper right rotary blade, the center distances of the rotary centers at both ends of the upper left rotary blade, the center distances of the rotary centers at both ends of the lower right rotary blade and the center distances of the rotary centers at both ends of the lower left rotary blade are all equal;

[0011] The purpose of the side slide frame assemblies being respectively connected to the two sides of the fuselage rotary vane component is not only to provide lateral support for the rotational connection of the upper right rotary vane, the upper left rotary vane, the lower right rotary vane and the lower left rotary vane, but also to be used for connection with the telescopic drive assembly. The telescopic lead screw can rotate automatically and form a cooperative transmission with the lead screw slider, thereby driving the component formed by the connection of the moving cross frame and the inner slide rod to slide relative to the component formed by the connection of the outer cross frame and the inner cross frame and the outer slide rod;

[0012] When the inner slide bar moves away from the outer slide bar, the fuselage rotary blade member is flat in width, and conversely, when the inner slide bar moves closer to the outer slide bar, the fuselage rotary blade member is flat in height, thereby realizing automatic change of the fuselage;

[0013] Since the upper rotation center of the outer sliding tube and the rotational connection between the upper right rotating blade and the upper left rotating blade are concentric, and the lower rotation center of the inner insert tube and the rotational connection between the lower right rotating blade and the lower left rotating blade are concentric, the outer sliding tube and the inner insert tube are slidably connected, so within the variation range of the fuselage rotating blade component, the middle sliding support component can always be vertically located at the center of the fuselage rotating blade component, so that the variation accuracy of the fuselage rotating blade component can be improved to a certain extent by using the middle sliding support component;

[0014] Synchronously, in the process of the rotational connection of the fuselage rotary vane component, the inner tube will be displaced relative to the outer slide tube. Since the passive gear is meshed with the passive rack inside the inner tube, and the outer surface of the passive gear is stuck in the tube groove, the oiling cylinder can rotate relative to the telescopic screw as the inner tube moves relative to the outer slide tube.

[0015] And because during the change of the fuselage rotary vane component, a relative displacement of the component formed by the outer slide rod connection with respect to the component formed by the inner slide rod connection will be formed, that is to say, while the telescopic screw forms a coordinated transmission with the screw slider, the telescopic screw itself can be displaced relative to the middle position of the fuselage rotary vane component, thereby cooperating with the rotation of the oiling cylinder relative to the telescopic screw. The oiling mechanism at the inner end of the oiling cylinder can be used to perform a large range of oiling and lubrication operations on the surface of a certain path of the telescopic screw.

[0016] Another object of the present invention is to provide a quadruped robot, further comprising a side connecting seat, wherein the side connecting seat of the corner structure is fixedly connected to one end of the inner sliding rod and the outer sliding rod, and the side connecting seats are symmetrically distributed in pairs in front and back;

[0017] Due to the lack of a fixed reference when the fuselage rotor component changes its shape, when the fuselage rotor component changes its shape, it is necessary to cooperate with the left and right leg structures installed in the side connecting seat to perform alternating stepping actions, and at the same time, start the micro servo motor through the control center of the quadruped robot, which can easily form the deformation action of the upper right rotor, upper left rotor, lower right rotor and lower left rotor.

[0018] By adopting the above technical solution, the present invention can achieve the following beneficial effects:

[0019] (1) Since the upper right rotating piece, the upper left rotating piece, the lower right rotating piece and the lower left rotating piece are four parts equally divided from a whole circle, they can be regarded as diamond-shaped quadrilateral components. At the same time, due to their arc-shaped cross-sectional structure, the supporting strength can be improved to a certain extent;

[0020] (2) The sliding cooperation of the inner slide bar and the outer slide bar formed by the side slide frame assembly laterally connected on both sides of the fuselage rotary vane component can not only improve the stability of the fuselage rotary vane component in the fuselage change, but also provide a cooperation position for the telescopic drive assembly. That is to say, when the fuselage rotary vane component needs to be changed, the cooperation transmission formed by the automatically rotatable telescopic screw and the screw slider can drive the component formed by the inner slide bar connection to move relative to the component formed by the outer slide bar connection, so that the fuselage rotary vane component can be deformed by being flattened up and down or left and right, so as to be suitable for different walking environments;

[0021] (3) The purpose of the cooperation between the outer sliding tube and the inner inserting tube is not only to provide a reference type support at the inner center position of the fuselage rotary vane component, so that the change process of the fuselage rotary vane component is more accurate, but also to drive the rotation of the oiling cylinder through the cooperative transmission formed by the passive rack and the passive gear when the fuselage rotary vane component changes, and cooperate with the lateral displacement of the telescopic screw relative to the center sliding support component, and use the oiling mechanism at the inner end of the oiling cylinder to more effectively lubricate the surface of the telescopic screw. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0023] Figure 1 A schematic diagram of the body of a quadruped robot and the overall structure of the quadruped robot provided by the present invention;

[0024] Figure 2 It is a schematic structural diagram of the fuselage rotor blade component of the present invention;

[0025] Figure 3 It is a schematic diagram of the installation structure of the side sliding frame assembly of the present invention;

[0026] Figure 4 It is a schematic diagram of the installation structure of the telescopic drive assembly of the present invention;

[0027] Figure 5 It is a schematic diagram of the transmission structure of the telescopic drive assembly and the side carriage assembly of the present invention;

[0028] Figure 6 It is a schematic diagram of the installation structure of the median sliding support member of the present invention;

[0029] Figure 7 It is a schematic diagram of the exploded structure of the median sliding support member of the present invention;

[0030] Figure 8 It is a schematic diagram of the position structure of the lead screw oiling device and the telescopic lead screw of the present invention;

[0031] Fig. 9 It is a structural schematic diagram of the oiling cylinder part of the present invention;

[0032] Fig.10 It is a structural schematic diagram of the passive rack part of the present invention;

[0033] Fig.11 It is a structural schematic diagram of the arc-shaped insert assembly of the present invention;

[0034] Fig.12 It is a schematic diagram of the connection structure of the arc-shaped inserting piece assembly and the upper left rotating piece and the lower left rotating piece of the present invention;

[0035] Fig.13 It is a schematic structural diagram of the arc-shaped inserting piece assembly of the present invention at the position of the upper right rotating piece.

[0036] Reference numerals:

[0037] 1. Body rotary vane component; 101. upper right rotary vane; 102. upper left rotary vane; 103. lower right rotary vane; 104. lower left rotary vane; 105. rotary shaft; 106. rotary seat; 107. arrow hole;

[0038] 2. Side sliding frame assembly; 201. Inner rod swivel seat; 202. Outer rod swivel seat; 203. Inner sliding rod; 204. Outer sliding rod; 205. Slide groove; 206. Rubber wheel;

[0039] 3. Telescopic drive assembly; 301. Inner cross frame; 302. Outer cross frame; 303. Inner seat of lead screw; 304. Outer seat of lead screw; 305. Telescopic lead screw; 306. Moving cross frame; 307. Lead screw slider; 308. Micro servo motor;

[0040] 4. Middle position sliding support member; 401. Upper groove; 402. Lower groove; 403. Upper fixed shaft; 404. Lower fixed shaft; 405. Upper rotating rod; 406. External sliding tube; 407. Lower rotating rod; 408. Internal insert tube; 409. Nylon sliding sleeve;

[0041] 5. Screw oiling device; 501. Pipe groove; 502. Rack slot; 503. Oiling cylinder; 504. Passive gear; 505. Inner cylinder; 506. Side cover; 507. Oil seepage hole; 508. Oiling rubbing column; 509. Soft limit block; 510. Passive rack;

[0042] 6. Arc-shaped insert assembly; 601. Main insert; 602. Main spacing insert; 603. Side insert; 604. Side spacing insert; 605. Insert connector; 606. Insert; 607. Elastic fixing sleeve;

[0043] 7. Side connection seat. DETAILED DESCRIPTION

[0044] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0046] like Figure 1-Figure 13 As shown, a body of a quadruped robot and a quadruped robot, the upper right rotating blade 101, the upper left rotating blade 102, the lower right rotating blade 103 and the lower left rotating blade 104 in the body rotating blade component 1 are respectively four parts divided equally from a whole circle, the upper right rotating blade 101, the upper left rotating blade 102, the lower right rotating blade 103 and the lower left rotating blade 104 are connected in a chain shape, the upper right rotating blade 101 and the upper left rotating blade 102 are the upper part of the body, the lower right rotating blade 103 and the lower left rotating blade 104 are the lower part of the body, the inner sliding rod 203 and the outer sliding rod 204 are distributed in pairs, one end of the inner sliding rod 203 is connected to the outer rotation of the top end of the lower right rotating blade 103 The outer sliding rod 204 is connected to the outer side of the bottom end of the upper left rotating piece 102, and the inner sliding rod 203 on the same side is slidably connected to the outer sliding rod 204. The inner end between the two groups of outer sliding rods 204 is fixedly connected to the inner cross frame 301, and the outer cross frame 302 is fixedly connected to the outer end between the two groups of outer sliding rods 204. One end of the telescopic screw 305 is screwed to the middle part of the inner cross frame 301, and the other end is screwed to the middle part of the outer cross frame 302. The inner ends of the two groups of inner sliding rods 203 are fixedly connected to the moving cross frame 306. The screw slider 307 is installed and fixed in the middle part of the moving cross frame 306 and is connected with the telescopic screw 305.

[0047] And the component formed by the inner slide bar 203 is located inside the component formed by the outer slide bar 204;

[0048] The outer sliding tubes 406 are arranged in pairs, and the upper ends are screwed to the middle of the top of the right upper rotating piece 101, and the inner insert tubes 408 are arranged in pairs, and the lower ends are screwed to the middle of the bottom of the left lower rotating piece 104. The inner insert tubes 408 on the same side are slidably inserted with the outer sliding tubes 406, and the upper end rotation center of the outer sliding tube 406 is concentric with the screw connection between the right upper rotating piece 101 and the left upper rotating piece 102, and the lower end rotation center of the inner insert tube 408 is concentric with the screw connection between the right lower rotating piece 103 and the left lower rotating piece 104;

[0049] The inner end of the oiling cylinder 503 is sleeved on the outside of the telescopic screw 305, and a tube groove 501 is vertically opened on the inner side wall of a group of outer sliding tubes 406. The passive rack 510 is fixedly connected to the inner insert tube 408 which is slidably matched with the group of outer sliding tubes 406. The passive gear 504 is fixed on the middle part of the outside of the oiling cylinder 503 and meshes with the passive rack 510 while slidably matching with the tube groove 501.

[0050] Here’s how it works:

[0051] The upper right rotating blade 101, the upper left rotating blade 102, the lower right rotating blade 103 and the lower left rotating blade 104 are rotated and matched in sequence to form the main structure of the fuselage, and the center distances of the rotating centers at both ends of the upper right rotating blade 101, the center distances of the rotating centers at both ends of the upper left rotating blade 102, the center distances of the rotating centers at both ends of the lower right rotating blade 103 and the center distances of the rotating centers at both ends of the lower left rotating blade 104 are all equal;

[0052] The purpose of the side slide frame assemblies 2 being respectively connected to the two sides of the fuselage rotary blade component 1 is not only to provide lateral support for the rotational connection of the upper right rotary blade 101, the upper left rotary blade 102, the lower right rotary blade 103 and the lower left rotary blade 104, but also to be connected with the telescopic drive assembly 3. The telescopic lead screw 305 can rotate automatically and form a cooperative transmission with the lead screw slider 307, so as to drive the component formed by the connection of the mobile cross frame 306 and the inner slide bar 203 to slide relative to the component formed by the connection of the outer cross frame 302 and the inner cross frame 301 and the outer slide bar 204.

[0053] When the inner slide bar 203 is away from the outer slide bar 204, the fuselage rotor blade member 1 is flat in width. On the contrary, when the inner slide bar 203 is close to the outer slide bar 204, the fuselage rotor blade member 1 is flat in height, thereby realizing automatic change of the fuselage.

[0054] Since the upper rotation center of the outer sliding tube 406 is concentric with the rotational connection between the upper right rotating blade 101 and the upper left rotating blade 102, and the lower rotation center of the inner insert tube 408 is concentric with the rotational connection between the lower right rotating blade 103 and the lower left rotating blade 104, the outer sliding tube 406 is slidably connected with the inner insert tube 408. Therefore, within the variation range of the fuselage rotating blade component 1, the middle sliding support component 4 can always be vertically located at the center of the fuselage rotating blade component 1, so that the variation accuracy of the fuselage rotating blade component 1 can be improved to a certain extent by using the middle sliding support component 4.

[0055] Synchronously, during the process of the rotational connection of the fuselage rotary vane component 1, the inner tube 408 will be displaced relative to the outer slide tube 406. Since the passive gear 504 is meshed with the passive rack 510 inside the inner tube 408, and the outer surface of the passive gear 504 is stuck and slid in the tube groove 501, the inner tube 408 can move relative to the outer slide tube 406, so that the oiling cylinder 503 can rotate relative to the telescopic screw 305.

[0056] And because during the change of the fuselage rotary vane component 1, a relative displacement will be formed between the component formed by the outer slide rod 204 and the component formed by the inner slide rod 203, that is to say, while the telescopic screw 305 forms a coordinated transmission with the screw slider 307, the telescopic screw 305 itself can be displaced relative to the middle position of the fuselage rotary vane component 1, thereby cooperating with the rotation of the oiling cylinder 503 relative to the telescopic screw 305. The oiling mechanism at the inner end of the oiling cylinder 503 can be used to perform a large range of oiling and lubrication operations on the surface of the telescopic screw 305 on a certain path.

[0057] The specific structure of the fuselage rotor component 1 is as follows Figure 2 As shown, both ends of the upper right rotating piece 101 and the lower left rotating piece 104 are plugged with rotating shafts 105, and both ends of the lower right rotating piece 103 and the upper left rotating piece 102 are fixedly connected with rotating seats 106. The upper right rotating piece 101, the upper left rotating piece 102, the lower right rotating piece 103 and the lower left rotating piece 104 are respectively connected in sequence through the rotating joint formed by the rotating shafts 105 and the rotating seats 106, forming a chain-shaped closed loop structure;

[0058] The arrow holes 107 are arranged in the main bodies of the upper right rotating blade 101 and the upper left rotating blade 102. The purpose of only opening the arrow holes 107 in the upper right rotating blade 101 and the upper left rotating blade 102 is to reduce weight and keep the lower right rotating blade 103 and the lower left rotating blade 104 in a complete protective state.

[0059] The specific structure of the side sliding frame assembly 2 and the telescopic drive assembly 3 is as follows: Figure 3 , Figure 4 and Figure 5 As shown, the inner rod rotating seat 201 is symmetrically fixedly connected to the two sides of the top of the lower right rotating piece 103, the outer rod rotating seat 202 is symmetrically fixedly connected to the two sides of the bottom of the upper left rotating piece 102, one end of the inner sliding rod 203 is rotatably connected to the inner rod rotating seat 201, and one end of the outer sliding rod 204 is rotatably connected to the outer rod rotating seat 202;

[0060] A slide groove 205 is transversely formed in the body of each set of inner slide bars 203, and at least two sets of rubber wheels 206 are installed at the other end of the outer slide bars 204, and the rubber wheels 206 are slidably connected in the slide groove 205;

[0061] The inner seat 303 of the lead screw is fixedly mounted on the middle part of the side of the inner cross frame 301, one end of the telescopic lead screw 305 is rotatably connected in the inner seat 303 of the lead screw, the outer seat 304 of the lead screw is fixedly mounted on the middle part of the main body of the outer cross frame 302, the other end of the telescopic lead screw 305 is rotatably connected in the outer seat 304 of the lead screw, the main body of the micro servo motor 308 is fixedly connected to the side of the outer cross frame 302, and the telescopic lead screw 305 is fixedly connected to the rotating shaft of the micro servo motor 308;

[0062] The two ends of the inner cross frame 301 pass through different slide grooves 205 and are fixedly connected to the inner slide rod 203, which means that the inner cross frame 301 can also slide in the slide groove 205;

[0063] The micro servo motor 308 is connected to the control center of the quadruped robot, and can automatically start the micro servo motor 308 to drive the rotation of the telescopic screw 305 in a timely manner according to the actual environment, so as to change the shape of the body rotary blade component 1;

[0064] The side connection seat 7 of the corner structure is fixedly connected to one end of the inner slide bar 203 and the outer slide bar 204, and the side connection seats 7 are symmetrically distributed in pairs in front and back;

[0065] A leg structure is installed in each set of side connection seats 7, and when the shape of the fuselage rotor blade member 1 is changed, the leg structure needs to form an action;

[0066] Due to the lack of a fixed reference for the shape change of the fuselage rotary vane member 1, when the fuselage rotary vane member 1 is changed in shape, it is necessary to cooperate with the leg structures on the left and right sides installed in the side connecting seat 7 to perform alternating stepping actions, and at the same time, the micro servo motor 308 is started through the control center of the quadruped robot, which can conveniently form the deformation action of the mechanism composed of the upper right rotary vane 101, the upper left rotary vane 102, the lower right rotary vane 103 and the lower left rotary vane 104;

[0067] When the width of the fuselage rotor blade component 1 is increased, the moving process can be more stable, and when the width of the fuselage rotor blade component 1 is reduced, it can pass through a narrower space.

[0068] The specific structure of the middle sliding support member 4 is as follows Figure 6 and Figure 7 As shown, the upper groove 401 is opened in the middle of the top of the right upper rotating piece 101, the upper fixed shaft 403 is transversely fixedly connected in the upper groove 401, and is concentric with the rotating shaft 105 at the top of the right upper rotating piece 101, the lower groove 402 is opened in the middle of the bottom of the left lower rotating piece 104, the lower fixed shaft 404 is transversely fixedly connected in the lower groove 402, and is concentric with the rotating shaft 105 at the bottom of the left lower rotating piece 104;

[0069] The top end of the outer sliding tube 406 is fixedly connected to an upper rotating rod 405, the top end of which is rotatably connected to the upper fixed shaft 403, and the bottom end of the inner insert tube 408 is fixedly connected to a lower rotating rod 407, the bottom end of which is rotatably connected to the lower fixed shaft 404;

[0070] A nylon sliding sleeve 409 is fixedly installed on the inner lower end of each set of outer sliding tubes 406, and the inner insert tube 408 is slidably connected with the nylon sliding sleeve 409, which can reduce friction and reduce noise.

[0071] The specific structure of the screw oiling device 5 is as follows: Figure 8 , Fig. 9 and Fig.10 As shown, the rack slot 502 is opened in the body of one set of inner tubes 408, and the passive rack 510 is installed and fixed in the rack slot 502, and the teeth of the passive rack 510 do not protrude from the outer contour surface of the inner tube 408;

[0072] The inner cylinder 505 is fixedly connected to the inner middle of the oiling cylinder 503. The oiling cylinder 503 and the inner cylinder 505 together form a cylindrical structure. The side cover 506 is connected to the openings of one end of the oiling cylinder 503 and the inner cylinder 505.

[0073] The side wall of the inner cylinder 505 is provided with oil seepage holes 507, and each group of oil seepage holes 507 is provided with an oiling column 508. The cavity between the inner wall of the oiling cylinder 503 and the outer wall of the inner cylinder 505 can contain lubricating oil, and the oiling column 508 itself has a certain permeability, allowing the lubricating oil to penetrate from the oiling column 508 to the surface of the telescopic screw 305;

[0074] The inner ends of the oil-coated rubbing columns 508 all protrude from the inner wall of the inner tube 505, and the evenly distributed oil-coated rubbing columns 508 can form a flexible wrap around the outside of the telescopic lead screw 305;

[0075] In addition, the outer wall of the inner side surface of another set of outer sliding tubes 406 is also vertically fixedly connected with a soft limit block 509, which can flexibly contact the outer surface of the tooth body of the passive gear 504, so as to form a good meshing state between the passive gear 504 and the passive rack 510, thereby reducing the shaking of the passive gear 504 relative to the telescopic screw 305 during rotation.

[0076] Preferably, the openings at both ends of the upper right rotating blade 101, the upper left rotating blade 102, the lower right rotating blade 103 and the lower left rotating blade 104 are also installed with arc-shaped plug-in components 6, the purpose is not only to form a protection for the inner cavity of the fuselage rotating blade component 1, but more importantly, to adapt to the deformation action of the fuselage rotating blade component 1, the upper right rotating blade 101, the upper left rotating blade 102, the lower right rotating blade 103 and the lower left rotating blade 104 are connected and fixed with a plug-in connection seat 605 at both outer ends, and the purpose of the plug-in connection seat 605 is to make the main plug-in 601, the main interval plug-in 602, the side plug-in 603 and the side interval plug-in 604 move outward. To the outside of the side sliding frame assembly 2, it can form protection for the fuselage rotating blade component 1 and the side sliding frame assembly 2; the main plug-in piece 601 and the main spacer plug-in piece 602 are located on the upper and lower sides of the two outer ends of the upper right rotating blade 101, the upper left rotating blade 102, the lower right rotating blade 103 and the lower left rotating blade 104, and the side plug-in piece 603 and the side spacer plug-in piece 604 are located on the left and right sides of the two outer ends of the upper right rotating blade 101, the upper left rotating blade 102, the lower right rotating blade 103 and the lower left rotating blade 104, and the main plug-in piece 601 is linearly radially arranged outward with the rotating center at the top of the upper left rotating blade 102 and the rotating center at the bottom of the lower right rotating blade 103 as the center ... The spacer inserts 602 are linearly and radially arranged outwardly with the rotation center at the top of the upper right rotating piece 101 and the rotation center at the bottom of the lower left rotating piece 104 as the center, and the main inserts 601 and the main spacer inserts 602 located at the rotational connection between the upper left rotating piece 102 and the upper right rotating piece 101 are cross-fitted in sequence, and the main inserts 601 and the main spacer inserts 602 located at the rotational connection between the lower right rotating piece 103 and the lower left rotating piece 104 are cross-fitted in sequence; similarly, the side inserts 603 are linearly and radially arranged outwardly with the rotation center at the bottom of the upper left rotating piece 102 and the rotation center at the top of the lower right rotating piece 103 as the center, and the side spacer inserts 604 are linearly and radially arranged outwardly with the rotation center at the lower left rotating piece 103 and the rotation center at the top of the lower right rotating piece 103 as the center, and the side spacer inserts 604 are linearly and radially arranged outwardly with the rotation center at the lower left rotating piece 103 and the rotation center at the lower right rotating piece 104. The rotating center at the top of the right upper rotating piece 104 and the rotating center at the bottom of the right upper rotating piece 101 are linearly arranged and radially distributed outward, and the side plug piece 603 and the side spacing plug piece 604 located at the rotational connection of the left upper rotating piece 102 and the left lower rotating piece 104 are cross-fitted in sequence, and the side plug piece 603 and the side plug piece 603 located at the rotational connection of the right upper rotating piece 101 and the right lower rotating piece 103 are cross-fitted in sequence; the middle position of the outer end of each group of plug connection seats 605 is also fixedly connected with an insert 606, and the insert 606 will not interfere with the cross action of the main plug piece 601 and the main spacing plug piece 602 or the side plug piece 603 and the side spacing plug piece 604;

[0077] An elastic sleeve 607 is fixedly connected between the inner ends of the inserts 606 on the same side. The elastic sleeve 607, based on its own elasticity, covers the gap formed by the main insert 601, the main spacer insert 602, the side insert 603 and the side spacer insert 604 in the middle of the fuselage rotor component 1 to improve the protection effect.

[0078] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A body of a quadruped robot, comprising a body rotor component (1), characterized in that: A side sliding frame assembly (2), a telescopic driving assembly (3), a middle sliding support member (4) and a lead screw oiling device (5); The fuselage rotary vane component (1) comprises an upper right rotary vane (101), an upper left rotary vane (102), a lower right rotary vane (103) and a lower left rotary vane (104); the upper right rotary vane (101), the upper left rotary vane (102), the lower right rotary vane (103) and the lower left rotary vane (104) are connected in a chain shape; the side slide assembly (2) is respectively located on both sides of the fuselage rotary vane component (1); the side slide assembly (2) is pushed by the telescopic drive assembly (3) installed in the side slide assembly (2), so that the fuselage rotary vane component (1) can be driven to deform, and the middle sliding support component (4) can be synchronously driven to form a transmission connection with the lead screw oiling device (5), so as to lubricate the transmission parts of the telescopic drive assembly (3).

2. The body of a quadruped robot according to claim 1, characterized in that: The side sliding frame assembly (2) includes an inner sliding rod (203) and an outer sliding rod (204), the telescopic drive assembly (3) includes an outer cross frame (302), a telescopic lead screw (305) and a lead screw slider (307), the middle sliding support member (4) includes an outer sliding tube (406) and an inner insert tube (408), the lead screw oiling device (5) includes an oiling cylinder (503), a passive gear (504) and a passive rack (510), the inner sliding rod (203) and the outer sliding rod (204) are distributed in pairs, and the inner sliding rod ( One end of the outer slide bar (203) is screwed to the outer side of the top end of the right lower rotary piece (103), one end of the outer slide bar (204) is screwed to the outer side of the bottom end of the left upper rotary piece (102), and the inner slide bar (203) and the outer slide bar (204) on the same side are slidably connected, the inner end between the two groups of outer slide bars (204) is fixedly connected with the inner cross frame (301), the outer cross frame (302) is fixedly connected to the outer end between the two groups of outer slide bars (204), and one end of the telescopic lead screw (305) is screwed to the middle part of the inner cross frame (301). The other end is screwed to the middle of the outer cross frame (302), the inner ends of the two sets of inner slide rods (203) are fixedly connected to the movable cross frame (306), the lead screw slider (307) is installed and fixed to the middle of the movable cross frame (306), and is connected with the telescopic lead screw (305), the outer slide tubes (406) are distributed in pairs, and the upper ends are screwed to the middle of the top of the right upper rotary piece (101), the inner insert tubes (408) are distributed in pairs, and the lower ends are screwed to the middle of the bottom of the left lower rotary piece (104), and the inner insert tubes (408) on the same side are 08) is slidably inserted with the outer sliding tube (406), and the inner end of the oiling cylinder (503) is sleeved on the outside of the telescopic screw (305). A tube groove (501) is opened on the inner side wall of one group of the outer sliding tubes (406), and the passive rack (510) is fixedly connected to the inner insert tube (408) which is slidably inserted with the group of outer sliding tubes (406). The passive gear (504) is fixed on the middle part of the outer side of the oiling cylinder (503) and meshes with the passive rack (510) while being slidably inserted with the tube groove (501).

3. The body of a quadruped robot according to claim 2, characterized in that: The side sliding frame assembly (2) also includes an inner rod rotating seat (201) and an outer rod rotating seat (202), wherein the inner rod rotating seat (201) is symmetrically fixedly connected to both sides of the top end of the right lower rotating plate (103), and the outer rod rotating seat (202) is symmetrically fixedly connected to both sides of the bottom end of the left upper rotating plate (102), one end of the inner sliding rod (203) is rotatably connected to the inner rod rotating seat (201), and one end of the outer sliding rod (204) is rotatably connected to the outer rod rotating seat (202), and a sliding groove (205) is provided in the main body of each group of inner sliding rods (203), and a rubber wheel (206) is installed at the other end of the outer sliding rod (204), and the rubber wheel (206) is slidably connected to the sliding groove (205).

4. A quadruped robot body according to claim 1, 2 or 3, characterized in that: The fuselage rotary vane component (1) further comprises an arrow hole (107); both ends of the upper right rotary vane (101) and the lower left rotary vane (104) are plugged with rotary shafts (105); both ends of the lower right rotary vane (103) and the upper left rotary vane (102) are fixedly connected with rotary seats (106); the upper right rotary vane (101), the upper left rotary vane (102), the lower right rotary vane (103) and the lower left rotary vane (104) are respectively connected in sequence through the rotary joint formed by the rotary shafts (105) and the rotary seats (106); and the arrow holes (107) are arranged in the main bodies of the upper right rotary vane (101) and the upper left rotary vane (102).

5. A quadruped robot body according to claim 2 or 3, characterized in that: The telescopic drive assembly (3) further comprises an inner screw seat (303), an outer screw seat (304) and a micro servo motor (308); the inner screw seat (303) is fixedly mounted on the middle part of the side of the inner cross frame (301); one end of the telescopic screw (305) is rotatably connected to the inner screw seat (303); the outer screw seat (304) is fixedly mounted on the middle part of the main body of the outer cross frame (302); the other end of the telescopic screw (305) is rotatably connected to the outer screw seat (304); the main body of the micro servo motor (308) is fixedly connected to the side of the outer cross frame (302); and the telescopic screw (305) is fixedly connected to the rotating shaft of the micro servo motor (308).

6. A quadruped robot body according to claim 2 or 3, characterized in that: The middle sliding support member (4) further comprises an upper groove (401), a lower groove (402), an upper fixed shaft (403) and a lower fixed shaft (404), wherein the upper groove (401) is arranged at the middle of the top end of the right upper rotating piece (101), the upper fixed shaft (403) is fixedly connected in the upper groove (401), the lower groove (402) is arranged at the middle of the bottom end of the left lower rotating piece (104), the lower fixed shaft (404) is fixedly connected in the lower groove (402), and the outer sliding tube (40 6), the top of the upper rotating rod (405) is fixedly connected, the top of the upper rotating rod (405) is rotationally connected to the upper fixed shaft (403), the bottom end of the inner insert tube (408) is fixedly connected to the lower rotating rod (407), the bottom end of the lower rotating rod (407) is rotationally connected to the lower fixed shaft (404), and the inner lower end of each group of outer sliding tubes (406) is also fixedly installed with a nylon sliding sleeve (409), and the inner insert tube (408) is slidably connected to the nylon sliding sleeve (409).

7. A quadruped robot body according to claim 2 or 3, characterized in that: The screw oiling device (5) also includes a rack slot (502) and a side cover (506), wherein the rack slot (502) is provided in the main body of one group of inner tubes (408), the passive rack (510) is fixedly installed in the rack slot (502), and the tooth body of the passive rack (510) does not protrude from the outer contour surface of the inner tube (408), the inner middle part of the oiling cylinder (503) is fixedly connected to the inner cylinder (505), the side cover (506) is connected to the opening at one end of the oiling cylinder (503) and the inner cylinder (505), and the side wall of the inner cylinder (505) is arranged with oil seepage holes (507), and each group of oil seepage holes (507) is planted with an oiling rubbing column (508).

8. A quadruped robot body according to claim 2 or 3, characterized in that: The inner side outer wall of the other group of outer sliding tubes (406) is also vertically fixedly connected with a soft limit block (509).

9. A quadruped robot, comprising the body of a quadruped robot according to any one of claims 2 to 8, characterized in that: It also includes a side connecting seat (7), which is fixedly connected to one end of the inner sliding rod (203) and the outer sliding rod (204).

10. A quadruped robot according to claim 9, characterized in that: The openings at both ends of the mechanism composed of the upper right rotating piece (101), the upper left rotating piece (102), the lower right rotating piece (103) and the lower left rotating piece (104) are also installed with arc-shaped plug-in assemblies (6), the arc-shaped plug-in assemblies (6) comprising a main plug-in (601), a main spacing plug-in (602), a side plug-in (603) and a side spacing plug-in (604), the outer ends of the upper right rotating piece (101), the upper left rotating piece (102), the lower right rotating piece (103) and the lower left rotating piece (104) are connected and fixed with a plug-in connection seat (605), the main plug-in (601) and the main spacing plug-in (602) are located on the upper right rotating piece The main inserts (601) are arranged linearly and radially outwardly with the rotation center at the top of the left upper rotating piece (102) and the rotation center at the bottom of the right lower rotating piece (103) as the center, and the main spacer inserts (602) are arranged linearly and radially outwardly with the rotation center at the top of the right upper rotating piece (101) and the rotation center at the bottom of the right lower rotating piece (103) as the center, and the main spacer inserts (602) are arranged linearly and radially outwardly with the rotation center at the top of the right upper rotating piece (101) and the rotation center at the bottom of the left lower rotating piece (103) as the center. The main insert piece (601) and the main spacing insert piece (602) located at the rotational connection between the upper left rotating piece (102) and the upper right rotating piece (101) are sequentially cross-fitted, and the main insert piece (601) and the main spacing insert piece (602) located at the rotational connection between the lower right rotating piece (103) and the lower left rotating piece (104) are sequentially cross-fitted, and the side insert piece (603) is linearly radially arranged outwards with the rotational center at the bottom end of the upper left rotating piece (102) and the rotational center at the top end of the lower right rotating piece (103) as the center, and the side spacing insert piece (604 ... right rotating piece (104) and the rotational center at the lower right rotating piece (104) as the center. ) and the rotation center of the bottom end of the upper right rotating piece (101) are linearly arranged and distributed outwardly, and the side inserts (603) and the side spacing inserts (604) located at the rotational connection of the upper left rotating piece (102) and the lower left rotating piece (104) are cross-fitted in sequence, and the side inserts (603) and the side inserts (603) located at the rotational connection of the upper right rotating piece (101) and the lower right rotating piece (103) are cross-fitted in sequence, and the middle position of the outer end of each group of insert connection seats (605) is also fixedly connected to an insert (606), and the inner ends of the inserts (606) on the same side are fixedly connected to an elastic fixed sleeve (607).

Images